From 9bb04cee8803d5f8479ae58197c21931c75b5613 Mon Sep 17 00:00:00 2001 From: Kok Seang Tan Date: Wed, 14 Jan 2026 16:08:31 +0900 Subject: [PATCH 1/5] Update docker installation commit for perception_evaluation --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index c5240c498..22d18f5ba 100644 --- a/Dockerfile +++ b/Dockerfile @@ -61,7 +61,7 @@ RUN python3 -m pip --no-cache-dir install \ RUN python3 -m pip install git+https://github.com/tier4/t4-devkit@v0.5.1 # Install autoware-perception-evaluation -RUN python3 -m pip install git+https://github.com/tier4/autoware_perception_evaluation@develop +RUN python3 -m pip install git+https://github.com/tier4/autoware_perception_evaluation@dd37a546352f953565033f1d4b8cb443df1232c59 # Need to dowgrade setuptools to 60.2.0 to fix setup RUN python3 -m pip --no-cache-dir install \ From 6d3a77e58ba4e0a923b7c9e568ae89e06d1be519 Mon Sep 17 00:00:00 2001 From: KokSeang Tan Date: Thu, 5 Mar 2026 18:33:57 +0900 Subject: [PATCH 2/5] Added --- .../second_secfpn_8xb16_121m_base_amp.py | 21 ++++++++++--------- .../t4dataset_converters/t4converter.py | 4 ++++ 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp.py index 3af2c9590..ee0a21741 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_base_amp.py @@ -42,7 +42,7 @@ # user setting data_root = "data/t4dataset/" -info_directory_path = "info/user_name/" +info_directory_path = "info/kokseang_2_6_1/" train_gpu_size = 8 train_batch_size = 16 test_batch_size = 2 @@ -50,7 +50,7 @@ val_interval = 5 max_epochs = 50 -experiment_group_name = "centerpoint/base/" + _base_.dataset_type +experiment_group_name = "centerpoint_2.6.1/base/" + _base_.dataset_type experiment_name = "second_secfpn_8xb16_121m_base_amp" work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name @@ -353,7 +353,8 @@ # learning rate # Since mmengine doesn't support OneCycleMomentum yet, we use CosineAnnealing from the default configs -lr = 0.0003 +# 0.0003 * sqrt(2) = 0.0004242 +lr = 0.00042 t_max = 15 param_scheduler = [ # learning rate scheduler @@ -439,13 +440,13 @@ dict(type="LocalVisBackend"), dict(type="TensorboardVisBackend"), # Update info accordingly - dict( - type="SafeMLflowVisBackend", - exp_name="(UserName) CenterPoint", - run_name="CenterPoint base", - tracking_uri="http://localhost:5000", - artifact_suffix=(), - ), + # dict( + # type="SafeMLflowVisBackend", + # exp_name="(UserName) CenterPoint", + # run_name="CenterPoint base", + # tracking_uri="http://localhost:5000", + # artifact_suffix=(), + # ), ] visualizer = dict(type="Det3DLocalVisualizer", vis_backends=vis_backends, name="visualizer") diff --git a/tools/detection3d/t4dataset_converters/t4converter.py b/tools/detection3d/t4dataset_converters/t4converter.py index 842b0f458..edb100b78 100644 --- a/tools/detection3d/t4dataset_converters/t4converter.py +++ b/tools/detection3d/t4dataset_converters/t4converter.py @@ -627,6 +627,10 @@ def get_lidarseg_annotations( if not hasattr(t4, "lidarseg") or not t4.lidarseg: return dict() + if sd_record.info_filename is None: + print(f"sample {lidar_token} doesn't have lidar info_filename") + return dict() + assert i < len(t4.lidarseg), "Index exceeds number of lidarseg records!" assert t4.lidarseg[i].sample_data_token == lidar_token, "Sample data token mismatch!" return dict( From 34311542a187be32cbd7eef6d1e492acdba0dcee Mon Sep 17 00:00:00 2001 From: KokSeang Tan Date: Wed, 18 Mar 2026 20:31:15 +0900 Subject: [PATCH 3/5] Added --- .../dataset/t4dataset/j6gen2_base.py | 4 +-- .../dataset/t4dataset/jpntaxi_base.py | 4 +-- ...econd_secfpn_8xb16_121m_j6gen2_base_amp.py | 23 ++++++------- ...cond_secfpn_8xb16_121m_jpntaxi_base_amp.py | 33 +++++++++++-------- ..._secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py | 2 +- 5 files changed, 36 insertions(+), 30 deletions(-) diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py index cc3a86d3e..f51488899 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/j6gen2_base.py @@ -33,8 +33,8 @@ ] dataset_test_groups = { - "largebus": ("t4dataset_largebus_infos_test.pkl", False), - "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", False), + # "largebus": ("t4dataset_largebus_infos_test.pkl", False), + # "j6gen2": ("t4dataset_j6gen2_infos_test.pkl", False), "j6gen2_base": ("t4dataset_j6gen2_base_infos_test.pkl", True), } diff --git a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py index 28ba4ab33..628a7fda7 100644 --- a/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py +++ b/autoware_ml/configs/detection3d/dataset/t4dataset/jpntaxi_base.py @@ -18,8 +18,8 @@ # dataset scene setting dataset_test_groups = { - "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", False), - "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", True), + "jpntaxi_gen2": ("t4dataset_jpntaxi_gen2_infos_test.pkl", True), + # "jpntaxi_base": ("t4dataset_jpntaxi_base_infos_test.pkl", True), } dataset_version_list = [ diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp.py index 281d133d7..9bf980292 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp.py @@ -42,7 +42,7 @@ # user setting data_root = "data/t4dataset/" -info_directory_path = "info/user_name/" +info_directory_path = "info/kokseang_2_6_1/" train_gpu_size = 8 train_batch_size = 16 test_batch_size = 2 @@ -50,7 +50,7 @@ val_interval = 1 max_epochs = 30 -experiment_group_name = "centerpoint/j6gen2_base/" + _base_.dataset_type +experiment_group_name = "centerpoint_2.6.2/j6gen2_base/" + _base_.dataset_type experiment_name = "second_secfpn_8xb16_121m_j6gen2_base_amp" work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name @@ -352,7 +352,8 @@ randomness = dict(seed=0, diff_rank_seed=False, deterministic=True) -lr = 3e-4 +# 0.0003 * sqrt(2) = 0.0004242 +lr = 0.00042 param_scheduler = [ # learning rate scheduler # During the first (max_epochs * 0.3) epochs, learning rate increases from 0 to lr * 10 @@ -437,13 +438,13 @@ dict(type="LocalVisBackend"), dict(type="TensorboardVisBackend"), # Update info accordingly - dict( - type="SafeMLflowVisBackend", - exp_name="(UserName) CenterPoint", - run_name="CenterPoint base", - tracking_uri="http://localhost:5000", - artifact_suffix=(), - ), + # dict( + # type="SafeMLflowVisBackend", + # exp_name="(UserName) CenterPoint", + # run_name="CenterPoint base", + # tracking_uri="http://localhost:5000", + # artifact_suffix=(), + # ), ] visualizer = dict(type="Det3DLocalVisualizer", vis_backends=vis_backends, name="visualizer") @@ -459,6 +460,6 @@ ] # Update the load_from path accordingly -load_from = "" +load_from = "work_dirs/centerpoint_2.6.1/base/T4Dataset/second_secfpn_8xb16_121m_base_amp_rfs/epoch_49.pth" activation_checkpointing = ["pts_backbone"] diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py index 5e7aa3992..3eb5f186d 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py @@ -42,7 +42,7 @@ # user setting data_root = "data/t4dataset/" -info_directory_path = "info/user_name/" +info_directory_path = "info/kokseang_2_6_1/" train_gpu_size = 8 train_batch_size = 16 test_batch_size = 2 @@ -50,7 +50,7 @@ val_interval = 1 max_epochs = 30 -experiment_group_name = "centerpoint/jpntaxi_base/" + _base_.dataset_type +experiment_group_name = "centerpoint_2.6.2/jpntaxi_base/" + _base_.dataset_type experiment_name = "second_secfpn_8xb16_121m_jpntaxi_base_amp" work_dir = "work_dirs/" + experiment_group_name + "/" + experiment_name @@ -81,9 +81,12 @@ ), dict( type="GlobalRotScaleTrans", - rot_range=[-1.571, 1.571], - scale_ratio_range=[0.80, 1.20], - translation_std=[1.0, 1.0, 0.2], + scale_ratio_range=[0.95, 1.05], + # scale_ratio_range=[0.98, 1.02], + rot_range=[-0.78539816, 0.78539816], + # rot_range=[-0.3926, 0.3926], + translation_std=[0.5, 0.5, 0.2], + # translation_std=[0.2, 0.2, 0.1], ), dict(type="PointsRangeFilter", point_cloud_range=point_cloud_range), dict(type="ObjectRangeFilter", point_cloud_range=point_cloud_range), @@ -356,7 +359,8 @@ randomness = dict(seed=0, diff_rank_seed=False, deterministic=True) -lr = 3e-4 +# 0.0003 * sqrt(2) = 0.0004242 +lr = 0.0003 param_scheduler = [ # learning rate scheduler # During the first (max_epochs * 0.3) epochs, learning rate increases from 0 to lr * 10 @@ -441,13 +445,13 @@ dict(type="LocalVisBackend"), dict(type="TensorboardVisBackend"), # Update info accordingly - dict( - type="SafeMLflowVisBackend", - exp_name="(UserName) CenterPoint", - run_name="CenterPoint base", - tracking_uri="http://localhost:5000", - artifact_suffix=(), - ), + # dict( + # type="SafeMLflowVisBackend", + # exp_name="(UserName) CenterPoint", + # run_name="CenterPoint base", + # tracking_uri="http://localhost:5000", + # artifact_suffix=(), + # ), ] visualizer = dict(type="Det3DLocalVisualizer", vis_backends=vis_backends, name="visualizer") @@ -463,6 +467,7 @@ ] # Update the load_from path accordingly -load_from = "" +# load_from = "" +load_from = "work_dirs/centerpoint_2.6.1/base/T4Dataset/second_secfpn_8xb16_121m_base_amp_rfs/epoch_49.pth" activation_checkpointing = ["pts_backbone"] diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py index 33841a787..d86cfea2d 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs.py @@ -3,7 +3,7 @@ ] # user setting -experiment_name = "second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs" +experiment_name = "second_secfpn_8xb16_121m_jpntaxi_base_amp_rfs_less_rotation_1e-3_lr" work_dir = "work_dirs/" + _base_.experiment_group_name + "/" + experiment_name train_frame_object_sampler = dict( From 8c1b3fc244fedd5a5acacb4b878b8bead61b8a9a Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 18 Mar 2026 11:32:44 +0000 Subject: [PATCH 4/5] ci(pre-commit): autofix --- .../Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py | 4 ++-- tools/detection3d/t4dataset_converters/t4converter.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py index 3eb5f186d..51792ea50 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py @@ -81,8 +81,8 @@ ), dict( type="GlobalRotScaleTrans", - scale_ratio_range=[0.95, 1.05], - # scale_ratio_range=[0.98, 1.02], + scale_ratio_range=[0.95, 1.05], + # scale_ratio_range=[0.98, 1.02], rot_range=[-0.78539816, 0.78539816], # rot_range=[-0.3926, 0.3926], translation_std=[0.5, 0.5, 0.2], diff --git a/tools/detection3d/t4dataset_converters/t4converter.py b/tools/detection3d/t4dataset_converters/t4converter.py index edb100b78..ccc88b2d1 100644 --- a/tools/detection3d/t4dataset_converters/t4converter.py +++ b/tools/detection3d/t4dataset_converters/t4converter.py @@ -627,7 +627,7 @@ def get_lidarseg_annotations( if not hasattr(t4, "lidarseg") or not t4.lidarseg: return dict() - if sd_record.info_filename is None: + if sd_record.info_filename is None: print(f"sample {lidar_token} doesn't have lidar info_filename") return dict() From e35c5d82086b814f942507301d3b6860f4516b36 Mon Sep 17 00:00:00 2001 From: KokSeang Tan Date: Thu, 19 Mar 2026 20:43:13 +0900 Subject: [PATCH 5/5] Added --- .../Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py index 3eb5f186d..2d83d1f04 100644 --- a/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py +++ b/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_jpntaxi_base_amp.py @@ -82,11 +82,8 @@ dict( type="GlobalRotScaleTrans", scale_ratio_range=[0.95, 1.05], - # scale_ratio_range=[0.98, 1.02], rot_range=[-0.78539816, 0.78539816], - # rot_range=[-0.3926, 0.3926], translation_std=[0.5, 0.5, 0.2], - # translation_std=[0.2, 0.2, 0.1], ), dict(type="PointsRangeFilter", point_cloud_range=point_cloud_range), dict(type="ObjectRangeFilter", point_cloud_range=point_cloud_range), @@ -360,7 +357,7 @@ randomness = dict(seed=0, diff_rank_seed=False, deterministic=True) # 0.0003 * sqrt(2) = 0.0004242 -lr = 0.0003 +lr = 0.00042 param_scheduler = [ # learning rate scheduler # During the first (max_epochs * 0.3) epochs, learning rate increases from 0 to lr * 10