-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathquick_inference.txt
220 lines (219 loc) · 14.4 KB
/
quick_inference.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
2022-03-24 03:44:06,835 INFO **********************Start logging**********************
2022-03-24 03:44:06,836 INFO CUDA_VISIBLE_DEVICES=ALL
2022-03-24 03:44:06,836 INFO cfg_file cfgs/kitti_models/IA-SSD.yaml
2022-03-24 03:44:06,836 INFO batch_size 16
2022-03-24 03:44:06,836 INFO workers 4
2022-03-24 03:44:06,836 INFO extra_tag default
2022-03-24 03:44:06,836 INFO ckpt IA-SSD.pth
2022-03-24 03:44:06,836 INFO launcher none
2022-03-24 03:44:06,836 INFO tcp_port 18888
2022-03-24 03:44:06,836 INFO local_rank 0
2022-03-24 03:44:06,836 INFO set_cfgs ['MODEL.POST_PROCESSING.RECALL_MODE', 'speed']
2022-03-24 03:44:06,836 INFO max_waiting_mins 30
2022-03-24 03:44:06,836 INFO start_epoch 0
2022-03-24 03:44:06,836 INFO eval_tag default
2022-03-24 03:44:06,836 INFO eval_all False
2022-03-24 03:44:06,836 INFO ckpt_dir None
2022-03-24 03:44:06,836 INFO save_to_file False
2022-03-24 03:44:06,836 INFO cfg.ROOT_DIR: /home/yifan/Programs/IA-SSD
2022-03-24 03:44:06,836 INFO cfg.LOCAL_RANK: 0
2022-03-24 03:44:06,836 INFO cfg.CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
2022-03-24 03:44:06,836 INFO
cfg.DATA_CONFIG = edict()
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.DATASET: KittiDataset
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.DATA_PATH: ../data/kitti
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.POINT_CLOUD_RANGE: [0, -40, -3, 70.4, 40, 1]
2022-03-24 03:44:06,836 INFO
cfg.DATA_CONFIG.DATA_SPLIT = edict()
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.DATA_SPLIT.train: train
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.DATA_SPLIT.test: val
2022-03-24 03:44:06,836 INFO
cfg.DATA_CONFIG.INFO_PATH = edict()
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.INFO_PATH.train: ['kitti_infos_train.pkl']
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.INFO_PATH.test: ['kitti_infos_val.pkl']
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.GET_ITEM_LIST: ['points']
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.FOV_POINTS_ONLY: True
2022-03-24 03:44:06,836 INFO
cfg.DATA_CONFIG.DATA_AUGMENTOR = edict()
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR.DISABLE_AUG_LIST: ['placeholder']
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR.AUG_CONFIG_LIST: [{'NAME': 'gt_sampling', 'USE_ROAD_PLANE': True, 'DB_INFO_PATH': ['kitti_dbinfos_train.pkl'], 'PREPARE': {'filter_by_min_points': ['Car:5', 'Pedestrian:5', 'Cyclist:5'], 'filter_by_difficulty': [-1]}, 'SAMPLE_GROUPS': ['Car:20', 'Pedestrian:15', 'Cyclist:15'], 'NUM_POINT_FEATURES': 4, 'DATABASE_WITH_FAKELIDAR': False, 'REMOVE_EXTRA_WIDTH': [0.0, 0.0, 0.0], 'LIMIT_WHOLE_SCENE': True}, {'NAME': 'random_world_flip', 'ALONG_AXIS_LIST': ['x']}, {'NAME': 'random_world_rotation', 'WORLD_ROT_ANGLE': [-0.78539816, 0.78539816]}, {'NAME': 'random_world_scaling', 'WORLD_SCALE_RANGE': [0.95, 1.05]}]
2022-03-24 03:44:06,836 INFO
cfg.DATA_CONFIG.POINT_FEATURE_ENCODING = edict()
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.encoding_type: absolute_coordinates_encoding
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.used_feature_list: ['x', 'y', 'z', 'intensity']
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.src_feature_list: ['x', 'y', 'z', 'intensity']
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG.DATA_PROCESSOR: [{'NAME': 'mask_points_and_boxes_outside_range', 'REMOVE_OUTSIDE_BOXES': True}, {'NAME': 'sample_points', 'NUM_POINTS': {'train': 16384, 'test': 16384}}, {'NAME': 'shuffle_points', 'SHUFFLE_ENABLED': {'train': True, 'test': False}}]
2022-03-24 03:44:06,836 INFO cfg.DATA_CONFIG._BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
2022-03-24 03:44:06,836 INFO
cfg.MODEL = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.NAME: IASSD
2022-03-24 03:44:06,837 INFO
cfg.MODEL.BACKBONE_3D = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.NAME: IASSD_Backbone
2022-03-24 03:44:06,837 INFO
cfg.MODEL.BACKBONE_3D.SA_CONFIG = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.NPOINT_LIST: [[4096], [1024], [512], [256], [-1], [256]]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.SAMPLE_RANGE_LIST: [[-1], [-1], [-1], [-1], [-1], [-1]]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.SAMPLE_METHOD_LIST: [['D-FPS'], ['D-FPS'], ['ctr_aware'], ['ctr_aware'], [], []]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.RADIUS_LIST: [[0.2, 0.8], [0.8, 1.6], [1.6, 4.8], [], [], [4.8, 6.4]]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.NSAMPLE_LIST: [[16, 32], [16, 32], [16, 32], [], [], [16, 32]]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.MLPS: [[[16, 16, 32], [32, 32, 64]], [[64, 64, 128], [64, 96, 128]], [[128, 128, 256], [128, 256, 256]], [], [128], [[256, 256, 512], [256, 512, 1024]]]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.LAYER_TYPE: ['SA_Layer', 'SA_Layer', 'SA_Layer', 'SA_Layer', 'Vote_Layer', 'SA_Layer']
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.DILATED_GROUP: [False, False, False, False, False, False]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.AGGREGATION_MLPS: [[64], [128], [256], [256], [], [512]]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.CONFIDENCE_MLPS: [[], [128], [256], [], [], []]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.LAYER_INPUT: [0, 1, 2, 3, 4, 3]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.CTR_INDEX: [-1, -1, -1, -1, -1, 5]
2022-03-24 03:44:06,837 INFO cfg.MODEL.BACKBONE_3D.SA_CONFIG.MAX_TRANSLATE_RANGE: [3.0, 3.0, 2.0]
2022-03-24 03:44:06,837 INFO
cfg.MODEL.POINT_HEAD = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.NAME: IASSD_Head
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.CLS_FC: [256, 256]
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.REG_FC: [256, 256]
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.CLASS_AGNOSTIC: False
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.USE_POINT_FEATURES_BEFORE_FUSION: False
2022-03-24 03:44:06,837 INFO
cfg.MODEL.POINT_HEAD.TARGET_CONFIG = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.INS_AWARE_ASSIGN: True
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.GT_EXTRA_WIDTH: [0.2, 0.2, 0.2]
2022-03-24 03:44:06,837 INFO
cfg.MODEL.POINT_HEAD.TARGET_CONFIG.ASSIGN_METHOD = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.ASSIGN_METHOD.NAME: extend_gt
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.ASSIGN_METHOD.ASSIGN_TYPE: centers_origin
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.ASSIGN_METHOD.EXTRA_WIDTH: [1.0, 1.0, 1.0]
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.ASSIGN_METHOD.FG_PC_IGNORE: False
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.BOX_CODER: PointResidual_BinOri_Coder
2022-03-24 03:44:06,837 INFO
cfg.MODEL.POINT_HEAD.TARGET_CONFIG.BOX_CODER_CONFIG = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.BOX_CODER_CONFIG.angle_bin_num: 12
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.BOX_CODER_CONFIG.use_mean_size: True
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.TARGET_CONFIG.BOX_CODER_CONFIG.mean_size: [[3.9, 1.6, 1.56], [0.8, 0.6, 1.73], [1.76, 0.6, 1.73]]
2022-03-24 03:44:06,837 INFO
cfg.MODEL.POINT_HEAD.LOSS_CONFIG = edict()
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_CLS: WeightedCrossEntropy
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_REG: WeightedSmoothL1Loss
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_INS: WeightedCrossEntropy
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.SAMPLE_METHOD_LIST: [['D-FPS'], ['D-FPS'], ['ctr_aware'], ['ctr_aware'], [], []]
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_VOTE_TYPE: none
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.CORNER_LOSS_REGULARIZATION: True
2022-03-24 03:44:06,837 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.CENTERNESS_REGULARIZATION: True
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.CENTERNESS_REGULARIZATION_SA: True
2022-03-24 03:44:06,838 INFO
cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS = edict()
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.ins_aware_weight: [0, 1.0, 1.0]
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.vote_weight: 1.0
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.point_cls_weight: 1.0
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.point_box_weight: 1.0
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.corner_weight: 1.0
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.code_weights: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
2022-03-24 03:44:06,838 INFO cfg.MODEL.POINT_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.dir_weight: 0.2
2022-03-24 03:44:06,838 INFO
cfg.MODEL.POST_PROCESSING = edict()
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.RECALL_MODE: speed
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.SCORE_THRESH: 0.1
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.OUTPUT_RAW_SCORE: False
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.EVAL_METRIC: kitti
2022-03-24 03:44:06,838 INFO
cfg.MODEL.POST_PROCESSING.NMS_CONFIG = edict()
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.MULTI_CLASSES_NMS: False
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_TYPE: nms_gpu
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_THRESH: 0.01
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_PRE_MAXSIZE: 4096
2022-03-24 03:44:06,838 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_POST_MAXSIZE: 500
2022-03-24 03:44:06,838 INFO
cfg.OPTIMIZATION = edict()
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.BATCH_SIZE_PER_GPU: 4
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.NUM_EPOCHS: 80
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.OPTIMIZER: adam_onecycle
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.LR: 0.01
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.WEIGHT_DECAY: 0.01
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.MOMENTUM: 0.9
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.MOMS: [0.95, 0.85]
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.PCT_START: 0.4
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.DIV_FACTOR: 10
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.DECAY_STEP_LIST: [35, 45]
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.LR_DECAY: 0.1
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.LR_CLIP: 1e-07
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.LR_WARMUP: False
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.WARMUP_EPOCH: 1
2022-03-24 03:44:06,838 INFO cfg.OPTIMIZATION.GRAD_NORM_CLIP: 10
2022-03-24 03:44:06,838 INFO cfg.TAG: IA-SSD
2022-03-24 03:44:06,838 INFO cfg.EXP_GROUP_PATH: kitti_models
2022-03-24 03:44:06,839 INFO Loading KITTI dataset
2022-03-24 03:44:06,969 INFO Total samples for KITTI dataset: 3769
2022-03-24 03:44:08,486 INFO ==> Loading parameters from checkpoint IA-SSD.pth to GPU
2022-03-24 03:44:08,490 INFO ==> Checkpoint trained from version: pcdet+0.5.2+3d6c1ef
2022-03-24 03:44:08,522 INFO ==> Done (loaded 221/221)
2022-03-24 03:44:08,528 INFO *************** EPOCH no_number EVALUATION *****************
2022-03-24 03:44:53,499 INFO *************** Performance of EPOCH no_number *****************
2022-03-24 03:44:53,499 INFO Generate label finished(sec_per_example: 0.0119 second).
2022-03-24 03:44:53,499 INFO recall_roi_0.3: 0.000000
2022-03-24 03:44:53,499 INFO recall_rcnn_0.3: 0.000000
2022-03-24 03:44:53,499 INFO recall_roi_0.5: 0.000000
2022-03-24 03:44:53,499 INFO recall_rcnn_0.5: 0.000000
2022-03-24 03:44:53,499 INFO recall_roi_0.7: 0.000000
2022-03-24 03:44:53,499 INFO recall_rcnn_0.7: 0.000000
2022-03-24 03:44:53,502 INFO Average predicted number of objects(3769 samples): 7.735
2022-03-24 03:45:18,669 INFO Car [email protected], 0.70, 0.70:
bbox AP:96.4014, 90.1601, 89.4433
bev AP:90.3880, 88.7087, 86.7245
3d AP:89.4686, 79.5601, 78.4456
aos AP:96.36, 90.07, 89.27
Car [email protected], 0.70, 0.70:
bbox AP:97.9318, 95.2306, 92.6986
bev AP:94.8646, 91.1780, 88.7252
3d AP:91.8687, 83.4215, 80.3901
aos AP:97.90, 95.11, 92.49
Car [email protected], 0.50, 0.50:
bbox AP:96.4014, 90.1601, 89.4433
bev AP:96.5538, 90.2454, 89.7374
3d AP:96.4992, 90.2306, 89.6941
aos AP:96.36, 90.07, 89.27
Car [email protected], 0.50, 0.50:
bbox AP:97.9318, 95.2306, 92.6986
bev AP:98.0430, 95.6010, 94.9939
3d AP:98.0113, 95.5462, 94.8666
aos AP:97.90, 95.11, 92.49
Pedestrian [email protected], 0.50, 0.50:
bbox AP:71.7005, 69.1174, 63.6240
bev AP:67.4771, 61.4352, 56.8311
3d AP:62.3764, 57.0564, 51.4625
aos AP:66.24, 63.35, 58.28
Pedestrian [email protected], 0.50, 0.50:
bbox AP:72.5850, 69.3628, 64.8827
bev AP:67.1904, 61.9465, 55.9378
3d AP:61.7203, 55.8031, 50.8575
aos AP:66.30, 62.72, 58.37
Pedestrian [email protected], 0.25, 0.25:
bbox AP:71.7005, 69.1174, 63.6240
bev AP:81.2598, 77.5839, 72.8308
3d AP:81.2277, 77.5279, 72.6325
aos AP:66.24, 63.35, 58.28
Pedestrian [email protected], 0.25, 0.25:
bbox AP:72.5850, 69.3628, 64.8827
bev AP:82.4582, 78.9957, 74.4619
3d AP:82.4264, 78.9272, 73.5677
aos AP:66.30, 62.72, 58.37
Cyclist [email protected], 0.50, 0.50:
bbox AP:95.8926, 77.6564, 76.0060
bev AP:88.0179, 74.1837, 71.2950
3d AP:86.6539, 71.4028, 66.1070
aos AP:95.70, 77.26, 75.57
Cyclist [email protected], 0.50, 0.50:
bbox AP:96.7458, 80.4641, 77.0962
bev AP:93.2066, 75.6620, 72.1965
3d AP:91.4923, 71.8465, 67.6034
aos AP:96.54, 80.01, 76.61
Cyclist [email protected], 0.25, 0.25:
bbox AP:95.8926, 77.6564, 76.0060
bev AP:94.6056, 75.6408, 73.7898
3d AP:94.6056, 75.6408, 73.7898
aos AP:95.70, 77.26, 75.57
Cyclist [email protected], 0.25, 0.25:
bbox AP:96.7458, 80.4641, 77.0962
bev AP:95.6718, 78.0718, 74.7331
3d AP:95.6718, 78.0718, 74.7331
aos AP:96.54, 80.01, 76.61
2022-03-24 03:45:18,677 INFO Result is save to /home/yifan/Programs/IA-SSD/output/kitti_models/IA-SSD/default/eval/epoch_no_number/val/default
2022-03-24 03:45:18,677 INFO ****************Evaluation done.*****************