From 9c8b288e74ffc9c92f39a925026d09a723b78c60 Mon Sep 17 00:00:00 2001 From: inter Date: Sun, 21 Sep 2025 20:19:31 +0800 Subject: [PATCH] Add File --- docs/changelog.md | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 docs/changelog.md diff --git a/docs/changelog.md b/docs/changelog.md new file mode 100644 index 0000000..b23b143 --- /dev/null +++ b/docs/changelog.md @@ -0,0 +1,40 @@ +# Changelog and Guidelines + +### [2022-09-02] Update to v0.6.0: + +* How to process data to support multi-frame training/testing on Waymo Open Dataset? + * If you never use the OpenPCDet, you can directly follow the [GETTING_STARTED.md](GETTING_STARTED.md) + * If you have been using previous OpenPCDet (`v0.5`), then you need to follow the following steps to update your data: + * Update your waymo infos (the `*.pkl` files for each sequence) by adding argument `--update_info_only`: + ``` + python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml --update_info_only + ``` + * Generate multi-frame GT database for copy-paste augmentation of multi-frame training. There is also a faster version with parallel data generation by adding `--use_parallel`, but you need to read the codes and rename the file after getting the results. + ``` + python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_gt_database --cfg_file tools/cfgs/dataset_configs/waymo_dataset_multiframe.yaml + ``` + This will generate the new files like the following (the last three lines under `data/waymo`): + +``` +OpenPCDet +├── data +│ ├── waymo +│ │ │── ImageSets +│ │ │── raw_data +│ │ │ │── segment-xxxxxxxx.tfrecord +| | | |── ... +| | |── waymo_processed_data_v0_5_0 +│ │ │ │── segment-xxxxxxxx/ +| | | |── ... +│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1/ +│ │ │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1.pkl +│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_global.npy (optional) +│ │ │── waymo_processed_data_v0_5_0_infos_train.pkl (optional) +│ │ │── waymo_processed_data_v0_5_0_infos_val.pkl (optional) +| | |── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0 (new) +│ │ │── waymo_processed_data_v0_5_0_waymo_dbinfos_train_sampled_1_multiframe_-4_to_0.pkl (new) +│ │ │── waymo_processed_data_v0_5_0_gt_database_train_sampled_1_multiframe_-4_to_0_global.np (new, optional) + +├── pcdet +├── tools +```