#bevformer 相比bevfusion多了canbus（因为引入了时序注意力机制）
##迷你版数据集
python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes --version v1.0-mini
##标准版
python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes --version v1.0 --canbus ./data#bevfusion
python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes #这个不能用，数据生成会缺失--version v1.0#https://github.com/open-mmlab/mmdetection3d.git
#另外，bevfusion中mmdet3d源码编译要用命令： pip install -v -e . #docker下用这个命令：python setup.py install
#不在docker下用这个命令：pip install -v -e .
#不然会遇到很恶心的问题CUDA_VISIBLE_DEVICES=7 ./tools/dist_train.sh ./projects/configs/bevformer/bevformer_base.py 1bevformer
nuscenes min 数据集 吃显存大概20g 训练模式 bevformer_base
Epoch [1][100/323]
bevfusion
nusences full数据集 samples_per_gpu 5 workers_per_gpu 1 epoch 2 训练显存大概40G
2024-11-28 13:53:17,442 - mmdet3d - INFO - Epoch [1][100/24716] lr: 9.307e-05, eta: 6 days, 3:35:31, time: 3.480, data_time: 0.339, memory: 23147, loss/object/loss_heatmap: 0.9361, loss/object/layer_-1_loss_cls: 0.1471, loss/object/layer_-1_loss_bbox: 1.1962, stats/object/matched_ious: 0.4059, loss: 2.2794, grad_norm: 11.3955
2024-11-28 13:56:14,359 - mmdet3d - INFO - Epoch [1][150/24716] lr: 1.064e-04, eta: 6 days, 2:53:51, time: 3.538, data_time: 0.289, memory: 23154, loss/object/loss_heatmap: 0.7073, loss/object/layer_-1_loss_cls: 0.1124, loss/object/layer_-1_loss_bbox: 0.8541, stats/object/matched_ious: 0.4606, loss: 1.6738, grad_norm: 6.8629
2024-11-28 13:59:06,240 - mmdet3d - INFO - Epoch [1][200/24716] lr: 1.197e-04, eta: 6 days, 1:29:23, time: 3.438, data_time: 0.181, memory: 23154, loss/object/loss_heatmap: 0.6874, loss/object/layer_-1_loss_cls: 0.1102, loss/object/layer_-1_loss_bbox: 0.7450, stats/object/matched_ious: 0.4936, loss: 1.5426, grad_norm: 6.4602
2024-11-28 14:01:57,647 - mmdet3d - INFO - Epoch [1][250/24716] lr: 1.331e-04, eta: 6 days, 0:32:52, time: 3.428, data_time: 0.215, memory: 23154, loss/object/loss_heatmap: 0.6396, loss/object/layer_-1_loss_cls: 0.0983, loss/object/layer_-1_loss_bbox: 0.6958, stats/object/matched_ious: 0.5111, loss: 1.4336, grad_norm: 5.4528
2024-11-28 14:04:48,508 - mmdet3d - INFO - Epoch [1][300/24716] lr: 1.464e-04, eta: 5 days, 23:49:47, time: 3.417, data_time: 0.253, memory: 23157, loss/object/loss_heatmap: 0.6272, loss/object/layer_-1_loss_cls: 0.0988, loss/object/layer_-1_loss_bbox: 0.7108, stats/object/matched_ious: 0.5152, loss: 1.4369, grad_norm: 5.3622
