2022-11-01 13:51:38,220 adals INFO: 1 GPUs available
2022-11-01 13:51:38,220 adals INFO: Namespace(ckpt2d='@/model_2d_025000.pth', ckpt3d='@/model_3d_035000.pth', config_file='ADALS/config/kitti2nuscenes/adals_sn.yaml')
2022-11-01 13:51:38,220 adals INFO: Loaded configuration file ADALS/config/kitti2nuscenes/adals_sn.yaml
2022-11-01 13:51:38,221 adals INFO: Running with config:
AUTO_RESUME: True
DATALOADER:
  DROP_LAST: True
  NUM_WORKERS: 4
DATASET_SOURCE:
  SemanticKITTISCN:
    augmentation:
      cut_image: True
      cut_range: [512, 512]
      flip_y: 0.5
      height: 64
      noisy_rot: 0.1
      random_flip: True
      remove_large: True
      rot_z: 6.2831
      transl: True
      width: 2048
    full_scale: 4096
    merge_classes: True
    nuscenes: True
    root_dir: /_data/datasets/SemanticKITTI
    scale: 20
    trgl_dir: /_data/datasets/SemanticKITTI/semantic_kitti2nuscenes
  TRAIN: ('train',)
  TYPE: SemanticKITTISCN
DATASET_TARGET:
  NuScenesSCN:
    augmentation:
      cut_image: True
      cut_range: [512, 512]
      flip_x: 0.5
      height: 32
      noisy_rot: 0.1
      random_flip: True
      remove_large: True
      rot_z: 6.2831
      transl: True
      width: 1024
    full_scale: 4096
    lidarseg: False
    merge_classes: True
    root_dir: /_data/datasets/nuScenes/data/nuscenes
    scale: 20
  TEST: ('test_all',)
  TRAIN: ('train_all',)
  TYPE: NuScenesSCN
  VAL: ('val_all',)
MODEL:
  TYPE: 
MODEL_2D:
  CKPT_PATH: 
  DUAL_HEAD: True
  NUM_CLASSES: 6
  SalsaNextSeg:
    in_channels: 5
  TYPE: SalsaNextSeg
MODEL_3D:
  CKPT_PATH: 
  DUAL_HEAD: True
  NUM_CLASSES: 6
  SCN:
    block_reps: 1
    full_scale: 4096
    in_channels: 1
    m: 16
    num_planes: 7
    residual_blocks: False
  TYPE: SCN
OPTIMIZER:
  BASE_LR: 0.001
  TYPE: 
  WEIGHT_DECAY: 0.0
OPTIMIZER_2D:
  BASE_LR: 0.0025
  SGD:
    dampening: 0.0
    momentum: 0.9
  TYPE: SGD
  WEIGHT_DECAY: 0.0
OPTIMIZER_3D:
  Adam:
    betas: (0.9, 0.999)
  BASE_LR: 0.001
  TYPE: Adam
  WEIGHT_DECAY: 0.0
OPTIMIZER_DIS:
  Adam:
    betas: (0.9, 0.99)
  BASE_LR: 0.0001
  TYPE: Adam
  WEIGHT_DECAY: 0.0
OUTPUT_DIR: /workspace/DA-LPS/ADALS/output/@
RESUME_PATH: 
RESUME_STATES: True
RNG_SEED: 1
SCHEDULER:
  CLIP_LR: 0.0
  MAX_ITERATION: 100000
  MultiStepLR:
    gamma: 0.1
    milestones: (80000, 90000)
  TYPE: MultiStepLR
SCHEDULER_DIS:
  PolyLR:
    power: 0.9
  TYPE: PolyLR
TRAIN:
  ADALS:
    lambda_D_src_2d_feat: 0.1
    lambda_D_src_2d_pred: 0.1
    lambda_D_src_3d_pred: 0.1
    lambda_D_trg_2d_feat: 0.2
    lambda_D_trg_2d_pred: 0.2
    lambda_D_trg_3d_pred: 0.2
    lambda_G_trg_2d_feat: 0.001
    lambda_G_trg_2d_pred: 0.07
    lambda_G_trg_3d_pred: 0.05
    lambda_logcoral: 0.0
    lambda_minent: 0.0
    lambda_pixels: 0.1
    lambda_xm_src: 0.1
    lambda_xm_tgl: 0.02
    lambda_xm_trg: 0.01
  BATCH_SIZE: 8
  CHECKPOINT_PERIOD: 5000
  CLASS_WEIGHTS: [1.66759149, 1.09394955, 1.23188501, 1.09613089, 1.43978661, 1.0]
  FROZEN_PATTERNS: ()
  LOG_PERIOD: 50
  MAX_TO_KEEP: 100
  SUMMARY_PERIOD: 50
VAL:
  BATCH_SIZE: 6
  KNN:
    cutoff: 1.0
    knn: 5
    search: 5
    sigma: 1.0
  LOG_PERIOD: 20
  METRIC: seg_iou
  PERIOD: 5000
2022-11-01 13:52:32,801 adals.validate INFO: Validation
2022-11-01 13:52:37,051 adals.validate INFO: iter: 1/1004  seg_loss_2d_point: 1.0348 (1.0348)  seg_loss_2d_pixel: 0.9324 (0.9324)  seg_loss_3d: 0.5855 (0.5855)  time: 4.2489 (4.2489)  data: 1.3441 (1.3441)  max mem: 2148
2022-11-01 13:53:05,861 adals.validate INFO: iter: 20/1004  seg_loss_2d_point: 1.0030 (1.0030)  seg_loss_2d_pixel: 0.8924 (0.8924)  seg_loss_3d: 0.4998 (0.4998)  time: 1.6529 (1.6529)  data: 0.0941 (0.0941)  max mem: 2396
2022-11-01 13:53:34,514 adals.validate INFO: iter: 40/1004  seg_loss_2d_point: 1.0316 (1.0173)  seg_loss_2d_pixel: 1.0001 (0.9463)  seg_loss_3d: 0.5806 (0.5402)  time: 1.4327 (1.5428)  data: 0.0271 (0.0606)  max mem: 2529
2022-11-01 13:54:03,597 adals.validate INFO: iter: 60/1004  seg_loss_2d_point: 1.0252 (1.0199)  seg_loss_2d_pixel: 0.9649 (0.9525)  seg_loss_3d: 0.7653 (0.6152)  time: 1.4541 (1.5132)  data: 0.0266 (0.0493)  max mem: 2764
2022-11-01 13:54:24,533 adals.validate INFO: iter: 80/1004  seg_loss_2d_point: 1.0207 (1.0201)  seg_loss_2d_pixel: 0.8673 (0.9312)  seg_loss_3d: 0.6781 (0.6310)  time: 1.0468 (1.3966)  data: 0.0264 (0.0436)  max mem: 2764
2022-11-01 13:54:48,149 adals.validate INFO: iter: 100/1004  seg_loss_2d_point: 0.9751 (1.0111)  seg_loss_2d_pixel: 0.8490 (0.9147)  seg_loss_3d: 0.4013 (0.5850)  time: 1.1808 (1.3535)  data: 0.0268 (0.0402)  max mem: 3204
2022-11-01 13:55:33,030 adals.validate INFO: iter: 120/1004  seg_loss_2d_point: 0.9318 (0.9979)  seg_loss_2d_pixel: 0.7374 (0.8852)  seg_loss_3d: 0.4396 (0.5608)  time: 2.2440 (1.5019)  data: 0.0273 (0.0380)  max mem: 4473
2022-11-01 13:56:09,038 adals.validate INFO: iter: 140/1004  seg_loss_2d_point: 0.8527 (0.9772)  seg_loss_2d_pixel: 0.6905 (0.8573)  seg_loss_3d: 0.4604 (0.5465)  time: 1.8004 (1.5445)  data: 0.0264 (0.0364)  max mem: 4473
2022-11-01 13:56:36,063 adals.validate INFO: iter: 160/1004  seg_loss_2d_point: 0.9305 (0.9713)  seg_loss_2d_pixel: 0.7571 (0.8448)  seg_loss_3d: 0.4865 (0.5390)  time: 1.3512 (1.5204)  data: 0.0271 (0.0352)  max mem: 4473
2022-11-01 13:56:59,554 adals.validate INFO: iter: 180/1004  seg_loss_2d_point: 1.0037 (0.9749)  seg_loss_2d_pixel: 0.7902 (0.8387)  seg_loss_3d: 0.4321 (0.5271)  time: 1.1745 (1.4819)  data: 0.0269 (0.0343)  max mem: 4473
2022-11-01 13:57:29,039 adals.validate INFO: iter: 200/1004  seg_loss_2d_point: 1.0831 (0.9857)  seg_loss_2d_pixel: 0.9239 (0.8473)  seg_loss_3d: 0.5210 (0.5265)  time: 1.4743 (1.4812)  data: 0.0268 (0.0336)  max mem: 4473
2022-11-01 13:58:02,440 adals.validate INFO: iter: 220/1004  seg_loss_2d_point: 1.0044 (0.9874)  seg_loss_2d_pixel: 0.8484 (0.8474)  seg_loss_3d: 0.5448 (0.5281)  time: 1.6700 (1.4983)  data: 0.0253 (0.0328)  max mem: 4473
2022-11-01 13:58:38,720 adals.validate INFO: iter: 240/1004  seg_loss_2d_point: 0.8828 (0.9787)  seg_loss_2d_pixel: 0.8522 (0.8478)  seg_loss_3d: 0.6150 (0.5354)  time: 1.8140 (1.5247)  data: 0.0266 (0.0323)  max mem: 4473
2022-11-01 13:59:02,333 adals.validate INFO: iter: 260/1004  seg_loss_2d_point: 1.0465 (0.9839)  seg_loss_2d_pixel: 0.9226 (0.8535)  seg_loss_3d: 0.6384 (0.5433)  time: 1.1806 (1.4982)  data: 0.0263 (0.0318)  max mem: 4473
2022-11-01 13:59:36,289 adals.validate INFO: iter: 280/1004  seg_loss_2d_point: 1.0470 (0.9884)  seg_loss_2d_pixel: 0.8712 (0.8548)  seg_loss_3d: 0.6832 (0.5533)  time: 1.6978 (1.5124)  data: 0.0245 (0.0313)  max mem: 4473
2022-11-01 14:00:11,091 adals.validate INFO: iter: 300/1004  seg_loss_2d_point: 1.0307 (0.9912)  seg_loss_2d_pixel: 0.8982 (0.8577)  seg_loss_3d: 0.4748 (0.5481)  time: 1.7401 (1.5276)  data: 0.0265 (0.0310)  max mem: 4473
2022-11-01 14:00:56,647 adals.validate INFO: iter: 320/1004  seg_loss_2d_point: 1.2760 (1.0090)  seg_loss_2d_pixel: 0.8066 (0.8545)  seg_loss_3d: 0.5457 (0.5479)  time: 2.2778 (1.5745)  data: 0.0271 (0.0307)  max mem: 4473
2022-11-01 14:01:29,569 adals.validate INFO: iter: 340/1004  seg_loss_2d_point: 0.9788 (1.0073)  seg_loss_2d_pixel: 0.9006 (0.8572)  seg_loss_3d: 0.5042 (0.5453)  time: 1.6461 (1.5787)  data: 0.0267 (0.0305)  max mem: 4473
2022-11-01 14:01:52,114 adals.validate INFO: iter: 360/1004  seg_loss_2d_point: 1.0653 (1.0105)  seg_loss_2d_pixel: 0.7811 (0.8530)  seg_loss_3d: 0.3814 (0.5362)  time: 1.1273 (1.5536)  data: 0.0281 (0.0304)  max mem: 4473
2022-11-01 14:02:29,150 adals.validate INFO: iter: 380/1004  seg_loss_2d_point: 0.9988 (1.0099)  seg_loss_2d_pixel: 0.8654 (0.8536)  seg_loss_3d: 0.4754 (0.5330)  time: 1.8518 (1.5693)  data: 0.0274 (0.0302)  max mem: 4473
2022-11-01 14:03:20,641 adals.validate INFO: iter: 400/1004  seg_loss_2d_point: 0.7549 (0.9971)  seg_loss_2d_pixel: 0.7113 (0.8465)  seg_loss_3d: 0.4229 (0.5275)  time: 2.5745 (1.6196)  data: 0.0270 (0.0301)  max mem: 4473
2022-11-01 14:03:56,127 adals.validate INFO: iter: 420/1004  seg_loss_2d_point: 0.9382 (0.9943)  seg_loss_2d_pixel: 0.7387 (0.8414)  seg_loss_3d: 0.2999 (0.5167)  time: 1.7743 (1.6270)  data: 0.0272 (0.0299)  max mem: 4473
2022-11-01 14:04:35,750 adals.validate INFO: iter: 440/1004  seg_loss_2d_point: 0.9305 (0.9914)  seg_loss_2d_pixel: 0.8454 (0.8416)  seg_loss_3d: 0.4977 (0.5158)  time: 1.9812 (1.6431)  data: 0.0277 (0.0298)  max mem: 4473
2022-11-01 14:05:15,782 adals.validate INFO: iter: 460/1004  seg_loss_2d_point: 1.0262 (0.9929)  seg_loss_2d_pixel: 0.8402 (0.8415)  seg_loss_3d: 0.5188 (0.5160)  time: 2.0016 (1.6586)  data: 0.0272 (0.0297)  max mem: 4473
2022-11-01 14:05:47,815 adals.validate INFO: iter: 480/1004  seg_loss_2d_point: 1.1061 (0.9976)  seg_loss_2d_pixel: 0.9250 (0.8450)  seg_loss_3d: 0.5307 (0.5166)  time: 1.6016 (1.6563)  data: 0.0272 (0.0296)  max mem: 4473
2022-11-01 14:06:21,330 adals.validate INFO: iter: 500/1004  seg_loss_2d_point: 1.2621 (1.0082)  seg_loss_2d_pixel: 1.0891 (0.8547)  seg_loss_3d: 0.6113 (0.5204)  time: 1.6757 (1.6570)  data: 0.0268 (0.0295)  max mem: 4473
2022-11-01 14:06:59,328 adals.validate INFO: iter: 520/1004  seg_loss_2d_point: 1.3088 (1.0198)  seg_loss_2d_pixel: 1.1861 (0.8675)  seg_loss_3d: 0.8170 (0.5318)  time: 1.8999 (1.6664)  data: 0.0267 (0.0294)  max mem: 4687
2022-11-01 14:07:45,509 adals.validate INFO: iter: 540/1004  seg_loss_2d_point: 1.2718 (1.0291)  seg_loss_2d_pixel: 1.1519 (0.8780)  seg_loss_3d: 0.6681 (0.5368)  time: 2.3090 (1.6902)  data: 0.0271 (0.0293)  max mem: 4687
2022-11-01 14:08:36,652 adals.validate INFO: iter: 560/1004  seg_loss_2d_point: 1.1534 (1.0336)  seg_loss_2d_pixel: 1.1432 (0.8875)  seg_loss_3d: 0.4770 (0.5347)  time: 2.5572 (1.7212)  data: 0.0267 (0.0292)  max mem: 4687
2022-11-01 14:09:27,250 adals.validate INFO: iter: 580/1004  seg_loss_2d_point: 1.0727 (1.0349)  seg_loss_2d_pixel: 1.0308 (0.8924)  seg_loss_3d: 0.4329 (0.5312)  time: 2.5299 (1.7490)  data: 0.0267 (0.0291)  max mem: 4687
2022-11-01 14:10:07,491 adals.validate INFO: iter: 600/1004  seg_loss_2d_point: 0.7443 (1.0252)  seg_loss_2d_pixel: 0.6634 (0.8848)  seg_loss_3d: 0.3295 (0.5245)  time: 2.0120 (1.7578)  data: 0.0271 (0.0291)  max mem: 4687
2022-11-01 14:10:51,275 adals.validate INFO: iter: 620/1004  seg_loss_2d_point: 0.9732 (1.0235)  seg_loss_2d_pixel: 0.9127 (0.8857)  seg_loss_3d: 0.4768 (0.5229)  time: 2.1892 (1.7717)  data: 0.0258 (0.0290)  max mem: 4687
2022-11-01 14:11:20,215 adals.validate INFO: iter: 640/1004  seg_loss_2d_point: 0.9812 (1.0222)  seg_loss_2d_pixel: 0.9185 (0.8867)  seg_loss_3d: 0.4865 (0.5218)  time: 1.4470 (1.7616)  data: 0.0283 (0.0289)  max mem: 4687
2022-11-01 14:11:42,790 adals.validate INFO: iter: 660/1004  seg_loss_2d_point: 0.9968 (1.0214)  seg_loss_2d_pixel: 0.9575 (0.8889)  seg_loss_3d: 0.5863 (0.5237)  time: 1.1288 (1.7424)  data: 0.0267 (0.0289)  max mem: 4687
2022-11-01 14:12:09,671 adals.validate INFO: iter: 680/1004  seg_loss_2d_point: 1.0230 (1.0215)  seg_loss_2d_pixel: 0.8749 (0.8885)  seg_loss_3d: 0.4952 (0.5229)  time: 1.3440 (1.7307)  data: 0.0290 (0.0289)  max mem: 4687
2022-11-01 14:12:43,113 adals.validate INFO: iter: 700/1004  seg_loss_2d_point: 1.2563 (1.0282)  seg_loss_2d_pixel: 1.0539 (0.8932)  seg_loss_3d: 0.4489 (0.5208)  time: 1.6721 (1.7290)  data: 0.0272 (0.0288)  max mem: 4687
2022-11-01 14:13:05,776 adals.validate INFO: iter: 720/1004  seg_loss_2d_point: 1.1688 (1.0321)  seg_loss_2d_pixel: 1.0118 (0.8965)  seg_loss_3d: 0.5257 (0.5209)  time: 1.1331 (1.7125)  data: 0.0267 (0.0288)  max mem: 4687
2022-11-01 14:13:29,849 adals.validate INFO: iter: 740/1004  seg_loss_2d_point: 1.4802 (1.0442)  seg_loss_2d_pixel: 1.1727 (0.9039)  seg_loss_3d: 0.8507 (0.5298)  time: 1.2037 (1.6987)  data: 0.0249 (0.0287)  max mem: 4687
2022-11-01 14:13:59,335 adals.validate INFO: iter: 760/1004  seg_loss_2d_point: 1.0314 (1.0439)  seg_loss_2d_pixel: 0.9801 (0.9060)  seg_loss_3d: 0.5928 (0.5315)  time: 1.4743 (1.6928)  data: 0.0255 (0.0286)  max mem: 4687
2022-11-01 14:14:27,025 adals.validate INFO: iter: 780/1004  seg_loss_2d_point: 1.0994 (1.0453)  seg_loss_2d_pixel: 0.9859 (0.9080)  seg_loss_3d: 0.5934 (0.5331)  time: 1.3845 (1.6849)  data: 0.0265 (0.0285)  max mem: 4687
2022-11-01 14:14:47,695 adals.validate INFO: iter: 800/1004  seg_loss_2d_point: 0.9288 (1.0424)  seg_loss_2d_pixel: 0.9221 (0.9084)  seg_loss_3d: 0.5469 (0.5334)  time: 1.0335 (1.6686)  data: 0.0269 (0.0285)  max mem: 4687
2022-11-01 14:15:19,472 adals.validate INFO: iter: 820/1004  seg_loss_2d_point: 1.0873 (1.0435)  seg_loss_2d_pixel: 0.9912 (0.9104)  seg_loss_3d: 0.5941 (0.5349)  time: 1.5889 (1.6667)  data: 0.0268 (0.0284)  max mem: 4687
2022-11-01 14:15:46,996 adals.validate INFO: iter: 840/1004  seg_loss_2d_point: 1.1647 (1.0464)  seg_loss_2d_pixel: 1.0589 (0.9139)  seg_loss_3d: 0.6285 (0.5371)  time: 1.3762 (1.6597)  data: 0.0268 (0.0284)  max mem: 4687
2022-11-01 14:16:16,744 adals.validate INFO: iter: 860/1004  seg_loss_2d_point: 1.0400 (1.0462)  seg_loss_2d_pixel: 0.9322 (0.9143)  seg_loss_3d: 0.5912 (0.5384)  time: 1.4874 (1.6557)  data: 0.0262 (0.0283)  max mem: 4687
2022-11-01 14:16:57,889 adals.validate INFO: iter: 880/1004  seg_loss_2d_point: 1.1097 (1.0477)  seg_loss_2d_pixel: 0.9657 (0.9155)  seg_loss_3d: 0.4955 (0.5374)  time: 2.0572 (1.6649)  data: 0.0267 (0.0283)  max mem: 4687
2022-11-01 14:17:30,769 adals.validate INFO: iter: 900/1004  seg_loss_2d_point: 0.9514 (1.0455)  seg_loss_2d_pixel: 0.8520 (0.9141)  seg_loss_3d: 0.5945 (0.5387)  time: 1.6440 (1.6644)  data: 0.0261 (0.0283)  max mem: 4687
2022-11-01 14:17:57,126 adals.validate INFO: iter: 920/1004  seg_loss_2d_point: 1.0466 (1.0455)  seg_loss_2d_pixel: 0.8913 (0.9136)  seg_loss_3d: 0.6786 (0.5417)  time: 1.3178 (1.6569)  data: 0.0262 (0.0282)  max mem: 4687
2022-11-01 14:18:25,703 adals.validate INFO: iter: 940/1004  seg_loss_2d_point: 1.1294 (1.0473)  seg_loss_2d_pixel: 0.9499 (0.9144)  seg_loss_3d: 0.5789 (0.5425)  time: 1.4288 (1.6520)  data: 0.0258 (0.0282)  max mem: 4687
2022-11-01 14:18:48,809 adals.validate INFO: iter: 960/1004  seg_loss_2d_point: 1.0989 (1.0484)  seg_loss_2d_pixel: 0.8660 (0.9134)  seg_loss_3d: 0.5587 (0.5428)  time: 1.1553 (1.6417)  data: 0.0260 (0.0281)  max mem: 4687
2022-11-01 14:19:19,100 adals.validate INFO: iter: 980/1004  seg_loss_2d_point: 1.0637 (1.0487)  seg_loss_2d_pixel: 0.9005 (0.9131)  seg_loss_3d: 0.5485 (0.5430)  time: 1.5145 (1.6391)  data: 0.0261 (0.0281)  max mem: 4687
2022-11-01 14:19:46,898 adals.validate INFO: iter: 1000/1004  seg_loss_2d_point: 1.0350 (1.0484)  seg_loss_2d_pixel: 0.9391 (0.9136)  seg_loss_3d: 0.5313 (0.5427)  time: 1.3899 (1.6341)  data: 0.0262 (0.0280)  max mem: 4687
2022-11-01 14:19:51,832 adals.validate INFO: 2D Point overall accuracy=64.13%
2022-11-01 14:19:51,832 adals.validate INFO: 2D Point overall IOU=40.44
2022-11-01 14:19:51,849 adals.validate INFO: 2D Point class-wise segmentation accuracy and IoU.
+-------------------+------------+-------+----------+
| Class             |   Accuracy |   IOU |    Total |
|-------------------+------------+-------+----------|
| vehicle           |      61.82 | 44.59 | 10205497 |
| driveable_surface |      75.18 | 65.42 | 56047567 |
| sidewalk          |      16.74 | 12.63 | 12630603 |
| manmade           |      68.15 | 46.64 | 31666701 |
| terrain           |      45.26 | 33.36 | 13619746 |
| vegetation        |      70.15 | 40.00 | 21948012 |
+-------------------+------------+-------+----------+
2022-11-01 14:19:51,849 adals.validate INFO: 2D Pixel overall accuracy=67.62%
2022-11-01 14:19:51,850 adals.validate INFO: 2D Pixel overall IOU=43.22
2022-11-01 14:19:51,850 adals.validate INFO: 2D Pixel class-wise segmentation accuracy and IoU.
+-------------------+------------+-------+----------+
| Class             |   Accuracy |   IOU |    Total |
|-------------------+------------+-------+----------|
| vehicle           |      64.81 | 37.51 | 10677430 |
| driveable_surface |      79.50 | 72.09 | 54844581 |
| sidewalk          |      21.85 | 15.94 | 12171662 |
| manmade           |      72.77 | 52.39 | 34481419 |
| terrain           |      51.44 | 35.37 | 13108653 |
| vegetation        |      66.48 | 46.02 | 27021702 |
+-------------------+------------+-------+----------+
2022-11-01 14:19:51,851 adals.validate INFO: 3D overall accuracy=80.07%
2022-11-01 14:19:51,851 adals.validate INFO: 3D overall IOU=60.85
2022-11-01 14:19:51,851 adals.validate INFO: 3D class-wise segmentation accuracy and IoU.
+-------------------+------------+-------+----------+
| Class             |   Accuracy |   IOU |    Total |
|-------------------+------------+-------+----------|
| vehicle           |      76.26 | 72.70 | 10205497 |
| driveable_surface |      94.81 | 86.21 | 56047567 |
| sidewalk          |      66.36 | 44.31 | 12630603 |
| manmade           |      66.17 | 61.26 | 31666701 |
| terrain           |      49.29 | 39.50 | 13619746 |
| vegetation        |      91.28 | 61.11 | 21948012 |
+-------------------+------------+-------+----------+
2022-11-01 14:19:51,851 adals.validate INFO: 2D+3D overall accuracy=81.18%
2022-11-01 14:19:51,852 adals.validate INFO: 2D+3D overall IOU=61.88
2022-11-01 14:19:51,852 adals.validate INFO: 2D+3D class-wise segmentation accuracy and IoU.
+-------------------+------------+-------+----------+
| Class             |   Accuracy |   IOU |    Total |
|-------------------+------------+-------+----------|
| vehicle           |      77.79 | 71.04 | 10205497 |
| driveable_surface |      95.48 | 86.09 | 56047567 |
| sidewalk          |      54.59 | 42.11 | 12630603 |
| manmade           |      73.15 | 64.71 | 31666701 |
| terrain           |      54.40 | 45.20 | 13619746 |
| vegetation        |      89.77 | 62.13 | 21948012 |
+-------------------+------------+-------+----------+
