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python tools/nusc_tracking/pub_test.py --work_dir work_dirs/tracking --checkpoint ckpt/infos_val_10sweeps_withvelo_filter_True.json
Loading NuScenes tables for version v1.0-trainval... 23 category, 8 attribute, 4 visibility, 64386 instance, 12 sensor, 10200 calibrated_sensor, 2631083 ego_pose, 68 log, 850 scene, 34149 sample, 2631083 sample_data, 1166187 sample_annotation, 4 map, Done loading in 26.2 seconds. ====== Reverse indexing ... Done reverse indexing in 7.2 seconds. ====== Deploy OK Use hungarian: False Begin Tracking The speed is 499.219186836908 FPS ====== Loading NuScenes tables for version v1.0-trainval... 23 category, 8 attribute, 4 visibility, 64386 instance, 12 sensor, 10200 calibrated_sensor, 2631083 ego_pose, 68 log, 850 scene, 34149 sample, 2631083 sample_data, 1166187 sample_annotation, 4 map, Done loading in 25.9 seconds. ====== Reverse indexing ... Done reverse indexing in 7.3 seconds. ====== Initializing nuScenes tracking evaluation Loaded results from work_dirs/tracking/tracking_result.json. Found detections for 6019 samples. Loading annotations for val split from nuScenes version: v1.0-trainval 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 6019/6019 [00:06<00:00, 975.19it/s] Loaded ground truth annotations for 6019 samples. Filtering tracks => Original number of boxes: 507598 => After distance based filtering: 378345 => After LIDAR points based filtering: 378345 => After bike rack filtering: 377683 Filtering ground truth tracks => Original number of boxes: 142261 => After distance based filtering: 103564 => After LIDAR points based filtering: 93885 => After bike rack filtering: 93875 Accumulating metric data... Computing metrics for class bicycle... Computed thresholds MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.1061 0.000 0.345 0.886 6019 1993 1717 228 48 90463 1717 88698 48 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.1517 0.000 0.339 0.869 6008 1993 1698 262 33 47831 1698 46100 33 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.1623 0.000 0.343 0.857 5995 1993 1678 285 30 39127 1678 37419 30 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.1943 0.000 0.344 0.832 5776 1993 1634 335 24 21386 1634 19728 24 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.2077 0.000 0.335 0.806 5558 1993 1586 387 20 16451 1586 14845 20 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.2206 0.000 0.327 0.784 5266 1993 1545 430 18 13193 1545 11630 18 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.2489 0.000 0.310 0.760 4420 1993 1499 479 15 8516 1499 7002 15 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.2682 0.000 0.305 0.729 3914 1993 1441 540 12 6515 1441 5062 12 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.2961 0.000 0.288 0.702 3143 1993 1391 593 9 4441 1391 3041 9 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.3237 0.000 0.285 0.683 2549 1993 1355 631 7 3303 1355 1941 7 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.3778 0.323 0.282 0.655 1932 1993 1302 688 3 2187 1302 882 3 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.3938 0.462 0.279 0.636 1795 1993 1266 725 2 1949 1266 681 2 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.4033 0.493 0.279 0.614 1771 1993 1222 769 2 1843 1222 619 2 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.4222 0.570 0.281 0.582 1697 1993 1158 834 1 1657 1158 498 1 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.4251 0.570 0.270 0.561 1684 1993 1118 874 1 1600 1118 481 1 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.4410 0.618 0.268 0.546 1646 1993 1088 905 0 1504 1088 416 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.4791 0.750 0.274 0.514 1518 1993 1024 969 0 1280 1024 256 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.4946 0.772 0.266 0.492 1500 1993 980 1013 0 1203 980 223 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.5247 0.812 0.267 0.461 1459 1993 918 1075 0 1091 918 173 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.5385 0.847 0.272 0.437 1432 1993 870 1123 0 1003 870 133 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.5446 0.853 0.276 0.419 1426 1993 836 1157 0 959 836 123 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.5746 0.892 0.284 0.384 1398 1993 766 1227 0 849 766 83 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.5824 0.895 0.234 0.367 1392 1993 731 1262 0 808 731 77 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.5951 0.907 0.232 0.339 1385 1993 676 1317 0 739 676 63 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6033 0.909 0.238 0.314 1383 1993 626 1367 0 683 626 57 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6149 0.913 0.239 0.295 1377 1993 588 1405 0 639 588 51 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6236 0.917 0.244 0.271 1374 1993 541 1452 0 586 541 45 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6369 0.926 0.249 0.251 1368 1993 500 1493 0 537 500 37 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6439 0.933 0.255 0.225 1363 1993 449 1544 0 479 449 30 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6590 0.942 0.230 0.200 1356 1993 398 1595 0 421 398 23 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6607 0.940 0.234 0.192 1356 1993 383 1610 0 406 383 23 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6642 0.929 0.146 0.156 1355 1993 310 1683 0 332 310 22 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6793 0.917 0.147 0.126 1354 1993 252 1741 0 273 252 21 0 MOTAR MOTP Recall Frames GT GT-Mtch GT-Miss GT-IDS Pred Pred-TP Pred-FP Pred-IDS thr_0.6912 0.936 0.137 0.102 1347 1993 203 1790 0 216 203 13 0 Traceback (most recent call last): File "tools/nusc_tracking/pub_test.py", line 192, in <module> eval_tracking() File "tools/nusc_tracking/pub_test.py", line 160, in eval_tracking args.root File "tools/nusc_tracking/pub_test.py", line 178, in eval metrics_summary = nusc_eval.main() File "/media/adas/ubuntu4/project/nuscenes-devkit/python-sdk/nuscenes/eval/tracking/evaluate.py", line 205, in main metrics, metric_data_list = self.evaluate() File "/media/adas/ubuntu4/project/nuscenes-devkit/python-sdk/nuscenes/eval/tracking/evaluate.py", line 135, in evaluate accumulate_class(class_name) File "/media/adas/ubuntu4/project/nuscenes-devkit/python-sdk/nuscenes/eval/tracking/evaluate.py", line 131, in accumulate_class curr_md = curr_ev.accumulate() File "/media/adas/ubuntu4/project/nuscenes-devkit/python-sdk/nuscenes/eval/tracking/algo.py", line 156, in accumulate assert unachieved_thresholds + duplicate_thresholds + len(thresh_metrics) == self.num_thresholds AssertionError
The text was updated successfully, but these errors were encountered:
I met the same problem, did you solve this?
Sorry, something went wrong.
try pip install numpy==1.19.2
Thanks for the quick reply, it works perfectly!
No branches or pull requests
Running:
python tools/nusc_tracking/pub_test.py --work_dir work_dirs/tracking --checkpoint ckpt/infos_val_10sweeps_withvelo_filter_True.json
Got:
The text was updated successfully, but these errors were encountered: