迁移实验记录(Deprecated)
Deprecated
点数的影响(F-Convnet)
通过数据增强的方式减少点的数量会有明显效果
k642k32_scale1/8
Car AP@0.70, 0.70, 0.70:
bbox AP:99.96, 90.87, 90.87
bev AP:77.09, 65.76, 58.54
3d AP:63.46, 52.74, 46.47
k322k32_scale1/8
Car AP@0.70, 0.70, 0.70:
bbox AP:99.91, 90.82, 90.80
bev AP:86.61, 76.09, 68.45
3d AP:72.31, 62.60, 56.06
fconvnet
官方结果:(xyz,from_rgb_det)
first stage from_rgb
Car AP@0.70, 0.70, 0.70:
bbox AP:98.33, 90.40, 88.24
bev AP:90.32, 88.02, 79.41
3d AP:87.76, 77.41, 68.79
refinement stage from_rgb
Car AP@0.70, 0.70, 0.70:
bbox AP:98.43, 90.39, 88.15
bev AP:90.42, 88.99, 86.88
3d AP:89.31, 79.08, 77.17
first stage from_rgb迁移到mini_gt
Car AP@0.70, 0.70, 0.70:
bbox AP:85.45, 77.19, 77.19
bev AP:26.34, 24.73, 24.73
3d AP:7.79, 7.65, 7.65
first stage from_rgb迁移到v1.0-val_gt
Car AP@0.70, 0.70, 0.70:
bbox AP:90.44, 81.40, 81.40
bev AP:25.26, 23.50, 23.50
3d AP:6.37, 5.89, 5.89
自己用gt训练
k2k(2020.3.2):
iou3d_0.7:0.873(50)
Car AP@0.70, 0.70, 0.70:
bbox AP:99.97, 99.95, 99.96
bev AP:97.36, 89.50, 89.08
3d AP:87.60, 85.52, 78.27
avg_per_object:0.001
avg_per_image:0.005
k2k_densefusion_plus
iou3d_0.7:0.884(50)
Car AP@0.70, 0.70, 0.70:
bbox AP:99.95, 99.94, 99.95
bev AP:90.32, 89.62, 89.30
3d AP:88.83, 86.44, 79.03
avg_per_object:0.007
avg_per_image:0.026
k642k32_scale1/2
Car AP@0.70, 0.70, 0.70:
bbox AP:99.97, 99.96, 99.89
bev AP:89.35, 87.21, 79.46
3d AP:84.44, 74.96, 67.93
k642k32_scale1/4
Car AP@0.70, 0.70, 0.70:
bbox AP:99.95, 90.87, 90.86
bev AP:88.00, 77.94, 77.12
3d AP:76.13, 66.17, 64.83
k642k32_scale1/8
Car AP@0.70, 0.70, 0.70:
bbox AP:99.96, 90.87, 90.87
bev AP:77.09, 65.76, 58.54
3d AP:63.46, 52.74, 46.47
k642k32_scale1/8_noise0.0005
Car AP@0.70, 0.70, 0.70:
bbox AP:99.97, 90.87, 90.87
bev AP:77.18 65.71 58.45
3d AP:63.54, 52.70, 46.47
k642k32_scale1/8_noise0.005
Car AP@0.70, 0.70, 0.70:
bbox AP:99.95, 90.84, 90.85
bev AP:74.75 57.95 56.30
3d AP:55.98, 43.21, 37.64
n2n_minitrain(2020.3.2):
iou3d_0.7:0.586(37)
n2k_minitrain(2020.3.2):
Car AP@0.70, 0.70, 0.70:
bbox AP:99.88, 99.79, 90.71
bev AP:58.02, 51.94, 50.23
3d AP:21.36, 21.66, 20.90
n2n_minitrain(2020.3.2):
iou3d_0.7:0.586(37)
k2n(2020.3.2)
first stage gt迁移到mini_gt
Car AP@0.70, 0.70, 0.70:
bbox AP:85.14, 76.96, 76.96
bev AP:22094, 20.37, 20.37
3d AP:6.11, 5.60, 5.60
first stage gt迁移到v1.0-val_gt(k2n)
Car AP@0.70, 0.70, 0.70:
bbox AP:90.39, 81.37, 81.37
bev AP:25.47, 21.01, 21.01
3d AP:5.10, 4.68, 4.68
first stage gt n2n_minitrain
iou3d_0.7:0.585(32)
Car AP@0.70, 0.70, 0.70:
bbox AP:90.30, 81.28, 81.28
bev AP:57.06, 49.04, 49.04
3d AP:35.38, 33.98, 33.98
first stage gt n2k_minitrain
iou3d_0.7:0.585(32)
Car AP@0.70, 0.70, 0.70:
bbox AP:99.78 99.65 90.62
bev AP:53.07, 49.20, 42.71
3d AP:27.27, 26.07, 22.46
自己训练
xyz,from_rgb_det
iou3d_0.7 0.858(49)
first stage
xyz,from_gt
iou3d_0.7:0.860(30)
Car AP@0.70, 0.70, 0.70:
bbox AP:99.93, 99.94, 99.95
bev AP:97.48, 89.45, 88.75
3d AP:87.01, 78.00, 77.61
iou3d_0.7:0.855(50)
first stage
Car AP@0.70, 0.70, 0.70:
bbox AP:99.91, 99.92, 99.93
bev AP:97.15, 89.37, 88.64
3d AP:87.07, 78.16, 77.71
复现结果:
kitti_xyz:iou3d_0.7:0.859(21)
car_2d: 99.90 99.91 99.92
car_bev: 89.33 88.93 88.26
car_3d: 85.96 84.52 77.61
PointRCNN
2020-02-28 07:10:38,500 INFO
Car AP@0.70, 0.70, 0.70:
bbox AP:96.9112, 89.5387, 88.7494
bev AP:90.2194, 87.8969, 85.5214
3d AP:89.1975, 78.8578, 77.9157
aos AP:96.90, 89.42, 88.55
Car AP@0.70, 0.50, 0.50:
bbox AP:96.9112, 89.5387, 88.7494
bev AP:97.0926, 89.8168, 89.3443
3d AP:97.0529, 89.7747, 89.2549
aos AP:96.90, 89.42, 88.55
迁移到mini
2020-02-28 08:23:28,342
INFO
Car AP@0.70, 0.70, 0.70:
bbox AP:16.1931, 15.0963, 15.0963
bev AP:25.2854, 22.2086, 22.2086
3d AP:9.0363, 8.0404, 8.0404
aos AP:15.60, 14.52, 14.52
Car AP@0.50, 0.50, 0.50:
bbox AP:16.1931, 15.0963, 15.0963
bev AP:34.0235, 29.2094, 29.2094
3d AP:29.2343, 26.3942, 26.3942
aos AP:15.60, 14.52, 14.52
迁移到v1.0-trainval
2020-02-28 08:23:28,342
INFO
Car AP@0.70, 0.70, 0.70:
bbox AP:10.2186, 9.7058, 9.7058
bev AP:23.6836, 20.6894, 20.6894
3d AP:9.7745 9.6844 9.6844
aos AP:10.16, 9.62, 9.62
Car AP@0.50, 0.50, 0.50:
bbox AP:10.2186, 9.7058, 9.7058
bev AP:35.1287, 30.0860, 30.0860
3d AP:29.3974, 26.0526, 26.0526
aos AP:10.16, 9.62, 9.62
DA-PointRCNN
Img-only-wo-gt-aug
kitti
2020-03-19 23:08:03,132
INFO Car AP@0.70, 0.70, 0.70:
bbox AP:94.7670, 88.0401, 87.9538
bev AP:88.3485, 86.0941, 85.3339
3d AP:83.8006, 75.4951, 74.8700
aos AP:94.74, 87.79, 87.49
Car AP@0.50, 0.50, 0.50:
bbox AP:94.7670, 88.0401, 87.9538
bev AP:95.5032, 88.7836, 88.7329
3d AP:95.4264, 88.7291, 88.6452
aos AP:94.74, 87.79, 87.49
2020-03-19 23:08:03,137 INFO result is saved to: ../output/rcnn/default_k2n_img_only/eval/epoch_70/val/source
nuscenes
2020-03-19 23:46:21,303
INFO Car AP@0.70, 0.70, 0.70:
bbox AP:18.7421, 16.5545, 16.5545
bev AP:20.1523, 17.4254, 17.4254
3d AP:4.8473, 3.7441, 3.7441
aos AP:18.38, 16.25, 16.25
Car AP@0.50, 0.50, 0.50:
bbox AP:18.7421, 16.5545, 16.5545
bev AP:31.3545, 27.9054, 27.9054
3d AP:27.6765, 22.7332, 22.7332
aos AP:18.38, 16.25, 16.25
2020-03-19 23:46:21,304 INFO result is saved to: ../output/rcnn/default_k2n_img_only/eval/epoch_70/v1.0-val/target
Ins-only
CUDA_VISIBLE_DEVICES=0,1,2 python train_da_rcnn.py --cfg_file cfgs/default_k2n_ins_only.yaml --batch_size 16 --train_mode rpn --epochs 200 --mgpus
CUDA_VISIBLE_DEVICES=0,1,2 python train_da_rcnn.py --cfg_file cfgs/default_k2n_ins_only.yaml --batch_size 4 --train_mode rcnn --epochs 70 --ckpt_save_interval 2 --rpn_ckpt ../output/rpn/default_k2n_ins_only/ckpt/checkpoint_epoch_200.pth --mgpus
Kitti
2020-03-21 11:05:39,348 INFO
Car AP@0.70, 0.70, 0.70:
bbox AP:88.2100, 79.9529, 79.3519
bev AP:87.5086, 78.6347, 71.1579
3d AP:76.9457, 68.3007, 67.5427
aos AP:88.11, 79.74, 79.05
Car AP@0.70, 0.50, 0.50:
bbox AP:88.2100, 79.9529, 79.3519
bev AP:88.7423, 80.3485, 79.9205
3d AP:88.7008, 80.2900, 79.6986
aos AP:88.11, 79.74, 79.05
nuScenes
2020-03-21 11:43:35,256 INFO
Car AP@0.70, 0.70, 0.70:
bbox AP:16.0255, 13.4321, 13.4321
bev AP:13.7395, 12.2282, 12.2282
3d AP:3.6412, 3.4948, 3.4948
aos AP:15.89, 13.26, 13.26
Car AP@0.70, 0.50, 0.50:
bbox AP:16.0255, 13.4321, 13.4321
bev AP:17.5330, 17.3255, 17.3255
3d AP:17.3155, 16.9552, 16.9552
aos AP:15.89, 13.26, 13.26
no adaptation but code
CUDA_VISIBLE_DEVICES=0,1,2 python train_da_rcnn.py --cfg_file cfgs/default_k2n_source_and_target.yaml --batch_size 4 --train_mode rcnn --epochs 70 --ckpt_save_interval 2 --rpn_ckpt ../output/rpn/default_k2n_ins_only/ckpt/checkpoint_epoch_200.pth --mgpus
CUDA_VISIBLE_DEVICES=1 python eval_rcnn_transfer.py --cfg_file cfgs/default_k2n_source_and_target.yaml --ckpt ../output/rcnn/default_k2n_source_and_target/ckpt/checkpoint_epoch_70.pth --batch_size 1 --eval_mode rcnn
Kitti
2020-03-22 09:51:24,801 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:89.7181, 88.3785, 88.1744
bev AP:89.3020, 86.2707, 85.5908
3d AP:85.4478, 76.1120, 75.4051
aos AP:89.69, 88.05, 87.73
Car AP@0.70, 0.50, 0.50:
bbox AP:89.7181, 88.3785, 88.1744
bev AP:96.8509, 88.9730, 88.8758
3d AP:96.7502, 88.8754, 88.7396
aos AP:89.69, 88.05, 87.73
nuScenes
2020-03-22 10:29:25,551 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:18.3388, 15.8606, 15.8606
bev AP:19.6331, 17.2865, 17.2865
3d AP:3.8547, 3.7427, 3.7427
aos AP:18.13, 15.76, 15.76
Car AP@0.70, 0.50, 0.50:
bbox AP:18.3388, 15.8606, 15.8606
bev AP:30.7466, 27.3963, 27.3963
3d AP:24.2612, 21.4787, 21.4787
aos AP:18.13, 15.76, 15.76
Pre-trained
Kitti
2020-03-22 11:13:26,170 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:96.9112, 89.5387, 88.7494
bev AP:90.2194, 87.8969, 85.5214
3d AP:89.1975, 78.8578, 77.9157
aos AP:96.90, 89.42, 88.55
Car AP@0.70, 0.50, 0.50:
bbox AP:96.9112, 89.5387, 88.7494
bev AP:97.0926, 89.8168, 89.3443
3d AP:97.0529, 89.7747, 89.2549
aos AP:96.90, 89.42, 88.55
source_and_target(2020.3.30)
CUDA_VISIBLE_DEVICES=1 python eval_da_rcnn.py --cfg_file cfgs/default_k2n_source_and_target.yaml --batch_size 4 --eval_mode rcnn --ckpt ../output/rcnn/default_k2n_ins_only
/ckpt/checkpoint_epoch_70.pth
KITTI
2020-03-28 09:51:06,754 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:96.2211, 87.9893, 87.9623
bev AP:88.3358, 86.1297, 85.4052
3d AP:83.1154, 74.9540, 75.3008
aos AP:96.11, 87.79, 87.68
Car AP@0.70, 0.50, 0.50:
bbox AP:96.2211, 87.9893, 87.9623
bev AP:97.6101, 88.8676, 88.8289
3d AP:97.5568, 88.8042, 88.7461
aos AP:96.11, 87.79, 87.68
nuScenes2KITTI
2020-03-28 10:29:41,258 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:21.5056, 18.2471, 18.2471
bev AP:23.6803, 20.6916, 20.6916
3d AP:9.7800, 9.5652, 9.5652
aos AP:21.29, 18.05, 18.05
Car AP@0.70, 0.50, 0.50:
bbox AP:21.5056, 18.2471, 18.2471
bev AP:35.1088, 29.3776, 29.3776
3d AP:28.7969, 23.6827, 23.6827
aos AP:21.29, 18.05, 18.05
ins-only(2020.3.30)
CUDA_VISIBLE_DEVICES=1 python eval_da_rcnn.py --cfg_file cfgs/default_k2n_ins_only.yaml --batch_size 4 --ckpt ../output/rcnn/default_k2n_ins_only/ckpt/checkpoint_epoch_70.pth --eval_mode rcnn
KITTI
2020-03-30 12:35:38,414 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:95.6422, 87.8860, 87.8895
bev AP:87.8314, 85.7402, 85.2977
3d AP:83.1130, 75.1978, 75.1898
aos AP:95.59, 87.70, 87.66
Car AP@0.70, 0.50, 0.50:
bbox AP:95.6422, 87.8860, 87.8895
bev AP:96.8775, 88.7015, 88.7101
3d AP:96.8257, 88.6321, 88.6195
aos AP:95.59, 87.70, 87.66
nuScenes2KITTI
2020-03-30 13:20:27,522 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:21.3315, 18.0548, 18.0548
bev AP:23.6955, 20.5837, 20.5837
3d AP:9.6916, 9.5819, 9.5819
aos AP:21.09, 17.86, 17.86
Car AP@0.70, 0.50, 0.50:
bbox AP:21.3315, 18.0548, 18.0548
bev AP:35.0188, 29.3319, 29.3319
3d AP:28.9670, 25.3402, 25.3402
aos AP:21.09, 17.86, 17.86
image-only-input_dropout_0.5-focalloss-wo_mid_level(4.24, no gt, with aug)
cfg.GT_AUG_ENABLED: True
cfg.DA.INPUT_DROPOUT: True
2020-04-24 18:56:44,021 INFO cfg.DA.DA_IMG.ENABLED: True
2020-04-24 18:56:44,021 INFO cfg.DA.DA_IMG.GRL_WEIGHT: 0.1
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG.LOSS_WEIGHT: 1.0
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG.POOL: False
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG.LOSS_CLS: SigmoidFocalLoss
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG.FOCAL_ALPHA: [0.5, 0.5]
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG.FOCAL_GAMMA: 5.0
2020-04-24 18:56:44,022 INFO
cfg.DA.DA_IMG_MID_LEVEL = edict()
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG_MID_LEVEL.ENABLED: False
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG_MID_LEVEL.GRL_WEIGHT: 0.1
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG_MID_LEVEL.LOSS_WEIGHT: 1.0
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG_MID_LEVEL.POOL: False
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG_MID_LEVEL.LOSS_CLS: BinaryCrossEntropy
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG_MID_LEVEL.FOCAL_ALPHA: [0.5, 0.5]
2020-04-24 18:56:44,022 INFO cfg.DA.DA_IMG_MID_LEVEL.FOCAL_GAMMA: 5.0
kitti
2020-04-24 19:05:39,407 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:92.1409, 86.0284, 84.9789
bev AP:86.3939, 81.4862, 77.9262
3d AP:80.4667, 70.6419, 66.7446
aos AP:92.12, 85.77, 84.57
Car AP@0.70, 0.50, 0.50:
bbox AP:92.1409, 86.0284, 84.9789
bev AP:93.6396, 87.6005, 87.5277
3d AP:93.4696, 87.3809, 87.2278
aos AP:92.12, 85.77, 84.57
nuScenes
2020-04-24 19:44:45,119 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:21.3817, 17.9539, 17.9539
bev AP:23.5524, 20.6803, 20.6803
3d AP:11.3497, 9.5103, 9.5103
aos AP:21.12, 17.74, 17.74
Car AP@0.70, 0.50, 0.50:
bbox AP:21.3817, 17.9539, 17.9539
bev AP:33.7609, 28.5369, 28.5369
3d AP:28.1527, 24.7314, 24.7314
aos AP:21.12, 17.74, 17.74
image-only-focalloss-wo_mid_level(4.24, no gt, with aug)
image-only-high-only-pool
Kitti
2020-05-06 12:55:14,727 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:93.7357, 87.3741, 87.5083
bev AP:86.9643, 85.2996, 85.0605
3d AP:81.7337, 74.4084, 74.6736
aos AP:93.68, 87.24, 87.27
Car AP@0.70, 0.50, 0.50:
bbox AP:93.7357, 87.3741, 87.5083
bev AP:94.3161, 88.4873, 88.5637
3d AP:94.1226, 88.3651, 88.4467
aos AP:93.68, 87.24, 87.27
nuScenes
Car AP@0.70, 0.70, 0.70:
bbox AP:21.3874, 17.5487, 17.5487
bev AP:24.5636, 21.2913, 21.2913
3d AP:6.8819, 5.2376, 5.2376
aos AP:21.13, 17.37, 17.37
Car AP@0.70, 0.50, 0.50:
bbox AP:21.3874, 17.5487, 17.5487
bev AP:34.2669, 28.9186, 28.9186
3d AP:28.4882, 23.9171, 23.9171
aos AP:21.13, 17.37, 17.37
image-only-input_delete(5.1,no gt, with aug)
Kitti
INFO Car AP@0.70, 0.70, 0.70:
bbox AP:92.4907, 86.7219, 86.2894
bev AP:85.2192, 81.8190, 82.9924
3d AP:79.5093, 72.2603, 71.5614
aos AP:92.40, 86.40, 85.86
Car AP@0.70, 0.50, 0.50:
bbox AP:92.4907, 86.7219, 86.2894
bev AP:93.8082, 87.9310, 87.9929
3d AP:93.5728, 87.7226, 87.7224
aos AP:92.40, 86.40, 85.86
nuScenes
Car AP@0.70, 0.70, 0.70:
bbox AP:21.0159, 16.9692, 16.9692
bev AP:23.0040, 19.9346, 19.9346
3d AP:10.5218, 9.4418, 9.4418
aos AP:20.74, 16.79, 16.79
Car AP@0.70, 0.50, 0.50:
bbox AP:21.0159, 16.9692, 16.9692
bev AP:31.5102, 26.6983, 26.6983
3d AP:26.0249, 22.6803, 22.6803
aos AP:20.74, 16.79, 16.79
input_delete_fv
kitti
2020-05-03 14:48:18,292 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:92.4920, 87.5361, 87.6400
bev AP:87.5702, 85.7042, 85.0894
3d AP:83.5592, 75.5712, 75.6095
aos AP:92.45, 87.37, 87.40
Car AP@0.70, 0.50, 0.50:
bbox AP:92.4920, 87.5361, 87.6400
bev AP:93.4714, 88.2576, 88.3910
3d AP:94.7628, 88.1768, 88.3036
aos AP:92.45, 87.37, 87.40
nuScenes
AP@0.70, 0.70, 0.70:
bbox AP:21.1860, 17.8365, 17.8365
bev AP:23.9841, 20.7178, 20.7178
3d AP:6.8037, 5.3170, 5.3170
aos AP:20.96, 17.64, 17.64
Car AP@0.70, 0.50, 0.50:
bbox AP:21.1860, 17.8365, 17.8365
bev AP:34.1690, 28.8871, 28.8871
3d AP:28.4943, 23.5819, 23.5819
aos AP:20.96, 17.64, 17.64
k2n_img_only_input_dropout
Kitti
2020-05-14 10:23:12,867 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:92.7999, 86.2290, 84.8392
bev AP:86.4894, 81.4830, 77.8952
3d AP:80.6116, 71.7242, 70.7349
aos AP:92.72, 85.99, 84.44
Car AP@0.70, 0.50, 0.50:
bbox AP:92.7999, 86.2290, 84.8392
bev AP:94.3040, 87.6661, 87.6354
3d AP:94.0928, 87.4766, 87.3594
aos AP:92.72, 85.99, 84.44
nuScenes
2020-05-14 11:03:45,623 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:20.1118, 16.5923, 16.5923
bev AP:23.4989, 20.7086, 20.7086
3d AP:11.5214, 9.5177, 9.5177
aos AP:19.84, 16.37, 16.37
Car AP@0.70, 0.50, 0.50:
bbox AP:20.1118, 16.5923, 16.5923
bev AP:33.9714, 28.6172, 28.6172
3d AP:28.3013, 24.7574, 24.7574
aos AP:19.84, 16.37, 16.37
ins_only_reshape
kitti
2020-05-15 15:44:03,008 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:95.7084, 88.1851, 88.1536
bev AP:88.0579, 85.9829, 85.7662
3d AP:84.4154, 75.8180, 75.9410
aos AP:95.67, 87.99, 87.88
Car AP@0.70, 0.50, 0.50:
bbox AP:95.7084, 88.1851, 88.1536
bev AP:96.4037, 88.6888, 88.6897
3d AP:96.3411, 88.6305, 88.6151
aos AP:95.67, 87.99, 87.88
nuScenes
2020-05-15 16:25:16,354 INFO Car AP@0.70, 0.70, 0.70:
bbox AP:21.5060, 17.7096, 17.7096
bev AP:24.1297, 20.8614, 20.8614
3d AP:10.9775, 9.6156, 9.6156
aos AP:21.28, 17.54, 17.54
Car AP@0.70, 0.50, 0.50:
bbox AP:21.5060, 17.7096, 17.7096
bev AP:33.9968, 28.6715, 28.6715
3d AP:27.9923, 23.7262, 23.7262
aos AP:21.28, 17.54, 17.54
ins_only_reshape
橙色：默认0.1grl
蓝色：1.0glr
紫色：0.3grl
k2n_nodepth
kitti
Car AP@0.70, 0.70, 0.70:
bbox AP:90.3959, 84.3883, 85.1312
bev AP:79.1599, 80.6219, 81.2697
3d AP:70.7674, 67.3518, 68.8795
aos AP:90.13, 83.78, 84.38
Car AP@0.70, 0.50, 0.50:
bbox AP:90.3959, 84.3883, 85.1312
bev AP:92.4331, 85.7305, 86.4605
3d AP:91.9763, 85.4711, 86.2000
aos AP:90.13, 83.78, 84.38
nuScenes
Car AP@0.70, 0.70, 0.70:
bbox AP:9.0909, 9.0909, 9.0909
bev AP:9.0909, 9.0909, 9.0909
3d AP:9.0909, 9.0909, 9.0909
aos AP:4.64, 4.37, 4.37
Car AP@0.70, 0.50, 0.50:
bbox AP:9.0909, 9.0909, 9.0909
bev AP:11.0213, 10.6839, 10.6839
3d AP:9.0909, 9.0909, 9.0909
aos AP:4.64, 4.37, 4.37
