gnnpmb_centerpoint_validation_result.out

======
Loading NuScenes tables for version v1.0-trainval...
23 category,
8 attribute,
4 visibility,
64386 instance,
12 sensor,
10200 calibrated_sensor,
2631083 ego_pose,
68 log,
850 scene,
34149 sample,
2631083 sample_data,
1166187 sample_annotation,
4 map,
Done loading in 57.332 seconds.
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Reverse indexing ...
Done reverse indexing in 12.7 seconds.
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Initializing nuScenes tracking evaluation
Loaded results from /gs/home/zhubing/experiment_result/2022-05-14-16-31-30_val/val_submission.json. Found detections for 6019 samples.
Loading annotations for val split from nuScenes version: v1.0-trainval
Loaded ground truth annotations for 6019 samples.
Filtering tracks
=> Original number of boxes: 374095
=> After distance based filtering: 277892
=> After LIDAR and RADAR points based filtering: 277892
=> After bike rack filtering: 277502
Filtering ground truth tracks
=> Original number of boxes: 142261
=> After distance based filtering: 103564
=> After LIDAR and RADAR points based filtering: 93885
=> After bike rack filtering: 93875
Accumulating metric data...
Computing metrics for class bicycle...

Computed thresholds

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.1543	0.000	0.000	0.271	0.801	5350	1993	1582	397	14	19803	1582	18207	14

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.1772	0.000	0.000	0.266	0.780	4979	1993	1543	439	11	13368	1543	11814	11

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2072	0.000	0.000	0.263	0.756	4199	1993	1496	486	11	8016	1496	6509	11

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2251	0.000	0.000	0.256	0.735	3672	1993	1455	529	9	6064	1455	4600	9

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2466	0.000	0.000	0.243	0.710	3165	1993	1408	578	7	4588	1408	3173	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2648	0.000	0.000	0.228	0.690	2812	1993	1369	617	7	3717	1369	2341	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2994	0.055	0.037	0.226	0.666	2171	1993	1322	666	5	2576	1322	1249	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3399	0.378	0.242	0.217	0.641	1882	1993	1274	715	4	2070	1274	792	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3819	0.703	0.436	0.210	0.621	1607	1993	1234	756	3	1603	1234	366	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3926	0.740	0.440	0.205	0.596	1555	1993	1185	805	3	1496	1185	308	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4132	0.806	0.459	0.201	0.571	1495	1993	1135	855	3	1358	1135	220	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4155	0.803	0.447	0.197	0.558	1494	1993	1109	881	3	1331	1109	219	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4317	0.817	0.427	0.192	0.525	1477	1993	1043	947	3	1237	1043	191	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4510	0.834	0.422	0.190	0.507	1463	1993	1008	982	3	1178	1008	167	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4550	0.840	0.410	0.184	0.490	1459	1993	973	1017	3	1132	973	156	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4721	0.838	0.381	0.187	0.456	1452	1993	906	1084	3	1056	906	147	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4943	0.843	0.366	0.180	0.436	1447	1993	865	1125	3	1004	865	136	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5250	0.871	0.356	0.180	0.410	1426	1993	814	1176	3	922	814	105	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5312	0.874	0.338	0.173	0.388	1421	1993	770	1220	3	870	770	97	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5584	0.885	0.321	0.172	0.364	1409	1993	722	1268	3	808	722	83	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5755	0.912	0.314	0.169	0.345	1388	1993	685	1306	2	747	685	60	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5847	0.916	0.291	0.165	0.318	1388	1993	633	1359	1	687	633	53	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5862	0.911	0.273	0.169	0.301	1388	1993	598	1394	1	652	598	53	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6013	0.915	0.253	0.168	0.277	1382	1993	551	1441	1	599	551	47	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6152	0.909	0.224	0.168	0.247	1381	1993	492	1500	1	538	492	45	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6214	0.938	0.212	0.165	0.227	1364	1993	451	1541	1	480	451	28	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6366	0.933	0.188	0.167	0.202	1363	1993	401	1591	1	429	401	27	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6576	0.951	0.167	0.171	0.176	1353	1993	349	1643	1	367	349	17	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6677	0.955	0.149	0.167	0.156	1350	1993	310	1682	1	325	310	14	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6843	0.949	0.122	0.170	0.129	1349	1993	257	1735	1	271	257	13	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6919	0.943	0.100	0.178	0.106	1348	1993	211	1781	1	224	211	12	1

Computing metrics for class bus...

Computed thresholds

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2853	0.734	0.652	0.440	0.895	1834	2112	1875	221	16	2389	1875	498	16

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3681	0.873	0.754	0.434	0.869	1673	2112	1825	276	11	2068	1825	232	11

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4309	0.913	0.774	0.427	0.852	1600	2112	1789	312	11	1955	1789	155	11

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4396	0.921	0.755	0.418	0.824	1598	2112	1731	371	10	1877	1731	136	10

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4904	0.960	0.774	0.415	0.809	1537	2112	1702	403	7	1777	1702	68	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5017	0.960	0.748	0.416	0.782	1536	2112	1645	461	6	1717	1645	66	6

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5148	0.960	0.720	0.414	0.753	1536	2112	1585	521	6	1655	1585	64	6

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5371	0.963	0.698	0.413	0.728	1533	2112	1532	575	5	1594	1532	57	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5380	0.963	0.691	0.409	0.720	1533	2112	1516	591	5	1577	1516	56	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6177	0.992	0.674	0.391	0.680	1530	2112	1435	675	2	1448	1435	11	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6201	0.992	0.652	0.385	0.658	1530	2112	1387	723	2	1400	1387	11	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6262	0.993	0.630	0.374	0.635	1528	2112	1339	771	2	1350	1339	9	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6287	0.993	0.623	0.371	0.628	1528	2112	1324	786	2	1335	1324	9	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6772	0.994	0.586	0.362	0.591	1527	2112	1246	864	2	1256	1246	8	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7007	0.995	0.567	0.360	0.571	1526	2112	1204	906	2	1212	1204	6	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7181	0.995	0.541	0.354	0.545	1526	2112	1148	962	2	1156	1148	6	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7182	0.995	0.521	0.351	0.525	1526	2112	1107	1003	2	1115	1107	6	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7480	0.994	0.490	0.346	0.493	1526	2112	1040	1070	2	1048	1040	6	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7620	0.994	0.468	0.351	0.472	1526	2112	995	1115	2	1003	995	6	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7652	0.998	0.452	0.318	0.454	1525	2112	956	1154	2	960	956	2	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7663	0.998	0.423	0.302	0.425	1525	2112	896	1214	2	900	896	2	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7712	0.999	0.409	0.302	0.411	1525	2112	865	1245	2	868	865	1	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7750	0.999	0.390	0.302	0.391	1525	2112	824	1286	2	827	824	1	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7844	0.999	0.365	0.300	0.366	1525	2112	772	1338	2	775	772	1	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7919	0.999	0.332	0.293	0.334	1525	2112	703	1407	2	706	703	1	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7933	0.998	0.313	0.292	0.314	1525	2112	662	1448	2	665	662	1	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7992	1.000	0.286	0.280	0.287	1525	2112	605	1505	2	607	605	0	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8087	1.000	0.266	0.279	0.267	1525	2112	561	1549	2	563	561	0	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8152	1.000	0.245	0.261	0.246	1525	2112	517	1593	2	519	517	0	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8198	1.000	0.232	0.264	0.233	1525	2112	491	1619	2	493	491	0	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8230	1.000	0.199	0.253	0.200	1525	2112	421	1689	2	423	421	0	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8303	1.000	0.176	0.260	0.177	1525	2112	371	1739	2	373	371	0	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8346	1.000	0.149	0.234	0.150	1525	2112	315	1795	2	317	315	0	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8559	1.000	0.124	0.237	0.124	1525	2112	261	1850	1	262	261	0	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.8598	1.000	0.105	0.236	0.105	1525	2112	221	1890	1	222	221	0	1

Computing metrics for class car...

Computed thresholds

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2155	0.656	0.598	0.279	0.922	5861	58317	53091	4563	663	71997	53091	18243	663

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2764	0.783	0.696	0.270	0.898	5789	58317	51832	5976	509	63575	51832	11234	509

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3264	0.844	0.731	0.262	0.873	5768	58317	50497	7411	409	58775	50497	7869	409

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3601	0.875	0.738	0.256	0.849	5749	58317	49182	8791	344	55666	49182	6140	344

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3925	0.893	0.733	0.250	0.825	5745	58317	47825	10188	304	53226	47825	5097	304

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4214	0.909	0.724	0.244	0.801	5745	58317	46465	11586	266	50954	46465	4223	266

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4410	0.917	0.710	0.240	0.778	5744	58317	45141	12939	237	49131	45141	3753	237

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4643	0.927	0.695	0.236	0.754	5743	58317	43761	14332	224	47189	43761	3204	224

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4861	0.933	0.679	0.233	0.731	5736	58317	42401	15711	205	45437	42401	2831	205

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5028	0.938	0.660	0.229	0.707	5736	58317	41052	17084	181	43782	41052	2549	181

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5196	0.944	0.643	0.226	0.684	5732	58317	39730	18424	163	42136	39730	2243	163

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5339	0.946	0.622	0.224	0.660	5732	58317	38367	19799	151	40602	38367	2084	151

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5463	0.949	0.602	0.220	0.637	5731	58317	37001	21172	144	39029	37001	1884	144

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5599	0.953	0.583	0.217	0.614	5730	58317	35647	22535	135	37452	35647	1670	135

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5732	0.957	0.562	0.213	0.590	5730	58317	34280	23914	123	35885	34280	1482	123

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5853	0.959	0.542	0.210	0.567	5730	58317	32946	25259	112	34412	32946	1354	112

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5970	0.961	0.521	0.208	0.543	5730	58317	31571	26646	100	32887	31571	1216	100

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6079	0.964	0.500	0.206	0.520	5730	58317	30250	27976	91	31429	30250	1088	91

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6171	0.965	0.478	0.202	0.497	5730	58317	28873	29360	84	29979	28873	1022	84

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6248	0.966	0.456	0.200	0.473	5730	58317	27515	30721	81	28523	27515	927	81

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6316	0.969	0.435	0.198	0.450	5730	58317	26169	32076	72	27063	26169	822	72

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6400	0.971	0.413	0.196	0.427	5730	58317	24813	33437	67	25611	24813	731	67

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6465	0.972	0.391	0.192	0.404	5730	58317	23474	34781	62	24193	23474	657	62

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6534	0.975	0.370	0.190	0.380	5730	58317	22110	36147	60	22712	22110	542	60

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6613	0.978	0.348	0.188	0.357	5728	58317	20764	37496	57	21284	20764	463	57

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6699	0.980	0.326	0.186	0.334	5728	58317	19410	38854	53	19858	19410	395	53

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6773	0.982	0.304	0.184	0.310	5728	58317	18049	40220	48	18425	18049	328	48

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6843	0.985	0.282	0.180	0.287	5728	58317	16717	41558	42	17005	16717	246	42

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6921	0.987	0.260	0.178	0.264	5728	58317	15344	42936	37	15584	15344	203	37

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6998	0.987	0.237	0.175	0.241	5728	58317	14000	44284	33	14221	14000	188	33

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7081	0.988	0.214	0.172	0.217	5728	58317	12631	45656	30	12814	12631	153	30

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7154	0.991	0.192	0.169	0.194	5728	58317	11298	46991	28	11426	11298	100	28

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7235	0.993	0.169	0.170	0.171	5727	58317	9939	48353	25	10038	9939	74	25

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7304	0.994	0.146	0.166	0.148	5727	58317	8585	49711	21	8660	8585	54	21

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7410	0.995	0.123	0.163	0.124	5727	58317	7224	51079	14	7273	7224	35	14

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7526	0.995	0.100	0.163	0.101	5727	58317	5886	52422	9	5926	5886	31	9

Computing metrics for class motorcycle...

Computed thresholds

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.1973	0.000	0.000	0.351	0.906	4729	1977	1755	186	36	10889	1755	9098	36

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2339	0.000	0.000	0.350	0.888	3823	1977	1728	222	27	6740	1728	4985	27

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2694	0.000	0.000	0.348	0.864	2920	1977	1684	269	24	4396	1684	2688	24

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3398	0.488	0.414	0.342	0.856	1840	1977	1675	284	18	2550	1675	857	18

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3930	0.725	0.599	0.327	0.833	1552	1977	1633	331	13	2095	1633	449	13

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3978	0.742	0.599	0.319	0.813	1536	1977	1597	369	11	2020	1597	412	11

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4169	0.782	0.614	0.309	0.791	1497	1977	1552	414	11	1901	1552	338	11

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4434	0.835	0.631	0.296	0.759	1447	1977	1494	477	6	1747	1494	247	6

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4638	0.864	0.629	0.286	0.731	1413	1977	1439	532	6	1640	1439	195	6

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4722	0.866	0.618	0.288	0.716	1410	1977	1410	561	6	1605	1410	189	6

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4933	0.905	0.614	0.283	0.681	1364	1977	1341	631	5	1473	1341	127	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4985	0.914	0.600	0.275	0.659	1358	1977	1297	675	5	1413	1297	111	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5149	0.925	0.583	0.257	0.632	1347	1977	1246	727	4	1343	1246	93	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5247	0.942	0.581	0.258	0.619	1328	1977	1220	753	4	1295	1220	71	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5372	0.948	0.555	0.255	0.587	1321	1977	1157	816	4	1221	1157	60	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5393	0.947	0.537	0.256	0.569	1320	1977	1121	852	4	1184	1121	59	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5479	0.948	0.508	0.257	0.538	1317	1977	1060	913	4	1119	1060	55	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5485	0.947	0.489	0.258	0.518	1316	1977	1021	952	4	1079	1021	54	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5601	0.949	0.472	0.260	0.500	1315	1977	984	989	4	1038	984	50	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5654	0.950	0.445	0.261	0.469	1315	1977	925	1049	3	974	925	46	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5699	0.948	0.422	0.263	0.447	1315	1977	881	1093	3	930	881	46	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5738	0.948	0.407	0.264	0.430	1313	1977	848	1126	3	895	848	44	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5930	0.948	0.381	0.253	0.404	1310	1977	795	1179	3	839	795	41	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6053	0.947	0.355	0.248	0.376	1310	1977	740	1234	3	782	740	39	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6258	0.950	0.335	0.246	0.354	1307	1977	697	1278	2	734	697	35	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6392	0.960	0.303	0.222	0.317	1304	1977	625	1351	1	651	625	25	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6468	0.963	0.286	0.220	0.297	1303	1977	588	1389	0	610	588	22	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6624	0.962	0.257	0.202	0.267	1303	1977	528	1449	0	548	528	20	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6692	0.960	0.242	0.200	0.252	1303	1977	498	1479	0	518	498	20	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6810	0.955	0.216	0.202	0.227	1303	1977	448	1529	0	468	448	20	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6834	0.949	0.187	0.183	0.197	1303	1977	389	1588	0	409	389	20	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6907	0.945	0.172	0.173	0.183	1303	1977	361	1616	0	381	361	20	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6970	0.937	0.144	0.178	0.153	1302	1977	303	1674	0	322	303	19	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7098	0.938	0.129	0.161	0.138	1301	1977	273	1704	0	290	273	17	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7226	0.921	0.101	0.148	0.109	1301	1977	216	1761	0	233	216	17	0

Computing metrics for class pedestrian...

Computed thresholds

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.1411	0.000	0.000	0.275	0.954	5875	25423	23715	1166	542	67373	23715	43116	542

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2302	0.343	0.316	0.272	0.942	5065	25423	23485	1470	468	39394	23485	15441	468

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2889	0.603	0.550	0.272	0.928	4724	25423	23165	1841	417	32775	23165	9193	417

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3290	0.706	0.630	0.267	0.907	4559	25423	22679	2375	369	29715	22679	6667	369

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3648	0.751	0.655	0.266	0.886	4499	25423	22178	2909	336	28035	22178	5521	336

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3981	0.792	0.677	0.265	0.866	4459	25423	21731	3396	296	26553	21731	4526	296

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4373	0.827	0.688	0.262	0.842	4429	25423	21149	4008	266	25084	21149	3669	266

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4586	0.838	0.678	0.258	0.819	4426	25423	20572	4612	239	24141	20572	3330	239

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4820	0.858	0.674	0.260	0.794	4404	25423	19971	5236	216	23013	19971	2826	216

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5065	0.873	0.663	0.251	0.766	4392	25423	19298	5949	176	21921	19298	2447	176

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5257	0.881	0.647	0.246	0.741	4389	25423	18670	6596	157	21057	18670	2230	157

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5432	0.890	0.632	0.240	0.715	4380	25423	18047	7242	134	20165	18047	1984	134

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5603	0.899	0.615	0.237	0.689	4379	25423	17409	7896	118	19291	17409	1764	118

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5758	0.912	0.603	0.234	0.665	4334	25423	16803	8523	97	18382	16803	1482	97

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5867	0.922	0.587	0.235	0.640	4318	25423	16195	9144	84	17544	16195	1265	84

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5979	0.930	0.568	0.231	0.614	4310	25423	15539	9809	75	16701	15539	1087	75

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6103	0.935	0.549	0.233	0.590	4300	25423	14917	10436	70	15956	14917	969	70

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6238	0.942	0.529	0.228	0.564	4292	25423	14289	11075	59	15176	14289	828	59

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6319	0.944	0.508	0.225	0.540	4291	25423	13684	11686	53	14502	13684	765	53

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6409	0.947	0.486	0.216	0.515	4291	25423	13050	12328	45	13789	13050	694	45

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6514	0.952	0.467	0.208	0.491	4290	25423	12457	12929	37	13086	12457	592	37

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6588	0.953	0.443	0.201	0.466	4283	25423	11810	13582	31	12398	11810	557	31

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6687	0.958	0.421	0.196	0.440	4276	25423	11170	14229	24	11665	11170	471	24

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6763	0.959	0.399	0.192	0.417	4275	25423	10578	14825	20	11027	10578	429	20

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6847	0.965	0.377	0.189	0.391	4256	25423	9921	15482	20	10290	9921	349	20

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6922	0.974	0.357	0.183	0.367	4256	25423	9309	16099	15	9567	9309	243	15

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7010	0.974	0.333	0.189	0.342	4256	25423	8687	16724	12	8928	8687	229	12

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7066	0.976	0.311	0.190	0.319	4252	25423	8093	17321	9	8300	8093	198	9

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7134	0.975	0.287	0.186	0.295	4251	25423	7487	17928	8	7682	7487	187	8

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7190	0.976	0.264	0.185	0.271	4248	25423	6870	18545	8	7046	6870	168	8

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7249	0.976	0.241	0.189	0.247	4247	25423	6268	19147	8	6426	6268	150	8

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7295	0.978	0.218	0.189	0.223	4247	25423	5675	19742	6	5808	5675	127	6

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7351	0.977	0.195	0.198	0.200	4247	25423	5069	20349	5	5191	5069	117	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7410	0.975	0.171	0.195	0.176	4247	25423	4466	20953	4	4581	4466	111	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7480	0.975	0.147	0.203	0.151	4247	25423	3843	21576	4	3942	3843	95	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7540	0.972	0.124	0.207	0.127	4247	25423	3237	22183	3	3330	3237	90	3

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7603	0.967	0.101	0.192	0.104	4247	25423	2644	22777	2	2733	2644	87	2

Computing metrics for class trailer...

Computed thresholds

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.1920	0.000	0.000	0.629	0.733	2530	2425	1758	647	20	5197	1758	3419	20

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2287	0.000	0.000	0.619	0.709	1933	2425	1703	705	17	3898	1703	2178	17

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2559	0.101	0.069	0.619	0.686	1594	2425	1650	761	14	3147	1650	1483	14

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3249	0.491	0.322	0.621	0.659	1232	2425	1592	826	7	2410	1592	811	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3334	0.521	0.331	0.613	0.638	1182	2425	1542	877	6	2287	1542	739	6

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3722	0.571	0.350	0.583	0.615	1131	2425	1486	934	5	2128	1486	637	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4028	0.620	0.374	0.577	0.605	1091	2425	1462	958	5	2023	1462	556	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4597	0.701	0.398	0.553	0.569	1058	2425	1378	1045	2	1792	1378	412	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4787	0.719	0.391	0.551	0.545	1046	2425	1320	1103	2	1693	1320	371	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4894	0.743	0.386	0.541	0.520	1046	2425	1258	1165	2	1583	1258	323	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5261	0.780	0.385	0.532	0.494	1022	2425	1197	1226	2	1462	1197	263	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5642	0.814	0.390	0.525	0.480	1017	2425	1161	1262	2	1379	1161	216	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5667	0.812	0.369	0.506	0.455	1017	2425	1101	1322	2	1310	1101	207	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5865	0.870	0.374	0.502	0.430	1000	2425	1042	1382	1	1178	1042	135	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6109	0.888	0.358	0.503	0.403	986	2425	977	1447	1	1087	977	109	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6196	0.883	0.340	0.483	0.385	986	2425	933	1491	1	1043	933	109	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6249	0.878	0.312	0.482	0.355	986	2425	861	1564	0	966	861	105	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6276	0.874	0.296	0.477	0.339	986	2425	823	1602	0	927	823	104	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6592	0.925	0.286	0.494	0.309	986	2425	750	1675	0	806	750	56	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6657	0.925	0.268	0.493	0.290	983	2425	703	1722	0	756	703	53	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6821	0.920	0.242	0.487	0.263	982	2425	638	1787	0	689	638	51	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6875	0.916	0.225	0.494	0.246	982	2425	596	1829	0	646	596	50	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7011	0.905	0.196	0.518	0.216	982	2425	525	1900	0	575	525	50	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7122	0.897	0.179	0.496	0.200	982	2425	484	1941	0	534	484	50	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7198	0.882	0.151	0.517	0.172	982	2425	416	2009	0	465	416	49	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7236	0.876	0.132	0.472	0.150	982	2425	364	2061	0	409	364	45	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7323	0.852	0.107	0.522	0.126	982	2425	305	2120	0	350	305	45	0

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7627	0.866	0.088	0.512	0.101	977	2425	246	2179	0	279	246	33	0

Computing metrics for class truck...

Computed thresholds

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.1967	0.000	0.000	0.382	0.869	4901	9650	8338	1260	52	18090	8338	9700	52

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2409	0.361	0.303	0.373	0.846	4371	9650	8117	1489	44	13350	8117	5189	44

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2752	0.582	0.476	0.368	0.821	4093	9650	7891	1723	36	11228	7891	3301	36

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.2991	0.650	0.518	0.366	0.799	3966	9650	7687	1935	28	10404	7687	2689	28

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3213	0.709	0.549	0.365	0.776	3896	9650	7465	2159	26	9662	7465	2171	26

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3474	0.744	0.558	0.363	0.752	3815	9650	7236	2395	19	9110	7236	1855	19

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.3800	0.783	0.569	0.361	0.728	3744	9650	7007	2625	18	8544	7007	1519	18

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4012	0.804	0.566	0.355	0.705	3726	9650	6790	2845	15	8134	6790	1329	15

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4221	0.819	0.557	0.354	0.682	3704	9650	6564	3072	14	7767	6564	1189	14

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4356	0.820	0.538	0.350	0.657	3704	9650	6332	3306	12	7482	6332	1138	12

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4457	0.822	0.520	0.345	0.634	3704	9650	6106	3532	12	7205	6106	1087	12

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4610	0.826	0.504	0.345	0.611	3698	9650	5884	3754	12	6918	5884	1022	12

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4724	0.828	0.487	0.346	0.588	3675	9650	5668	3971	11	6652	5668	973	11

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4799	0.837	0.471	0.341	0.564	3673	9650	5434	4206	10	6329	5434	885	10

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.4911	0.840	0.454	0.337	0.541	3673	9650	5215	4425	10	6061	5215	836	10

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5021	0.847	0.438	0.335	0.518	3651	9650	4989	4652	9	5759	4989	761	9

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5118	0.859	0.424	0.328	0.494	3643	9650	4764	4879	7	5443	4764	672	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5263	0.867	0.409	0.328	0.472	3635	9650	4551	5092	7	5163	4551	605	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5384	0.874	0.394	0.329	0.451	3635	9650	4346	5297	7	4899	4346	546	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5533	0.896	0.381	0.331	0.425	3625	9650	4098	5545	7	4530	4098	425	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5628	0.894	0.358	0.331	0.402	3624	9650	3870	5773	7	4289	3870	412	7

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5719	0.905	0.342	0.324	0.379	3611	9650	3650	5995	5	4002	3650	347	5

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5825	0.906	0.322	0.320	0.356	3603	9650	3430	6216	4	3755	3430	321	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5897	0.921	0.306	0.322	0.333	3603	9650	3205	6441	4	3461	3205	252	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.5976	0.925	0.285	0.309	0.309	3593	9650	2976	6670	4	3203	2976	223	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6106	0.920	0.265	0.306	0.288	3593	9650	2778	6868	4	3004	2778	222	4

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6179	0.920	0.243	0.307	0.265	3593	9650	2552	7096	2	2758	2552	204	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6269	0.913	0.220	0.300	0.241	3593	9650	2320	7328	2	2523	2320	201	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6356	0.924	0.201	0.301	0.218	3592	9650	2103	7545	2	2264	2103	159	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6450	0.940	0.181	0.298	0.193	3583	9650	1861	7787	2	1975	1861	112	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6552	0.932	0.159	0.288	0.170	3583	9650	1643	8005	2	1756	1643	111	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6715	0.963	0.141	0.286	0.147	3567	9650	1416	8232	2	1471	1416	53	2

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.6914	0.990	0.123	0.283	0.124	3567	9650	1197	8452	1	1210	1197	12	1

		MOTAR	MOTA	MOTP	Recall	Frames	GT	GT-Mtch	GT-Miss	GT-IDS	Pred	Pred-TP	Pred-FP	Pred-IDS
thr_0.7006	0.995	0.103	0.273	0.104	3567	9650	1001	8648	1	1007	1001	5	1

Calculating metrics...
Saving metrics to: /gs/home/zhubing/experiment_result/2022-05-14-16-31-30_val/nuscenes-metrics

### Final results ###

Per-class results:
		AMOTA	AMOTP	RECALL	MOTAR	GT	MOTA	MOTP	MT	ML	FAF	TP	FP	FN	IDS	FRAG	TID	LGD
bicycle 	0.513	0.602	0.571	0.806	1993	0.459	0.201	66	70	14.7	1135	220	855	3	2	0.97	1.09
bus     	0.854	0.546	0.852	0.913	2112	0.774	0.427	76	13	9.7	1789	155	312	11	11	0.38	0.91
car     	0.849	0.387	0.849	0.875	58317	0.738	0.256	2762	668	106.8	49182	6140	8791	344	170	0.25	0.44
motorcy 	0.723	0.475	0.759	0.835	1977	0.631	0.296	86	33	17.1	1494	247	477	6	6	0.68	0.87
pedestr 	0.807	0.357	0.842	0.827	25423	0.688	0.262	1229	335	82.8	21149	3669	4008	266	130	0.23	0.50
trailer 	0.506	0.973	0.569	0.701	2425	0.398	0.553	59	59	38.9	1378	412	1045	2	9	0.75	1.40
truck   	0.695	0.581	0.728	0.783	9650	0.569	0.361	330	169	40.6	7007	1519	2625	18	17	0.43	0.88

Aggregated results:
AMOTA	0.707
AMOTP	0.560
RECALL	0.739
MOTAR	0.820
GT	14556
MOTA	0.608
MOTP	0.336
MT	4608
ML	1347
FAF	44.4
TP	83134
FP	12362
FN	18113
IDS	650
FRAG	345
TID	0.53
LGD	0.87
Eval time: 3475.2s