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fundamentalvision / BEVFormer

[ECCV 2022] This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.
https://arxiv.org/abs/2203.17270
Apache License 2.0
3.4k stars 550 forks source link

tiny训练的效果非常差 帮忙看看 #229

Open iweey opened 8 months ago

iweey commented 8 months ago

2024-03-06 16:33:19,710 - mmdet - INFO - Epoch(val) [3][81] pts_bbox_NuScenes/car_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/car_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/car_AP_dist_2.0: 0.0006, pts_bbox_NuScenes/car_AP_dist_4.0: 0.0557, pts_bbox_NuScenes/car_trans_err: 1.3341, pts_bbox_NuScenes/car_scale_err: 0.3603, pts_bbox_NuScenes/car_orient_err: 1.5913, pts_bbox_NuScenes/car_vel_err: 0.4520, pts_bbox_NuScenes/car_attr_err: 0.0984, pts_bbox_NuScenes/mATE: 1.1038, pts_bbox_NuScenes/mASE: 0.8723, pts_bbox_NuScenes/mAOE: 1.1331, pts_bbox_NuScenes/mAVE: 0.8779, pts_bbox_NuScenes/mAAE: 0.8529, pts_bbox_NuScenes/truck_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/truck_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/truck_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/truck_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/truck_trans_err: 1.0000, pts_bbox_NuScenes/truck_scale_err: 1.0000, pts_bbox_NuScenes/truck_orient_err: 1.0000, pts_bbox_NuScenes/truck_vel_err: 1.0000, pts_bbox_NuScenes/truck_attr_err: 1.0000, pts_bbox_NuScenes/construction_vehicle_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/construction_vehicle_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/construction_vehicle_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/construction_vehicle_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/construction_vehicle_trans_err: 1.0000, pts_bbox_NuScenes/construction_vehicle_scale_err: 1.0000, pts_bbox_NuScenes/construction_vehicle_orient_err: 1.0000, pts_bbox_NuScenes/construction_vehicle_vel_err: 1.0000, pts_bbox_NuScenes/construction_vehicle_attr_err: 1.0000, pts_bbox_NuScenes/bus_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/bus_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/bus_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/bus_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/bus_trans_err: 1.0000, pts_bbox_NuScenes/bus_scale_err: 1.0000, pts_bbox_NuScenes/bus_orient_err: 1.0000, pts_bbox_NuScenes/bus_vel_err: 1.0000, pts_bbox_NuScenes/bus_attr_err: 1.0000, pts_bbox_NuScenes/trailer_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/trailer_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/trailer_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/trailer_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/trailer_trans_err: 1.0000, pts_bbox_NuScenes/trailer_scale_err: 1.0000, pts_bbox_NuScenes/trailer_orient_err: 1.0000, pts_bbox_NuScenes/trailer_vel_err: 1.0000, pts_bbox_NuScenes/trailer_attr_err: 1.0000, pts_bbox_NuScenes/barrier_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/barrier_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/barrier_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/barrier_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/barrier_trans_err: 1.0000, pts_bbox_NuScenes/barrier_scale_err: 1.0000, pts_bbox_NuScenes/barrier_orient_err: 1.0000, pts_bbox_NuScenes/barrier_vel_err: nan, pts_bbox_NuScenes/barrier_attr_err: nan, pts_bbox_NuScenes/motorcycle_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/motorcycle_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/motorcycle_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/motorcycle_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/motorcycle_trans_err: 1.0000, pts_bbox_NuScenes/motorcycle_scale_err: 1.0000, pts_bbox_NuScenes/motorcycle_orient_err: 1.0000, pts_bbox_NuScenes/motorcycle_vel_err: 1.0000, pts_bbox_NuScenes/motorcycle_attr_err: 1.0000, pts_bbox_NuScenes/bicycle_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/bicycle_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/bicycle_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/bicycle_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/bicycle_trans_err: 1.0000, pts_bbox_NuScenes/bicycle_scale_err: 1.0000, pts_bbox_NuScenes/bicycle_orient_err: 1.0000, pts_bbox_NuScenes/bicycle_vel_err: 1.0000, pts_bbox_NuScenes/bicycle_attr_err: 1.0000, pts_bbox_NuScenes/pedestrian_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/pedestrian_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/pedestrian_AP_dist_2.0: 0.0011, pts_bbox_NuScenes/pedestrian_AP_dist_4.0: 0.0294, pts_bbox_NuScenes/pedestrian_trans_err: 1.2008, pts_bbox_NuScenes/pedestrian_scale_err: 0.4272, pts_bbox_NuScenes/pedestrian_orient_err: 1.6065, pts_bbox_NuScenes/pedestrian_vel_err: 0.5714, pts_bbox_NuScenes/pedestrian_attr_err: 0.7249, pts_bbox_NuScenes/traffic_cone_AP_dist_0.5: 0.0000, pts_bbox_NuScenes/traffic_cone_AP_dist_1.0: 0.0000, pts_bbox_NuScenes/traffic_cone_AP_dist_2.0: 0.0000, pts_bbox_NuScenes/traffic_cone_AP_dist_4.0: 0.0000, pts_bbox_NuScenes/traffic_cone_trans_err: 1.5029, pts_bbox_NuScenes/traffic_cone_scale_err: 0.9354, pts_bbox_NuScenes/traffic_cone_orient_err: nan, pts_bbox_NuScenes/traffic_cone_vel_err: nan, pts_bbox_NuScenes/traffic_cone_attr_err: nan, pts_bbox_NuScenes/NDS: 0.0408, pts_bbox_NuScenes/mAP: 0.0022

wuhen777 commented 7 months ago

用的mini数据集还是