The waymo_detzero_track.yaml configuration file was used in the tracking stage, and the POINT THRESHOLD of the SECOND STAGE was modified to [3, 1, 1], which was consistent with the paper, but no trace was captured.

[Winston-Lii]

Error as described above, default setting of POINT THRESHOLD is [0, 0, 0] in github code, which is inconsist with paper and unreasonable, This results in a large number of Bboxes with no internal point cloud. But when change it to [3, 1, 1], there is no track be tracked.

[PrinceVictor]

• The default setting of POINT THRESHOLD = [0, 0, 0] is to avoid computing numbers of points within detection boxes, which would consume a significant amount of time.
• If you set POINT THRESHOLD to [3, 1, 1], please uncomment the line 12 in waymo_dataset.yaml to enable preprocess module 'points_in_box'.

[Winston-Lii]

• The default setting of POINT THRESHOLD = [0, 0, 0] is to avoid computing numbers of points within detection boxes, which would consume a significant amount of time.
• If you set POINT THRESHOLD to [3, 1, 1], please uncomment the line 12 in waymo_dataset.yaml to enable preprocess module 'points_in_box'.

OK, thank you for your reply.