def main(args):
data_path = args.data_dir
test_batch_size = args.test_batch_size
model_save_path = args.model_save_path
output_path = args.test_output_path
compression_model = args.grid_size[2]
grid_size = args.grid_size
pytorch_device = torch.device('cuda:0')
model = args.model
if model == 'polar':
fea_dim = 9
circular_padding = True
elif model == 'traditional':
fea_dim = 7
circular_padding = False
# prepare miou fun
unique_label = np.asarray(sorted(list(SemKITTI_label_name.keys())))[1:] - 1
unique_label_str = [SemKITTI_label_name[x] for x in unique_label + 1]
# prepare model
my_BEV_model = BEV_Unet(n_class=len(unique_label),
n_height=compression_model,
input_batch_norm=True,
dropout=0.5,
circular_padding=circular_padding)
my_model = ptBEVnet(my_BEV_model,
pt_model='pointnet',
grid_size=grid_size,
fea_dim=fea_dim,
max_pt_per_encode=256,
out_pt_fea_dim=512,
kernal_size=1,
pt_selection='random',
fea_compre=compression_model)
if os.path.exists(model_save_path):
my_model.load_state_dict(torch.load(model_save_path))
my_model.to(pytorch_device)
# prepare dataset
test_pt_dataset = SemKITTI(data_path + '/sequences/',
imageset='test',
return_ref=True)
val_pt_dataset = SemKITTI(data_path + '/sequences/',
imageset='val',
return_ref=True)
if model == 'polar':
test_dataset = spherical_dataset(test_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True,
return_test=True)
val_dataset = spherical_dataset(val_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True)
elif model == 'traditional':
test_dataset = voxel_dataset(test_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True,
return_test=True)
val_dataset = voxel_dataset(val_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True)
test_dataset_loader = torch.utils.data.DataLoader(
dataset=test_dataset,
batch_size=test_batch_size,
collate_fn=collate_fn_BEV_test,
shuffle=False,
num_workers=4)
val_dataset_loader = torch.utils.data.DataLoader(
dataset=val_dataset,
batch_size=test_batch_size,
collate_fn=collate_fn_BEV,
shuffle=False,
num_workers=4)
# validation
print('*' * 80)
print('Test network performance on validation split')
print('*' * 80)
pbar = tqdm(total=len(val_dataset_loader))
my_model.eval()
hist_list = []
time_list = []
with torch.no_grad():
for i_iter_val, (_, val_vox_label, val_grid, val_pt_labs,
val_pt_fea) in enumerate(val_dataset_loader):
val_vox_label = SemKITTI2train(val_vox_label)
val_pt_labs = SemKITTI2train(val_pt_labs)
val_pt_fea_ten = [
torch.from_numpy(i).type(torch.FloatTensor).to(pytorch_device)
for i in val_pt_fea
]
val_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device) for i in val_grid
]
val_label_tensor = val_vox_label.type(
torch.LongTensor).to(pytorch_device)
torch.cuda.synchronize()
start_time = time.time()
predict_labels = my_model(val_pt_fea_ten, val_grid_ten)
torch.cuda.synchronize()
time_list.append(time.time() - start_time)
predict_labels = torch.argmax(predict_labels, dim=1)
predict_labels = predict_labels.cpu().detach().numpy()
for count, i_val_grid in enumerate(val_grid):
hist_list.append(
fast_hist_crop(
predict_labels[count, val_grid[count][:, 0],
val_grid[count][:, 1],
val_grid[count][:, 2]],
val_pt_labs[count], unique_label))
pbar.update(1)
iou = per_class_iu(sum(hist_list))
print('Validation per class iou: ')
for class_name, class_iou in zip(unique_label_str, iou):
print('%s : %.2f%%' % (class_name, class_iou * 100))
val_miou = np.nanmean(iou) * 100
del val_vox_label, val_grid, val_pt_fea, val_grid_ten
pbar.close()
print('Current val miou is %.3f ' % val_miou)
print('Inference time per %d is %.4f seconds\n' %
(test_batch_size, np.mean(time_list)))
# test
print('*' * 80)
print('Generate predictions for test split')
print('*' * 80)
pbar = tqdm(total=len(test_dataset_loader))
with torch.no_grad():
for i_iter_test, (_, _, test_grid, _, test_pt_fea,
test_index) in enumerate(test_dataset_loader):
# predict
test_pt_fea_ten = [
torch.from_numpy(i).type(torch.FloatTensor).to(pytorch_device)
for i in test_pt_fea
]
test_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device)
for i in test_grid
]
predict_labels = my_model(test_pt_fea_ten, test_grid_ten)
predict_labels = torch.argmax(predict_labels, 1).type(torch.uint8)
predict_labels = predict_labels.cpu().detach().numpy()
# write to label file
for count, i_test_grid in enumerate(test_grid):
test_pred_label = predict_labels[count, test_grid[count][:, 0],
test_grid[count][:, 1],
test_grid[count][:, 2]]
test_pred_label = train2SemKITTI(test_pred_label)
test_pred_label = np.expand_dims(test_pred_label, axis=1)
save_dir = test_pt_dataset.im_idx[test_index[count]]
_, dir2 = save_dir.split('/sequences/', 1)
new_save_dir = output_path + '/sequences/' + dir2.replace(
'velodyne', 'predictions')[:-3] + 'label'
if not os.path.exists(os.path.dirname(new_save_dir)):
try:
os.makedirs(os.path.dirname(new_save_dir))
except OSError as exc:
if exc.errno != errno.EEXIST:
raise
test_pred_label = test_pred_label.astype(np.uint32)
test_pred_label.tofile(new_save_dir)
pbar.update(1)
del test_grid, test_pt_fea, test_index
pbar.close()
print(
'Predicted test labels are saved in %s. Need to be shifted to original label format before submitting to the Competition website.'
% output_path)
print('Remapping script can be found in semantic-kitti-api.')
def main(args):
data_path = args.data_dir
test_batch_size = args.test_batch_size
model_save_path = args.model_save_path
output_path = args.test_output_path
compression_model = args.grid_size[2]
grid_size = args.grid_size
visibilty = args.visibilty
pytorch_device = torch.device('cuda:0')
model = args.model
if model == 'polar':
fea_dim = 9
circular_padding = True
elif model == 'traditional':
fea_dim = 7
circular_padding = False
#prepare miou fun
unique_label_str = list(
map_name_from_segmentation_class_to_segmentation_index)[1:]
unique_label = np.asarray([
map_name_from_segmentation_class_to_segmentation_index[s]
for s in unique_label_str
]) - 1
# prepare model
my_BEV_model = BEV_Unet(n_class=len(unique_label),
n_height=compression_model,
input_batch_norm=True,
dropout=0.5,
circular_padding=circular_padding,
use_vis_fea=visibilty)
my_model = ptBEVnet(my_BEV_model,
pt_model='pointnet',
grid_size=grid_size,
fea_dim=fea_dim,
max_pt_per_encode=256,
out_pt_fea_dim=512,
kernal_size=1,
pt_selection='random',
fea_compre=compression_model)
if os.path.exists(model_save_path):
my_model.load_state_dict(torch.load(model_save_path))
my_model.to(pytorch_device)
# prepare dataset
test_pt_dataset = Nuscenes(data_path + '/test/',
version='v1.0-test',
split='test',
return_ref=True)
val_pt_dataset = Nuscenes(data_path + '/trainval/',
version='v1.0-trainval',
split='val',
return_ref=True)
if model == 'polar':
test_dataset = spherical_dataset(test_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True,
return_test=True,
max_volume_space=[50, np.pi, 3],
min_volume_space=[0, -np.pi, -5])
val_dataset = spherical_dataset(val_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True,
max_volume_space=[50, np.pi, 3],
min_volume_space=[0, -np.pi, -5])
elif model == 'traditional':
test_dataset = voxel_dataset(test_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True,
return_test=True,
max_volume_space=[50, 50, 3],
min_volume_space=[-50, -50, -5])
val_dataset = voxel_dataset(val_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True,
max_volume_space=[50, 50, 3],
min_volume_space=[-50, -50, -5])
test_dataset_loader = torch.utils.data.DataLoader(
dataset=test_dataset,
batch_size=test_batch_size,
collate_fn=collate_fn_BEV_test,
shuffle=False,
num_workers=4)
val_dataset_loader = torch.utils.data.DataLoader(
dataset=val_dataset,
batch_size=test_batch_size,
collate_fn=collate_fn_BEV,
shuffle=False,
num_workers=4)
# validation
print('*' * 80)
print('Test network performance on validation split')
print('*' * 80)
pbar = tqdm(total=len(val_dataset_loader))
my_model.eval()
hist_list = []
time_list = []
with torch.no_grad():
for i_iter_val, (val_vox_fea, val_vox_label, val_grid, val_pt_labs,
val_pt_fea) in enumerate(val_dataset_loader):
val_vox_fea_ten = val_vox_fea.to(pytorch_device)
val_vox_label = SemKITTI2train(val_vox_label)
val_pt_labs = SemKITTI2train(val_pt_labs)
val_pt_fea_ten = [
torch.from_numpy(i).type(torch.FloatTensor).to(pytorch_device)
for i in val_pt_fea
]
val_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device) for i in val_grid
]
val_label_tensor = val_vox_label.type(
torch.LongTensor).to(pytorch_device)
torch.cuda.synchronize()
start_time = time.time()
if visibilty:
predict_labels = my_model(val_pt_fea_ten, val_grid_ten,
val_vox_fea_ten)
else:
predict_labels = my_model(val_pt_fea_ten, val_grid_ten)
torch.cuda.synchronize()
time_list.append(time.time() - start_time)
predict_labels = torch.argmax(predict_labels, dim=1)
predict_labels = predict_labels.cpu().detach().numpy()
for count, i_val_grid in enumerate(val_grid):
hist_list.append(
fast_hist_crop(
predict_labels[count, val_grid[count][:, 0],
val_grid[count][:, 1],
val_grid[count][:, 2]],
val_pt_labs[count], unique_label))
pbar.update(1)
iou = per_class_iu(sum(hist_list))
print('Validation per class iou: ')
for class_name, class_iou in zip(unique_label_str, iou):
print('%s : %.2f%%' % (class_name, class_iou * 100))
val_miou = np.nanmean(iou) * 100
del val_vox_label, val_grid, val_pt_fea, val_grid_ten
pbar.close()
print('Current val miou is %.3f ' % val_miou)
print('Inference time per %d is %.4f seconds\n' %
(test_batch_size, np.mean(time_list)))
# test
print('*' * 80)
print('Generate predictions for test split')
print('*' * 80)
pbar = tqdm(total=len(test_dataset_loader))
with torch.no_grad():
for i_iter_test, (test_vox_fea, _, test_grid, _, test_pt_fea,
test_index) in enumerate(test_dataset_loader):
# predict
test_vox_fea_ten = test_vox_fea.to(pytorch_device)
test_pt_fea_ten = [
torch.from_numpy(i).type(torch.FloatTensor).to(pytorch_device)
for i in test_pt_fea
]
test_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device)
for i in test_grid
]
if visibilty:
predict_labels = my_model(test_pt_fea_ten, test_grid_ten,
test_vox_fea_ten)
else:
predict_labels = my_model(test_pt_fea_ten, test_grid_ten)
predict_labels = torch.argmax(predict_labels, 1).type(torch.uint8)
predict_labels = predict_labels.cpu().detach().numpy()
# write to label file
for count, i_test_grid in enumerate(test_grid):
test_pred_label = predict_labels[count, test_grid[count][:, 0],
test_grid[count][:, 1],
test_grid[count][:, 2]]
test_pred_label = train2SemKITTI(test_pred_label)
test_pred_label = np.expand_dims(test_pred_label, axis=1)
label_token = test_pt_dataset.train_token_list[
test_index[count]]
new_save_dir = os.path.join(output_path,
label_token + '_lidarseg.bin')
if not os.path.exists(os.path.dirname(new_save_dir)):
try:
os.makedirs(os.path.dirname(new_save_dir))
except OSError as exc:
if exc.errno != errno.EEXIST:
raise
test_pred_label = test_pred_label.astype(np.uint32)
test_pred_label.tofile(new_save_dir)
pbar.update(1)
del test_grid, test_pt_fea, test_index
pbar.close()
print('Predicted test labels are saved in %s.' % output_path)
def main(args):
data_path = args['dataset']['path']
test_batch_size = args['model']['test_batch_size']
pretrained_model = args['model']['pretrained_model']
output_path = args['dataset']['output_path']
compression_model = args['dataset']['grid_size'][2]
grid_size = args['dataset']['grid_size']
visibility = args['model']['visibility']
pytorch_device = torch.device('cuda:0')
if args['model']['polar']:
fea_dim = 9
circular_padding = True
else:
fea_dim = 7
circular_padding = False
# prepare miou fun
unique_label=np.asarray(sorted(list(SemKITTI_label_name.keys())))[1:] - 1
unique_label_str=[SemKITTI_label_name[x] for x in unique_label+1]
# prepare model
my_BEV_model=BEV_Unet(n_class=len(unique_label), n_height = compression_model, input_batch_norm = True, dropout = 0.5, circular_padding = circular_padding, use_vis_fea=visibility)
my_model = ptBEVnet(my_BEV_model, pt_model = 'pointnet', grid_size = grid_size, fea_dim = fea_dim, max_pt_per_encode = 256,
out_pt_fea_dim = 512, kernal_size = 1, pt_selection = 'random', fea_compre = compression_model)
if os.path.exists(pretrained_model):
my_model.load_state_dict(torch.load(pretrained_model))
pytorch_total_params = sum(p.numel() for p in my_model.parameters())
print('params: ',pytorch_total_params)
my_model.to(pytorch_device)
my_model.eval()
# prepare dataset
test_pt_dataset = SemKITTI(data_path + '/sequences/', imageset = 'test', return_ref = True, instance_pkl_path=args['dataset']['instance_pkl_path'])
val_pt_dataset = SemKITTI(data_path + '/sequences/', imageset = 'val', return_ref = True, instance_pkl_path=args['dataset']['instance_pkl_path'])
if args['model']['polar']:
test_dataset=spherical_dataset(test_pt_dataset, args['dataset'], grid_size = grid_size, ignore_label = 0, return_test= True)
val_dataset=spherical_dataset(val_pt_dataset, args['dataset'], grid_size = grid_size, ignore_label = 0)
else:
test_dataset=voxel_dataset(test_pt_dataset, args['dataset'], grid_size = grid_size, ignore_label = 0, return_test= True)
val_dataset=voxel_dataset(val_pt_dataset, args['dataset'], grid_size = grid_size, ignore_label = 0)
test_dataset_loader = torch.utils.data.DataLoader(dataset = test_dataset,
batch_size = test_batch_size,
collate_fn = collate_fn_BEV_test,
shuffle = False,
num_workers = 4)
val_dataset_loader = torch.utils.data.DataLoader(dataset = val_dataset,
batch_size = test_batch_size,
collate_fn = collate_fn_BEV,
shuffle = False,
num_workers = 4)
# validation
print('*'*80)
print('Test network performance on validation split')
print('*'*80)
pbar = tqdm(total=len(val_dataset_loader))
time_list = []
pp_time_list = []
evaluator = PanopticEval(len(unique_label)+1, None, [0], min_points=50)
with torch.no_grad():
for i_iter_val,(val_vox_fea,val_vox_label,val_gt_center,val_gt_offset,val_grid,val_pt_labels,val_pt_ints,val_pt_fea) in enumerate(val_dataset_loader):
val_vox_fea_ten = val_vox_fea.to(pytorch_device)
val_vox_label = SemKITTI2train(val_vox_label)
val_pt_fea_ten = [torch.from_numpy(i).type(torch.FloatTensor).to(pytorch_device) for i in val_pt_fea]
val_grid_ten = [torch.from_numpy(i[:,:2]).to(pytorch_device) for i in val_grid]
val_label_tensor=val_vox_label.type(torch.LongTensor).to(pytorch_device)
val_gt_center_tensor = val_gt_center.to(pytorch_device)
val_gt_offset_tensor = val_gt_offset.to(pytorch_device)
torch.cuda.synchronize()
start_time = time.time()
if visibility:
predict_labels,center,offset = my_model(val_pt_fea_ten, val_grid_ten, val_vox_fea_ten)
else:
predict_labels,center,offset = my_model(val_pt_fea_ten, val_grid_ten)
torch.cuda.synchronize()
time_list.append(time.time()-start_time)
for count,i_val_grid in enumerate(val_grid):
# get foreground_mask
for_mask = torch.zeros(1,grid_size[0],grid_size[1],grid_size[2],dtype=torch.bool).to(pytorch_device)
for_mask[0,val_grid[count][:,0],val_grid[count][:,1],val_grid[count][:,2]] = True
# post processing
torch.cuda.synchronize()
start_time = time.time()
panoptic_labels,center_points = get_panoptic_segmentation(torch.unsqueeze(predict_labels[count], 0),torch.unsqueeze(center[count], 0),torch.unsqueeze(offset[count], 0),val_pt_dataset.thing_list,\
threshold=args['model']['post_proc']['threshold'], nms_kernel=args['model']['post_proc']['nms_kernel'],\
top_k=args['model']['post_proc']['top_k'], polar=circular_padding,foreground_mask=for_mask)
torch.cuda.synchronize()
pp_time_list.append(time.time()-start_time)
panoptic_labels = panoptic_labels.cpu().detach().numpy().astype(np.uint32)
panoptic = panoptic_labels[0,val_grid[count][:,0],val_grid[count][:,1],val_grid[count][:,2]]
evaluator.addBatch(panoptic & 0xFFFF,panoptic,np.squeeze(val_pt_labels[count]),np.squeeze(val_pt_ints[count]))
del val_vox_label,val_pt_fea_ten,val_label_tensor,val_grid_ten,val_gt_center,val_gt_center_tensor,val_gt_offset,val_gt_offset_tensor,predict_labels,center,offset,panoptic_labels,center_points
pbar.update(1)
class_PQ, class_SQ, class_RQ, class_all_PQ, class_all_SQ, class_all_RQ = evaluator.getPQ()
miou,ious = evaluator.getSemIoU()
print('Validation per class PQ, SQ, RQ and IoU: ')
for class_name, class_pq, class_sq, class_rq, class_iou in zip(unique_label_str,class_all_PQ[1:],class_all_SQ[1:],class_all_RQ[1:],ious[1:]):
print('%15s : %6.2f%% %6.2f%% %6.2f%% %6.2f%%' % (class_name, class_pq*100, class_sq*100, class_rq*100, class_iou*100))
pbar.close()
print('Current val PQ is %.3f' %
(class_PQ*100))
print('Current val miou is %.3f'%
(miou*100))
print('Inference time per %d is %.4f seconds\n, postprocessing time is %.4f seconds per scan' %
(test_batch_size,np.mean(time_list),np.mean(pp_time_list)))
# test
print('*'*80)
print('Generate predictions for test split')
print('*'*80)
pbar = tqdm(total=len(test_dataset_loader))
with torch.no_grad():
for i_iter_test,(test_vox_fea,_,_,_,test_grid,_,_,test_pt_fea,test_index) in enumerate(test_dataset_loader):
# predict
test_vox_fea_ten = test_vox_fea.to(pytorch_device)
test_pt_fea_ten = [torch.from_numpy(i).type(torch.FloatTensor).to(pytorch_device) for i in test_pt_fea]
test_grid_ten = [torch.from_numpy(i[:,:2]).to(pytorch_device) for i in test_grid]
if visibility:
predict_labels,center,offset = my_model(test_pt_fea_ten,test_grid_ten,test_vox_fea_ten)
else:
predict_labels,center,offset = my_model(test_pt_fea_ten,test_grid_ten)
# write to label file
for count,i_test_grid in enumerate(test_grid):
# get foreground_mask
for_mask = torch.zeros(1,grid_size[0],grid_size[1],grid_size[2],dtype=torch.bool).to(pytorch_device)
for_mask[0,test_grid[count][:,0],test_grid[count][:,1],test_grid[count][:,2]] = True
# post processing
panoptic_labels,center_points = get_panoptic_segmentation(torch.unsqueeze(predict_labels[count], 0),torch.unsqueeze(center[count], 0),torch.unsqueeze(offset[count], 0),test_pt_dataset.thing_list,\
threshold=args['model']['post_proc']['threshold'], nms_kernel=args['model']['post_proc']['nms_kernel'],\
top_k=args['model']['post_proc']['top_k'], polar=circular_padding,foreground_mask=for_mask)
panoptic_labels = panoptic_labels.cpu().detach().numpy().astype(np.uint32)
panoptic = panoptic_labels[0,test_grid[count][:,0],test_grid[count][:,1],test_grid[count][:,2]]
save_dir = test_pt_dataset.im_idx[test_index[count]]
_,dir2 = save_dir.split('/sequences/',1)
new_save_dir = output_path + '/sequences/' +dir2.replace('velodyne','predictions')[:-3]+'label'
if not os.path.exists(os.path.dirname(new_save_dir)):
try:
os.makedirs(os.path.dirname(new_save_dir))
except OSError as exc:
if exc.errno != errno.EEXIST:
raise
panoptic.tofile(new_save_dir)
del test_pt_fea_ten,test_grid_ten,test_pt_fea,predict_labels,center,offset
pbar.update(1)
pbar.close()
print('Predicted test labels are saved in %s. Need to be shifted to original label format before submitting to the Competition website.' % output_path)
print('Remapping script can be found in semantic-kitti-api.')
def main(args):
data_path = args.data_dir
train_batch_size = args.train_batch_size
val_batch_size = args.val_batch_size
check_iter = args.check_iter
model_save_path = args.model_save_path
compression_model = args.grid_size[2]
grid_size = args.grid_size
pytorch_device = torch.device('cuda:0')
model = args.model
if model == 'polar':
fea_dim = 9
circular_padding = True
elif model == 'traditional':
fea_dim = 7
circular_padding = False
#prepare miou fun
unique_label = np.asarray(sorted(list(SemKITTI_label_name.keys())))[1:] - 1
unique_label_str = [SemKITTI_label_name[x] for x in unique_label + 1]
#prepare model
my_BEV_model = BEV_Unet(n_class=len(unique_label),
n_height=compression_model,
input_batch_norm=True,
dropout=0.5,
circular_padding=circular_padding)
my_model = ptBEVnet(my_BEV_model,
pt_model='pointnet',
grid_size=grid_size,
fea_dim=fea_dim,
max_pt_per_encode=256,
out_pt_fea_dim=512,
kernal_size=1,
pt_selection='random',
fea_compre=compression_model)
if os.path.exists(model_save_path):
my_model.load_state_dict(torch.load(model_save_path))
my_model.to(pytorch_device)
optimizer = optim.Adam(my_model.parameters())
loss_fun = torch.nn.CrossEntropyLoss(ignore_index=255)
#prepare dataset
train_pt_dataset = SemKITTI(data_path + '/sequences/',
imageset='train',
return_ref=True)
val_pt_dataset = SemKITTI(data_path + '/sequences/',
imageset='val',
return_ref=True)
if model == 'polar':
train_dataset = spherical_dataset(train_pt_dataset,
grid_size=grid_size,
flip_aug=True,
ignore_label=0,
rotate_aug=True,
fixed_volume_space=True)
val_dataset = spherical_dataset(val_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True)
elif model == 'traditional':
train_dataset = voxel_dataset(train_pt_dataset,
grid_size=grid_size,
flip_aug=True,
ignore_label=0,
rotate_aug=True,
fixed_volume_space=True)
val_dataset = voxel_dataset(val_pt_dataset,
grid_size=grid_size,
ignore_label=0,
fixed_volume_space=True)
train_dataset_loader = torch.utils.data.DataLoader(
dataset=train_dataset,
batch_size=train_batch_size,
collate_fn=collate_fn_BEV,
shuffle=True,
num_workers=4)
val_dataset_loader = torch.utils.data.DataLoader(dataset=val_dataset,
batch_size=val_batch_size,
collate_fn=collate_fn_BEV,
shuffle=False,
num_workers=4)
# training
epoch = 0
best_val_miou = 0
start_training = False
my_model.train()
global_iter = 0
exce_counter = 0
while True:
loss_list = []
pbar = tqdm(total=len(train_dataset_loader))
for i_iter, (_, train_vox_label, train_grid, _,
train_pt_fea) in enumerate(train_dataset_loader):
# validation
if global_iter % check_iter == 0:
my_model.eval()
hist_list = []
val_loss_list = []
with torch.no_grad():
for i_iter_val, (
_, val_vox_label, val_grid, val_pt_labs,
val_pt_fea) in enumerate(val_dataset_loader):
val_vox_label = SemKITTI2train(val_vox_label)
val_pt_labs = SemKITTI2train(val_pt_labs)
val_pt_fea_ten = [
torch.from_numpy(i).type(
torch.FloatTensor).to(pytorch_device)
for i in val_pt_fea
]
val_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device)
for i in val_grid
]
val_label_tensor = val_vox_label.type(
torch.LongTensor).to(pytorch_device)
predict_labels = my_model(val_pt_fea_ten, val_grid_ten)
loss = lovasz_softmax(torch.nn.functional.softmax(
predict_labels).detach(),
val_label_tensor,
ignore=255) + loss_fun(
predict_labels.detach(),
val_label_tensor)
predict_labels = torch.argmax(predict_labels, dim=1)
predict_labels = predict_labels.cpu().detach().numpy()
for count, i_val_grid in enumerate(val_grid):
hist_list.append(
fast_hist_crop(
predict_labels[count, val_grid[count][:,
0],
val_grid[count][:, 1],
val_grid[count][:, 2]],
val_pt_labs[count], unique_label))
val_loss_list.append(loss.detach().cpu().numpy())
my_model.train()
iou = per_class_iu(sum(hist_list))
print('Validation per class iou: ')
for class_name, class_iou in zip(unique_label_str, iou):
print('%s : %.2f%%' % (class_name, class_iou * 100))
val_miou = np.nanmean(iou) * 100
del val_vox_label, val_grid, val_pt_fea, val_grid_ten
# save model if performance is improved
if best_val_miou < val_miou:
best_val_miou = val_miou
torch.save(my_model.state_dict(), model_save_path)
print(
'Current val miou is %.3f while the best val miou is %.3f'
% (val_miou, best_val_miou))
print('Current val loss is %.3f' % (np.mean(val_loss_list)))
if start_training:
print('epoch %d iter %5d, loss: %.3f\n' %
(epoch, i_iter, np.mean(loss_list)))
print('%d exceptions encountered during last training\n' %
exce_counter)
exce_counter = 0
loss_list = []
# training
try:
train_vox_label = SemKITTI2train(train_vox_label)
train_pt_fea_ten = [
torch.from_numpy(i).type(
torch.FloatTensor).to(pytorch_device)
for i in train_pt_fea
]
train_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device)
for i in train_grid
]
train_vox_ten = [
torch.from_numpy(i).to(pytorch_device) for i in train_grid
]
point_label_tensor = train_vox_label.type(
torch.LongTensor).to(pytorch_device)
# forward + backward + optimize
outputs = my_model(train_pt_fea_ten, train_grid_ten)
loss = lovasz_softmax(torch.nn.functional.softmax(outputs),
point_label_tensor,
ignore=255) + loss_fun(
outputs, point_label_tensor)
loss.backward()
optimizer.step()
loss_list.append(loss.item())
except Exception:
exce_counter += 1
# zero the parameter gradients
optimizer.zero_grad()
pbar.update(1)
start_training = True
global_iter += 1
pbar.close()
epoch += 1
def main(args):
data_path = args['dataset']['path']
train_batch_size = args['model']['train_batch_size']
val_batch_size = args['model']['val_batch_size']
check_iter = args['model']['check_iter']
model_save_path = args['model']['model_save_path']
pretrained_model = args['model']['pretrained_model']
compression_model = args['dataset']['grid_size'][2]
grid_size = args['dataset']['grid_size']
visibility = args['model']['visibility']
pytorch_device = torch.device('cuda:0')
if args['model']['polar']:
fea_dim = 9
circular_padding = True
else:
fea_dim = 7
circular_padding = False
#prepare miou fun
unique_label = np.asarray(sorted(list(SemKITTI_label_name.keys())))[1:] - 1
unique_label_str = [SemKITTI_label_name[x] for x in unique_label + 1]
#prepare model
my_BEV_model = BEV_Unet(n_class=len(unique_label),
n_height=compression_model,
input_batch_norm=True,
dropout=0.5,
circular_padding=circular_padding,
use_vis_fea=visibility)
my_model = ptBEVnet(my_BEV_model,
pt_model='pointnet',
grid_size=grid_size,
fea_dim=fea_dim,
max_pt_per_encode=256,
out_pt_fea_dim=512,
kernal_size=1,
pt_selection='random',
fea_compre=compression_model)
if os.path.exists(model_save_path):
my_model = load_pretrained_model(my_model, torch.load(model_save_path))
elif os.path.exists(pretrained_model):
my_model = load_pretrained_model(my_model,
torch.load(pretrained_model))
my_model.to(pytorch_device)
optimizer = optim.Adam(my_model.parameters())
loss_fn = panoptic_loss(center_loss_weight = args['model']['center_loss_weight'], offset_loss_weight = args['model']['offset_loss_weight'],\
center_loss = args['model']['center_loss'], offset_loss=args['model']['offset_loss'])
#prepare dataset
train_pt_dataset = SemKITTI(
data_path + '/sequences/',
imageset='train',
return_ref=True,
instance_pkl_path=args['dataset']['instance_pkl_path'])
val_pt_dataset = SemKITTI(
data_path + '/sequences/',
imageset='val',
return_ref=True,
instance_pkl_path=args['dataset']['instance_pkl_path'])
if args['model']['polar']:
train_dataset = spherical_dataset(train_pt_dataset,
args['dataset'],
grid_size=grid_size,
ignore_label=0,
use_aug=True)
val_dataset = spherical_dataset(val_pt_dataset,
args['dataset'],
grid_size=grid_size,
ignore_label=0)
else:
train_dataset = voxel_dataset(train_pt_dataset,
args['dataset'],
grid_size=grid_size,
ignore_label=0,
use_aug=True)
val_dataset = voxel_dataset(val_pt_dataset,
args['dataset'],
grid_size=grid_size,
ignore_label=0)
train_dataset_loader = torch.utils.data.DataLoader(
dataset=train_dataset,
batch_size=train_batch_size,
collate_fn=collate_fn_BEV,
shuffle=True,
num_workers=4)
val_dataset_loader = torch.utils.data.DataLoader(dataset=val_dataset,
batch_size=val_batch_size,
collate_fn=collate_fn_BEV,
shuffle=False,
num_workers=4)
# training
epoch = 0
best_val_PQ = 0
start_training = False
my_model.train()
global_iter = 0
exce_counter = 0
evaluator = PanopticEval(len(unique_label) + 1, None, [0], min_points=50)
while epoch < args['model']['max_epoch']:
pbar = tqdm(total=len(train_dataset_loader))
for i_iter, (train_vox_fea, train_label_tensor, train_gt_center,
train_gt_offset, train_grid, _, _,
train_pt_fea) in enumerate(train_dataset_loader):
# validation
if global_iter % check_iter == 0:
my_model.eval()
evaluator.reset()
with torch.no_grad():
for i_iter_val, (
val_vox_fea, val_vox_label, val_gt_center,
val_gt_offset, val_grid, val_pt_labels,
val_pt_ints,
val_pt_fea) in enumerate(val_dataset_loader):
val_vox_fea_ten = val_vox_fea.to(pytorch_device)
val_vox_label = SemKITTI2train(val_vox_label)
val_pt_fea_ten = [
torch.from_numpy(i).type(
torch.FloatTensor).to(pytorch_device)
for i in val_pt_fea
]
val_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device)
for i in val_grid
]
val_label_tensor = val_vox_label.type(
torch.LongTensor).to(pytorch_device)
val_gt_center_tensor = val_gt_center.to(pytorch_device)
val_gt_offset_tensor = val_gt_offset.to(pytorch_device)
if visibility:
predict_labels, center, offset = my_model(
val_pt_fea_ten, val_grid_ten, val_vox_fea_ten)
else:
predict_labels, center, offset = my_model(
val_pt_fea_ten, val_grid_ten)
for count, i_val_grid in enumerate(val_grid):
# get foreground_mask
for_mask = torch.zeros(
1,
grid_size[0],
grid_size[1],
grid_size[2],
dtype=torch.bool).to(pytorch_device)
for_mask[0, val_grid[count][:, 0],
val_grid[count][:, 1],
val_grid[count][:, 2]] = True
# post processing
panoptic_labels,center_points = get_panoptic_segmentation(torch.unsqueeze(predict_labels[count], 0),torch.unsqueeze(center[count], 0),torch.unsqueeze(offset[count], 0),\
val_pt_dataset.thing_list, threshold=args['model']['post_proc']['threshold'], nms_kernel=args['model']['post_proc']['nms_kernel'],\
top_k=args['model']['post_proc']['top_k'], polar=circular_padding,foreground_mask=for_mask)
panoptic_labels = panoptic_labels.cpu().detach(
).numpy().astype(np.int32)
panoptic = panoptic_labels[0, val_grid[count][:,
0],
val_grid[count][:, 1],
val_grid[count][:, 2]]
evaluator.addBatch(
panoptic & 0xFFFF, panoptic,
np.squeeze(val_pt_labels[count]),
np.squeeze(val_pt_ints[count]))
del val_vox_label, val_pt_fea_ten, val_label_tensor, val_grid_ten, val_gt_center, val_gt_center_tensor, val_gt_offset, val_gt_offset_tensor, predict_labels, center, offset, panoptic_labels, center_points
my_model.train()
class_PQ, class_SQ, class_RQ, class_all_PQ, class_all_SQ, class_all_RQ = evaluator.getPQ(
)
miou, ious = evaluator.getSemIoU()
print('Validation per class PQ, SQ, RQ and IoU: ')
for class_name, class_pq, class_sq, class_rq, class_iou in zip(
unique_label_str, class_all_PQ[1:], class_all_SQ[1:],
class_all_RQ[1:], ious[1:]):
print('%15s : %6.2f%% %6.2f%% %6.2f%% %6.2f%%' %
(class_name, class_pq * 100, class_sq * 100,
class_rq * 100, class_iou * 100))
# save model if performance is improved
if best_val_PQ < class_PQ:
best_val_PQ = class_PQ
torch.save(my_model.state_dict(), model_save_path)
print('Current val PQ is %.3f while the best val PQ is %.3f' %
(class_PQ * 100, best_val_PQ * 100))
print('Current val miou is %.3f' % (miou * 100))
if start_training:
sem_l, hm_l, os_l = np.mean(
loss_fn.lost_dict['semantic_loss']), np.mean(
loss_fn.lost_dict['heatmap_loss']), np.mean(
loss_fn.lost_dict['offset_loss'])
print(
'epoch %d iter %5d, loss: %.3f, semantic loss: %.3f, heatmap loss: %.3f, offset loss: %.3f\n'
% (epoch, i_iter, sem_l + hm_l + os_l, sem_l, hm_l,
os_l))
print('%d exceptions encountered during last training\n' %
exce_counter)
exce_counter = 0
loss_fn.reset_loss_dict()
# training
try:
train_vox_fea_ten = train_vox_fea.to(pytorch_device)
train_label_tensor = SemKITTI2train(train_label_tensor)
train_pt_fea_ten = [
torch.from_numpy(i).type(
torch.FloatTensor).to(pytorch_device)
for i in train_pt_fea
]
train_grid_ten = [
torch.from_numpy(i[:, :2]).to(pytorch_device)
for i in train_grid
]
train_label_tensor = train_label_tensor.type(
torch.LongTensor).to(pytorch_device)
train_gt_center_tensor = train_gt_center.to(pytorch_device)
train_gt_offset_tensor = train_gt_offset.to(pytorch_device)
if args['model']['enable_SAP'] and epoch >= args['model'][
'SAP']['start_epoch']:
for fea in train_pt_fea_ten:
fea.requires_grad_()
# forward
if visibility:
sem_prediction, center, offset = my_model(
train_pt_fea_ten, train_grid_ten, train_vox_fea_ten)
else:
sem_prediction, center, offset = my_model(
train_pt_fea_ten, train_grid_ten)
# loss
loss = loss_fn(sem_prediction, center, offset,
train_label_tensor, train_gt_center_tensor,
train_gt_offset_tensor)
# self adversarial pruning
if args['model']['enable_SAP'] and epoch >= args['model'][
'SAP']['start_epoch']:
loss.backward()
for i, fea in enumerate(train_pt_fea_ten):
fea_grad = torch.norm(fea.grad, dim=1)
top_k_grad, _ = torch.topk(
fea_grad,
int(args['model']['SAP']['rate'] *
fea_grad.shape[0]))
# delete high influential points
train_pt_fea_ten[i] = train_pt_fea_ten[i][
fea_grad < top_k_grad[-1]]
train_grid_ten[i] = train_grid_ten[i][
fea_grad < top_k_grad[-1]]
optimizer.zero_grad()
# second pass
# forward
if visibility:
sem_prediction, center, offset = my_model(
train_pt_fea_ten, train_grid_ten,
train_vox_fea_ten)
else:
sem_prediction, center, offset = my_model(
train_pt_fea_ten, train_grid_ten)
# loss
loss = loss_fn(sem_prediction, center, offset,
train_label_tensor, train_gt_center_tensor,
train_gt_offset_tensor)
# backward + optimize
loss.backward()
optimizer.step()
except Exception as error:
if exce_counter == 0:
print(error)
exce_counter += 1
# zero the parameter gradients
optimizer.zero_grad()
pbar.update(1)
start_training = True
global_iter += 1
pbar.close()
epoch += 1
