Training problem

[skyhehe123]

Hi, Thanks for sharing this great work. I train on train(3712) and evaluate on the val (3769) can only gain very low AP. Could you share your training log file so that I can trace the bugs.

[lzccccc]

Hi,

How much AP did you achieve? As indicated in Sec. 5.1 of our paper, the performance degrades on train/val set because of the lack of examples. This is reasonable since detecting each object as a single point is a difficult task.

Or maybe there is an unobserved bug in the code....

[lianqing01]

Hi @lzccccc ,

Thanks for your wonderful code. I also try to train on training dataset (3712) and evaluate on the validation dataset (3769), but only can get the following ap (3d/bev):

	Easy	Moderate	Hard
Car	10.7 / 15.9	7.7 / 12.2	7.7 / 10.2	,

which is much lower than the paper reported.

I use the original setting that trains on 4 gpus, should I train longer or use a smaller learning rate?

Best regards, Qing LIAN

[lianqing11]

I can get similar results from the released code in the validation dataset.

Thanks for kindly sharing the code.

[ZhxJia]

I can get similar results from the released code in the validation dataset.

Thanks for kindly sharing the code.

Hi @lzccccc ,

Thanks for your wonderful code. I also try to train on training dataset (3712) and evaluate on the validation dataset (3769), but only can get the following ap (3d/bev):

Easy Moderate Hard Car 10.7 / 15.9 7.7 / 12.2 7.7 / 10.2 which is much lower than the paper reported.

I use the original setting that trains on 4 gpus, should I train longer or use a smaller learning rate?

Best regards, Qing LIAN

Hi, could you share how you solve it? Thks

[ZiYang-xie]

I get exactly the same problem, I follow the paper, training on the train(3712) for 60 epochs and drops learning rate at 25 & 40 epoch by a factor of 10, but i still get low AP on the val(3769)

car_detection_3d AP: 11.122600 8.383281 6.976796 pedestrian_detection_3d AP: 2.784572 2.732527 2.739558 cyclist_detection_3d AP: 0.606061 0.568182 0.568182

Could anyone share the solution? Thks

[ZiYang-xie]

Hi, thks for the high-quality code, I have solved the problem, just using the 14500 iter in the default.py, about 60 epochs on trainval(7481) set but 120 epochs on train(3712) set. And I get the AP car_detection_3d AP: 16.485666 14.154558 11.966417

[mrsempress]

Hi, thks for the high-quality code, I have solved the problem, just using the 14500 iter in the default.py, about 60 epochs on trainval(7481) set but 120 epochs on train(3712) set. And I get the AP car_detection_3d AP: 16.485666 14.154558 11.966417

Do you mean that after you set iter 7250 to keep 60 epochs on train set, the result is normal? I didn't change any code(that means I use 25000 iter) and the results even lower than you.

	Easy	Moderate	Hard
Car	6.74 / 12.17	4.35 / 8.09	4.02 / 7.65
Pedestrian	2.12 / 2.63	1.78 / 1.93	1.39 / 1.52
Cyclist	1.04 / 1.34	0.41 / 0.50	0.41 / 0.51

Is that means my training is overfitting?

[vobecant]

I trained the network using the following setup

MODEL:
  WEIGHT: "catalog://ImageNetPretrained/DLA34"
INPUT:
  FLIP_PROB_TRAIN: 0.5
  SHIFT_SCALE_PROB_TRAIN: 0.3
OUTPUT_DIR: "./tools/logs_trainOnTrain_120ep"
DATASETS:
  DETECT_CLASSES: ("Car", "Cyclist", "Pedestrian")
  TRAIN: ("kitti_train",)
  TEST: ("kitti_train",)
  TRAIN_SPLIT: "train"
  TEST_SPLIT: "val"
SOLVER:
  BASE_LR: 2.5e-4
  STEPS: (5800, 9280)
  MAX_ITERATION: 13920
  IMS_PER_BATCH: 32

and got these results:

car_R11
2d, 88.27, 78.84, 70.18
bev, 24.41, 19.57, 16.81
3d, 18.25, 15.26, 14.21
aos, 88.04, 78.41, 69.58

car_R40
2d, 91.47, 83.36, 74.03
bev, 19.91, 13.72, 11.61
3d, 12.68, 8.85, 7.12
aos, 91.19, 82.84, 73.27

pedestrian_R11
2d, 63.12, 48.89, 41.05
bev, 11.49, 11.27, 11.15
3d, 11.03, 10.89, 10.35
aos, 49.35, 38.70, 32.88

pedestrian_R40
2d, 60.76, 50.06, 41.44
bev, 4.49, 3.91, 3.22
3d, 3.44, 2.92, 2.29
aos, 46.02, 37.66, 31.16

cyclist_R11
2d, 48.29, 34.82, 33.71
bev, 4.23, 3.80, 3.03
3d, 3.25, 2.27, 2.27
aos, 31.60, 22.19, 21.75

cyclist_R40
2d, 48.38, 31.85, 29.94
bev, 2.13, 1.18, 0.87
3d, 1.74, 0.74, 0.72
aos, 32.51, 21.08, 19.96

[nikhil-nakhate]

@vobecant Could you share what IoU you have used to get the results.

[nikhil-nakhate]

I used your config and wasn't able to replicate the results. Did you make any additional changes? @vobecant

[vobecant]

@nikhil-nakhate I didn't make any additional changes. I run this exact command:

now=$(date +"%Y%m%d_%H%M%S")
EXPNAME=SMOKE_trainOnTrain_120ep_${now}
JOB_FILE=./jobs/${EXPNAME}.job
g=4
NUMCPUS=16
CONFIG_FILE=/path/to/SMOKE/configs/smoke_trainOnTrain_testOnVal_120ep.yaml
python tools/plain_train_net.py --num-gpus 4 --config-file ${CONFIG_FILE}

To get the numbers that I reported, I used this command

python tools/plain_train_net.py --eval-only --config-file "${CONFIG_FILE}"

followed by running my new script:

import numpy as np
import os

def get_ap(prec, ap_type):
    prec = np.asarray(prec)
    sums = 0
    if ap_type == 11:
        for i in range(0, prec.shape[-1], 4):
            sums = sums + prec[..., i]
        ap = sums / 11 * 100
    else:
        for i in range(1, prec.shape[-1]):
            sums = sums + prec[..., i]
        ap = sums / 40 * 100
    return ap

def get_aps(results_dir):
    def print_file(s, f):
        f.write('{}\n'.format(s))
        print(s)

    labels = ['car', 'pedestrian', 'cyclist']
    eval_types = ['detection', 'detection_ground', 'detection_3d', 'orientation']
    eval_types_short = {'detection': '2d', 'detection_3d': '3d', 'orientation': 'aos', 'detection_ground': 'bev'}
    difficulties = ['easy', 'moderate', 'hard']

    res_path = os.path.join(results_dir, 'parsed_res.txt')
    f = open(res_path, 'w')
    for label in labels:
        for ap_type in [11, 40]:
            print_file('\n{}_R{}'.format(label, ap_type), f)
            for eval_type in eval_types:
                res_file = os.path.join(results_dir, 'stats_{}_{}.txt'.format(label, eval_type))
                with open(res_file, 'r') as fl:
                    lines = fl.readlines()
                diff_res = [eval_types_short[eval_type]]
                for i, difficulty in enumerate(difficulties):
                    prec = [float(tmp) for tmp in lines[i].strip().split(' ')]
                    ap_res = get_ap(prec, ap_type)
                    diff_res.append('{:.2f}'.format(ap_res))
                print_file(', '.join(diff_res), f)
    f.close()
    print('Saved parsed results to {}'.format(res_path))

if __name__ == '__main__':
    results_dir = '/path/to/results/logs_trainOnTrain_120ep/inference/kitti_train'
    get_aps(results_dir)

Feel free to check the code!

[nikhil-nakhate]

Hey @vobecant, Thanks so much for this. It really helps. Let me get back to you with the training results.

[nikhil-nakhate]

@vobecant The following are the results that I got with your configs:

car_R11 2d, 84.38, 76.68, 68.68 bev, 21.89, 18.15, 15.98 3d, 16.25, 13.93, 13.66 aos, 84.17, 76.05, 67.74

car_R40 2d, 84.13, 77.06, 70.24 bev, 15.62, 10.93, 9.48 3d, 9.06, 6.34, 5.79 aos, 83.92, 76.36, 69.15

pedestrian_R11 2d, 54.75, 47.58, 40.32 bev, 6.33, 6.18, 5.85 3d, 5.87, 5.62, 5.64 aos, 37.60, 33.65, 29.05

pedestrian_R40 2d, 54.87, 46.86, 40.52 bev, 3.05, 2.71, 2.14 3d, 2.09, 1.88, 1.69 aos, 34.69, 30.42, 26.16

cyclist_R11 2d, 49.69, 35.25, 34.59 bev, 2.06, 1.14, 1.14 3d, 2.05, 1.14, 1.14 aos, 36.92, 23.43, 22.65

cyclist_R40 2d, 48.46, 32.58, 30.64 bev, 0.99, 0.61, 0.52 3d, 0.83, 0.47, 0.35 aos, 33.77, 22.03, 20.56

[arwagh]

@vobecant hello, I run the code with your configurations, and I got these results:

car_R11
2d, 19.04, 13.31, 12.71
bev, 9.09, 4.55, 4.55
3d, 9.09, 4.55, 4.55
aos, 18.28, 12.45, 11.73

car_R40
2d, 12.98, 12.04, 10.87
bev, 0.55, 0.47, 0.35
3d, 0.10, 0.05, 0.05
aos, 12.17, 11.16, 9.93

pedestrian_R11
2d, 14.54, 9.74, 9.79
bev, 0.91, 0.71, 0.75
3d, 0.64, 0.56, 0.56
aos, 6.74, 4.66, 4.69

pedestrian_R40
2d, 10.67, 8.03, 6.73
bev, 0.46, 0.20, 0.20
3d, 0.34, 0.15, 0.15
aos, 4.94, 3.76, 3.17

cyclist_R11
2d, 1.73, 1.57, 1.57
bev, 0.00, 0.00, 0.00
3d, 0.00, 0.00, 0.00
aos, 0.01, 0.46, 0.46

cyclist_R40
2d, 0.48, 0.43, 0.43
bev, 0.00, 0.00, 0.00
3d, 0.00, 0.00, 0.00

Do you have any idea why they are so low? Thank you.

[1gjjuser1]

Hi @lzccccc ,

Thanks for your wonderful code. I also try to train on training dataset (3712) and evaluate on the validation dataset (3769), but only can get the following ap (3d/bev):

Easy Moderate Hard Car 10.7 / 15.9 7.7 / 12.2 7.7 / 10.2 which is much lower than the paper reported.

I use the original setting that trains on 4 gpus, should I train longer or use a smaller learning rate?

Best regards, Qing LIAN

How do I get this kind of indicator? Why can I only get the 3D indicator but not the Bev indicator?