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,
