low performance

[no-Seaweed]

Hi,

I am running the code to reproduce the result. I simply followed the instruction in ReadMe, everything went smoothly, but I get a low performance on both warmup and main. Here is the entire log.

Ubuntu: 16.04 Python: 3.7.7 CUDA: 10.0 Pytorch: 1.4.0

python scripts/train_rpn_3d.py --config=kitti_3d_multi_warmup

iter: 250, acc (bg: 0.97, fg: 0.34, iou: 0.60), loss (bbox_3d: 2.3948, cls: 0.7131, iou: 0.5250), misc (ry: 1.44, z: 2.85), dt: 0.51, eta: 7.1h
iter: 500, acc (bg: 0.99, fg: 0.69, iou: 0.66), loss (bbox_3d: 1.6469, cls: 0.3616, iou: 0.4295), misc (ry: 1.26, z: 2.04), dt: 0.51, eta: 7.0h
iter: 750, acc (bg: 0.99, fg: 0.79, iou: 0.70), loss (bbox_3d: 1.4113, cls: 0.2635, iou: 0.3716), misc (ry: 1.23, z: 1.84), dt: 0.51, eta: 7.0h
iter: 1000, acc (bg: 0.99, fg: 0.83, iou: 0.72), loss (bbox_3d: 1.1630, cls: 0.2295, iou: 0.3409), misc (ry: 1.05, z: 1.54), dt: 0.51, eta: 7.0h
iter: 1250, acc (bg: 0.99, fg: 0.85, iou: 0.73), loss (bbox_3d: 1.1912, cls: 0.2134, iou: 0.3225), misc (ry: 1.01, z: 1.59), dt: 0.51, eta: 6.9h
iter: 1500, acc (bg: 0.99, fg: 0.86, iou: 0.74), loss (bbox_3d: 1.0496, cls: 0.1995, iou: 0.3081), misc (ry: 0.93, z: 1.45), dt: 0.51, eta: 6.9h
iter: 1750, acc (bg: 0.99, fg: 0.85, iou: 0.75), loss (bbox_3d: 0.9926, cls: 0.2031, iou: 0.2978), misc (ry: 0.88, z: 1.41), dt: 0.51, eta: 6.9h
iter: 2000, acc (bg: 1.00, fg: 0.86, iou: 0.76), loss (bbox_3d: 0.9424, cls: 0.1804, iou: 0.2844), misc (ry: 0.90, z: 1.32), dt: 0.51, eta: 6.9h
iter: 2250, acc (bg: 0.99, fg: 0.88, iou: 0.77), loss (bbox_3d: 0.9106, cls: 0.1676, iou: 0.2699), misc (ry: 0.89, z: 1.25), dt: 0.51, eta: 6.8h
iter: 2500, acc (bg: 1.00, fg: 0.89, iou: 0.78), loss (bbox_3d: 0.7882, cls: 0.1576, iou: 0.2547), misc (ry: 0.74, z: 1.15), dt: 0.52, eta: 6.8h
iter: 2750, acc (bg: 1.00, fg: 0.90, iou: 0.79), loss (bbox_3d: 0.8344, cls: 0.1471, iou: 0.2448), misc (ry: 0.79, z: 1.28), dt: 0.52, eta: 6.8h
iter: 3000, acc (bg: 1.00, fg: 0.91, iou: 0.80), loss (bbox_3d: 0.7461, cls: 0.1343, iou: 0.2360), misc (ry: 0.76, z: 1.12), dt: 0.52, eta: 6.7h
iter: 3250, acc (bg: 1.00, fg: 0.90, iou: 0.79), loss (bbox_3d: 0.7859, cls: 0.1482, iou: 0.2374), misc (ry: 0.81, z: 1.11), dt: 0.52, eta: 6.7h
iter: 3500, acc (bg: 1.00, fg: 0.89, iou: 0.80), loss (bbox_3d: 0.7276, cls: 0.1511, iou: 0.2367), misc (ry: 0.71, z: 1.05), dt: 0.52, eta: 6.7h
iter: 3750, acc (bg: 1.00, fg: 0.89, iou: 0.79), loss (bbox_3d: 0.7858, cls: 0.1495, iou: 0.2405), misc (ry: 0.80, z: 1.11), dt: 0.52, eta: 6.6h
iter: 4000, acc (bg: 1.00, fg: 0.90, iou: 0.81), loss (bbox_3d: 0.7364, cls: 0.1357, iou: 0.2232), misc (ry: 0.68, z: 1.11), dt: 0.52, eta: 6.6h
iter: 4250, acc (bg: 1.00, fg: 0.91, iou: 0.81), loss (bbox_3d: 0.6372, cls: 0.1314, iou: 0.2174), misc (ry: 0.67, z: 0.96), dt: 0.52, eta: 6.6h
iter: 4500, acc (bg: 1.00, fg: 0.92, iou: 0.81), loss (bbox_3d: 0.6448, cls: 0.1191, iou: 0.2134), misc (ry: 0.67, z: 1.09), dt: 0.52, eta: 6.5h
iter: 4750, acc (bg: 1.00, fg: 0.91, iou: 0.82), loss (bbox_3d: 0.6515, cls: 0.1282, iou: 0.2111), misc (ry: 0.67, z: 0.96), dt: 0.52, eta: 6.5h
iter: 5000, acc (bg: 1.00, fg: 0.91, iou: 0.82), loss (bbox_3d: 0.6470, cls: 0.1284, iou: 0.2103), misc (ry: 0.70, z: 0.99), dt: 0.52, eta: 6.5h
iter: 5250, acc (bg: 1.00, fg: 0.93, iou: 0.81), loss (bbox_3d: 0.6361, cls: 0.1159, iou: 0.2146), misc (ry: 0.65, z: 1.06), dt: 0.52, eta: 6.4h
iter: 5500, acc (bg: 1.00, fg: 0.92, iou: 0.81), loss (bbox_3d: 0.6468, cls: 0.1294, iou: 0.2127), misc (ry: 0.67, z: 0.99), dt: 0.52, eta: 6.4h
iter: 5750, acc (bg: 1.00, fg: 0.91, iou: 0.82), loss (bbox_3d: 0.6072, cls: 0.1286, iou: 0.2076), misc (ry: 0.61, z: 0.95), dt: 0.52, eta: 6.3h
iter: 6000, acc (bg: 1.00, fg: 0.93, iou: 0.83), loss (bbox_3d: 0.5730, cls: 0.1137, iou: 0.1966), misc (ry: 0.62, z: 0.87), dt: 0.52, eta: 6.3h
iter: 6250, acc (bg: 1.00, fg: 0.92, iou: 0.82), loss (bbox_3d: 0.5902, cls: 0.1167, iou: 0.2004), misc (ry: 0.64, z: 0.87), dt: 0.52, eta: 6.3h
iter: 6500, acc (bg: 1.00, fg: 0.93, iou: 0.83), loss (bbox_3d: 0.5311, cls: 0.1065, iou: 0.1953), misc (ry: 0.59, z: 0.89), dt: 0.52, eta: 6.2h
iter: 6750, acc (bg: 1.00, fg: 0.92, iou: 0.83), loss (bbox_3d: 0.5250, cls: 0.1149, iou: 0.1883), misc (ry: 0.56, z: 0.88), dt: 0.52, eta: 6.2h
iter: 7000, acc (bg: 1.00, fg: 0.93, iou: 0.83), loss (bbox_3d: 0.5109, cls: 0.1076, iou: 0.1903), misc (ry: 0.51, z: 0.88), dt: 0.52, eta: 6.2h
iter: 7250, acc (bg: 1.00, fg: 0.93, iou: 0.83), loss (bbox_3d: 0.4991, cls: 0.1046, iou: 0.1887), misc (ry: 0.55, z: 0.86), dt: 0.52, eta: 6.1h
iter: 7500, acc (bg: 1.00, fg: 0.94, iou: 0.84), loss (bbox_3d: 0.4541, cls: 0.0962, iou: 0.1805), misc (ry: 0.52, z: 0.82), dt: 0.52, eta: 6.1h
iter: 7750, acc (bg: 1.00, fg: 0.93, iou: 0.84), loss (bbox_3d: 0.4874, cls: 0.1044, iou: 0.1860), misc (ry: 0.48, z: 0.90), dt: 0.52, eta: 6.1h
iter: 8000, acc (bg: 1.00, fg: 0.94, iou: 0.84), loss (bbox_3d: 0.4650, cls: 0.0982, iou: 0.1811), misc (ry: 0.51, z: 0.89), dt: 0.52, eta: 6.0h
iter: 8250, acc (bg: 1.00, fg: 0.95, iou: 0.84), loss (bbox_3d: 0.4258, cls: 0.0944, iou: 0.1768), misc (ry: 0.48, z: 0.80), dt: 0.52, eta: 6.0h
iter: 8500, acc (bg: 1.00, fg: 0.95, iou: 0.84), loss (bbox_3d: 0.4417, cls: 0.0928, iou: 0.1756), misc (ry: 0.53, z: 0.73), dt: 0.52, eta: 5.9h
iter: 8750, acc (bg: 1.00, fg: 0.96, iou: 0.85), loss (bbox_3d: 0.3894, cls: 0.0846, iou: 0.1737), misc (ry: 0.47, z: 0.78), dt: 0.52, eta: 5.9h
iter: 9000, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.4012, cls: 0.0891, iou: 0.1734), misc (ry: 0.46, z: 0.79), dt: 0.52, eta: 5.9h
iter: 9250, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.3785, cls: 0.0862, iou: 0.1723), misc (ry: 0.42, z: 0.77), dt: 0.52, eta: 5.8h
iter: 9500, acc (bg: 1.00, fg: 0.94, iou: 0.85), loss (bbox_3d: 0.4409, cls: 0.0987, iou: 0.1733), misc (ry: 0.43, z: 0.79), dt: 0.52, eta: 5.8h
iter: 9750, acc (bg: 1.00, fg: 0.95, iou: 0.84), loss (bbox_3d: 0.4245, cls: 0.0894, iou: 0.1754), misc (ry: 0.47, z: 0.78), dt: 0.52, eta: 5.8h
iter: 10000, acc (bg: 1.00, fg: 0.94, iou: 0.84), loss (bbox_3d: 0.4570, cls: 0.0964, iou: 0.1826), misc (ry: 0.48, z: 0.78), dt: 0.52, eta: 5.7h
testing 1000/3769, dt: 0.165, eta: 7.6m
testing 2000/3769, dt: 0.165, eta: 4.9m
testing 3000/3769, dt: 0.164, eta: 2.1m
test_iter 10000 2d car --> easy: 0.2364, mod: 0.2188, hard: 0.1861
test_iter 10000 gr car --> easy: 0.0274, mod: 0.0239, hard: 0.0180
test_iter 10000 3d car --> easy: 0.0187, mod: 0.0140, hard: 0.0118
test_iter 10000 2d pedestrian --> easy: 0.1260, mod: 0.1245, hard: 0.1226
test_iter 10000 gr pedestrian --> easy: 0.0116, mod: 0.0101, hard: 0.0100
test_iter 10000 3d pedestrian --> easy: 0.0065, mod: 0.0061, hard: 0.0058
test_iter 10000 2d cyclist --> easy: 0.0966, mod: 0.0951, hard: 0.0951
test_iter 10000 gr cyclist --> easy: 0.0303, mod: 0.0303, hard: 0.0303
test_iter 10000 3d cyclist --> easy: 0.0303, mod: 0.0303, hard: 0.0303
iter: 10250, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.3881, cls: 0.0880, iou: 0.1679), misc (ry: 0.44, z: 0.73), dt: 0.59, eta: 6.5h
iter: 10500, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.4284, cls: 0.0898, iou: 0.1738), misc (ry: 0.46, z: 0.83), dt: 0.58, eta: 6.4h
iter: 10750, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.3470, cls: 0.0857, iou: 0.1670), misc (ry: 0.40, z: 0.69), dt: 0.58, eta: 6.3h
iter: 11000, acc (bg: 1.00, fg: 0.94, iou: 0.84), loss (bbox_3d: 0.4427, cls: 0.0945, iou: 0.1759), misc (ry: 0.47, z: 0.81), dt: 0.58, eta: 6.3h
iter: 11250, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.4296, cls: 0.0823, iou: 0.1690), misc (ry: 0.44, z: 0.83), dt: 0.58, eta: 6.2h
iter: 11500, acc (bg: 1.00, fg: 0.96, iou: 0.85), loss (bbox_3d: 0.3720, cls: 0.0823, iou: 0.1679), misc (ry: 0.45, z: 0.73), dt: 0.58, eta: 6.2h
iter: 11750, acc (bg: 1.00, fg: 0.96, iou: 0.85), loss (bbox_3d: 0.3559, cls: 0.0792, iou: 0.1614), misc (ry: 0.48, z: 0.70), dt: 0.58, eta: 6.1h
iter: 12000, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.3837, cls: 0.0883, iou: 0.1679), misc (ry: 0.42, z: 0.74), dt: 0.57, eta: 6.1h
iter: 12250, acc (bg: 1.00, fg: 0.95, iou: 0.86), loss (bbox_3d: 0.3504, cls: 0.0866, iou: 0.1611), misc (ry: 0.42, z: 0.73), dt: 0.57, eta: 6.0h
iter: 12500, acc (bg: 1.00, fg: 0.95, iou: 0.84), loss (bbox_3d: 0.4260, cls: 0.0917, iou: 0.1770), misc (ry: 0.52, z: 0.74), dt: 0.57, eta: 6.0h
iter: 12750, acc (bg: 1.00, fg: 0.95, iou: 0.86), loss (bbox_3d: 0.3284, cls: 0.0831, iou: 0.1610), misc (ry: 0.40, z: 0.71), dt: 0.57, eta: 5.9h
iter: 13000, acc (bg: 1.00, fg: 0.95, iou: 0.86), loss (bbox_3d: 0.3203, cls: 0.0822, iou: 0.1594), misc (ry: 0.36, z: 0.66), dt: 0.57, eta: 5.8h
iter: 13250, acc (bg: 1.00, fg: 0.96, iou: 0.86), loss (bbox_3d: 0.3265, cls: 0.0772, iou: 0.1567), misc (ry: 0.36, z: 0.70), dt: 0.57, eta: 5.8h
iter: 13500, acc (bg: 1.00, fg: 0.95, iou: 0.86), loss (bbox_3d: 0.3445, cls: 0.0804, iou: 0.1610), misc (ry: 0.44, z: 0.68), dt: 0.57, eta: 5.7h
iter: 13750, acc (bg: 1.00, fg: 0.96, iou: 0.86), loss (bbox_3d: 0.2789, cls: 0.0723, iou: 0.1504), misc (ry: 0.33, z: 0.62), dt: 0.57, eta: 5.7h
iter: 14000, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.3030, cls: 0.0721, iou: 0.1481), misc (ry: 0.40, z: 0.63), dt: 0.56, eta: 5.6h
iter: 14250, acc (bg: 1.00, fg: 0.96, iou: 0.85), loss (bbox_3d: 0.3612, cls: 0.0782, iou: 0.1656), misc (ry: 0.46, z: 0.73), dt: 0.56, eta: 5.6h
iter: 14500, acc (bg: 1.00, fg: 0.96, iou: 0.86), loss (bbox_3d: 0.3331, cls: 0.0761, iou: 0.1549), misc (ry: 0.41, z: 0.61), dt: 0.56, eta: 5.6h
iter: 14750, acc (bg: 1.00, fg: 0.96, iou: 0.86), loss (bbox_3d: 0.3069, cls: 0.0713, iou: 0.1565), misc (ry: 0.39, z: 0.67), dt: 0.56, eta: 5.5h
iter: 15000, acc (bg: 1.00, fg: 0.96, iou: 0.86), loss (bbox_3d: 0.2793, cls: 0.0739, iou: 0.1502), misc (ry: 0.35, z: 0.61), dt: 0.56, eta: 5.5h
iter: 15250, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.3163, cls: 0.0744, iou: 0.1487), misc (ry: 0.40, z: 0.63), dt: 0.56, eta: 5.4h
iter: 15500, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2504, cls: 0.0663, iou: 0.1397), misc (ry: 0.34, z: 0.62), dt: 0.56, eta: 5.4h
iter: 15750, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.2597, cls: 0.0712, iou: 0.1474), misc (ry: 0.31, z: 0.60), dt: 0.56, eta: 5.3h
iter: 16000, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2488, cls: 0.0657, iou: 0.1423), misc (ry: 0.30, z: 0.59), dt: 0.56, eta: 5.3h
iter: 16250, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.2739, cls: 0.0690, iou: 0.1447), misc (ry: 0.34, z: 0.66), dt: 0.56, eta: 5.2h
iter: 16500, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2521, cls: 0.0634, iou: 0.1378), misc (ry: 0.36, z: 0.60), dt: 0.56, eta: 5.2h
iter: 16750, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2214, cls: 0.0629, iou: 0.1373), misc (ry: 0.31, z: 0.59), dt: 0.56, eta: 5.1h
iter: 17000, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.2629, cls: 0.0688, iou: 0.1431), misc (ry: 0.36, z: 0.59), dt: 0.55, eta: 5.1h
iter: 17250, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2066, cls: 0.0632, iou: 0.1333), misc (ry: 0.28, z: 0.52), dt: 0.55, eta: 5.0h
iter: 17500, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2392, cls: 0.0624, iou: 0.1389), misc (ry: 0.32, z: 0.57), dt: 0.55, eta: 5.0h
iter: 17750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2565, cls: 0.0614, iou: 0.1365), misc (ry: 0.33, z: 0.66), dt: 0.55, eta: 5.0h
iter: 18000, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2476, cls: 0.0655, iou: 0.1394), misc (ry: 0.32, z: 0.64), dt: 0.55, eta: 4.9h
iter: 18250, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2328, cls: 0.0652, iou: 0.1374), misc (ry: 0.32, z: 0.60), dt: 0.55, eta: 4.9h
iter: 18500, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2271, cls: 0.0622, iou: 0.1369), misc (ry: 0.29, z: 0.61), dt: 0.55, eta: 4.8h
iter: 18750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2322, cls: 0.0606, iou: 0.1336), misc (ry: 0.29, z: 0.59), dt: 0.55, eta: 4.8h
iter: 19000, acc (bg: 1.00, fg: 0.98, iou: 0.88), loss (bbox_3d: 0.2134, cls: 0.0590, iou: 0.1328), misc (ry: 0.30, z: 0.56), dt: 0.55, eta: 4.7h
iter: 19250, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2441, cls: 0.0630, iou: 0.1396), misc (ry: 0.34, z: 0.62), dt: 0.55, eta: 4.7h
iter: 19500, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2222, cls: 0.0639, iou: 0.1349), misc (ry: 0.30, z: 0.59), dt: 0.55, eta: 4.7h
iter: 19750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2459, cls: 0.0585, iou: 0.1349), misc (ry: 0.36, z: 0.57), dt: 0.55, eta: 4.6h
iter: 20000, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2246, cls: 0.0630, iou: 0.1360), misc (ry: 0.29, z: 0.59), dt: 0.55, eta: 4.6h
testing 1000/3769, dt: 0.164, eta: 7.6m
testing 2000/3769, dt: 0.163, eta: 4.8m
testing 3000/3769, dt: 0.163, eta: 2.1m
test_iter 20000 2d car --> easy: 0.1632, mod: 0.2028, hard: 0.1749
test_iter 20000 gr car --> easy: 0.0344, mod: 0.0341, hard: 0.0275
test_iter 20000 3d car --> easy: 0.0250, mod: 0.0239, hard: 0.0199
test_iter 20000 2d pedestrian --> easy: 0.1343, mod: 0.1255, hard: 0.1186
test_iter 20000 gr pedestrian --> easy: 0.0179, mod: 0.0178, hard: 0.0156
test_iter 20000 3d pedestrian --> easy: 0.0168, mod: 0.0151, hard: 0.0151
test_iter 20000 2d cyclist --> easy: 0.0215, mod: 0.0208, hard: 0.0209
test_iter 20000 gr cyclist --> easy: 0.0010, mod: 0.0011, hard: 0.0014
test_iter 20000 3d cyclist --> easy: 0.0010, mod: 0.0010, hard: 0.0010
iter: 20250, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.1996, cls: 0.0589, iou: 0.1289), misc (ry: 0.28, z: 0.54), dt: 0.58, eta: 4.8h
iter: 20500, acc (bg: 1.00, fg: 0.98, iou: 0.88), loss (bbox_3d: 0.2049, cls: 0.0575, iou: 0.1307), misc (ry: 0.32, z: 0.54), dt: 0.58, eta: 4.8h
iter: 20750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2004, cls: 0.0588, iou: 0.1302), misc (ry: 0.28, z: 0.52), dt: 0.58, eta: 4.7h
iter: 21000, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2035, cls: 0.0588, iou: 0.1271), misc (ry: 0.31, z: 0.57), dt: 0.58, eta: 4.7h
iter: 21250, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.1917, cls: 0.0565, iou: 0.1278), misc (ry: 0.31, z: 0.49), dt: 0.58, eta: 4.6h
iter: 21500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1836, cls: 0.0532, iou: 0.1223), misc (ry: 0.29, z: 0.49), dt: 0.58, eta: 4.6h
iter: 21750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2027, cls: 0.0574, iou: 0.1297), misc (ry: 0.29, z: 0.55), dt: 0.58, eta: 4.5h
iter: 22000, acc (bg: 1.00, fg: 0.98, iou: 0.88), loss (bbox_3d: 0.1927, cls: 0.0561, iou: 0.1270), misc (ry: 0.26, z: 0.54), dt: 0.58, eta: 4.5h
iter: 22250, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2391, cls: 0.0600, iou: 0.1324), misc (ry: 0.37, z: 0.54), dt: 0.58, eta: 4.4h
iter: 22500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1988, cls: 0.0547, iou: 0.1248), misc (ry: 0.33, z: 0.51), dt: 0.58, eta: 4.4h
iter: 22750, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.2084, cls: 0.0567, iou: 0.1238), misc (ry: 0.32, z: 0.52), dt: 0.57, eta: 4.4h
iter: 23000, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.1843, cls: 0.0591, iou: 0.1268), misc (ry: 0.28, z: 0.49), dt: 0.57, eta: 4.3h
iter: 23250, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1611, cls: 0.0513, iou: 0.1201), misc (ry: 0.27, z: 0.47), dt: 0.57, eta: 4.3h
iter: 23500, acc (bg: 1.00, fg: 0.98, iou: 0.88), loss (bbox_3d: 0.1670, cls: 0.0518, iou: 0.1262), misc (ry: 0.25, z: 0.47), dt: 0.57, eta: 4.2h
iter: 23750, acc (bg: 1.00, fg: 0.97, iou: 0.89), loss (bbox_3d: 0.1711, cls: 0.0563, iou: 0.1239), misc (ry: 0.27, z: 0.50), dt: 0.57, eta: 4.2h
iter: 24000, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1863, cls: 0.0543, iou: 0.1236), misc (ry: 0.30, z: 0.50), dt: 0.57, eta: 4.1h
iter: 24250, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1818, cls: 0.0538, iou: 0.1226), misc (ry: 0.31, z: 0.49), dt: 0.57, eta: 4.1h
iter: 24500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1793, cls: 0.0521, iou: 0.1170), misc (ry: 0.32, z: 0.48), dt: 0.57, eta: 4.0h
iter: 24750, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1798, cls: 0.0532, iou: 0.1199), misc (ry: 0.28, z: 0.50), dt: 0.57, eta: 4.0h
iter: 25000, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1587, cls: 0.0511, iou: 0.1172), misc (ry: 0.27, z: 0.48), dt: 0.57, eta: 3.9h
iter: 25250, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1544, cls: 0.0536, iou: 0.1172), misc (ry: 0.22, z: 0.47), dt: 0.57, eta: 3.9h
iter: 25500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1465, cls: 0.0502, iou: 0.1146), misc (ry: 0.24, z: 0.46), dt: 0.57, eta: 3.9h
iter: 25750, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1753, cls: 0.0520, iou: 0.1188), misc (ry: 0.28, z: 0.49), dt: 0.57, eta: 3.8h
iter: 26000, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1482, cls: 0.0491, iou: 0.1159), misc (ry: 0.22, z: 0.48), dt: 0.57, eta: 3.8h
iter: 26250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1305, cls: 0.0463, iou: 0.1089), misc (ry: 0.22, z: 0.43), dt: 0.57, eta: 3.7h
iter: 26500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1473, cls: 0.0516, iou: 0.1171), misc (ry: 0.24, z: 0.47), dt: 0.57, eta: 3.7h
iter: 26750, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1395, cls: 0.0501, iou: 0.1086), misc (ry: 0.22, z: 0.44), dt: 0.56, eta: 3.6h
iter: 27000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1374, cls: 0.0481, iou: 0.1098), misc (ry: 0.22, z: 0.47), dt: 0.56, eta: 3.6h
iter: 27250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1309, cls: 0.0502, iou: 0.1087), misc (ry: 0.20, z: 0.43), dt: 0.56, eta: 3.6h
iter: 27500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1357, cls: 0.0477, iou: 0.1123), misc (ry: 0.23, z: 0.44), dt: 0.56, eta: 3.5h
iter: 27750, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1244, cls: 0.0479, iou: 0.1064), misc (ry: 0.21, z: 0.43), dt: 0.56, eta: 3.5h
iter: 28000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1184, cls: 0.0453, iou: 0.1046), misc (ry: 0.21, z: 0.41), dt: 0.56, eta: 3.4h
iter: 28250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1332, cls: 0.0475, iou: 0.1099), misc (ry: 0.23, z: 0.41), dt: 0.56, eta: 3.4h
iter: 28500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1290, cls: 0.0486, iou: 0.1112), misc (ry: 0.21, z: 0.46), dt: 0.56, eta: 3.4h
iter: 28750, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1212, cls: 0.0463, iou: 0.1051), misc (ry: 0.21, z: 0.44), dt: 0.56, eta: 3.3h
iter: 29000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1441, cls: 0.0501, iou: 0.1111), misc (ry: 0.21, z: 0.49), dt: 0.56, eta: 3.3h
iter: 29250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1254, cls: 0.0449, iou: 0.1062), misc (ry: 0.21, z: 0.44), dt: 0.56, eta: 3.2h
iter: 29500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1139, cls: 0.0458, iou: 0.1029), misc (ry: 0.20, z: 0.43), dt: 0.56, eta: 3.2h
iter: 29750, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1152, cls: 0.0423, iou: 0.1007), misc (ry: 0.19, z: 0.40), dt: 0.56, eta: 3.1h
iter: 30000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1262, cls: 0.0486, iou: 0.1068), misc (ry: 0.21, z: 0.41), dt: 0.56, eta: 3.1h
testing 1000/3769, dt: 0.162, eta: 7.5m
testing 2000/3769, dt: 0.162, eta: 4.8m
testing 3000/3769, dt: 0.162, eta: 2.1m
test_iter 30000 2d car --> easy: 0.1578, mod: 0.1938, hard: 0.1675
test_iter 30000 gr car --> easy: 0.0845, mod: 0.1187, hard: 0.1115
test_iter 30000 3d car --> easy: 0.0752, mod: 0.1110, hard: 0.1049
test_iter 30000 2d pedestrian --> easy: 0.1269, mod: 0.1216, hard: 0.1151
test_iter 30000 gr pedestrian --> easy: 0.0164, mod: 0.0290, hard: 0.0284
test_iter 30000 3d pedestrian --> easy: 0.0121, mod: 0.0281, hard: 0.0256
test_iter 30000 2d cyclist --> easy: 0.0986, mod: 0.0948, hard: 0.0949
test_iter 30000 gr cyclist --> easy: 0.0124, mod: 0.0101, hard: 0.0101
test_iter 30000 3d cyclist --> easy: 0.0118, mod: 0.0101, hard: 0.0101
iter: 30250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1275, cls: 0.0467, iou: 0.1045), misc (ry: 0.22, z: 0.44), dt: 0.58, eta: 3.2h
iter: 30500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1241, cls: 0.0453, iou: 0.1050), misc (ry: 0.19, z: 0.48), dt: 0.58, eta: 3.1h
iter: 30750, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1198, cls: 0.0434, iou: 0.1016), misc (ry: 0.19, z: 0.42), dt: 0.58, eta: 3.1h
iter: 31000, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.0979, cls: 0.0421, iou: 0.0954), misc (ry: 0.18, z: 0.40), dt: 0.58, eta: 3.1h
iter: 31250, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1063, cls: 0.0437, iou: 0.1012), misc (ry: 0.20, z: 0.39), dt: 0.58, eta: 3.0h
iter: 31500, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1053, cls: 0.0446, iou: 0.0999), misc (ry: 0.19, z: 0.39), dt: 0.58, eta: 3.0h
iter: 31750, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1068, cls: 0.0419, iou: 0.0981), misc (ry: 0.19, z: 0.40), dt: 0.58, eta: 2.9h
iter: 32000, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1066, cls: 0.0417, iou: 0.0968), misc (ry: 0.19, z: 0.41), dt: 0.58, eta: 2.9h
iter: 32250, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1059, cls: 0.0418, iou: 0.0984), misc (ry: 0.19, z: 0.39), dt: 0.58, eta: 2.8h
iter: 32500, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.0946, cls: 0.0436, iou: 0.0941), misc (ry: 0.18, z: 0.36), dt: 0.58, eta: 2.8h
iter: 32750, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.0929, cls: 0.0447, iou: 0.0959), misc (ry: 0.18, z: 0.36), dt: 0.58, eta: 2.8h
iter: 33000, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.0978, cls: 0.0404, iou: 0.0970), misc (ry: 0.18, z: 0.40), dt: 0.58, eta: 2.7h
iter: 33250, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1015, cls: 0.0402, iou: 0.0962), misc (ry: 0.18, z: 0.37), dt: 0.57, eta: 2.7h
iter: 33500, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1100, cls: 0.0420, iou: 0.0932), misc (ry: 0.22, z: 0.35), dt: 0.57, eta: 2.6h
iter: 33750, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1134, cls: 0.0435, iou: 0.0979), misc (ry: 0.22, z: 0.38), dt: 0.57, eta: 2.6h
iter: 34000, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1128, cls: 0.0422, iou: 0.0965), misc (ry: 0.22, z: 0.40), dt: 0.57, eta: 2.5h
iter: 34250, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.0975, cls: 0.0398, iou: 0.0930), misc (ry: 0.18, z: 0.38), dt: 0.57, eta: 2.5h
iter: 34500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0867, cls: 0.0398, iou: 0.0887), misc (ry: 0.17, z: 0.36), dt: 0.57, eta: 2.5h
iter: 34750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0828, cls: 0.0388, iou: 0.0881), misc (ry: 0.17, z: 0.34), dt: 0.57, eta: 2.4h
iter: 35000, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.0859, cls: 0.0400, iou: 0.0915), misc (ry: 0.17, z: 0.35), dt: 0.57, eta: 2.4h
iter: 35250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0870, cls: 0.0404, iou: 0.0864), misc (ry: 0.18, z: 0.33), dt: 0.57, eta: 2.3h
iter: 35500, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.0906, cls: 0.0399, iou: 0.0936), misc (ry: 0.18, z: 0.36), dt: 0.57, eta: 2.3h
iter: 35750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0821, cls: 0.0400, iou: 0.0867), misc (ry: 0.17, z: 0.35), dt: 0.57, eta: 2.3h
iter: 36000, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.0921, cls: 0.0428, iou: 0.0927), misc (ry: 0.18, z: 0.37), dt: 0.57, eta: 2.2h
iter: 36250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0798, cls: 0.0389, iou: 0.0880), misc (ry: 0.16, z: 0.33), dt: 0.57, eta: 2.2h
iter: 36500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0744, cls: 0.0352, iou: 0.0833), misc (ry: 0.15, z: 0.35), dt: 0.57, eta: 2.1h
iter: 36750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0776, cls: 0.0390, iou: 0.0870), misc (ry: 0.15, z: 0.33), dt: 0.57, eta: 2.1h
iter: 37000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0705, cls: 0.0366, iou: 0.0816), misc (ry: 0.15, z: 0.33), dt: 0.57, eta: 2.1h
iter: 37250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0877, cls: 0.0405, iou: 0.0888), misc (ry: 0.17, z: 0.33), dt: 0.57, eta: 2.0h
iter: 37500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0660, cls: 0.0374, iou: 0.0819), misc (ry: 0.15, z: 0.30), dt: 0.57, eta: 2.0h
iter: 37750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0750, cls: 0.0364, iou: 0.0819), misc (ry: 0.16, z: 0.33), dt: 0.57, eta: 1.9h
iter: 38000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0724, cls: 0.0342, iou: 0.0794), misc (ry: 0.15, z: 0.34), dt: 0.57, eta: 1.9h
iter: 38250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0738, cls: 0.0371, iou: 0.0841), misc (ry: 0.16, z: 0.32), dt: 0.57, eta: 1.8h
iter: 38500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0713, cls: 0.0370, iou: 0.0808), misc (ry: 0.15, z: 0.32), dt: 0.57, eta: 1.8h
iter: 38750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0706, cls: 0.0353, iou: 0.0806), misc (ry: 0.15, z: 0.31), dt: 0.57, eta: 1.8h
iter: 39000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0742, cls: 0.0390, iou: 0.0842), misc (ry: 0.15, z: 0.31), dt: 0.57, eta: 1.7h
iter: 39250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0693, cls: 0.0380, iou: 0.0821), misc (ry: 0.15, z: 0.30), dt: 0.56, eta: 1.7h
iter: 39500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0692, cls: 0.0362, iou: 0.0800), misc (ry: 0.15, z: 0.31), dt: 0.56, eta: 1.6h
iter: 39750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0731, cls: 0.0360, iou: 0.0817), misc (ry: 0.15, z: 0.32), dt: 0.56, eta: 1.6h
iter: 40000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0675, cls: 0.0344, iou: 0.0806), misc (ry: 0.14, z: 0.33), dt: 0.56, eta: 1.6h
testing 1000/3769, dt: 0.160, eta: 7.4m
testing 2000/3769, dt: 0.160, eta: 4.7m
testing 3000/3769, dt: 0.160, eta: 2.1m
test_iter 40000 2d car --> easy: 0.1608, mod: 0.1554, hard: 0.1375
test_iter 40000 gr car --> easy: 0.1229, mod: 0.1147, hard: 0.1081
test_iter 40000 3d car --> easy: 0.1159, mod: 0.1080, hard: 0.1027
test_iter 40000 2d pedestrian --> easy: 0.1353, mod: 0.1287, hard: 0.1214
test_iter 40000 gr pedestrian --> easy: 0.0236, mod: 0.0990, hard: 0.0975
test_iter 40000 3d pedestrian --> easy: 0.0217, mod: 0.0980, hard: 0.0965
test_iter 40000 2d cyclist --> easy: 0.0996, mod: 0.0945, hard: 0.0944
test_iter 40000 gr cyclist --> easy: 0.0049, mod: 0.0035, hard: 0.0035
test_iter 40000 3d cyclist --> easy: 0.0049, mod: 0.0035, hard: 0.0035
iter: 40250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0624, cls: 0.0330, iou: 0.0775), misc (ry: 0.14, z: 0.32), dt: 0.58, eta: 1.6h
iter: 40500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0639, cls: 0.0357, iou: 0.0786), misc (ry: 0.14, z: 0.31), dt: 0.58, eta: 1.5h
iter: 40750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0609, cls: 0.0347, iou: 0.0757), misc (ry: 0.14, z: 0.29), dt: 0.58, eta: 1.5h
iter: 41000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0595, cls: 0.0359, iou: 0.0762), misc (ry: 0.14, z: 0.29), dt: 0.58, eta: 1.4h
iter: 41250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0615, cls: 0.0353, iou: 0.0751), misc (ry: 0.15, z: 0.29), dt: 0.58, eta: 1.4h
iter: 41500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0648, cls: 0.0358, iou: 0.0795), misc (ry: 0.14, z: 0.31), dt: 0.58, eta: 1.4h
iter: 41750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0592, cls: 0.0351, iou: 0.0739), misc (ry: 0.14, z: 0.29), dt: 0.58, eta: 1.3h
iter: 42000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0560, cls: 0.0341, iou: 0.0732), misc (ry: 0.13, z: 0.28), dt: 0.58, eta: 1.3h
iter: 42250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0591, cls: 0.0346, iou: 0.0745), misc (ry: 0.14, z: 0.29), dt: 0.58, eta: 1.2h
iter: 42500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0573, cls: 0.0360, iou: 0.0733), misc (ry: 0.13, z: 0.29), dt: 0.58, eta: 1.2h
iter: 42750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0551, cls: 0.0331, iou: 0.0711), misc (ry: 0.14, z: 0.28), dt: 0.58, eta: 1.2h
iter: 43000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0607, cls: 0.0350, iou: 0.0719), misc (ry: 0.14, z: 0.28), dt: 0.58, eta: 1.1h
iter: 43250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0531, cls: 0.0332, iou: 0.0703), misc (ry: 0.13, z: 0.29), dt: 0.58, eta: 1.1h
iter: 43500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0517, cls: 0.0324, iou: 0.0717), misc (ry: 0.13, z: 0.28), dt: 0.58, eta: 1.0h
iter: 43750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0552, cls: 0.0337, iou: 0.0693), misc (ry: 0.13, z: 0.28), dt: 0.57, eta: 59.9m
iter: 44000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0614, cls: 0.0354, iou: 0.0757), misc (ry: 0.14, z: 0.30), dt: 0.57, eta: 57.4m
iter: 44250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0472, cls: 0.0325, iou: 0.0669), misc (ry: 0.12, z: 0.26), dt: 0.57, eta: 55.0m
iter: 44500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0540, cls: 0.0336, iou: 0.0691), misc (ry: 0.13, z: 0.28), dt: 0.57, eta: 52.6m
iter: 44750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0533, cls: 0.0328, iou: 0.0675), misc (ry: 0.13, z: 0.27), dt: 0.57, eta: 50.2m
iter: 45000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0498, cls: 0.0326, iou: 0.0677), misc (ry: 0.13, z: 0.27), dt: 0.57, eta: 47.7m
iter: 45250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0517, cls: 0.0338, iou: 0.0683), misc (ry: 0.13, z: 0.27), dt: 0.57, eta: 45.3m
iter: 45500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0470, cls: 0.0305, iou: 0.0658), misc (ry: 0.12, z: 0.27), dt: 0.57, eta: 42.9m
iter: 45750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0478, cls: 0.0313, iou: 0.0651), misc (ry: 0.12, z: 0.26), dt: 0.57, eta: 40.5m
iter: 46000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0505, cls: 0.0316, iou: 0.0659), misc (ry: 0.12, z: 0.27), dt: 0.57, eta: 38.1m
iter: 46250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0450, cls: 0.0305, iou: 0.0618), misc (ry: 0.12, z: 0.26), dt: 0.57, eta: 35.7m
iter: 46500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0524, cls: 0.0340, iou: 0.0665), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 33.3m
iter: 46750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0477, cls: 0.0333, iou: 0.0644), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 30.9m
iter: 47000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0531, cls: 0.0342, iou: 0.0680), misc (ry: 0.13, z: 0.27), dt: 0.57, eta: 28.5m
iter: 47250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0454, cls: 0.0303, iou: 0.0630), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 26.1m
iter: 47500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0464, cls: 0.0324, iou: 0.0623), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 23.7m
iter: 47750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0476, cls: 0.0328, iou: 0.0652), misc (ry: 0.12, z: 0.26), dt: 0.57, eta: 21.3m
iter: 48000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0536, cls: 0.0349, iou: 0.0666), misc (ry: 0.13, z: 0.25), dt: 0.57, eta: 19.0m
iter: 48250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0477, cls: 0.0323, iou: 0.0640), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 16.6m
iter: 48500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0469, cls: 0.0306, iou: 0.0627), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 14.2m
iter: 48750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0448, cls: 0.0320, iou: 0.0623), misc (ry: 0.12, z: 0.24), dt: 0.57, eta: 11.8m
iter: 49000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0466, cls: 0.0307, iou: 0.0614), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 9.5m
iter: 49250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0466, cls: 0.0325, iou: 0.0620), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 7.1m
iter: 49500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0483, cls: 0.0332, iou: 0.0628), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 4.7m
iter: 49750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0437, cls: 0.0319, iou: 0.0605), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 2.4m
iter: 50000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0484, cls: 0.0338, iou: 0.0627), misc (ry: 0.12, z: 0.25), dt: 0.57, eta: 0.6s
testing 1000/3769, dt: 0.159, eta: 7.3m
testing 2000/3769, dt: 0.159, eta: 4.7m
testing 3000/3769, dt: 0.159, eta: 2.0m
test_iter 50000 2d car --> easy: 0.1439, mod: 0.1443, hard: 0.1296
test_iter 50000 gr car --> easy: 0.1152, mod: 0.1092, hard: 0.1063
test_iter 50000 3d car --> easy: 0.1109, mod: 0.1061, hard: 0.1017
test_iter 50000 2d pedestrian --> easy: 0.1349, mod: 0.1286, hard: 0.1215
test_iter 50000 gr pedestrian --> easy: 0.0412, mod: 0.0986, hard: 0.0975
test_iter 50000 3d pedestrian --> easy: 0.0402, mod: 0.0976, hard: 0.0970
test_iter 50000 2d cyclist --> easy: 0.1028, mod: 0.0968, hard: 0.0967
test_iter 50000 gr cyclist --> easy: 0.0484, mod: 0.0477, hard: 0.0455
test_iter 50000 3d cyclist --> easy: 0.0480, mod: 0.0455, hard: 0.0455
Segmentation fault (core dumped)

python scripts/train_rpn_3d.py --config=kitti_3d_multi_main

Computing bbox regression mean..
Computing bbox regression stds..
used 814041 boxes with avg std 0.6826
conf: {
    model:                  densenet121_3d_dilate_depth_aware       
    solver_type:            sgd                                     
    lr:                     0.004                                   
    momentum:               0.9                                     
    weight_decay:           0.0005                                  
    max_iter:               50000                                   
    snapshot_iter:          10000                                   
    display:                250                                     
    do_test:                True                                    
    lr_policy:              poly                                    
    lr_steps:               None                                    
    lr_target:              4e-08                                   
    rng_seed:               2                                       
    cuda_seed:              2                                       
    image_means:            [0.485, 0.456, 0.406]                   
    image_stds:             [0.229, 0.224, 0.225]                   
    feat_stride:            16                                      
    has_3d:                 True                                    
    test_scale:             512                                     
    crop_size:              [512, 1760]                             
    mirror_prob:            0.5                                     
    distort_prob:           -1                                      
    dataset_test:           kitti_split1                            
    datasets_train:         [{'anno_fmt': 'kitti_det',
                             'im_ext': '.png',
                             'name': 'kitti_split1',
                             'scale': 1}]
    use_3d_for_2d:          True                                    
    percent_anc_h:          [0.0625, 0.75]                          
    min_gt_h:               32.0                                    
    max_gt_h:               384.0                                   
    min_gt_vis:             0.65                                    
    ilbls:                  ['Van', 'ignore']                       
    lbls:                   ['Car', 'Pedestrian', 'Cyclist']        
    batch_size:             2                                       
    fg_image_ratio:         1.0                                     
    box_samples:            0.2                                     
    fg_fraction:            0.2                                     
    bg_thresh_lo:           0                                       
    bg_thresh_hi:           0.5                                     
    fg_thresh:              0.5                                     
    ign_thresh:             0.5                                     
    best_thresh:            0.35                                    
    nms_topN_pre:           3000                                    
    nms_topN_post:          40                                      
    nms_thres:              0.4                                     
    clip_boxes:             False                                   
    test_protocol:          kitti                                   
    test_db:                kitti                                   
    test_min_h:             0                                       
    min_det_scales:         [0, 0]                                  
    cluster_anchors:        0                                       
    even_anchors:           0                                       
    expand_anchors:         0                                       
    anchors:                [[-0.5, -8.5, 15.5, 23.5, 51.969, 0.531,
                             1.713, 1.025, -0.799],
                            [-8.5, -8.5, 23.5, 23.5, 52.176, 1.618,
                             1.6, 3.811, -0.453],
                            [-16.5, -8.5, 31.5, 23.5, 48.334,
                             1.644, 1.529, 3.966, 0.673],
                            [-2.528, -12.555, 17.528, 27.555,
                             44.781, 0.534, 1.771, 0.971, 0.093],
                            [-12.555, -12.555, 27.555, 27.555,
                             44.704, 1.599, 1.569, 3.814, -0.187],
                            [-22.583, -12.555, 37.583, 27.555,
                             43.492, 1.621, 1.536, 3.91, 0.719],
                            [-5.069, -17.638, 20.069, 32.638,
                             34.666, 0.561, 1.752, 0.967, -0.384],
                            [-17.638, -17.638, 32.638, 32.638,
                             35.35, 1.567, 1.591, 3.81, -0.511],
                            [-30.207, -17.638, 45.207, 32.638,
                             37.128, 1.602, 1.529, 3.904, 0.452],
                            [-8.255, -24.01, 23.255, 39.01, 28.771,
                             0.613, 1.76, 0.98, 0.067],
                            [-24.01, -24.01, 39.01, 39.01, 28.331,
                             1.543, 1.592, 3.66, -0.811],
                            [-39.764, -24.01, 54.764, 39.01,
                             30.541, 1.626, 1.524, 3.908, 0.312],
                            [-12.248, -31.996, 27.248, 46.996,
                             23.011, 0.606, 1.758, 0.996, 0.208],
                            [-31.996, -31.996, 46.996, 46.996,
                             22.948, 1.51, 1.599, 3.419, -1.076],
                            [-51.744, -31.996, 66.744, 46.996,
                             25.0, 1.628, 1.527, 3.917, 0.334],
                            [-17.253, -42.006, 32.253, 57.006,
                             18.479, 0.601, 1.747, 1.007, 0.347],
                            [-42.006, -42.006, 57.006, 57.006,
                             18.815, 1.487, 1.599, 3.337, -0.862],
                            [-66.759, -42.006, 81.759, 57.006,
                             20.576, 1.623, 1.532, 3.942, 0.323],
                            [-23.527, -54.553, 38.527, 69.553,
                             15.035, 0.625, 1.744, 0.917, 0.41],
                            [-54.553, -54.553, 69.553, 69.553,
                             15.346, 1.29, 1.659, 3.083, -0.275],
                            [-85.58, -54.553, 100.58, 69.553,
                             16.326, 1.613, 1.527, 3.934, 0.268],
                            [-31.39, -70.281, 46.39, 85.281,
                             12.265, 0.631, 1.747, 0.954, 0.317],
                            [-70.281, -70.281, 85.281, 85.281,
                             11.878, 1.044, 1.67, 2.415, -0.211],
                            [-109.171, -70.281, 124.171, 85.281,
                             13.58, 1.621, 1.539, 3.961, 0.189],
                            [-41.247, -89.994, 56.247, 104.994,
                             9.932, 0.61, 1.771, 0.934, 0.486],
                            [-89.994, -89.994, 104.994, 104.994,
                             8.949, 0.811, 1.766, 1.662, 0.08],
                            [-138.741, -89.994, 153.741, 104.994,
                             11.043, 1.61, 1.533, 3.899, 0.04],
                            [-53.602, -114.704, 68.602, 129.704,
                             8.389, 0.604, 1.793, 0.95, 0.806],
                            [-114.704, -114.704, 129.704, 129.704,
                             8.071, 1.01, 1.751, 2.19, -0.076],
                            [-175.806, -114.704, 190.806, 129.704,
                             9.184, 1.606, 1.526, 3.869, -0.066],
                            [-69.089, -145.677, 84.089, 160.677,
                             6.923, 0.627, 1.791, 0.96, 0.784],
                            [-145.677, -145.677, 160.677, 160.677,
                             6.784, 1.384, 1.615, 2.862, -1.035],
                            [-222.266, -145.677, 237.266, 160.677,
                             7.863, 1.617, 1.55, 3.948, -0.071],
                            [-88.5, -184.5, 103.5, 199.5, 5.189,
                             0.66, 1.755, 0.841, 0.173],
                            [-184.5, -184.5, 199.5, 199.5, 4.388,
                             0.743, 1.728, 1.381, 0.642],
                            [-280.5, -184.5, 295.5, 199.5, 5.583,
                             1.583, 1.547, 3.862, -0.072]]
    bbox_means:             [[-0.0, 0.002, 0.064, -0.093, 0.011,
                             -0.067, 0.192, 0.059, -0.021, 0.069,
                             -0.004]]
    bbox_stds:              [[0.14, 0.126, 0.247, 0.239, 0.163,
                             0.132, 3.621, 0.382, 0.102, 0.503,
                             1.855]]
    anchor_scales:          [32.0, 40.11, 50.276, 63.019, 78.991,
                            99.012, 124.106, 155.561, 194.989,
                            244.409, 306.354, 384.0]
    anchor_ratios:          [0.5, 1.0, 1.5]                         
    hard_negatives:         True                                    
    focal_loss:             0                                       
    cls_2d_lambda:          1                                       
    iou_2d_lambda:          1                                       
    bbox_2d_lambda:         0                                       
    bbox_3d_lambda:         1                                       
    bbox_3d_proj_lambda:    0.0                                     
    hill_climbing:          True                                    
    bins:                   32                                      
    visdom_port:            8100                                    
    pretrained:             'output/kitti_3d_multi_warmup/weights/model_50000_pkl'
}
/home/robot1/anaconda3/envs/M3DRPN/lib/python3.6/site-packages/torchvision/models/densenet.py:212: UserWarning: nn.init.kaiming_normal is now deprecated in favor of nn.init.kaiming_normal_.
  nn.init.kaiming_normal(m.weight.data)
iter: 250, acc (bg: 1.00, fg: 0.97, iou: 0.90), loss (bbox_3d: 0.1411, cls: 0.0445, iou: 0.1096), misc (ry: 0.21, z: 0.49), dt: 0.60, eta: 8.3h
iter: 500, acc (bg: 1.00, fg: 0.94, iou: 0.85), loss (bbox_3d: 0.4028, cls: 0.0901, iou: 0.1682), misc (ry: 0.44, z: 0.79), dt: 0.60, eta: 8.3h
iter: 750, acc (bg: 1.00, fg: 0.90, iou: 0.81), loss (bbox_3d: 0.7230, cls: 0.1290, iou: 0.2170), misc (ry: 0.73, z: 1.14), dt: 0.60, eta: 8.2h
iter: 1000, acc (bg: 1.00, fg: 0.92, iou: 0.83), loss (bbox_3d: 0.5881, cls: 0.1109, iou: 0.1957), misc (ry: 0.62, z: 1.00), dt: 0.60, eta: 8.2h
iter: 1250, acc (bg: 1.00, fg: 0.91, iou: 0.83), loss (bbox_3d: 0.5223, cls: 0.1170, iou: 0.1938), misc (ry: 0.60, z: 0.85), dt: 0.61, eta: 8.2h
iter: 1500, acc (bg: 1.00, fg: 0.93, iou: 0.84), loss (bbox_3d: 0.5032, cls: 0.0980, iou: 0.1865), misc (ry: 0.54, z: 0.85), dt: 0.61, eta: 8.2h
iter: 1750, acc (bg: 1.00, fg: 0.93, iou: 0.84), loss (bbox_3d: 0.4491, cls: 0.0911, iou: 0.1781), misc (ry: 0.50, z: 0.86), dt: 0.61, eta: 8.1h
iter: 2000, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.4504, cls: 0.0807, iou: 0.1697), misc (ry: 0.53, z: 0.79), dt: 0.61, eta: 8.1h
iter: 2250, acc (bg: 1.00, fg: 0.95, iou: 0.85), loss (bbox_3d: 0.4343, cls: 0.0779, iou: 0.1673), misc (ry: 0.57, z: 0.72), dt: 0.61, eta: 8.0h
iter: 2500, acc (bg: 1.00, fg: 0.95, iou: 0.86), loss (bbox_3d: 0.3655, cls: 0.0754, iou: 0.1592), misc (ry: 0.49, z: 0.68), dt: 0.61, eta: 8.0h
iter: 2750, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.3271, cls: 0.0675, iou: 0.1484), misc (ry: 0.41, z: 0.69), dt: 0.61, eta: 8.0h
iter: 3000, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.2997, cls: 0.0649, iou: 0.1461), misc (ry: 0.43, z: 0.64), dt: 0.61, eta: 7.9h
iter: 3250, acc (bg: 1.00, fg: 0.95, iou: 0.86), loss (bbox_3d: 0.3162, cls: 0.0725, iou: 0.1526), misc (ry: 0.42, z: 0.67), dt: 0.61, eta: 7.9h
iter: 3500, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.2788, cls: 0.0619, iou: 0.1438), misc (ry: 0.34, z: 0.63), dt: 0.61, eta: 7.8h
iter: 3750, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2570, cls: 0.0607, iou: 0.1422), misc (ry: 0.32, z: 0.67), dt: 0.61, eta: 7.8h
iter: 4000, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2221, cls: 0.0536, iou: 0.1324), misc (ry: 0.31, z: 0.57), dt: 0.61, eta: 7.7h
iter: 4250, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2086, cls: 0.0543, iou: 0.1339), misc (ry: 0.31, z: 0.57), dt: 0.61, eta: 7.7h
iter: 4500, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2446, cls: 0.0577, iou: 0.1327), misc (ry: 0.37, z: 0.54), dt: 0.61, eta: 7.7h
iter: 4750, acc (bg: 1.00, fg: 0.96, iou: 0.87), loss (bbox_3d: 0.3091, cls: 0.0629, iou: 0.1483), misc (ry: 0.49, z: 0.62), dt: 0.61, eta: 7.6h
iter: 5000, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2930, cls: 0.0616, iou: 0.1422), misc (ry: 0.40, z: 0.65), dt: 0.61, eta: 7.6h
iter: 5250, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2990, cls: 0.0585, iou: 0.1399), misc (ry: 0.46, z: 0.65), dt: 0.61, eta: 7.6h
iter: 5500, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2527, cls: 0.0610, iou: 0.1368), misc (ry: 0.35, z: 0.62), dt: 0.61, eta: 7.5h
iter: 5750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2377, cls: 0.0587, iou: 0.1353), misc (ry: 0.29, z: 0.62), dt: 0.61, eta: 7.5h
iter: 6000, acc (bg: 1.00, fg: 0.97, iou: 0.87), loss (bbox_3d: 0.2737, cls: 0.0580, iou: 0.1414), misc (ry: 0.36, z: 0.65), dt: 0.61, eta: 7.4h
iter: 6250, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2346, cls: 0.0552, iou: 0.1322), misc (ry: 0.31, z: 0.60), dt: 0.61, eta: 7.4h
iter: 6500, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.1966, cls: 0.0533, iou: 0.1274), misc (ry: 0.30, z: 0.52), dt: 0.61, eta: 7.4h
iter: 6750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2216, cls: 0.0542, iou: 0.1291), misc (ry: 0.33, z: 0.56), dt: 0.61, eta: 7.3h
iter: 7000, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2290, cls: 0.0561, iou: 0.1317), misc (ry: 0.35, z: 0.54), dt: 0.61, eta: 7.3h
iter: 7250, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1932, cls: 0.0497, iou: 0.1247), misc (ry: 0.31, z: 0.52), dt: 0.61, eta: 7.2h
iter: 7500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1808, cls: 0.0499, iou: 0.1212), misc (ry: 0.29, z: 0.49), dt: 0.61, eta: 7.2h
iter: 7750, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1867, cls: 0.0499, iou: 0.1213), misc (ry: 0.30, z: 0.48), dt: 0.61, eta: 7.1h
iter: 8000, acc (bg: 1.00, fg: 0.97, iou: 0.89), loss (bbox_3d: 0.1908, cls: 0.0534, iou: 0.1252), misc (ry: 0.29, z: 0.53), dt: 0.61, eta: 7.1h
iter: 8250, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1811, cls: 0.0489, iou: 0.1207), misc (ry: 0.28, z: 0.49), dt: 0.61, eta: 7.1h
iter: 8500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1719, cls: 0.0455, iou: 0.1203), misc (ry: 0.27, z: 0.55), dt: 0.61, eta: 7.0h
iter: 8750, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1664, cls: 0.0453, iou: 0.1158), misc (ry: 0.27, z: 0.49), dt: 0.61, eta: 7.0h
iter: 9000, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1573, cls: 0.0452, iou: 0.1167), misc (ry: 0.24, z: 0.51), dt: 0.61, eta: 6.9h
iter: 9250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1583, cls: 0.0435, iou: 0.1134), misc (ry: 0.24, z: 0.52), dt: 0.61, eta: 6.9h
iter: 9500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1520, cls: 0.0463, iou: 0.1132), misc (ry: 0.22, z: 0.49), dt: 0.61, eta: 6.8h
iter: 9750, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1550, cls: 0.0469, iou: 0.1159), misc (ry: 0.25, z: 0.47), dt: 0.61, eta: 6.8h
iter: 10000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1492, cls: 0.0457, iou: 0.1125), misc (ry: 0.23, z: 0.46), dt: 0.61, eta: 6.8h
testing 1000/3769, dt: 0.177, eta: 8.2m
testing 2000/3769, dt: 0.177, eta: 5.2m
testing 3000/3769, dt: 0.177, eta: 2.3m
test_iter 10000 2d car --> easy: 0.1475, mod: 0.1422, hard: 0.1290
test_iter 10000 gr car --> easy: 0.1172, mod: 0.1102, hard: 0.1047
test_iter 10000 3d car --> easy: 0.1107, mod: 0.1045, hard: 0.1000
test_iter 10000 2d pedestrian --> easy: 0.1319, mod: 0.1275, hard: 0.1191
test_iter 10000 gr pedestrian --> easy: 0.0338, mod: 0.0303, hard: 0.0287
test_iter 10000 3d pedestrian --> easy: 0.0263, mod: 0.0246, hard: 0.0216
test_iter 10000 2d cyclist --> easy: 0.0070, mod: 0.0933, hard: 0.0934
test_iter 10000 gr cyclist --> easy: 0.0005, mod: 0.0091, hard: 0.0091
test_iter 10000 3d cyclist --> easy: 0.0004, mod: 0.0091, hard: 0.0091
iter: 10250, acc (bg: 1.00, fg: 0.97, iou: 0.89), loss (bbox_3d: 0.1634, cls: 0.0523, iou: 0.1151), misc (ry: 0.23, z: 0.47), dt: 0.68, eta: 7.5h
iter: 10500, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1461, cls: 0.0464, iou: 0.1145), misc (ry: 0.22, z: 0.48), dt: 0.68, eta: 7.5h
iter: 10750, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1367, cls: 0.0417, iou: 0.1102), misc (ry: 0.24, z: 0.45), dt: 0.68, eta: 7.4h
iter: 11000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1285, cls: 0.0425, iou: 0.1105), misc (ry: 0.21, z: 0.45), dt: 0.68, eta: 7.4h
iter: 11250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1389, cls: 0.0466, iou: 0.1107), misc (ry: 0.24, z: 0.42), dt: 0.68, eta: 7.3h
iter: 11500, acc (bg: 1.00, fg: 0.97, iou: 0.89), loss (bbox_3d: 0.1779, cls: 0.0499, iou: 0.1184), misc (ry: 0.29, z: 0.47), dt: 0.68, eta: 7.2h
iter: 11750, acc (bg: 1.00, fg: 0.97, iou: 0.88), loss (bbox_3d: 0.2296, cls: 0.0552, iou: 0.1349), misc (ry: 0.35, z: 0.54), dt: 0.67, eta: 7.2h
iter: 12000, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1879, cls: 0.0477, iou: 0.1214), misc (ry: 0.31, z: 0.55), dt: 0.67, eta: 7.1h
iter: 12250, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1771, cls: 0.0469, iou: 0.1202), misc (ry: 0.29, z: 0.50), dt: 0.67, eta: 7.0h
iter: 12500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1483, cls: 0.0453, iou: 0.1120), misc (ry: 0.25, z: 0.45), dt: 0.67, eta: 7.0h
iter: 12750, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1304, cls: 0.0440, iou: 0.1066), misc (ry: 0.21, z: 0.45), dt: 0.67, eta: 6.9h
iter: 13000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1387, cls: 0.0433, iou: 0.1078), misc (ry: 0.25, z: 0.46), dt: 0.67, eta: 6.9h
iter: 13250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1455, cls: 0.0426, iou: 0.1072), misc (ry: 0.25, z: 0.45), dt: 0.67, eta: 6.8h
iter: 13500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1302, cls: 0.0426, iou: 0.1091), misc (ry: 0.23, z: 0.45), dt: 0.67, eta: 6.7h
iter: 13750, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1273, cls: 0.0419, iou: 0.1045), misc (ry: 0.21, z: 0.46), dt: 0.66, eta: 6.7h
iter: 14000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1262, cls: 0.0423, iou: 0.1062), misc (ry: 0.21, z: 0.44), dt: 0.66, eta: 6.6h
iter: 14250, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1056, cls: 0.0402, iou: 0.0967), misc (ry: 0.19, z: 0.41), dt: 0.66, eta: 6.6h
iter: 14500, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1046, cls: 0.0400, iou: 0.0982), misc (ry: 0.19, z: 0.39), dt: 0.66, eta: 6.5h
iter: 14750, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1010, cls: 0.0400, iou: 0.0969), misc (ry: 0.19, z: 0.37), dt: 0.66, eta: 6.5h
iter: 15000, acc (bg: 1.00, fg: 0.97, iou: 0.89), loss (bbox_3d: 0.2119, cls: 0.0535, iou: 0.1205), misc (ry: 0.36, z: 0.53), dt: 0.66, eta: 6.4h
iter: 15250, acc (bg: 1.00, fg: 0.98, iou: 0.89), loss (bbox_3d: 0.1946, cls: 0.0482, iou: 0.1169), misc (ry: 0.34, z: 0.50), dt: 0.66, eta: 6.4h
iter: 15500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1533, cls: 0.0434, iou: 0.1103), misc (ry: 0.24, z: 0.48), dt: 0.66, eta: 6.3h
iter: 15750, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1477, cls: 0.0452, iou: 0.1092), misc (ry: 0.26, z: 0.47), dt: 0.66, eta: 6.3h
iter: 16000, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1592, cls: 0.0460, iou: 0.1135), misc (ry: 0.27, z: 0.48), dt: 0.66, eta: 6.2h
iter: 16250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1421, cls: 0.0429, iou: 0.1058), misc (ry: 0.24, z: 0.47), dt: 0.66, eta: 6.2h
iter: 16500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1281, cls: 0.0433, iou: 0.1054), misc (ry: 0.21, z: 0.46), dt: 0.66, eta: 6.1h
iter: 16750, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1164, cls: 0.0371, iou: 0.1007), misc (ry: 0.20, z: 0.42), dt: 0.66, eta: 6.1h
iter: 17000, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1199, cls: 0.0415, iou: 0.1016), misc (ry: 0.21, z: 0.42), dt: 0.65, eta: 6.0h
iter: 17250, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1317, cls: 0.0403, iou: 0.1029), misc (ry: 0.24, z: 0.45), dt: 0.65, eta: 5.9h
iter: 17500, acc (bg: 1.00, fg: 0.98, iou: 0.90), loss (bbox_3d: 0.1198, cls: 0.0432, iou: 0.1042), misc (ry: 0.20, z: 0.40), dt: 0.65, eta: 5.9h
iter: 17750, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1228, cls: 0.0401, iou: 0.1009), misc (ry: 0.22, z: 0.42), dt: 0.65, eta: 5.8h
iter: 18000, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1024, cls: 0.0395, iou: 0.0976), misc (ry: 0.18, z: 0.43), dt: 0.65, eta: 5.8h
iter: 18250, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1087, cls: 0.0384, iou: 0.0941), misc (ry: 0.18, z: 0.44), dt: 0.65, eta: 5.7h
iter: 18500, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1012, cls: 0.0381, iou: 0.0939), misc (ry: 0.19, z: 0.39), dt: 0.65, eta: 5.7h
iter: 18750, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.0900, cls: 0.0362, iou: 0.0929), misc (ry: 0.18, z: 0.37), dt: 0.65, eta: 5.6h
iter: 19000, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1004, cls: 0.0382, iou: 0.0958), misc (ry: 0.19, z: 0.38), dt: 0.65, eta: 5.6h
iter: 19250, acc (bg: 1.00, fg: 0.98, iou: 0.91), loss (bbox_3d: 0.1298, cls: 0.0388, iou: 0.1000), misc (ry: 0.24, z: 0.42), dt: 0.65, eta: 5.5h
iter: 19500, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1086, cls: 0.0383, iou: 0.0963), misc (ry: 0.21, z: 0.40), dt: 0.65, eta: 5.5h
iter: 19750, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1037, cls: 0.0384, iou: 0.0925), misc (ry: 0.21, z: 0.35), dt: 0.65, eta: 5.5h
iter: 20000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0911, cls: 0.0377, iou: 0.0907), misc (ry: 0.19, z: 0.35), dt: 0.65, eta: 5.4h
testing 1000/3769, dt: 0.177, eta: 8.2m
testing 2000/3769, dt: 0.177, eta: 5.2m
testing 3000/3769, dt: 0.177, eta: 2.3m
test_iter 20000 2d car --> easy: 0.1021, mod: 0.0926, hard: 0.0819
test_iter 20000 gr car --> easy: 0.0704, mod: 0.0619, hard: 0.0562
test_iter 20000 3d car --> easy: 0.0651, mod: 0.0579, hard: 0.0539
test_iter 20000 2d pedestrian --> easy: 0.1326, mod: 0.1261, hard: 0.1182
test_iter 20000 gr pedestrian --> easy: 0.0577, mod: 0.0545, hard: 0.0522
test_iter 20000 3d pedestrian --> easy: 0.0560, mod: 0.0533, hard: 0.0515
test_iter 20000 2d cyclist --> easy: 0.1067, mod: 0.0972, hard: 0.0958
test_iter 20000 gr cyclist --> easy: 0.0069, mod: 0.0038, hard: 0.0039
test_iter 20000 3d cyclist --> easy: 0.0065, mod: 0.0038, hard: 0.0039
iter: 20250, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.1049, cls: 0.0387, iou: 0.0936), misc (ry: 0.23, z: 0.38), dt: 0.69, eta: 5.7h
iter: 20500, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.0923, cls: 0.0365, iou: 0.0941), misc (ry: 0.17, z: 0.36), dt: 0.68, eta: 5.6h
iter: 20750, acc (bg: 1.00, fg: 0.99, iou: 0.91), loss (bbox_3d: 0.0919, cls: 0.0374, iou: 0.0922), misc (ry: 0.19, z: 0.35), dt: 0.68, eta: 5.6h
iter: 21000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0811, cls: 0.0366, iou: 0.0887), misc (ry: 0.16, z: 0.34), dt: 0.68, eta: 5.5h
iter: 21250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0823, cls: 0.0364, iou: 0.0894), misc (ry: 0.16, z: 0.34), dt: 0.68, eta: 5.4h
iter: 21500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0814, cls: 0.0357, iou: 0.0864), misc (ry: 0.16, z: 0.34), dt: 0.68, eta: 5.4h
iter: 21750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0846, cls: 0.0362, iou: 0.0894), misc (ry: 0.16, z: 0.36), dt: 0.68, eta: 5.3h
iter: 22000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0829, cls: 0.0353, iou: 0.0864), misc (ry: 0.16, z: 0.34), dt: 0.68, eta: 5.3h
iter: 22250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0761, cls: 0.0346, iou: 0.0853), misc (ry: 0.16, z: 0.32), dt: 0.68, eta: 5.2h
iter: 22500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0781, cls: 0.0357, iou: 0.0863), misc (ry: 0.16, z: 0.36), dt: 0.68, eta: 5.2h
iter: 22750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0810, cls: 0.0378, iou: 0.0866), misc (ry: 0.16, z: 0.35), dt: 0.68, eta: 5.1h
iter: 23000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0839, cls: 0.0357, iou: 0.0892), misc (ry: 0.16, z: 0.37), dt: 0.68, eta: 5.1h
iter: 23250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0779, cls: 0.0368, iou: 0.0839), misc (ry: 0.15, z: 0.34), dt: 0.68, eta: 5.0h
iter: 23500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0822, cls: 0.0358, iou: 0.0875), misc (ry: 0.16, z: 0.38), dt: 0.68, eta: 5.0h
iter: 23750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0739, cls: 0.0346, iou: 0.0829), misc (ry: 0.16, z: 0.35), dt: 0.67, eta: 4.9h
iter: 24000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0681, cls: 0.0315, iou: 0.0809), misc (ry: 0.14, z: 0.34), dt: 0.67, eta: 4.9h
iter: 24250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0731, cls: 0.0364, iou: 0.0846), misc (ry: 0.15, z: 0.31), dt: 0.67, eta: 4.8h
iter: 24500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0655, cls: 0.0329, iou: 0.0777), misc (ry: 0.14, z: 0.33), dt: 0.67, eta: 4.8h
iter: 24750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0740, cls: 0.0355, iou: 0.0843), misc (ry: 0.15, z: 0.31), dt: 0.67, eta: 4.7h
iter: 25000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0612, cls: 0.0338, iou: 0.0799), misc (ry: 0.14, z: 0.29), dt: 0.67, eta: 4.7h
iter: 25250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0705, cls: 0.0334, iou: 0.0807), misc (ry: 0.14, z: 0.32), dt: 0.67, eta: 4.6h
iter: 25500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0728, cls: 0.0335, iou: 0.0828), misc (ry: 0.16, z: 0.32), dt: 0.67, eta: 4.6h
iter: 25750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0821, cls: 0.0343, iou: 0.0834), misc (ry: 0.17, z: 0.34), dt: 0.67, eta: 4.5h
iter: 26000, acc (bg: 1.00, fg: 0.98, iou: 0.92), loss (bbox_3d: 0.1027, cls: 0.0410, iou: 0.0906), misc (ry: 0.19, z: 0.38), dt: 0.67, eta: 4.5h
iter: 26250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0879, cls: 0.0360, iou: 0.0894), misc (ry: 0.17, z: 0.34), dt: 0.67, eta: 4.4h
iter: 26500, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0791, cls: 0.0360, iou: 0.0843), misc (ry: 0.16, z: 0.32), dt: 0.67, eta: 4.4h
iter: 26750, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0748, cls: 0.0358, iou: 0.0845), misc (ry: 0.16, z: 0.32), dt: 0.67, eta: 4.3h
iter: 27000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0729, cls: 0.0347, iou: 0.0813), misc (ry: 0.15, z: 0.33), dt: 0.67, eta: 4.3h
iter: 27250, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0727, cls: 0.0323, iou: 0.0831), misc (ry: 0.14, z: 0.36), dt: 0.67, eta: 4.2h
iter: 27500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0608, cls: 0.0313, iou: 0.0783), misc (ry: 0.13, z: 0.33), dt: 0.67, eta: 4.2h
iter: 27750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0589, cls: 0.0316, iou: 0.0769), misc (ry: 0.13, z: 0.30), dt: 0.67, eta: 4.1h
iter: 28000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0628, cls: 0.0333, iou: 0.0793), misc (ry: 0.14, z: 0.31), dt: 0.67, eta: 4.1h
iter: 28250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0622, cls: 0.0334, iou: 0.0779), misc (ry: 0.15, z: 0.30), dt: 0.66, eta: 4.0h
iter: 28500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0578, cls: 0.0330, iou: 0.0760), misc (ry: 0.13, z: 0.30), dt: 0.66, eta: 4.0h
iter: 28750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0648, cls: 0.0336, iou: 0.0767), misc (ry: 0.15, z: 0.30), dt: 0.66, eta: 3.9h
iter: 29000, acc (bg: 1.00, fg: 0.99, iou: 0.92), loss (bbox_3d: 0.0683, cls: 0.0341, iou: 0.0810), misc (ry: 0.16, z: 0.32), dt: 0.66, eta: 3.9h
iter: 29250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0740, cls: 0.0348, iou: 0.0792), misc (ry: 0.17, z: 0.32), dt: 0.66, eta: 3.8h
iter: 29500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0675, cls: 0.0340, iou: 0.0781), misc (ry: 0.15, z: 0.29), dt: 0.66, eta: 3.8h
iter: 29750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0671, cls: 0.0335, iou: 0.0796), misc (ry: 0.15, z: 0.30), dt: 0.66, eta: 3.7h
iter: 30000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0611, cls: 0.0326, iou: 0.0765), misc (ry: 0.14, z: 0.30), dt: 0.66, eta: 3.7h
testing 1000/3769, dt: 0.176, eta: 8.1m
testing 2000/3769, dt: 0.176, eta: 5.2m
testing 3000/3769, dt: 0.176, eta: 2.3m
test_iter 30000 2d car --> easy: 0.1104, mod: 0.1051, hard: 0.0953
test_iter 30000 gr car --> easy: 0.0826, mod: 0.0758, hard: 0.0709
test_iter 30000 3d car --> easy: 0.0769, mod: 0.0723, hard: 0.0688
test_iter 30000 2d pedestrian --> easy: 0.1360, mod: 0.1335, hard: 0.1230
test_iter 30000 gr pedestrian --> easy: 0.0573, mod: 0.0532, hard: 0.0522
test_iter 30000 3d pedestrian --> easy: 0.0553, mod: 0.0524, hard: 0.0514
test_iter 30000 2d cyclist --> easy: 0.1094, mod: 0.0989, hard: 0.0982
test_iter 30000 gr cyclist --> easy: 0.0261, mod: 0.0245, hard: 0.0227
test_iter 30000 3d cyclist --> easy: 0.0261, mod: 0.0244, hard: 0.0227
iter: 30250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0574, cls: 0.0320, iou: 0.0738), misc (ry: 0.14, z: 0.29), dt: 0.69, eta: 3.8h
iter: 30500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0582, cls: 0.0332, iou: 0.0733), misc (ry: 0.14, z: 0.29), dt: 0.69, eta: 3.7h
iter: 30750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0555, cls: 0.0315, iou: 0.0735), misc (ry: 0.13, z: 0.29), dt: 0.69, eta: 3.7h
iter: 31000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0548, cls: 0.0305, iou: 0.0751), misc (ry: 0.13, z: 0.30), dt: 0.69, eta: 3.6h
iter: 31250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0563, cls: 0.0325, iou: 0.0739), misc (ry: 0.12, z: 0.29), dt: 0.68, eta: 3.6h
iter: 31500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0675, cls: 0.0349, iou: 0.0781), misc (ry: 0.17, z: 0.32), dt: 0.68, eta: 3.5h
iter: 31750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0521, cls: 0.0304, iou: 0.0704), misc (ry: 0.14, z: 0.28), dt: 0.68, eta: 3.5h
iter: 32000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0557, cls: 0.0309, iou: 0.0732), misc (ry: 0.14, z: 0.29), dt: 0.68, eta: 3.4h
iter: 32250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0525, cls: 0.0315, iou: 0.0705), misc (ry: 0.13, z: 0.28), dt: 0.68, eta: 3.4h
iter: 32500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0536, cls: 0.0305, iou: 0.0716), misc (ry: 0.14, z: 0.28), dt: 0.68, eta: 3.3h
iter: 32750, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0521, cls: 0.0314, iou: 0.0715), misc (ry: 0.13, z: 0.28), dt: 0.68, eta: 3.3h
iter: 33000, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0494, cls: 0.0295, iou: 0.0700), misc (ry: 0.13, z: 0.27), dt: 0.68, eta: 3.2h
iter: 33250, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0503, cls: 0.0301, iou: 0.0687), misc (ry: 0.12, z: 0.27), dt: 0.68, eta: 3.2h
iter: 33500, acc (bg: 1.00, fg: 0.99, iou: 0.93), loss (bbox_3d: 0.0518, cls: 0.0302, iou: 0.0702), misc (ry: 0.12, z: 0.28), dt: 0.68, eta: 3.1h
iter: 33750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0474, cls: 0.0300, iou: 0.0661), misc (ry: 0.13, z: 0.26), dt: 0.68, eta: 3.1h
iter: 34000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0518, cls: 0.0309, iou: 0.0686), misc (ry: 0.13, z: 0.27), dt: 0.68, eta: 3.0h
iter: 34250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0464, cls: 0.0310, iou: 0.0682), misc (ry: 0.12, z: 0.26), dt: 0.68, eta: 3.0h
iter: 34500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0489, cls: 0.0314, iou: 0.0671), misc (ry: 0.12, z: 0.26), dt: 0.68, eta: 2.9h
iter: 34750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0482, cls: 0.0289, iou: 0.0678), misc (ry: 0.12, z: 0.25), dt: 0.68, eta: 2.9h
iter: 35000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0453, cls: 0.0313, iou: 0.0675), misc (ry: 0.12, z: 0.24), dt: 0.68, eta: 2.8h
iter: 35250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0453, cls: 0.0315, iou: 0.0669), misc (ry: 0.12, z: 0.25), dt: 0.68, eta: 2.8h
iter: 35500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0493, cls: 0.0319, iou: 0.0670), misc (ry: 0.12, z: 0.28), dt: 0.68, eta: 2.7h
iter: 35750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0458, cls: 0.0296, iou: 0.0662), misc (ry: 0.12, z: 0.27), dt: 0.68, eta: 2.7h
iter: 36000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0467, cls: 0.0290, iou: 0.0671), misc (ry: 0.12, z: 0.26), dt: 0.68, eta: 2.6h
iter: 36250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0385, cls: 0.0289, iou: 0.0617), misc (ry: 0.11, z: 0.24), dt: 0.67, eta: 2.6h
iter: 36500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0457, cls: 0.0293, iou: 0.0652), misc (ry: 0.11, z: 0.26), dt: 0.67, eta: 2.5h
iter: 36750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0470, cls: 0.0308, iou: 0.0668), misc (ry: 0.12, z: 0.24), dt: 0.67, eta: 2.5h
iter: 37000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0409, cls: 0.0293, iou: 0.0625), misc (ry: 0.11, z: 0.24), dt: 0.67, eta: 2.4h
iter: 37250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0508, cls: 0.0309, iou: 0.0640), misc (ry: 0.13, z: 0.26), dt: 0.67, eta: 2.4h
iter: 37500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0442, cls: 0.0309, iou: 0.0650), misc (ry: 0.12, z: 0.24), dt: 0.67, eta: 2.3h
iter: 37750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0411, cls: 0.0287, iou: 0.0626), misc (ry: 0.11, z: 0.26), dt: 0.67, eta: 2.3h
iter: 38000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0410, cls: 0.0293, iou: 0.0624), misc (ry: 0.11, z: 0.23), dt: 0.67, eta: 2.2h
iter: 38250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0378, cls: 0.0294, iou: 0.0601), misc (ry: 0.11, z: 0.24), dt: 0.67, eta: 2.2h
iter: 38500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0379, cls: 0.0280, iou: 0.0600), misc (ry: 0.11, z: 0.23), dt: 0.67, eta: 2.1h
iter: 38750, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0445, cls: 0.0317, iou: 0.0623), misc (ry: 0.12, z: 0.24), dt: 0.67, eta: 2.1h
iter: 39000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0390, cls: 0.0298, iou: 0.0603), misc (ry: 0.11, z: 0.23), dt: 0.67, eta: 2.0h
iter: 39250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0400, cls: 0.0295, iou: 0.0613), misc (ry: 0.11, z: 0.24), dt: 0.67, eta: 2.0h
iter: 39500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0381, cls: 0.0300, iou: 0.0586), misc (ry: 0.11, z: 0.22), dt: 0.67, eta: 2.0h
iter: 39750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0360, cls: 0.0269, iou: 0.0571), misc (ry: 0.10, z: 0.22), dt: 0.67, eta: 1.9h
iter: 40000, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0358, cls: 0.0283, iou: 0.0580), misc (ry: 0.10, z: 0.23), dt: 0.67, eta: 1.9h
testing 1000/3769, dt: 0.174, eta: 8.0m
testing 2000/3769, dt: 0.174, eta: 5.1m
testing 3000/3769, dt: 0.173, eta: 2.2m
test_iter 40000 2d car --> easy: 0.1404, mod: 0.1399, hard: 0.1264
test_iter 40000 gr car --> easy: 0.1139, mod: 0.1073, hard: 0.1021
test_iter 40000 3d car --> easy: 0.1089, mod: 0.1037, hard: 0.1000
test_iter 40000 2d pedestrian --> easy: 0.1375, mod: 0.1313, hard: 0.1235
test_iter 40000 gr pedestrian --> easy: 0.0429, mod: 0.0386, hard: 0.0369
test_iter 40000 3d pedestrian --> easy: 0.0420, mod: 0.0379, hard: 0.0342
test_iter 40000 2d cyclist --> easy: 0.0437, mod: 0.1035, hard: 0.1032
test_iter 40000 gr cyclist --> easy: 0.0194, mod: 0.0168, hard: 0.0168
test_iter 40000 3d cyclist --> easy: 0.0194, mod: 0.0168, hard: 0.0168
iter: 40250, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0415, cls: 0.0320, iou: 0.0605), misc (ry: 0.12, z: 0.22), dt: 0.69, eta: 1.9h
iter: 40500, acc (bg: 1.00, fg: 0.99, iou: 0.94), loss (bbox_3d: 0.0379, cls: 0.0302, iou: 0.0580), misc (ry: 0.11, z: 0.22), dt: 0.69, eta: 1.8h
iter: 40750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0348, cls: 0.0269, iou: 0.0559), misc (ry: 0.10, z: 0.22), dt: 0.69, eta: 1.8h
iter: 41000, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0390, cls: 0.0292, iou: 0.0575), misc (ry: 0.11, z: 0.22), dt: 0.69, eta: 1.7h
iter: 41250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0361, cls: 0.0302, iou: 0.0566), misc (ry: 0.11, z: 0.21), dt: 0.69, eta: 1.7h
iter: 41500, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0326, cls: 0.0282, iou: 0.0545), misc (ry: 0.10, z: 0.21), dt: 0.68, eta: 1.6h
iter: 41750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0332, cls: 0.0271, iou: 0.0541), misc (ry: 0.10, z: 0.23), dt: 0.68, eta: 1.6h
iter: 42000, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0398, cls: 0.0294, iou: 0.0565), misc (ry: 0.10, z: 0.23), dt: 0.68, eta: 1.5h
iter: 42250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0342, cls: 0.0284, iou: 0.0551), misc (ry: 0.10, z: 0.21), dt: 0.68, eta: 1.5h
iter: 42500, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0359, cls: 0.0274, iou: 0.0556), misc (ry: 0.10, z: 0.21), dt: 0.68, eta: 1.4h
iter: 42750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0382, cls: 0.0305, iou: 0.0570), misc (ry: 0.11, z: 0.21), dt: 0.68, eta: 1.4h
iter: 43000, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0322, cls: 0.0273, iou: 0.0517), misc (ry: 0.10, z: 0.22), dt: 0.68, eta: 1.3h
iter: 43250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0307, cls: 0.0277, iou: 0.0515), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 1.3h
iter: 43500, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0324, cls: 0.0296, iou: 0.0534), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 1.2h
iter: 43750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0309, cls: 0.0277, iou: 0.0512), misc (ry: 0.10, z: 0.19), dt: 0.68, eta: 1.2h
iter: 44000, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0336, cls: 0.0287, iou: 0.0514), misc (ry: 0.10, z: 0.21), dt: 0.68, eta: 1.1h
iter: 44250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0326, cls: 0.0277, iou: 0.0520), misc (ry: 0.09, z: 0.21), dt: 0.68, eta: 1.1h
iter: 44500, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0299, cls: 0.0264, iou: 0.0507), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 1.0h
iter: 44750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0303, cls: 0.0278, iou: 0.0495), misc (ry: 0.10, z: 0.19), dt: 0.68, eta: 59.5m
iter: 45000, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0299, cls: 0.0269, iou: 0.0487), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 56.6m
iter: 45250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0325, cls: 0.0286, iou: 0.0506), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 53.8m
iter: 45500, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0308, cls: 0.0284, iou: 0.0494), misc (ry: 0.09, z: 0.20), dt: 0.68, eta: 50.9m
iter: 45750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0299, cls: 0.0276, iou: 0.0483), misc (ry: 0.09, z: 0.20), dt: 0.68, eta: 48.1m
iter: 46000, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0317, cls: 0.0267, iou: 0.0492), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 45.2m
iter: 46250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0317, cls: 0.0283, iou: 0.0490), misc (ry: 0.09, z: 0.20), dt: 0.68, eta: 42.4m
iter: 46500, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0316, cls: 0.0282, iou: 0.0494), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 39.5m
iter: 46750, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0283, cls: 0.0263, iou: 0.0477), misc (ry: 0.09, z: 0.20), dt: 0.68, eta: 36.7m
iter: 47000, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0325, cls: 0.0279, iou: 0.0498), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 33.8m
iter: 47250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0299, cls: 0.0276, iou: 0.0475), misc (ry: 0.10, z: 0.20), dt: 0.68, eta: 31.0m
iter: 47500, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0302, cls: 0.0278, iou: 0.0474), misc (ry: 0.09, z: 0.19), dt: 0.68, eta: 28.2m
iter: 47750, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0284, cls: 0.0271, iou: 0.0466), misc (ry: 0.09, z: 0.19), dt: 0.68, eta: 25.3m
iter: 48000, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0292, cls: 0.0271, iou: 0.0468), misc (ry: 0.09, z: 0.19), dt: 0.68, eta: 22.5m
iter: 48250, acc (bg: 1.00, fg: 0.99, iou: 0.95), loss (bbox_3d: 0.0305, cls: 0.0288, iou: 0.0478), misc (ry: 0.09, z: 0.19), dt: 0.68, eta: 19.7m
iter: 48500, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0286, cls: 0.0261, iou: 0.0452), misc (ry: 0.09, z: 0.19), dt: 0.67, eta: 16.9m
iter: 48750, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0298, cls: 0.0266, iou: 0.0467), misc (ry: 0.09, z: 0.19), dt: 0.67, eta: 14.1m
iter: 49000, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0267, cls: 0.0272, iou: 0.0437), misc (ry: 0.09, z: 0.19), dt: 0.67, eta: 11.2m
iter: 49250, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0272, cls: 0.0269, iou: 0.0447), misc (ry: 0.09, z: 0.18), dt: 0.67, eta: 8.4m
iter: 49500, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0271, cls: 0.0270, iou: 0.0446), misc (ry: 0.09, z: 0.18), dt: 0.67, eta: 5.6m
iter: 49750, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0285, cls: 0.0269, iou: 0.0447), misc (ry: 0.09, z: 0.19), dt: 0.67, eta: 2.8m
iter: 50000, acc (bg: 1.00, fg: 0.99, iou: 0.96), loss (bbox_3d: 0.0261, cls: 0.0262, iou: 0.0428), misc (ry: 0.09, z: 0.17), dt: 0.67, eta: 0.7s
testing 1000/3769, dt: 0.174, eta: 8.0m
testing 2000/3769, dt: 0.174, eta: 5.1m
testing 3000/3769, dt: 0.174, eta: 2.2m
test_iter 50000 2d car --> easy: 0.1230, mod: 0.1212, hard: 0.1068
test_iter 50000 gr car --> easy: 0.0936, mod: 0.0860, hard: 0.0806
test_iter 50000 3d car --> easy: 0.0888, mod: 0.0829, hard: 0.0783
test_iter 50000 2d pedestrian --> easy: 0.1367, mod: 0.1337, hard: 0.1254
test_iter 50000 gr pedestrian --> easy: 0.1032, mod: 0.0997, hard: 0.0984
test_iter 50000 3d pedestrian --> easy: 0.1013, mod: 0.0986, hard: 0.0951
test_iter 50000 2d cyclist --> easy: 0.0299, mod: 0.1033, hard: 0.1020
test_iter 50000 gr cyclist --> easy: 0.0090, mod: 0.0053, hard: 0.0053
test_iter 50000 3d cyclist --> easy: 0.0070, mod: 0.0050, hard: 0.0050
Segmentation fault (core dumped)

I also notice there is a segmentation fault at the bottom of output. I guess that might come from the permission I have on my side - I am a user on a big machine. If that is an error causes the low performance, please let me know.

Thanks in advance!

Best, Shukai

[ZiyTang]

I have got the same problem with the same pytorch version with you, the result is way too far from paper claimed. I guess that's due to the pytorch version since the author use pytorch 0.4.0?

[no-Seaweed]

I have got the same problem with the same pytorch version with you, the result is way too far from paper claimed. I guess that's due to the pytorch version since the author use pytorch 0.4.0?

Hi,

I'm using pytorch 0.4.0 for this framework. I think, for me, it is a data folder's permission problem, because I'm not an administrator in the PC I am using. I solved the permission problem and everything works fine, feel free to reopen if you still have problem.

[zccjjj]

I have got the same problem with the same pytorch version with you, the result is way too far from paper claimed. I guess that's due to the pytorch version since the author use pytorch 0.4.0?

Hi,

I'm using pytorch 0.4.0 for this framework. I think, for me, it is a data folder's permission problem, because I'm not an administrator in the PC I am using. I solved the permission problem and everything works fine, feel free to reopen if you still have problem.

Hi,

I have got the same problem which bothered me for a long time. And I have two questions.

First, what's the meaning of "data folder's permission problem" mentioned in your comment? which data folder? And how can I solve the permission problem?

Second, why the data folder's permission problem can have such an impact on performance?

Thank you very much!