From db713042e2105334fe5f1d8bb78e5d02082581f4 Mon Sep 17 00:00:00 2001
From: Kaipeng Deng <dengkaipeng@baidu.com>
Date: Tue, 24 Dec 2019 16:47:10 +0800
Subject: [PATCH] update README and fix random nan in rcnn startup (#4118)

---
 PaddleCV/Paddle3D/PointRCNN/README.md          | 18 +++++++++---------
 .../PointRCNN/models/pointnet2_modules.py      | 10 ++++++++--
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/PaddleCV/Paddle3D/PointRCNN/README.md b/PaddleCV/Paddle3D/PointRCNN/README.md
index 842cb86d..5b2d8292 100644
--- a/PaddleCV/Paddle3D/PointRCNN/README.md
+++ b/PaddleCV/Paddle3D/PointRCNN/README.md
@@ -51,14 +51,7 @@ cd PaddleCV/Paddle3D/PointRCNN
 git clone https://github.com/pybind/pybind11
 ```
 
-3. 编译安装`pts_utils`, `kitti_utils`, `roipool3d_utils`, `iou_utils` 等模块
-
-使用如下命令编译安装`pts_utils`, `kitti_utils`, `roipool3d_utils`, `iou_utils` 等模块：
-```
-sh build_and_install.sh
-```
-
-4. 安装python依赖库
+3. 安装python依赖库
 
 使用如下命令安装python依赖库：
 
@@ -69,6 +62,13 @@ pip install -r requirement.txt
 **注意：** KITTI mAP评估工具只能在python 3.6及以上版本中使用，且python3环境中需要安装`scikit-image`,`Numba`,`fire`等子库。
 `requirement.txt`中的`scikit-image`,`Numba`,`fire`即为KITTI mAP评估工具所需依赖库。
 
+4. 编译安装`pts_utils`, `kitti_utils`, `roipool3d_utils`, `iou_utils` 等模块
+
+使用如下命令编译安装`pts_utils`, `kitti_utils`, `roipool3d_utils`, `iou_utils` 等模块：
+```
+sh build_and_install.sh
+```
+
 ### 编译自定义OP
 
 请确认Paddle版本为PaddelPaddle Fluid develop每日版本或基于Paddle develop分支源码编译安装，**推荐使用源码编译安装的方式**。
@@ -314,7 +314,7 @@ result_dir
 由于KITTI mAP仅支持python 3.6及以上版本，须使用对应python版本通过如下命令进行评估：
 
 ```
-python3 kitti_map.py
+python3 tools/kitti_eval.py
 ```
 
 使用训练最终权重[RPN模型](https://paddlemodels.bj.bcebos.com/Paddle3D/pointrcnn_rpn.tar)和[RCNN模型](https://paddlemodels.bj.bcebos.com/Paddle3D/pointrcnn_rcnn_offline.tar)评估结果如下所示：
diff --git a/PaddleCV/Paddle3D/PointRCNN/models/pointnet2_modules.py b/PaddleCV/Paddle3D/PointRCNN/models/pointnet2_modules.py
index 43942fcf..6f92bb5f 100644
--- a/PaddleCV/Paddle3D/PointRCNN/models/pointnet2_modules.py
+++ b/PaddleCV/Paddle3D/PointRCNN/models/pointnet2_modules.py
@@ -23,7 +23,7 @@ import numpy as np
 
 import paddle.fluid as fluid
 from paddle.fluid.param_attr import ParamAttr
-from paddle.fluid.initializer import Constant
+from paddle.fluid.initializer import Constant, Normal
 from ext_op import *
 
 __all__ = ["conv_bn", "pointnet_sa_module", "pointnet_fp_module", "MLP"]
@@ -76,7 +76,13 @@ def group_all(xyz, features=None, use_xyz=True):
 
 
 def conv_bn(input, out_channels, bn=True, bn_momentum=0.95, act='relu', name=None):
-    param_attr = ParamAttr(name='{}_conv_weight'.format(name),)
+    def _get_kaiming_init():
+        fan_in = input.shape[1]
+        std = (1.0 / fan_in / 3.0) ** 0.5
+        return Normal(0., std, 0.)
+
+    param_attr = ParamAttr(name='{}_conv_weight'.format(name),
+                           initializer=_get_kaiming_init())
     bias_attr = ParamAttr(name='{}_conv_bias'.format(name)) \
                                   if not bn else False
     out = fluid.layers.conv2d(input,
-- 
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