Compared to the data preparation procedure of StreamMapNet or MapTR, we have one more step to generate the ground truth tracking information (Step 3).
We noticed that the track generation results can be slighly different when running on different machines (potentially because Shapely's behaviors are slightly different across different machines), so please always run the Step 3 below on the training machine to generate the gt tracking information.
Step 1. Download nuScenes dataset to ./datasets/nuscenes.
Step 2. Generate annotation files for NuScenes dataset (the same as StreamMapNet)
python tools/data_converter/nuscenes_converter.py --data-root ./datasets/nuscenes
Add --newsplit to generate the metadata for the new split (geographical-based split) provided by StreamMapNet.
Step 3. Generate the tracking ground truth by
python tools/tracking/prepare_gt_tracks.py plugin/configs/maptracker/nuscenes_oldsplit/maptracker_nusc_oldsplit_5frame_span10_stage3_joint_finetune.py --out-dir tracking_gts/nuscenes --visualize
Add the --visualize flag to visualize the data with element IDs derived from our track generation process, or remove it to save disk memory.
For generating the G.T. tracks of the new split, change the config file accordingly.
Step 1. Download Argoverse2 (sensor) dataset to ./datasets/av2.
Step 2. Generate annotation files for Argoverse2 dataset.
python tools/data_converter/argoverse_converter.py --data-root ./datasets/av2
Step 3. Generate the tracking ground truth by
python tools/tracking/prepare_gt_tracks.py plugin/configs/maptracker/av2_oldsplit/maptracker_av2_oldsplit_5frame_span10_stage3_joint_finetune.py --out-dir tracking_gts/av2 --visualize
We provide the checkpoints at this link. Please download and place them as ./work_dirs/pretrained_ckpts.
Make sure the final file structures look like below:
maptracker
├── mmdetection3d
├── tools
├── plugin
│ ├── configs
│ ├── models
│ ├── datasets
│ ├── ...
├── work_dirs
│ ├── pretrained_ckpts
│ │ ├── maptracker_nusc_oldsplit_5frame_span10_stage3_joint_finetune
│ │ │ ├── latest.pth
│ │ ├── ...
│ ├── ....
├── datasets
│ ├── nuscenes
│ │ ├── maps <-- used
│ │ ├── samples <-- key frames
│ │ ├── v1.0-test <-- metadata
| | ├── v1.0-trainval <-- metadata and annotations
│ │ ├── nuscenes_map_infos_train_{newsplit}.pkl <-- train annotations
│ │ ├── nuscenes_map_infos_train_{newsplit}_gt_tracks.pkl <-- train gt tracks
│ │ ├── nuscenes_map_infos_val_{newsplit}.pkl <-- val annotations
│ │ ├── nuscenes_map_infos_val_{newsplit}_gt_trakcs.pkl <-- val gt tracks
│ ├── av2
│ │ ├── train
│ │ ├── val
│ │ ├── test
│ │ ├── maptrv2_val_samples_info.pkl <-- maptr's av2 metadata, used to align the val set
│ │ ├── av2_map_infos_train_{newsplit}.pkl <-- train annotations
│ │ ├── av2_map_infos_train_{newsplit}_gt_tracks.pkl <-- train gt tracks
│ │ ├── av2_map_infos_val_{newsplit}.pkl <-- val annotations
│ │ ├── av2_map_infos_val_{newsplit}_gt_trakcs.pkl <-- val gt tracks