python train.py --cfg_file cfgs/kitti_models/pointpillar.yaml
2023-09-25 20:24:53,508 INFO **********************Start logging**********************
2023-09-25 20:24:53,508 INFO CUDA_VISIBLE_DEVICES=ALL
2023-09-25 20:24:53,508 INFO Training with a single process
2023-09-25 20:24:53,508 INFO cfg_file cfgs/kitti_models/pointpillar.yaml
2023-09-25 20:24:53,508 INFO batch_size 4
2023-09-25 20:24:53,508 INFO epochs 2
2023-09-25 20:24:53,508 INFO workers 4
2023-09-25 20:24:53,508 INFO extra_tag default
2023-09-25 20:24:53,509 INFO ckpt None
2023-09-25 20:24:53,509 INFO pretrained_model None
2023-09-25 20:24:53,509 INFO launcher none
2023-09-25 20:24:53,509 INFO tcp_port 8
2023-09-25 20:24:53,509 INFO sync_bn False
2023-09-25 20:24:53,509 INFO fix_random_seed False
2023-09-25 20:24:53,509 INFO ckpt_save_interval 1
2023-09-25 20:24:53,509 INFO local_rank 0
2023-09-25 20:24:53,509 INFO max_ckpt_save_num 3
2023-09-25 20:24:53,509 INFO merge_all_iters_to_one_epoch False
2023-09-25 20:24:53,509 INFO set_cfgs None
2023-09-25 20:24:53,509 INFO max_waiting_mins 0
2023-09-25 20:24:53,509 INFO start_epoch 0
2023-09-25 20:24:53,509 INFO num_epochs_to_eval 0
2023-09-25 20:24:53,509 INFO save_to_file False
2023-09-25 20:24:53,509 INFO use_tqdm_to_record False
2023-09-25 20:24:53,509 INFO logger_iter_interval 5
2023-09-25 20:24:53,509 INFO ckpt_save_time_interval 3
2023-09-25 20:24:53,509 INFO wo_gpu_stat False
2023-09-25 20:24:53,509 INFO use_amp False
2023-09-25 20:24:53,509 INFO cfg.ROOT_DIR: /home/fyy/OpenPCDet-master
2023-09-25 20:24:53,509 INFO cfg.LOCAL_RANK: 0
2023-09-25 20:24:53,509 INFO cfg.CLASS_NAMES: ['Car', 'Pedestrian', 'Cyclist']
2023-09-25 20:24:53,509 INFO ----------- DATA_CONFIG -----------
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.DATASET: KittiDataset
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.DATA_PATH: ../data/kitti
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.POINT_CLOUD_RANGE: [0, -39.68, -3, 69.12, 39.68, 1]
2023-09-25 20:24:53,509 INFO ----------- DATA_SPLIT -----------
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.DATA_SPLIT.train: train
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.DATA_SPLIT.test: val
2023-09-25 20:24:53,509 INFO ----------- INFO_PATH -----------
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.INFO_PATH.train: ['kitti_infos_train.pkl']
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.INFO_PATH.test: ['kitti_infos_val.pkl']
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.GET_ITEM_LIST: ['points']
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.FOV_POINTS_ONLY: True
2023-09-25 20:24:53,509 INFO ----------- DATA_AUGMENTOR -----------
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR.DISABLE_AUG_LIST: ['placeholder']
2023-09-25 20:24:53,509 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:15', 'Pedestrian:15', 'Cyclist:15'], 'NUM_POINT_FEATURES': 4, 'DATABASE_WITH_FAKELIDAR': False, 'REMOVE_EXTRA_WIDTH': [0.0, 0.0, 0.0], 'LIMIT_WHOLE_SCENE': False}, {'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]}]
2023-09-25 20:24:53,509 INFO ----------- POINT_FEATURE_ENCODING -----------
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.encoding_type: absolute_coordinates_encoding
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.used_feature_list: ['x', 'y', 'z', 'intensity']
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.src_feature_list: ['x', 'y', 'z', 'intensity']
2023-09-25 20:24:53,509 INFO cfg.DATA_CONFIG.DATA_PROCESSOR: [{'NAME': 'mask_points_and_boxes_outside_range', 'REMOVE_OUTSIDE_BOXES': True}, {'NAME': 'shuffle_points', 'SHUFFLE_ENABLED': {'train': True, 'test': False}}, {'NAME': 'transform_points_to_voxels', 'VOXEL_SIZE': [0.16, 0.16, 4], 'MAX_POINTS_PER_VOXEL': 32, 'MAX_NUMBER_OF_VOXELS': {'train': 16000, 'test': 40000}}]
2023-09-25 20:24:53,510 INFO cfg.DATA_CONFIG._BASE_CONFIG_: cfgs/dataset_configs/kitti_dataset.yaml
2023-09-25 20:24:53,510 INFO ----------- MODEL -----------
2023-09-25 20:24:53,510 INFO cfg.MODEL.NAME: PointPillar
2023-09-25 20:24:53,510 INFO ----------- VFE -----------
2023-09-25 20:24:53,510 INFO cfg.MODEL.VFE.NAME: PillarVFE
2023-09-25 20:24:53,510 INFO cfg.MODEL.VFE.WITH_DISTANCE: False
2023-09-25 20:24:53,510 INFO cfg.MODEL.VFE.USE_ABSLOTE_XYZ: True
2023-09-25 20:24:53,510 INFO cfg.MODEL.VFE.USE_NORM: True
2023-09-25 20:24:53,510 INFO cfg.MODEL.VFE.NUM_FILTERS: [64]
2023-09-25 20:24:53,510 INFO ----------- MAP_TO_BEV -----------
2023-09-25 20:24:53,510 INFO cfg.MODEL.MAP_TO_BEV.NAME: PointPillarScatter
2023-09-25 20:24:53,510 INFO cfg.MODEL.MAP_TO_BEV.NUM_BEV_FEATURES: 64
2023-09-25 20:24:53,510 INFO ----------- BACKBONE_2D -----------
2023-09-25 20:24:53,510 INFO cfg.MODEL.BACKBONE_2D.NAME: BaseBEVBackbone
2023-09-25 20:24:53,510 INFO cfg.MODEL.BACKBONE_2D.LAYER_NUMS: [3, 5, 5]
2023-09-25 20:24:53,511 INFO cfg.MODEL.BACKBONE_2D.LAYER_STRIDES: [2, 2, 2]
2023-09-25 20:24:53,511 INFO cfg.MODEL.BACKBONE_2D.NUM_FILTERS: [64, 128, 256]
2023-09-25 20:24:53,511 INFO cfg.MODEL.BACKBONE_2D.UPSAMPLE_STRIDES: [1, 2, 4]
2023-09-25 20:24:53,511 INFO cfg.MODEL.BACKBONE_2D.NUM_UPSAMPLE_FILTERS: [128, 128, 128]
2023-09-25 20:24:53,511 INFO ----------- DENSE_HEAD -----------
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.NAME: AnchorHeadSingle
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.CLASS_AGNOSTIC: False
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.USE_DIRECTION_CLASSIFIER: True
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.DIR_OFFSET: 0.78539
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.DIR_LIMIT_OFFSET: 0.0
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.NUM_DIR_BINS: 2
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.ANCHOR_GENERATOR_CONFIG: [{'class_name': 'Car', 'anchor_sizes': [[3.9, 1.6, 1.56]], 'anchor_rotations': [0, 1.57], 'anchor_bottom_heights': [-1.78], 'align_center': False, 'feature_map_stride': 2, 'matched_threshold': 0.6, 'unmatched_threshold': 0.45}, {'class_name': 'Pedestrian', 'anchor_sizes': [[0.8, 0.6, 1.73]], 'anchor_rotations': [0, 1.57], 'anchor_bottom_heights': [-0.6], 'align_center': False, 'feature_map_stride': 2, 'matched_threshold': 0.5, 'unmatched_threshold': 0.35}, {'class_name': 'Cyclist', 'anchor_sizes': [[1.76, 0.6, 1.73]], 'anchor_rotations': [0, 1.57], 'anchor_bottom_heights': [-0.6], 'align_center': False, 'feature_map_stride': 2, 'matched_threshold': 0.5, 'unmatched_threshold': 0.35}]
2023-09-25 20:24:53,511 INFO ----------- TARGET_ASSIGNER_CONFIG -----------
2023-09-25 20:24:53,511 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.NAME: AxisAlignedTargetAssigner
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.POS_FRACTION: -1.0
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.SAMPLE_SIZE: 512
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.NORM_BY_NUM_EXAMPLES: False
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.MATCH_HEIGHT: False
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.TARGET_ASSIGNER_CONFIG.BOX_CODER: ResidualCoder
2023-09-25 20:24:53,512 INFO ----------- LOSS_CONFIG -----------
2023-09-25 20:24:53,512 INFO ----------- LOSS_WEIGHTS -----------
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.cls_weight: 1.0
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.loc_weight: 2.0
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.dir_weight: 0.2
2023-09-25 20:24:53,512 INFO cfg.MODEL.DENSE_HEAD.LOSS_CONFIG.LOSS_WEIGHTS.code_weights: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
2023-09-25 20:24:53,512 INFO ----------- POST_PROCESSING -----------
2023-09-25 20:24:53,512 INFO cfg.MODEL.POST_PROCESSING.RECALL_THRESH_LIST: [0.3, 0.5, 0.7]
2023-09-25 20:24:53,512 INFO cfg.MODEL.POST_PROCESSING.SCORE_THRESH: 0.1
2023-09-25 20:24:53,512 INFO cfg.MODEL.POST_PROCESSING.OUTPUT_RAW_SCORE: False
2023-09-25 20:24:53,513 INFO cfg.MODEL.POST_PROCESSING.EVAL_METRIC: kitti
2023-09-25 20:24:53,513 INFO ----------- NMS_CONFIG -----------
2023-09-25 20:24:53,513 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.MULTI_CLASSES_NMS: False
2023-09-25 20:24:53,513 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_TYPE: nms_gpu
2023-09-25 20:24:53,513 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_THRESH: 0.01
2023-09-25 20:24:53,513 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_PRE_MAXSIZE: 4096
2023-09-25 20:24:53,513 INFO cfg.MODEL.POST_PROCESSING.NMS_CONFIG.NMS_POST_MAXSIZE: 500
2023-09-25 20:24:53,513 INFO ----------- OPTIMIZATION -----------
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.BATCH_SIZE_PER_GPU: 4
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.NUM_EPOCHS: 2
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.OPTIMIZER: adam_onecycle
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.LR: 0.003
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.WEIGHT_DECAY: 0.01
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.MOMENTUM: 0.9
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.MOMS: [0.95, 0.85]
2023-09-25 20:24:53,513 INFO cfg.OPTIMIZATION.PCT_START: 0.4
2023-09-25 20:24:53,514 INFO cfg.OPTIMIZATION.DIV_FACTOR: 10
2023-09-25 20:24:53,514 INFO cfg.OPTIMIZATION.DECAY_STEP_LIST: [35, 45]
2023-09-25 20:24:53,514 INFO cfg.OPTIMIZATION.LR_DECAY: 0.1
2023-09-25 20:24:53,514 INFO cfg.OPTIMIZATION.LR_CLIP: 1e-07
2023-09-25 20:24:53,514 INFO cfg.OPTIMIZATION.LR_WARMUP: False
2023-09-25 20:24:53,514 INFO cfg.OPTIMIZATION.WARMUP_EPOCH: 1
2023-09-25 20:24:53,514 INFO cfg.OPTIMIZATION.GRAD_NORM_CLIP: 10
2023-09-25 20:24:53,514 INFO cfg.TAG: pointpillar
2023-09-25 20:24:53,514 INFO cfg.EXP_GROUP_PATH: kitti_models
2023-09-25 20:24:53,539 INFO ----------- Create dataloader & network & optimizer -----------
2023-09-25 20:24:53,607 INFO Database filter by min points Car: 188 => 177
2023-09-25 20:24:53,607 INFO Database filter by min points Pedestrian: 24 => 24
2023-09-25 20:24:53,607 INFO Database filter by min points Cyclist: 9 => 9
2023-09-25 20:24:53,647 INFO Database filter by difficulty Car: 177 => 137
2023-09-25 20:24:53,647 INFO Database filter by difficulty Pedestrian: 24 => 23
2023-09-25 20:24:53,647 INFO Database filter by difficulty Cyclist: 9 => 8
2023-09-25 20:24:53,686 INFO Loading KITTI dataset
2023-09-25 20:24:53,715 INFO Total samples for KITTI dataset: 57