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2023-04-09 22:50:42,055 INFO **********************Start logging**********************
2023-04-09 22:50:42,056 INFO CUDA_VISIBLE_DEVICES=ALL
2023-04-09 22:50:42,057 INFO WINDOWS 10: dist_test has been disabled.
2023-04-09 22:50:42,058 INFO cfg_file cfgs/sunrgbd_models/CAGroup3D.yaml
2023-04-09 22:50:42,059 INFO batch_size 16
2023-04-09 22:50:42,060 INFO workers 4
2023-04-09 22:50:42,060 INFO extra_tag cagroup3d-win10-sunrgbd-eval
2023-04-09 22:50:42,061 INFO ckpt ../output/sunrgbd_models/CAGroup3D/cagroup3d-win10-sunrgbd-train-good/ckpt/checkpoint_epoch_13.pth
2023-04-09 22:50:42,063 INFO launcher pytorch
2023-04-09 22:50:42,064 INFO tcp_port 18888
2023-04-09 22:50:42,065 INFO set_cfgs None
2023-04-09 22:50:42,065 INFO max_waiting_mins 30
2023-04-09 22:50:42,066 INFO start_epoch 0
2023-04-09 22:50:42,067 INFO eval_tag default
2023-04-09 22:50:42,068 INFO eval_all False
2023-04-09 22:50:42,069 INFO ckpt_dir None
2023-04-09 22:50:42,070 INFO save_to_file False
2023-04-09 22:50:42,071 INFO cfg.ROOT_DIR: C:\PINKAMENA\CITYU\CS5182\proj\CAGroup3D
2023-04-09 22:50:42,072 INFO cfg.LOCAL_RANK: 0
2023-04-09 22:50:42,074 INFO cfg.CLASS_NAMES: ['bed', 'table', 'sofa', 'chair', 'toilet', 'desk', 'dresser', 'night_stand', 'bookshelf', 'bathtub']
2023-04-09 22:50:42,075 INFO
cfg.DATA_CONFIG = edict()
2023-04-09 22:50:42,077 INFO cfg.DATA_CONFIG.DATASET: SunrgbdDataset
2023-04-09 22:50:42,078 INFO cfg.DATA_CONFIG.DATA_PATH: ../data/sunrgbd_data/sunrgbd
2023-04-09 22:50:42,079 INFO cfg.DATA_CONFIG.PROCESSED_DATA_TAG: sunrgbd_processed_data_v0_5_0
2023-04-09 22:50:42,080 INFO cfg.DATA_CONFIG.POINT_CLOUD_RANGE: [-40, -40, -10, 40, 40, 10]
2023-04-09 22:50:42,082 INFO
cfg.DATA_CONFIG.DATA_SPLIT = edict()
2023-04-09 22:50:42,084 INFO cfg.DATA_CONFIG.DATA_SPLIT.train: train
2023-04-09 22:50:42,085 INFO cfg.DATA_CONFIG.DATA_SPLIT.test: val
2023-04-09 22:50:42,087 INFO
cfg.DATA_CONFIG.REPEAT = edict()
2023-04-09 22:50:42,088 INFO cfg.DATA_CONFIG.REPEAT.train: 4
2023-04-09 22:50:42,089 INFO cfg.DATA_CONFIG.REPEAT.test: 1
2023-04-09 22:50:42,090 INFO
cfg.DATA_CONFIG.INFO_PATH = edict()
2023-04-09 22:50:42,092 INFO cfg.DATA_CONFIG.INFO_PATH.train: ['sunrgbd_infos_train.pkl']
2023-04-09 22:50:42,092 INFO cfg.DATA_CONFIG.INFO_PATH.test: ['sunrgbd_infos_val.pkl']
2023-04-09 22:50:42,093 INFO cfg.DATA_CONFIG.GET_ITEM_LIST: ['points']
2023-04-09 22:50:42,094 INFO cfg.DATA_CONFIG.FILTER_EMPTY_BOXES_FOR_TRAIN: True
2023-04-09 22:50:42,094 INFO
cfg.DATA_CONFIG.DATA_AUGMENTOR_TRAIN = edict()
2023-04-09 22:50:42,095 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR_TRAIN.DISABLE_AUG_LIST: ['placeholder']
2023-04-09 22:50:42,096 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}]
2023-04-09 22:50:42,099 INFO
cfg.DATA_CONFIG.DATA_AUGMENTOR_TEST = edict()
2023-04-09 22:50:42,099 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR_TEST.DISABLE_AUG_LIST: ['placeholder']
2023-04-09 22:50:42,100 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR_TEST.AUG_CONFIG_LIST: [{'NAME': 'indoor_point_sample', 'num_points': 100000}]
2023-04-09 22:50:42,101 INFO
cfg.DATA_CONFIG.DATA_AUGMENTOR = edict()
2023-04-09 22:50:42,102 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR.DISABLE_AUG_LIST: ['placeholder']
2023-04-09 22:50:42,103 INFO cfg.DATA_CONFIG.DATA_AUGMENTOR.AUG_CONFIG_LIST: [{'NAME': 'indoor_point_sample', 'num_points': 50000}]
2023-04-09 22:50:42,104 INFO
cfg.DATA_CONFIG.POINT_FEATURE_ENCODING = edict()
2023-04-09 22:50:42,104 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.encoding_type: absolute_coordinates_encoding
2023-04-09 22:50:42,106 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.used_feature_list: ['x', 'y', 'z', 'r', 'g', 'b']
2023-04-09 22:50:42,107 INFO cfg.DATA_CONFIG.POINT_FEATURE_ENCODING.src_feature_list: ['x', 'y', 'z', 'r', 'g', 'b']
2023-04-09 22:50:42,107 INFO cfg.DATA_CONFIG.DATA_PROCESSOR: [{'NAME': 'mask_points_and_boxes_outside_range', 'REMOVE_OUTSIDE_BOXES': False}]
2023-04-09 22:50:42,108 INFO cfg.DATA_CONFIG._BASE_CONFIG_: cfgs/dataset_configs/sunrgbd_dataset.yaml
2023-04-09 22:50:42,108 INFO cfg.VOXEL_SIZE: 0.02
2023-04-09 22:50:42,109 INFO cfg.N_CLASSES: 10
2023-04-09 22:50:42,110 INFO cfg.SEMANTIC_THR: 0.15
2023-04-09 22:50:42,110 INFO
cfg.MODEL = edict()
2023-04-09 22:50:42,111 INFO cfg.MODEL.NAME: CAGroup3D
2023-04-09 22:50:42,111 INFO cfg.MODEL.VOXEL_SIZE: 0.02
2023-04-09 22:50:42,112 INFO cfg.MODEL.SEMANTIC_MIN_THR: 0.05
2023-04-09 22:50:42,112 INFO cfg.MODEL.SEMANTIC_ITER_VALUE: 0.02
2023-04-09 22:50:42,113 INFO cfg.MODEL.SEMANTIC_THR: 0.15
2023-04-09 22:50:42,113 INFO
cfg.MODEL.BACKBONE_3D = edict()
2023-04-09 22:50:42,114 INFO cfg.MODEL.BACKBONE_3D.NAME: BiResNet
2023-04-09 22:50:42,114 INFO cfg.MODEL.BACKBONE_3D.IN_CHANNELS: 3
2023-04-09 22:50:42,115 INFO cfg.MODEL.BACKBONE_3D.OUT_CHANNELS: 64
2023-04-09 22:50:42,115 INFO
cfg.MODEL.DENSE_HEAD = edict()
2023-04-09 22:50:42,116 INFO cfg.MODEL.DENSE_HEAD.NAME: CAGroup3DHead
2023-04-09 22:50:42,117 INFO cfg.MODEL.DENSE_HEAD.IN_CHANNELS: [64, 128, 256, 512]
2023-04-09 22:50:42,117 INFO cfg.MODEL.DENSE_HEAD.OUT_CHANNELS: 64
2023-04-09 22:50:42,117 INFO cfg.MODEL.DENSE_HEAD.SEMANTIC_THR: 0.15
2023-04-09 22:50:42,118 INFO cfg.MODEL.DENSE_HEAD.VOXEL_SIZE: 0.02
2023-04-09 22:50:42,118 INFO cfg.MODEL.DENSE_HEAD.N_CLASSES: 10
2023-04-09 22:50:42,118 INFO cfg.MODEL.DENSE_HEAD.N_REG_OUTS: 8
2023-04-09 22:50:42,119 INFO cfg.MODEL.DENSE_HEAD.CLS_KERNEL: 9
2023-04-09 22:50:42,119 INFO cfg.MODEL.DENSE_HEAD.WITH_YAW: True
2023-04-09 22:50:42,119 INFO cfg.MODEL.DENSE_HEAD.USE_SEM_SCORE: False
2023-04-09 22:50:42,120 INFO cfg.MODEL.DENSE_HEAD.EXPAND_RATIO: 3
2023-04-09 22:50:42,120 INFO
cfg.MODEL.DENSE_HEAD.ASSIGNER = edict()
2023-04-09 22:50:42,120 INFO cfg.MODEL.DENSE_HEAD.ASSIGNER.NAME: CAGroup3DAssigner
2023-04-09 22:50:42,121 INFO cfg.MODEL.DENSE_HEAD.ASSIGNER.LIMIT: 27
2023-04-09 22:50:42,121 INFO cfg.MODEL.DENSE_HEAD.ASSIGNER.TOPK: 18
2023-04-09 22:50:42,122 INFO cfg.MODEL.DENSE_HEAD.ASSIGNER.N_SCALES: 4
2023-04-09 22:50:42,122 INFO
cfg.MODEL.DENSE_HEAD.LOSS_OFFSET = edict()
2023-04-09 22:50:42,123 INFO cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.NAME: SmoothL1Loss
2023-04-09 22:50:42,124 INFO cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.BETA: 0.04
2023-04-09 22:50:42,124 INFO cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.REDUCTION: sum
2023-04-09 22:50:42,125 INFO cfg.MODEL.DENSE_HEAD.LOSS_OFFSET.LOSS_WEIGHT: 0.2
2023-04-09 22:50:42,125 INFO
cfg.MODEL.DENSE_HEAD.LOSS_BBOX = edict()
2023-04-09 22:50:42,126 INFO cfg.MODEL.DENSE_HEAD.LOSS_BBOX.NAME: IoU3DLoss
2023-04-09 22:50:42,126 INFO cfg.MODEL.DENSE_HEAD.LOSS_BBOX.WITH_YAW: True
2023-04-09 22:50:42,127 INFO cfg.MODEL.DENSE_HEAD.LOSS_BBOX.LOSS_WEIGHT: 1.0
2023-04-09 22:50:42,128 INFO
cfg.MODEL.DENSE_HEAD.NMS_CONFIG = edict()
2023-04-09 22:50:42,128 INFO cfg.MODEL.DENSE_HEAD.NMS_CONFIG.SCORE_THR: 0.01
2023-04-09 22:50:42,129 INFO cfg.MODEL.DENSE_HEAD.NMS_CONFIG.NMS_PRE: 1000
2023-04-09 22:50:42,129 INFO cfg.MODEL.DENSE_HEAD.NMS_CONFIG.IOU_THR: 0.5
2023-04-09 22:50:42,130 INFO
cfg.MODEL.ROI_HEAD = edict()
2023-04-09 22:50:42,130 INFO cfg.MODEL.ROI_HEAD.NAME: CAGroup3DRoIHead
2023-04-09 22:50:42,131 INFO cfg.MODEL.ROI_HEAD.NUM_CLASSES: 10
2023-04-09 22:50:42,131 INFO cfg.MODEL.ROI_HEAD.MIDDLE_FEATURE_SOURCE: [3]
2023-04-09 22:50:42,131 INFO cfg.MODEL.ROI_HEAD.GRID_SIZE: 7
2023-04-09 22:50:42,132 INFO cfg.MODEL.ROI_HEAD.VOXEL_SIZE: 0.02
2023-04-09 22:50:42,132 INFO cfg.MODEL.ROI_HEAD.COORD_KEY: 2
2023-04-09 22:50:42,133 INFO cfg.MODEL.ROI_HEAD.MLPS: [[64, 128, 128]]
2023-04-09 22:50:42,134 INFO cfg.MODEL.ROI_HEAD.CODE_SIZE: 7
2023-04-09 22:50:42,134 INFO cfg.MODEL.ROI_HEAD.ENCODE_SINCOS: True
2023-04-09 22:50:42,134 INFO cfg.MODEL.ROI_HEAD.ROI_PER_IMAGE: 128
2023-04-09 22:50:42,135 INFO cfg.MODEL.ROI_HEAD.ROI_FG_RATIO: 0.9
2023-04-09 22:50:42,135 INFO cfg.MODEL.ROI_HEAD.REG_FG_THRESH: 0.3
2023-04-09 22:50:42,136 INFO cfg.MODEL.ROI_HEAD.ROI_CONV_KERNEL: 5
2023-04-09 22:50:42,136 INFO cfg.MODEL.ROI_HEAD.ENLARGE_RATIO: False
2023-04-09 22:50:42,137 INFO cfg.MODEL.ROI_HEAD.USE_IOU_LOSS: True
2023-04-09 22:50:42,137 INFO cfg.MODEL.ROI_HEAD.USE_GRID_OFFSET: False
2023-04-09 22:50:42,138 INFO cfg.MODEL.ROI_HEAD.USE_SIMPLE_POOLING: True
2023-04-09 22:50:42,138 INFO cfg.MODEL.ROI_HEAD.USE_CENTER_POOLING: True
2023-04-09 22:50:42,139 INFO
cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS = edict()
2023-04-09 22:50:42,140 INFO cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS.RCNN_CLS_WEIGHT: 1.0
2023-04-09 22:50:42,141 INFO cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS.RCNN_REG_WEIGHT: 0.5
2023-04-09 22:50:42,142 INFO cfg.MODEL.ROI_HEAD.LOSS_WEIGHTS.RCNN_IOU_WEIGHT: 1.0
2023-04-09 22:50:42,143 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]
2023-04-09 22:50:42,144 INFO
cfg.MODEL.POST_PROCESSING = edict()
2023-04-09 22:50:42,145 INFO cfg.MODEL.POST_PROCESSING.RECALL_THRESH_LIST: [0.25, 0.5]
2023-04-09 22:50:42,145 INFO cfg.MODEL.POST_PROCESSING.EVAL_METRIC: scannet
2023-04-09 22:50:42,146 INFO
cfg.OPTIMIZATION = edict()
2023-04-09 22:50:42,147 INFO cfg.OPTIMIZATION.BATCH_SIZE_PER_GPU: 16
2023-04-09 22:50:42,148 INFO cfg.OPTIMIZATION.NUM_EPOCHS: 1
2023-04-09 22:50:42,148 INFO cfg.OPTIMIZATION.OPTIMIZER: adamW
2023-04-09 22:50:42,149 INFO cfg.OPTIMIZATION.LR: 0.001
2023-04-09 22:50:42,149 INFO cfg.OPTIMIZATION.WEIGHT_DECAY: 0.0001
2023-04-09 22:50:42,150 INFO cfg.OPTIMIZATION.DECAY_STEP_LIST: [8, 11]
2023-04-09 22:50:42,151 INFO cfg.OPTIMIZATION.LR_DECAY: 0.1
2023-04-09 22:50:42,152 INFO cfg.OPTIMIZATION.GRAD_NORM_CLIP: 10
2023-04-09 22:50:42,152 INFO cfg.OPTIMIZATION.PCT_START: 0.4
2023-04-09 22:50:42,153 INFO cfg.OPTIMIZATION.DIV_FACTOR: 10
2023-04-09 22:50:42,154 INFO cfg.OPTIMIZATION.LR_CLIP: 1e-07
2023-04-09 22:50:42,155 INFO cfg.OPTIMIZATION.LR_WARMUP: False
2023-04-09 22:50:42,156 INFO cfg.OPTIMIZATION.WARMUP_EPOCH: 1
2023-04-09 22:50:42,156 INFO cfg.TAG: CAGroup3D
2023-04-09 22:50:42,157 INFO cfg.EXP_GROUP_PATH: sunrgbd_models
2023-04-09 22:50:42,158 INFO Loading SUNRGBD dataset
2023-04-09 22:50:42,321 INFO Total samples for SUNRGBD dataset: 5050
2023-04-09 22:50:43,683 INFO ==> Loading parameters from checkpoint ../output/sunrgbd_models/CAGroup3D/cagroup3d-win10-sunrgbd-train-good/ckpt/checkpoint_epoch_13.pth to CPU
2023-04-09 22:50:44,215 INFO ==> Checkpoint trained from version: pcdet+0.5.2+18bc5f5+py9059037
2023-04-09 22:50:44,281 INFO ==> Done (loaded 638/638)
2023-04-09 22:50:44,371 INFO *************** EPOCH 13 EVALUATION *****************
2023-04-10 06:24:00,477 INFO *************** Performance of EPOCH 13 *****************
2023-04-10 06:24:00,478 INFO Generate label finished(sec_per_example: 5.3854 second).
2023-04-10 06:24:00,478 INFO recall_roi_0.25: 0.000000
2023-04-10 06:24:00,479 INFO recall_rcnn_0.25: 0.000000
2023-04-10 06:24:00,481 INFO recall_roi_0.5: 0.000000
2023-04-10 06:24:00,481 INFO recall_rcnn_0.5: 0.000000
2023-04-10 06:24:00,488 INFO Average predicted number of objects(5050 samples): 79.419
2023-04-10 06:24:30,201 INFO {'bed_AP_0.25': 0.8865743279457092, 'table_AP_0.25': 0.5934737920761108, 'sofa_AP_0.25': 0.7229885458946228, 'chair_AP_0.25': 0.832602322101593, 'toilet_AP_0.25': 0.9050102233886719, 'desk_AP_0.25': 0.4046960771083832, 'dresser_AP_0.25': 0.3991200923919678, 'night_stand_AP_0.25': 0.7012921571731567, 'bookshelf_AP_0.25': 0.3489009439945221, 'bathtub_AP_0.25': 0.7950834035873413, 'mAP_0.25': 0.6589742302894592, 'bed_rec_0.25': 0.9766990291262136, 'table_rec_0.25': 0.9535775127768313, 'sofa_rec_0.25': 0.960127591706539, 'chair_rec_0.25': 0.9529752396166135, 'toilet_rec_0.25': 0.9862068965517241, 'desk_rec_0.25': 0.9075451647183846, 'dresser_rec_0.25': 0.908256880733945, 'night_stand_rec_0.25': 0.9333333333333333, 'bookshelf_rec_0.25': 0.8297872340425532, 'bathtub_rec_0.25': 0.9591836734693877, 'mAR_0.25': 0.9367692556075525, 'bed_AP_0.50': 0.6512726545333862, 'table_AP_0.50': 0.3761991560459137, 'sofa_AP_0.50': 0.6142138242721558, 'chair_AP_0.50': 0.6974316239356995, 'toilet_AP_0.50': 0.6795477271080017, 'desk_AP_0.50': 0.17701025307178497, 'dresser_AP_0.50': 0.32318606972694397, 'night_stand_AP_0.50': 0.5856746435165405, 'bookshelf_AP_0.50': 0.14841896295547485, 'bathtub_AP_0.50': 0.567954421043396, 'mAP_0.50': 0.48209095001220703, 'bed_rec_0.50': 0.7300970873786408, 'table_rec_0.50': 0.6533219761499148, 'sofa_rec_0.50': 0.7942583732057417, 'chair_rec_0.50': 0.8085063897763578, 'toilet_rec_0.50': 0.7862068965517242, 'desk_rec_0.50': 0.5069075451647184, 'dresser_rec_0.50': 0.6422018348623854, 'night_stand_rec_0.50': 0.7490196078431373, 'bookshelf_rec_0.50': 0.4397163120567376, 'bathtub_rec_0.50': 0.6938775510204082, 'mAR_0.50': 0.6804113574009766}
2023-04-10 06:24:30,207 INFO Result is save to C:\PINKAMENA\CITYU\CS5182\proj\CAGroup3D\output\sunrgbd_models\CAGroup3D\cagroup3d-win10-sunrgbd-eval\eval\epoch_13\val\default
2023-04-10 06:24:30,208 INFO ****************Evaluation done.*****************
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