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nuScenes Inference

Data Preprocessing

Please follow the command at Data Preprocessing Documentations. After data preprocessing, the directories to the preprocessed data are nuscenes2hz_data_dir and nuscenes20hz_data_dir for the key-frame and all-frame data of nuScenes.

Inference with SimpleTrack

Important: Please strictly follow the config file we use.

For the setting of inference only on key frames (2Hz), run the following command. The per-sequence results are then saved in the ${nuscenes_result_dir}/SimpleTrack2Hz/summary, with subfolders of the types of the objects containing the results for each type.

python tools/main_nuscenes.py \
    --name SimpleTrack2Hz \
    --det_name ${det_name} \
    --config_path configs/nu_configs/giou.yaml \
    --result_folder ${nuscenes_result_dir} \
    --data_folder ${nuscenes2hz_data_dir} \
    --process ${proc_num}

For the 10Hz settings proposed in the paper, run the following commands. The per-sequence results are then saved in the ${nuscenes_result_dir}/SimpleTrack20Hz/summary.

python tools/main_nuscenes_10hz.py \
    --name SimpleTrack10Hz \
    --det_name ${det_name} \
    --config_path configs/nu_configs/giou.yaml \
    --result_folder ${nuscenes_result_dir} \
    --data_folder ${nuscenes20hz_data_dir} \
    --process ${proc_num}

I use the process number of 150 in my experiments, which is the same as the number of sequences in nuScenes validation set.

Output Format

In the folder of ${nuscenes_result_dir}/SimpleTrack/summary/, there are sub-folders corresponding to each object type in nuScenes. Inside each sub-folder, there are 150 .npz files, matching the 150 sequences in the nuScenes validation set. For the format in each .npz file, please refer to Output Format.

Converting to nuScenes Format

Use the following command to convert the output results in the SimpleTrack format into the .json format specified by the nuScenes officials. After running the following commands, there will the tracking results in .json formats in ${nuscenes_result_dir}/SimpleTrack2Hz/results and ${nuscenes_result_dir}/SimpleTrack10Hz/results.

For the setting of 2Hz, which only inferences on the key frames, run the following commands.

python tools/nuscenes_result_creation.py \
    --name SimpleTrack2Hz \
    --result_folder ${nuscenes_result_dir} \
    --data_folder ${nuscenes2hz_data_dir}

python tools/nuscenes_type_merge.py \
    --name SimpleTrack2Hz \
    --result_folder ${nuscenes_result_dir}

For the setting of 10Hz, run the following commands.

python tools/nuscenes_result_creation_10hz.py \
    --name SimpleTrack10Hz \
    --result_folder ${nuscenes_result_dir} \
    --data_folder ${nuscenes20hz_data_dir}

python tools/nuscenes_type_merge.py \
    --name SimpleTrack10Hz \
    --result_folder ${nuscenes_result_dir}

Files and Detailed Metrics

Please see Dropbox Link.