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cagroup3d-win10-scannet
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2023-03-31 07:55:25,762   INFO  **********************Start logging**********************
2023-03-31 07:55:25,763   INFO  CUDA_VISIBLE_DEVICES=ALL
2023-03-31 07:55:25,764   INFO  total_batch_size: 16
2023-03-31 07:55:25,765   INFO  cfg_file         cfgs/sunrgbd_models/CAGroup3D.yaml
2023-03-31 07:55:25,765   INFO  batch_size       16
2023-03-31 07:55:25,766   INFO  workers          4
2023-03-31 07:55:25,766   INFO  extra_tag        cagroup3d-win10-sunrgbd-eval
2023-03-31 07:55:25,767   INFO  ckpt             ../output/sunrgbd_models/CAGroup3D/cagroup3d-win10-sunrgbd-train/ckpt/checkpoint_epoch_1.pth
2023-03-31 07:55:25,768   INFO  launcher         pytorch
2023-03-31 07:55:25,768   INFO  tcp_port         18888
2023-03-31 07:55:25,768   INFO  set_cfgs         None
2023-03-31 07:55:25,770   INFO  max_waiting_mins 30
2023-03-31 07:55:25,770   INFO  start_epoch      0
2023-03-31 07:55:25,771   INFO  eval_tag         default
2023-03-31 07:55:25,772   INFO  eval_all         False
2023-03-31 07:55:25,772   INFO  ckpt_dir         None
2023-03-31 07:55:25,772   INFO  save_to_file     False
2023-03-31 07:55:25,773   INFO  cfg.ROOT_DIR: C:\PINKAMENA\CITYU\CS5182\proj\CAGroup3D
2023-03-31 07:55:25,774   INFO  cfg.LOCAL_RANK: 0
2023-03-31 07:55:25,774   INFO  cfg.CLASS_NAMES: ['bed', 'table', 'sofa', 'chair', 'toilet', 'desk', 'dresser', 'night_stand', 'bookshelf', 'bathtub']
2023-03-31 07:55:25,775   INFO  
cfg.DATA_CONFIG = edict()
2023-03-31 07:55:25,776   INFO  cfg.DATA_CONFIG.DATASET: SunrgbdDataset
2023-03-31 07:55:25,776   INFO  cfg.DATA_CONFIG.DATA_PATH: ../data/sunrgbd_data/sunrgbd
2023-03-31 07:55:25,777   INFO  cfg.DATA_CONFIG.PROCESSED_DATA_TAG: sunrgbd_processed_data_v0_5_0
2023-03-31 07:55:25,778   INFO  cfg.DATA_CONFIG.POINT_CLOUD_RANGE: [-40, -40, -10, 40, 40, 10]
2023-03-31 07:55:25,779   INFO  
cfg.DATA_CONFIG.DATA_SPLIT = edict()
2023-03-31 07:55:25,781   INFO  cfg.DATA_CONFIG.DATA_SPLIT.train: train
2023-03-31 07:55:25,781   INFO  cfg.DATA_CONFIG.DATA_SPLIT.test: val
2023-03-31 07:55:25,783   INFO  
cfg.DATA_CONFIG.REPEAT = edict()
2023-03-31 07:55:25,784   INFO  cfg.DATA_CONFIG.REPEAT.train: 4
2023-03-31 07:55:25,784   INFO  cfg.DATA_CONFIG.REPEAT.test: 1
2023-03-31 07:55:25,785   INFO  
cfg.DATA_CONFIG.INFO_PATH = edict()
2023-03-31 07:55:25,786   INFO  cfg.DATA_CONFIG.INFO_PATH.train: ['sunrgbd_infos_train.pkl']
2023-03-31 07:55:25,787   INFO  cfg.DATA_CONFIG.INFO_PATH.test: ['sunrgbd_infos_val.pkl']
2023-03-31 07:55:25,789   INFO  cfg.DATA_CONFIG.GET_ITEM_LIST: ['points']
2023-03-31 07:55:25,789   INFO  cfg.DATA_CONFIG.FILTER_EMPTY_BOXES_FOR_TRAIN: True
2023-03-31 07:55:25,790   INFO  
cfg.DATA_CONFIG.DATA_AUGMENTOR_TRAIN = edict()
2023-03-31 07:55:25,791   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR_TRAIN.DISABLE_AUG_LIST: ['placeholder']
2023-03-31 07:55:25,792   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR_TRAIN.AUG_CONFIG_LIST: [{'NAME': 'indoor_point_sample', 'num_points': 100000}, {'NAME': 'random_world_flip', 'ALONG_AXIS_LIST': ['y']}, {'NAME': 'random_world_rotation_mmdet3d', 'WORLD_ROT_ANGLE': [-0.523599, 0.523599]}, {'NAME': 'random_world_scaling', 'WORLD_SCALE_RANGE': [0.85, 1.15]}, {'NAME': 'random_world_translation', 'ALONG_AXIS_LIST': ['x', 'y', 'z'], 'NOISE_TRANSLATE_STD': 0.1}]
2023-03-31 07:55:25,793   INFO  
cfg.DATA_CONFIG.DATA_AUGMENTOR_TEST = edict()
2023-03-31 07:55:25,796   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR_TEST.DISABLE_AUG_LIST: ['placeholder']
2023-03-31 07:55:25,797   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR_TEST.AUG_CONFIG_LIST: [{'NAME': 'indoor_point_sample', 'num_points': 100000}]
2023-03-31 07:55:25,798   INFO  
cfg.DATA_CONFIG.DATA_AUGMENTOR = edict()
2023-03-31 07:55:25,799   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR.DISABLE_AUG_LIST: ['placeholder']
2023-03-31 07:55:25,800   INFO  cfg.DATA_CONFIG.DATA_AUGMENTOR.AUG_CONFIG_LIST: [{'NAME': 'indoor_point_sample', 'num_points': 50000}]
2023-03-31 07:55:25,801   INFO  
cfg.DATA_CONFIG.POINT_FEATURE_ENCODING = edict()
2023-03-31 07:55:25,801   INFO  cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.encoding_type: absolute_coordinates_encoding
2023-03-31 07:55:25,804   INFO  cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.used_feature_list: ['x', 'y', 'z', 'r', 'g', 'b']
2023-03-31 07:55:25,804   INFO  cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.src_feature_list: ['x', 'y', 'z', 'r', 'g', 'b']
2023-03-31 07:55:25,805   INFO  cfg.DATA_CONFIG.DATA_PROCESSOR: [{'NAME': 'mask_points_and_boxes_outside_range', 'REMOVE_OUTSIDE_BOXES': False}]
2023-03-31 07:55:25,806   INFO  cfg.DATA_CONFIG._BASE_CONFIG_: cfgs/dataset_configs/sunrgbd_dataset.yaml
2023-03-31 07:55:25,807   INFO  cfg.VOXEL_SIZE: 0.02
2023-03-31 07:55:25,808   INFO  cfg.N_CLASSES: 10
2023-03-31 07:55:25,810   INFO  cfg.SEMANTIC_THR: 0.15
2023-03-31 07:55:25,810   INFO  
cfg.MODEL = edict()
2023-03-31 07:55:25,811   INFO  cfg.MODEL.NAME: CAGroup3D
2023-03-31 07:55:25,811   INFO  cfg.MODEL.VOXEL_SIZE: 0.02
2023-03-31 07:55:25,812   INFO  cfg.MODEL.SEMANTIC_MIN_THR: 0.05
2023-03-31 07:55:25,813   INFO  cfg.MODEL.SEMANTIC_ITER_VALUE: 0.02
2023-03-31 07:55:25,814   INFO  cfg.MODEL.SEMANTIC_THR: 0.15
2023-03-31 07:55:25,815   INFO  
cfg.MODEL.BACKBONE_3D = edict()
2023-03-31 07:55:25,816   INFO  cfg.MODEL.BACKBONE_3D.NAME: BiResNet
2023-03-31 07:55:25,816   INFO  cfg.MODEL.BACKBONE_3D.IN_CHANNELS: 3
2023-03-31 07:55:25,817   INFO  cfg.MODEL.BACKBONE_3D.OUT_CHANNELS: 64
2023-03-31 07:55:25,819   INFO  
cfg.MODEL.DENSE_HEAD = edict()
2023-03-31 07:55:25,820   INFO  cfg.MODEL.DENSE_HEAD.NAME: CAGroup3DHead
2023-03-31 07:55:25,821   INFO  cfg.MODEL.DENSE_HEAD.IN_CHANNELS: [64, 128, 256, 512]
2023-03-31 07:55:25,821   INFO  cfg.MODEL.DENSE_HEAD.OUT_CHANNELS: 64
2023-03-31 07:55:25,822   INFO  cfg.MODEL.DENSE_HEAD.SEMANTIC_THR: 0.15
2023-03-31 07:55:25,823   INFO  cfg.MODEL.DENSE_HEAD.VOXEL_SIZE: 0.02
2023-03-31 07:55:25,824   INFO  cfg.MODEL.DENSE_HEAD.N_CLASSES: 10
2023-03-31 07:55:25,824   INFO  cfg.MODEL.DENSE_HEAD.N_REG_OUTS: 8
2023-03-31 07:55:25,825   INFO  cfg.MODEL.DENSE_HEAD.CLS_KERNEL: 9
2023-03-31 07:55:25,825   INFO  cfg.MODEL.DENSE_HEAD.WITH_YAW: True
2023-03-31 07:55:25,826   INFO  cfg.MODEL.DENSE_HEAD.USE_SEM_SCORE: False
2023-03-31 07:55:25,827   INFO  cfg.MODEL.DENSE_HEAD.EXPAND_RATIO: 3
2023-03-31 07:55:25,828   INFO  
cfg.MODEL.DENSE_HEAD.ASSIGNER = edict()
2023-03-31 07:55:25,828   INFO  cfg.MODEL.DENSE_HEAD.ASSIGNER.NAME: CAGroup3DAssigner
2023-03-31 07:55:25,830   INFO  cfg.MODEL.DENSE_HEAD.ASSIGNER.LIMIT: 27
2023-03-31 07:55:25,831   INFO  cfg.MODEL.DENSE_HEAD.ASSIGNER.TOPK: 18
2023-03-31 07:55:25,831   INFO  cfg.MODEL.DENSE_HEAD.ASSIGNER.N_SCALES: 4
2023-03-31 07:55:25,833   INFO  
cfg.MODEL.DENSE_HEAD.LOSS_OFFSET = edict()
2023-03-31 07:55:25,833   INFO  cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.NAME: SmoothL1Loss
2023-03-31 07:55:25,834   INFO  cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.BETA: 0.04
2023-03-31 07:55:25,835   INFO  cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.REDUCTION: sum
2023-03-31 07:55:25,836   INFO  cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.LOSS_WEIGHT: 0.2
2023-03-31 07:55:25,837   INFO  
cfg.MODEL.DENSE_HEAD.LOSS_BBOX = edict()
2023-03-31 07:55:25,838   INFO  cfg.MODEL.DENSE_HEAD.LOSS_BBOX.NAME: IoU3DLoss
2023-03-31 07:55:25,839   INFO  cfg.MODEL.DENSE_HEAD.LOSS_BBOX.WITH_YAW: True
2023-03-31 07:55:25,840   INFO  cfg.MODEL.DENSE_HEAD.LOSS_BBOX.LOSS_WEIGHT: 1.0
2023-03-31 07:55:25,841   INFO  
cfg.MODEL.DENSE_HEAD.NMS_CONFIG = edict()
2023-03-31 07:55:25,842   INFO  cfg.MODEL.DENSE_HEAD.NMS_CONFIG.SCORE_THR: 0.01
2023-03-31 07:55:25,842   INFO  cfg.MODEL.DENSE_HEAD.NMS_CONFIG.NMS_PRE: 1000
2023-03-31 07:55:25,843   INFO  cfg.MODEL.DENSE_HEAD.NMS_CONFIG.IOU_THR: 0.5
2023-03-31 07:55:25,843   INFO  
cfg.MODEL.ROI_HEAD = edict()
2023-03-31 07:55:25,845   INFO  cfg.MODEL.ROI_HEAD.NAME: CAGroup3DRoIHead
2023-03-31 07:55:25,847   INFO  cfg.MODEL.ROI_HEAD.NUM_CLASSES: 10
2023-03-31 07:55:25,848   INFO  cfg.MODEL.ROI_HEAD.MIDDLE_FEATURE_SOURCE: [3]
2023-03-31 07:55:25,849   INFO  cfg.MODEL.ROI_HEAD.GRID_SIZE: 7
2023-03-31 07:55:25,849   INFO  cfg.MODEL.ROI_HEAD.VOXEL_SIZE: 0.02
2023-03-31 07:55:25,850   INFO  cfg.MODEL.ROI_HEAD.COORD_KEY: 2
2023-03-31 07:55:25,851   INFO  cfg.MODEL.ROI_HEAD.MLPS: [[64, 128, 128]]
2023-03-31 07:55:25,852   INFO  cfg.MODEL.ROI_HEAD.CODE_SIZE: 7
2023-03-31 07:55:25,853   INFO  cfg.MODEL.ROI_HEAD.ENCODE_SINCOS: True
2023-03-31 07:55:25,853   INFO  cfg.MODEL.ROI_HEAD.ROI_PER_IMAGE: 128
2023-03-31 07:55:25,855   INFO  cfg.MODEL.ROI_HEAD.ROI_FG_RATIO: 0.9
2023-03-31 07:55:25,857   INFO  cfg.MODEL.ROI_HEAD.REG_FG_THRESH: 0.3
2023-03-31 07:55:25,858   INFO  cfg.MODEL.ROI_HEAD.ROI_CONV_KERNEL: 5
2023-03-31 07:55:25,858   INFO  cfg.MODEL.ROI_HEAD.ENLARGE_RATIO: False
2023-03-31 07:55:25,860   INFO  cfg.MODEL.ROI_HEAD.USE_IOU_LOSS: True
2023-03-31 07:55:25,862   INFO  cfg.MODEL.ROI_HEAD.USE_GRID_OFFSET: False
2023-03-31 07:55:25,862   INFO  cfg.MODEL.ROI_HEAD.USE_SIMPLE_POOLING: True
2023-03-31 07:55:25,863   INFO  cfg.MODEL.ROI_HEAD.USE_CENTER_POOLING: True
2023-03-31 07:55:25,864   INFO  
cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS = edict()
2023-03-31 07:55:25,865   INFO  cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS.RCNN_CLS_WEIGHT: 1.0
2023-03-31 07:55:25,865   INFO  cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS.RCNN_REG_WEIGHT: 0.5
2023-03-31 07:55:25,865   INFO  cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS.RCNN_IOU_WEIGHT: 1.0
2023-03-31 07:55:25,866   INFO  cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS.CODE_WEIGHT: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
2023-03-31 07:55:25,867   INFO  
cfg.MODEL.POST_PROCESSING = edict()
2023-03-31 07:55:25,868   INFO  cfg.MODEL.POST_PROCESSING.RECALL_THRESH_LIST: [0.25, 0.5]
2023-03-31 07:55:25,870   INFO  cfg.MODEL.POST_PROCESSING.EVAL_METRIC: scannet
2023-03-31 07:55:25,871   INFO  
cfg.OPTIMIZATION = edict()
2023-03-31 07:55:25,872   INFO  cfg.OPTIMIZATION.BATCH_SIZE_PER_GPU: 16
2023-03-31 07:55:25,873   INFO  cfg.OPTIMIZATION.NUM_EPOCHS: 1
2023-03-31 07:55:25,873   INFO  cfg.OPTIMIZATION.OPTIMIZER: adamW
2023-03-31 07:55:25,875   INFO  cfg.OPTIMIZATION.LR: 0.001
2023-03-31 07:55:25,876   INFO  cfg.OPTIMIZATION.WEIGHT_DECAY: 0.0001
2023-03-31 07:55:25,877   INFO  cfg.OPTIMIZATION.DECAY_STEP_LIST: [8, 11]
2023-03-31 07:55:25,878   INFO  cfg.OPTIMIZATION.LR_DECAY: 0.1
2023-03-31 07:55:25,878   INFO  cfg.OPTIMIZATION.GRAD_NORM_CLIP: 10
2023-03-31 07:55:25,879   INFO  cfg.OPTIMIZATION.PCT_START: 0.4
2023-03-31 07:55:25,880   INFO  cfg.OPTIMIZATION.DIV_FACTOR: 10
2023-03-31 07:55:25,881   INFO  cfg.OPTIMIZATION.LR_CLIP: 1e-07
2023-03-31 07:55:25,881   INFO  cfg.OPTIMIZATION.LR_WARMUP: False
2023-03-31 07:55:25,882   INFO  cfg.OPTIMIZATION.WARMUP_EPOCH: 1
2023-03-31 07:55:25,882   INFO  cfg.TAG: CAGroup3D
2023-03-31 07:55:25,883   INFO  cfg.EXP_GROUP_PATH: sunrgbd_models
2023-03-31 07:55:25,883   INFO  Loading SUNRGBD dataset
2023-03-31 07:55:26,075   INFO  Total samples for SUNRGBD dataset: 5050
2023-03-31 07:55:27,373   INFO  ==> Loading parameters from checkpoint ../output/sunrgbd_models/CAGroup3D/cagroup3d-win10-sunrgbd-train/ckpt/checkpoint_epoch_1.pth to CPU
2023-03-31 07:55:27,909   INFO  ==> Checkpoint trained from version: pcdet+0.5.2+18bc5f5+py60edc0c
2023-03-31 07:55:27,980   INFO  ==> Done (loaded 638/638)
2023-03-31 07:55:28,322   INFO  *************** EPOCH 1 EVALUATION *****************
2023-03-31 11:42:57,916   INFO  *************** Performance of EPOCH 1 *****************
2023-03-31 11:42:57,916   INFO  Generate label finished(sec_per_example: 2.7025 second).
2023-03-31 11:42:57,917   INFO  recall_roi_0.25: 0.000000
2023-03-31 11:42:57,917   INFO  recall_rcnn_0.25: 0.000000
2023-03-31 11:42:57,918   INFO  recall_roi_0.5: 0.000000
2023-03-31 11:42:57,919   INFO  recall_rcnn_0.5: 0.000000
2023-03-31 11:42:57,923   INFO  Average predicted number of objects(5050 samples): 55.676
2023-03-31 11:43:27,831   INFO  {'bed_AP_0.25': 0.42717495560646057, 'table_AP_0.25': 6.860281428089365e-05, 'sofa_AP_0.25': 0.011460769921541214, 'chair_AP_0.25': 0.0, 'toilet_AP_0.25': 0.0, 'desk_AP_0.25': 4.534261825028807e-05, 'dresser_AP_0.25': 0.0, 'night_stand_AP_0.25': 0.0, 'bookshelf_AP_0.25': 5.094970219943207e-06, 'bathtub_AP_0.25': 0.0, 'mAP_0.25': 0.04387547820806503, 'bed_rec_0.25': 0.6135922330097088, 'table_rec_0.25': 0.008943781942078365, 'sofa_rec_0.25': 0.13875598086124402, 'chair_rec_0.25': 0.0, 'toilet_rec_0.25': 0.0, 'desk_rec_0.25': 0.019128586609989374, 'dresser_rec_0.25': 0.0, 'night_stand_rec_0.25': 0.0, 'bookshelf_rec_0.25': 0.0035460992907801418, 'bathtub_rec_0.25': 0.0, 'mAR_0.25': 0.07839666817138005, 'bed_AP_0.50': 0.07867174595594406, 'table_AP_0.50': 0.0, 'sofa_AP_0.50': 0.0, 'chair_AP_0.50': 0.0, 'toilet_AP_0.50': 0.0, 'desk_AP_0.50': 0.0, 'dresser_AP_0.50': 0.0, 'night_stand_AP_0.50': 0.0, 'bookshelf_AP_0.50': 0.0, 'bathtub_AP_0.50': 0.0, 'mAP_0.50': 0.007867174223065376, 'bed_rec_0.50': 0.2058252427184466, 'table_rec_0.50': 0.0, 'sofa_rec_0.50': 0.0, 'chair_rec_0.50': 0.0, 'toilet_rec_0.50': 0.0, 'desk_rec_0.50': 0.0, 'dresser_rec_0.50': 0.0, 'night_stand_rec_0.50': 0.0, 'bookshelf_rec_0.50': 0.0, 'bathtub_rec_0.50': 0.0, 'mAR_0.50': 0.02058252427184466}
2023-03-31 11:43:27,836   INFO  Result is save to C:\PINKAMENA\CITYU\CS5182\proj\CAGroup3D\output\sunrgbd_models\CAGroup3D\cagroup3d-win10-sunrgbd-eval\eval\epoch_1\val\default
2023-03-31 11:43:27,838   INFO  ****************Evaluation done.*****************