From 9d28ad44719746baf43d80b6cfb3ce8ed5802720 Mon Sep 17 00:00:00 2001
From: Shaoshuai Shi <shaoshuaics@gmail.com>
Date: Tue, 10 Nov 2020 13:34:54 +0800
Subject: [PATCH] add train/val splits of WOD, update README

---
 README.md                             |  12 +-
 data/waymo/ImageSets/train.txt        | 798 ++++++++++++++++++++++++++
 data/waymo/ImageSets/val.txt          | 202 +++++++
 docs/GETTING_STARTED.md               |  11 +-
 pcdet/datasets/waymo/waymo_dataset.py |   2 +-
 tools/cfgs/waymo_models/PartA2.yaml   |   2 +-
 6 files changed, 1013 insertions(+), 14 deletions(-)
 create mode 100644 data/waymo/ImageSets/train.txt
 create mode 100644 data/waymo/ImageSets/val.txt

diff --git a/README.md b/README.md
index d0a77ffed..22331eb2f 100644
--- a/README.md
+++ b/README.md
@@ -18,8 +18,8 @@ It is also the official code release of [`[PointRCNN]`](https://arxiv.org/abs/18
 
 
 ## Changelog
-[2020-11-10] **NEW:** The Waymo Open Dataset has been supported with SoTA results. By now we provid the 
-configs of `SECOND`, `PartA2` and `PV-RCNN` on the Waymo Open Dataset, and more models could be easily supported by modifying their dataset configs. 
+[2020-11-10] **NEW:** The [Waymo Open Dataset](#waymo-open-dataset-baselines) has been supported with state-of-the-art results. Currently we provide the 
+configs and results of `SECOND`, `PartA2` and `PV-RCNN` on the Waymo Open Dataset, and more models could be easily supported by modifying their dataset configs. 
 
 [2020-08-10] Bugfixed: The provided NuScenes models have been updated to fix the loading bugs. Please redownload it if you need to use the pretrained NuScenes models.
 
@@ -112,7 +112,7 @@ All models are trained with 8 GTX 1080Ti GPUs and are available for download.
 We provide the setting of `DATA_CONFIG.SAMPLED_INTERVAL` on the Waymo Open Dataset (WOD) to subsample partial samples for training and evaluation, 
 so you could also play with WOD by setting a smaller `DATA_CONFIG.SAMPLED_INTERVAL` if you only have limited GPU resources. 
 
-By default, all models are trained with **20% data (~32k frames)** of all the training samples, and the results of each cell here are mAP/mAPH calculated by the official Waymo evaluation metrics on the **whole** validation set.    
+By default, all models are trained with **20% data (~32k frames)** of all the training samples on 8 GTX 1080Ti GPUs, and the results of each cell here are mAP/mAPH calculated by the official Waymo evaluation metrics on the **whole** validation set.    
 
 |                                             | Vec_L1 | Vec_L2 | Ped_L1 | Ped_L2 | Cyc_L1 | Cyc_L2 |  
 |---------------------------------------------|----------:|:-------:|:-------:|:-------:|:-------:|:-------:|
@@ -120,6 +120,8 @@ By default, all models are trained with **20% data (~32k frames)** of all the tr
 | [PartA2](tools/cfgs/waymo_models/PartA2.yaml) | 71.82/71.29 | 64.33/63.82 | 63.15/54.96 | 54.24/47.11 | 65.23/63.92 | 62.61/61.35 |
 | [PV-RCNN](tools/cfgs/waymo_models/pv_rcnn.yaml) | 74.06/73.38 | 64.99/64.38 |	62.66/52.68 | 53.80/45.14 |	63.32/61.71	| 60.72/59.18 | 
 
+We could not provide the above pretrained models due to [Waymo Dataset License Agreement](https://waymo.com/open/terms/), 
+but you could easily achieve similar performance by training with the default configs.
 
 
 
@@ -158,9 +160,9 @@ If you find this project useful in your research, please consider cite:
 
 ```
 @misc{openpcdet2020,
-	title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Cloud},
+	title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
 	author={OpenPCDet Development Team},
-	howpublished = {\url{https://github.com/open-mmlab/OpenPCDet}}
+	howpublished = {\url{https://github.com/open-mmlab/OpenPCDet}},
 	year={2020}
 }
 ```
diff --git a/data/waymo/ImageSets/train.txt b/data/waymo/ImageSets/train.txt
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--- /dev/null
+++ b/data/waymo/ImageSets/train.txt
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+segment-8331804655557290264_4351_740_4371_740_with_camera_labels.tfrecord
+segment-8398516118967750070_3958_000_3978_000_with_camera_labels.tfrecord
+segment-8506432817378693815_4860_000_4880_000_with_camera_labels.tfrecord
+segment-8679184381783013073_7740_000_7760_000_with_camera_labels.tfrecord
+segment-8845277173853189216_3828_530_3848_530_with_camera_labels.tfrecord
+segment-8888517708810165484_1549_770_1569_770_with_camera_labels.tfrecord
+segment-8907419590259234067_1960_000_1980_000_with_camera_labels.tfrecord
+segment-89454214745557131_3160_000_3180_000_with_camera_labels.tfrecord
+segment-8956556778987472864_3404_790_3424_790_with_camera_labels.tfrecord
+segment-902001779062034993_2880_000_2900_000_with_camera_labels.tfrecord
+segment-9024872035982010942_2578_810_2598_810_with_camera_labels.tfrecord
+segment-9041488218266405018_6454_030_6474_030_with_camera_labels.tfrecord
+segment-9114112687541091312_1100_000_1120_000_with_camera_labels.tfrecord
+segment-9164052963393400298_4692_970_4712_970_with_camera_labels.tfrecord
+segment-9231652062943496183_1740_000_1760_000_with_camera_labels.tfrecord
+segment-9243656068381062947_1297_428_1317_428_with_camera_labels.tfrecord
+segment-9265793588137545201_2981_960_3001_960_with_camera_labels.tfrecord
+segment-933621182106051783_4160_000_4180_000_with_camera_labels.tfrecord
+segment-9443948810903981522_6538_870_6558_870_with_camera_labels.tfrecord
+segment-9472420603764812147_850_000_870_000_with_camera_labels.tfrecord
+segment-9579041874842301407_1300_000_1320_000_with_camera_labels.tfrecord
+segment-967082162553397800_5102_900_5122_900_with_camera_labels.tfrecord
diff --git a/docs/GETTING_STARTED.md b/docs/GETTING_STARTED.md
index 9109780e0..46bd092b1 100644
--- a/docs/GETTING_STARTED.md
+++ b/docs/GETTING_STARTED.md
@@ -61,20 +61,18 @@ python -m pcdet.datasets.nuscenes.nuscenes_dataset --func create_nuscenes_infos
 * Please download the official [Waymo Open Dataset](https://waymo.com/open/download/), 
 including the training data `training_0000.tar~training_0031.tar` and the validation 
 data `validation_0000.tar~validation_0007.tar`.
-* Unzip all the above `xxxx.tar` files to the directory of `data/waymo/raw_data_v1_2` as follows (You could get 798 *train* tfrecord and 202 *val* tfrecord ):  
+* Unzip all the above `xxxx.tar` files to the directory of `data/waymo/raw_data` as follows (You could get 798 *train* tfrecord and 202 *val* tfrecord ):  
 ```
 OpenPCDet
 ├── data
 │   ├── waymo
 │   │   │── ImageSets
-│   │   │── raw_data_v1_2
+│   │   │── raw_data
 │   │   │   │── segment-xxxxxxxx.tfrecord
 |   |   |   |── ...
-|   |   |   |── segment-xxxxxxxx.tfrecord
 |   |   |── waymo_processed_data
 │   │   │   │── segment-xxxxxxxx/
 |   |   |   |── ...
-|   |   |   |── segment-xxxxxxxx/
 │   │   │── pcdet_gt_database_train_sampled_xx/
 │   │   │── pcdet_waymo_dbinfos_train_sampled_xx.pkl   
 ├── pcdet
@@ -87,13 +85,12 @@ pip3 install --upgrade pip
 pip3 install waymo-open-dataset-tf-2-1-0==1.2.0 --user
 # tf 2.0.0
 # pip3 install waymo-open-dataset-tf-2-0-0==1.2.0 --user
-# tf 1.15.0
-# pip3 install waymo-open-dataset-tf-1-15-0==1.2.0 --user
 ```
 
 * Generate the data infos by running the following command (it takes several hours): 
 ```python 
-python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos --cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml
+python -m pcdet.datasets.waymo.waymo_dataset --func create_waymo_infos \ -
+    -cfg_file tools/cfgs/dataset_configs/waymo_dataset.yaml
 ```
 
 Note that you do not need to install `waymo-open-dataset` if you have already processed the data before and do not need to evaluate with official Waymo Metrics. 
diff --git a/pcdet/datasets/waymo/waymo_dataset.py b/pcdet/datasets/waymo/waymo_dataset.py
index a66e3dd29..f8fb6b899 100644
--- a/pcdet/datasets/waymo/waymo_dataset.py
+++ b/pcdet/datasets/waymo/waymo_dataset.py
@@ -365,6 +365,6 @@ def create_waymo_infos(dataset_cfg, class_names, data_path, save_path,
             class_names=['Vehicle', 'Pedestrian', 'Cyclist'],
             data_path=ROOT_DIR / 'data' / 'waymo',
             save_path=ROOT_DIR / 'data' / 'waymo',
-            raw_data_tag='raw_data_v1_2',
+            raw_data_tag='raw_data',
             processed_data_tag=dataset_cfg.PROCESSED_DATA_TAG
         )
diff --git a/tools/cfgs/waymo_models/PartA2.yaml b/tools/cfgs/waymo_models/PartA2.yaml
index 4bd89de85..354145e69 100644
--- a/tools/cfgs/waymo_models/PartA2.yaml
+++ b/tools/cfgs/waymo_models/PartA2.yaml
@@ -170,7 +170,7 @@ MODEL:
 
 
 OPTIMIZATION:
-    BATCH_SIZE_PER_GPU: 3
+    BATCH_SIZE_PER_GPU: 4
     NUM_EPOCHS: 80
 
     OPTIMIZER: adam_onecycle