np.array(point_cloud_xyz),\ np.array(gt_box3d_corner),\ np.array(Tr),\ np.array(lidar_box_center),\ np.array(anchors2D),\ np.array(Anchor_box) # images, calibs, ids torch.backends.cudnn.enabled = True # dataset dataset = Dataset.KittiData(cfg=cfg, root='/home/ct/KITTI', set='train', TargetLoad=False, TargetWrite=False) data_loader = data.DataLoader(dataset, batch_size=cfg.N, num_workers=2, collate_fn=detection_collate, shuffle=False, \ pin_memory=False) device_ids = cfg.device_ids net = surfacenet.SurfaceNet().cuda(device_ids[0]) net = nn.DataParallel(net, device_ids=device_ids) # define optimizer epoch_size = len(dataset) // cfg.N step_size = epoch_size * 1 # optimizer = optim.SGD(net.parameters(), lr=0.01) optimizer = optim.Adam(net.parameters(), lr=0.0001) scheduler = torch.optim.lr_scheduler.StepLR(optimizer, step_size,