def create_optimizer(model_dir, train_cfg, net):
optimizer_cfg = train_cfg.optimizer
loss_scale = train_cfg.loss_scale_factor
fastai_optimizer = optimizer_builder.build(optimizer_cfg,
net,
mixed=False,
loss_scale=loss_scale)
amp_optimizer = fastai_optimizer
torchplus.train.try_restore_latest_checkpoints(model_dir,
[fastai_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, amp_optimizer,
train_cfg.steps)
return amp_optimizer, lr_scheduler
def train(config_path,
model_dir,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
pickle_result=True):
"""train a VoxelNet model specified by a config file.
"""
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
model_dir = pathlib.Path(model_dir)
model_dir.mkdir(parents=True, exist_ok=True)
eval_checkpoint_dir = model_dir / 'eval_checkpoints'
eval_checkpoint_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config_file_bkp = "pipeline.config"
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
shutil.copyfile(config_path, str(model_dir / config_file_bkp))
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
class_names = list(input_cfg.class_names)
######################
# BUILD VOXEL GENERATOR
######################
voxel_generator = voxel_builder.build(model_cfg.voxel_generator)
######################
# BUILD TARGET ASSIGNER
######################
bv_range = voxel_generator.point_cloud_range[[0, 1, 3, 4]]
box_coder = box_coder_builder.build(model_cfg.box_coder)
target_assigner_cfg = model_cfg.target_assigner
target_assigner = target_assigner_builder.build(target_assigner_cfg,
bv_range, box_coder)
######################
# BUILD NET
######################
center_limit_range = model_cfg.post_center_limit_range
net = second_builder.build(model_cfg, voxel_generator, target_assigner)
net.cuda()
# net_train = torch.nn.DataParallel(net).cuda()
print("num_trainable parameters:", len(list(net.parameters())))
# for n, p in net.named_parameters():
# print(n, p.shape)
######################
# BUILD OPTIMIZER
######################
# we need global_step to create lr_scheduler, so restore net first.
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
gstep = net.get_global_step() - 1
optimizer_cfg = train_cfg.optimizer
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
optimizer = optimizer_builder.build(optimizer_cfg, net.parameters())
if train_cfg.enable_mixed_precision:
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = torchplus.train.MixedPrecisionWrapper(
optimizer, loss_scale)
else:
mixed_optimizer = optimizer
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer, gstep)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataset = input_reader_builder.build(eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
def _worker_init_fn(worker_id):
time_seed = np.array(time.time(), dtype=np.int32)
np.random.seed(time_seed + worker_id)
print(f"WORKER {worker_id} seed:", np.random.get_state()[1][0])
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
data_iter = iter(dataloader)
######################
# TRAINING
######################
log_path = model_dir / 'log.txt'
logf = open(log_path, 'a')
logf.write(proto_str)
logf.write("\n")
summary_dir = model_dir / 'summary'
summary_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(str(summary_dir))
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
# total_loop = remain_steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
try:
for _ in range(total_loop):
if total_step_elapsed + train_cfg.steps_per_eval > train_cfg.steps:
steps = train_cfg.steps % train_cfg.steps_per_eval
else:
steps = train_cfg.steps_per_eval
for step in range(steps):
lr_scheduler.step()
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
if clear_metrics_every_epoch:
net.clear_metrics()
data_iter = iter(dataloader)
example = next(data_iter)
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
ret_dict = net(example_torch)
# box_preds = ret_dict["box_preds"]
cls_preds = ret_dict["cls_preds"]
loss = ret_dict["loss"].mean()
cls_loss_reduced = ret_dict["cls_loss_reduced"].mean()
loc_loss_reduced = ret_dict["loc_loss_reduced"].mean()
cls_pos_loss = ret_dict["cls_pos_loss"]
cls_neg_loss = ret_dict["cls_neg_loss"]
loc_loss = ret_dict["loc_loss"]
cls_loss = ret_dict["cls_loss"]
dir_loss_reduced = ret_dict["dir_loss_reduced"]
cared = ret_dict["cared"]
labels = example_torch["labels"]
if train_cfg.enable_mixed_precision:
loss *= loss_scale
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
mixed_optimizer.step()
mixed_optimizer.zero_grad()
net.update_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
if 'anchors_mask' not in example_torch:
num_anchors = example_torch['anchors'].shape[1]
else:
num_anchors = int(example_torch['anchors_mask'][0].sum())
global_step = net.get_global_step()
if global_step % display_step == 0:
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
metrics["step"] = global_step
metrics["steptime"] = step_time
metrics.update(net_metrics)
metrics["loss"] = {}
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
# if unlabeled_training:
# metrics["loss"]["diff_rt"] = float(
# diff_loc_loss_reduced.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
metrics["num_vox"] = int(example_torch["voxels"].shape[0])
metrics["num_pos"] = int(num_pos)
metrics["num_neg"] = int(num_neg)
metrics["num_anchors"] = int(num_anchors)
metrics["lr"] = float(
mixed_optimizer.param_groups[0]['lr'])
metrics["image_idx"] = example['image_idx'][0]
flatted_metrics = flat_nested_json_dict(metrics)
flatted_summarys = flat_nested_json_dict(metrics, "/")
for k, v in flatted_summarys.items():
if isinstance(v, (list, tuple)):
v = {str(i): e for i, e in enumerate(v)}
writer.add_scalars(k, v, global_step)
else:
writer.add_scalar(k, v, global_step)
metrics_str_list = []
for k, v in flatted_metrics.items():
if isinstance(v, float):
metrics_str_list.append(f"{k}={v:.3}")
elif isinstance(v, (list, tuple)):
if v and isinstance(v[0], float):
v_str = ', '.join([f"{e:.3}" for e in v])
metrics_str_list.append(f"{k}=[{v_str}]")
else:
metrics_str_list.append(f"{k}={v}")
else:
metrics_str_list.append(f"{k}={v}")
log_str = ', '.join(metrics_str_list)
print(log_str, file=logf)
print(log_str)
ckpt_elasped_time = time.time() - ckpt_start_time
if ckpt_elasped_time > train_cfg.save_checkpoints_secs:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
ckpt_start_time = time.time()
total_step_elapsed += steps
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
# Ensure that all evaluation points are saved forever
torchplus.train.save_models(eval_checkpoint_dir, [net, optimizer],
net.get_global_step(),
max_to_keep=100)
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
print("#################################")
print("#################################", file=logf)
print("# EVAL")
print("# EVAL", file=logf)
print("#################################")
print("#################################", file=logf)
print("Generate output labels...")
print("Generate output labels...", file=logf)
t = time.time()
dt_annos = []
prog_bar = ProgressBar()
prog_bar.start(len(eval_dataset) // eval_input_cfg.batch_size + 1)
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
if pickle_result:
dt_annos += predict_kitti_to_anno(net, example,
class_names,
center_limit_range,
model_cfg.lidar_input)
else:
_predict_kitti_to_file(net, example, result_path_step,
class_names, center_limit_range,
model_cfg.lidar_input)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
print(f"avg forward time per example: {net.avg_forward_time:.3f}")
print(
f"avg postprocess time per example: {net.avg_postprocess_time:.3f}"
)
net.clear_time_metrics()
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:')
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:',
file=logf)
gt_annos = [
info["annos"] for info in eval_dataset.dataset.kitti_infos
]
if not pickle_result:
dt_annos = kitti.get_label_annos(result_path_step)
result, mAPbbox, mAPbev, mAP3d, mAPaos = get_official_eval_result(
gt_annos, dt_annos, class_names, return_data=True)
print(result, file=logf)
print(result)
writer.add_text('eval_result', result, global_step)
for i, class_name in enumerate(class_names):
writer.add_scalar('bev_ap:{}'.format(class_name),
mAPbev[i, 1, 0], global_step)
writer.add_scalar('3d_ap:{}'.format(class_name),
mAP3d[i, 1, 0], global_step)
writer.add_scalar('aos_ap:{}'.format(class_name),
mAPaos[i, 1, 0], global_step)
writer.add_scalar('bev_map', np.mean(mAPbev[:, 1, 0]), global_step)
writer.add_scalar('3d_map', np.mean(mAP3d[:, 1, 0]), global_step)
writer.add_scalar('aos_map', np.mean(mAPaos[:, 1, 0]), global_step)
result = get_coco_eval_result(gt_annos, dt_annos, class_names)
print(result, file=logf)
print(result)
if pickle_result:
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(dt_annos, f)
writer.add_text('eval_result', result, global_step)
net.train()
except Exception as e:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
raise e
# save model before exit
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
def train(config_path,
model_dir,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
pretrained_path=None,
pretrained_include=None,
pretrained_exclude=None,
freeze_include=None,
freeze_exclude=None,
multi_gpu=False,
measure_time=False,
resume=False):
"""train a VoxelNet model specified by a config file.
"""
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
# create dir for saving training states
model_dir = str(Path(model_dir).resolve())
if create_folder:
if Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
model_dir = Path(model_dir)
if not resume and model_dir.exists():
raise ValueError("model dir exists and you don't specify resume.")
model_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
# loadd config file
config_file_bkp = "pipeline.config"
if isinstance(config_path, str):
# directly provide a config object. this usually used
# when you want to train with several different parameters in
# one script.
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
else:
config = config_path
proto_str = text_format.MessageToString(config, indent=2)
with (model_dir / config_file_bkp).open("w") as f:
f.write(proto_str)
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
net = build_network(model_cfg, measure_time).to(device)
# if train_cfg.enable_mixed_precision:
# net.half()
# net.metrics_to_float()
# net.convert_norm_to_float(net)
target_assigner = net.target_assigner
voxel_generator = net.voxel_generator
print("num parameters:", len(list(net.parameters())))
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
if pretrained_path is not None:
## load pretrained params
model_dict = net.state_dict()
pretrained_dict = torch.load(pretrained_path)
pretrained_dict = filter_param_dict(pretrained_dict,
pretrained_include,
pretrained_exclude)
new_pretrained_dict = {}
for k, v in pretrained_dict.items():
if k in model_dict and v.shape == model_dict[k].shape:
new_pretrained_dict[k] = v
print("Load pretrained parameters:")
for k, v in new_pretrained_dict.items():
print(k, v.shape)
model_dict.update(new_pretrained_dict)
net.load_state_dict(model_dict)
freeze_params_v2(dict(net.named_parameters()), freeze_include,
freeze_exclude)
net.clear_global_step()
net.clear_metrics()
if multi_gpu:
net_parallel = torch.nn.DataParallel(net)
else:
net_parallel = net
optimizer_cfg = train_cfg.optimizer
loss_scale = train_cfg.loss_scale_factor
fastai_optimizer = optimizer_builder.build(optimizer_cfg,
net,
mixed=False,
loss_scale=loss_scale)
if loss_scale < 0:
loss_scale = "dynamic"
if train_cfg.enable_mixed_precision:
max_num_voxels = input_cfg.preprocess.max_number_of_voxels * input_cfg.batch_size
assert max_num_voxels < 65535, "spconv fp16 training only support this"
from apex import amp
net, amp_optimizer = amp.initialize(net,
fastai_optimizer,
opt_level="O2",
keep_batchnorm_fp32=True,
loss_scale=loss_scale)
net.metrics_to_float()
else:
amp_optimizer = fastai_optimizer
torchplus.train.try_restore_latest_checkpoints(model_dir,
[fastai_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, amp_optimizer,
train_cfg.steps)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
if multi_gpu:
num_gpu = torch.cuda.device_count()
print(f"MULTI-GPU: use {num_gpu} gpu")
collate_fn = merge_second_batch_multigpu
else:
collate_fn = merge_second_batch
num_gpu = 1
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner,
multi_gpu=multi_gpu)
eval_dataset = input_reader_builder.build(eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
dataloader = torch.utils.data.DataLoader(
dataset,
batch_size=input_cfg.batch_size * num_gpu,
shuffle=True,
num_workers=input_cfg.preprocess.num_workers * num_gpu,
pin_memory=False,
collate_fn=collate_fn,
worker_init_fn=_worker_init_fn,
drop_last=not multi_gpu)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size, # only support multi-gpu train
shuffle=False,
num_workers=eval_input_cfg.preprocess.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
######################
# TRAINING
######################
model_logging = SimpleModelLog(model_dir)
model_logging.open()
model_logging.log_text(proto_str + "\n", 0, tag="config")
start_step = net.get_global_step()
total_step = train_cfg.steps
t = time.time()
steps_per_eval = train_cfg.steps_per_eval
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
amp_optimizer.zero_grad()
step_times = []
step = start_step
try:
while True:
if clear_metrics_every_epoch:
net.clear_metrics()
for example in dataloader:
lr_scheduler.step(net.get_global_step())
time_metrics = example["metrics"]
example.pop("metrics")
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
ret_dict = net_parallel(example_torch)
cls_preds = ret_dict["cls_preds"]
loss = ret_dict["loss"].mean()
cls_loss_reduced = ret_dict["cls_loss_reduced"].mean()
loc_loss_reduced = ret_dict["loc_loss_reduced"].mean()
cls_pos_loss = ret_dict["cls_pos_loss"].mean()
cls_neg_loss = ret_dict["cls_neg_loss"].mean()
loc_loss = ret_dict["loc_loss"]
cls_loss = ret_dict["cls_loss"]
cared = ret_dict["cared"]
labels = example_torch["labels"]
if train_cfg.enable_mixed_precision:
with amp.scale_loss(loss, amp_optimizer) as scaled_loss:
scaled_loss.backward()
else:
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
amp_optimizer.step()
amp_optimizer.zero_grad()
net.update_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
step_times.append(step_time)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
if 'anchors_mask' not in example_torch:
num_anchors = example_torch['anchors'].shape[1]
else:
num_anchors = int(example_torch['anchors_mask'][0].sum())
global_step = net.get_global_step()
if global_step % display_step == 0:
if measure_time:
for name, val in net.get_avg_time_dict().items():
print(f"avg {name} time = {val * 1000:.3f} ms")
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
metrics["runtime"] = {
"step": global_step,
"steptime": np.mean(step_times),
}
metrics["runtime"].update(time_metrics[0])
step_times = []
metrics.update(net_metrics)
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
dir_loss_reduced = ret_dict["dir_loss_reduced"].mean()
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
metrics["misc"] = {
# "num_vox": int(example_torch["voxels"].shape[0]),
"num_pos": int(num_pos),
"num_neg": int(num_neg),
"num_anchors": int(num_anchors),
"lr": float(amp_optimizer.lr),
"mem_usage": psutil.virtual_memory().percent,
}
model_logging.log_metrics(metrics, global_step)
if global_step % steps_per_eval == 0:
torchplus.train.save_models(model_dir,
[net, amp_optimizer],
net.get_global_step())
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
model_logging.log_text("#################################",
global_step)
model_logging.log_text("# EVAL", global_step)
model_logging.log_text("#################################",
global_step)
model_logging.log_text("Generate output labels...",
global_step)
t = time.time()
detections = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start(
(len(eval_dataset) + eval_input_cfg.batch_size - 1) //
eval_input_cfg.batch_size)
for example in iter(eval_dataloader):
example = example_convert_to_torch(
example, float_dtype)
detections += net(example)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
model_logging.log_text(
f'generate label finished({sec_per_ex:.2f}/s). start eval:',
global_step)
result_dict = eval_dataset.dataset.evaluation(
detections, str(result_path_step))
for k, v in result_dict["results"].items():
model_logging.log_text("Evaluation {}".format(k),
global_step)
model_logging.log_text(v, global_step)
model_logging.log_metrics(result_dict["detail"],
global_step)
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(detections, f)
net.train()
step += 1
if step >= total_step:
break
if step >= total_step:
break
except Exception as e:
print(json.dumps(example["metadata"], indent=2))
model_logging.log_text(str(e), step)
model_logging.log_text(json.dumps(example["metadata"], indent=2), step)
torchplus.train.save_models(model_dir, [net, amp_optimizer], step)
raise e
finally:
model_logging.close()
torchplus.train.save_models(model_dir, [net, amp_optimizer],
net.get_global_step())
def train(config_path,
model_dir,
use_fusion=True,
use_ft=False,
use_second_stage=True,
use_endtoend=True,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
local_rank=0,
pickle_result=True,
patchs=None):
"""train a VoxelNet mod[el specified by a config file.
"""
############ tracking
config_tr_path = '/mnt/new_iou/second.pytorch/second/mmMOT/experiments/second/spatio_test/config.yaml'
load_tr_path = '/mnt/new_iou/second.pytorch/second/mmMOT/experiments/second/spatio_test/results'
with open(config_tr_path) as f:
config_tr = yaml.load(f, Loader=yaml.FullLoader)
result_path_tr = load_tr_path
config_tr = EasyDict(config_tr['common'])
config_tr.save_path = os.path.dirname(config_tr_path)
# create model
# model_tr = build_model(config_tr)
# model_tr.cuda()
# optimizer_tr = build_optim(model_tr, config_tr)
criterion_tr = build_criterion(config_tr.loss)
last_iter = -1
best_mota = 0
# if load_tr_path:
# if False:
# best_mota, last_iter = load_state(
# load_tr_path, model_tr, optimizer=optimizer_tr)
# else:
# load_state(load_tr_path, model_tr)
cudnn.benchmark = True
# Data loading code
train_transform, valid_transform = build_augmentation(config_tr.augmentation)
# # train
# train_dataset = build_dataset(
# config_tr,
# set_source='train',
# evaluate=False,
# train_transform=train_transform)
# trainval_dataset = build_dataset(
# config_tr,
# set_source='train',
# evaluate=True,
# valid_transform=valid_transform)
# val_dataset = build_dataset(
# config_tr,
# set_source='val',
# evaluate=True,
# valid_transform=valid_transform)
# train_sampler = DistributedGivenIterationSampler(
# train_dataset,
# config_tr.lr_scheduler.max_iter,
# config_tr.batch_size,
# world_size=1,
# rank=0,
# last_iter=last_iter)
# import pdb; pdb.set_trace()
# train_loader = DataLoader(
# train_dataset,
# batch_size=config_tr.batch_size,
# shuffle=False,
# num_workers=config_tr.workers,
# pin_memory=True)
tb_logger = SummaryWriter(config_tr.save_path + '/events')
logger = create_logger('global_logger', config_tr.save_path + '/log.txt')
# logger.info('args: {}'.format(pprint.pformat(args)))
logger.info('config: {}'.format(pprint.pformat(config_tr)))
# tracking_module = TrackingModule(model_tr, criterion_tr,
# config_tr.det_type)
# tracking_module.model.train()
#### tracking setup done
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
patchs = patchs or []
model_dir = pathlib.Path(model_dir)
model_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config_file_bkp = "pipeline.config"
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
for patch in patchs:
patch = "config." + patch
exec(patch)
shutil.copyfile(config_path, str(model_dir / config_file_bkp))
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
######################
# BUILD VOXEL GENERATOR
######################
voxel_generator = voxel_builder.build(model_cfg.voxel_generator)
######################
# BUILD TARGET ASSIGNER
######################
bv_range = voxel_generator.point_cloud_range[[0, 1, 3, 4]]
box_coder = box_coder_builder.build(model_cfg.box_coder)
target_assigner_cfg = model_cfg.target_assigner
target_assigner = target_assigner_builder.build(target_assigner_cfg,
bv_range, box_coder)
class_names = target_assigner.classes
######################
# BUILD NET
######################
center_limit_range = model_cfg.post_center_limit_range
# if use_second_stage:
# net = second_2stage_builder.build(model_cfg, voxel_generator, target_assigner)
if use_endtoend:
net = second_endtoend_builder_spatio.build(model_cfg, voxel_generator, target_assigner, criterion_tr, config_tr.det_type)
else:
net = second_builder.build(model_cfg, voxel_generator, target_assigner)
net.cuda()
print("num_trainable parameters:", len(list(net.parameters())))
for n, p in net.named_parameters():
print(n, p.shape)
# pth_name = './pre_weight/first_stage_gating_det/voxelnet-17013.tckpt'
pth_name = './pre_weight/second_stage_gating_det/voxelnet-35000.tckpt'
res_pre_weights = torch.load(pth_name)
new_res_state_dict = OrderedDict()
model_dict = net.state_dict()
for k,v in res_pre_weights.items():
if 'global_step' not in k:
# if 'dir' not in k:
new_res_state_dict[k] = v
model_dict.update(new_res_state_dict)
net.load_state_dict(model_dict)
# for k, weight in dict(net.named_parameters()).items(): # lidar_conv, p_lidar_conv, fusion_module, w_det, w_link, appearance, point_net
# if 'middle_feature_extractor' in '%s'%(k) or 'rpn' in '%s'%(k) or 'second_rpn' in '%s'%(k):
# weight.requires_grad = False
# BUILD OPTIMIZER
#####################
# we need global_step to create lr_scheduler, so restore net first.
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
gstep = net.get_global_step() - 1
optimizer_cfg = train_cfg.optimizer
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = optimizer_builder.build(optimizer_cfg, net, mixed=train_cfg.enable_mixed_precision, loss_scale=loss_scale)
optimizer = mixed_optimizer
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer, train_cfg.steps)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# PREPARE INPUT
######################
# import pdb; pdb.set_trace()
dataset = input_reader_builder_tr_vid_spatio.build(
input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner,
config_tr=config_tr,
set_source='train',
evaluate=False,
train_transform=train_transform)
eval_dataset = input_reader_builder_tr_vid_spatio.build(
eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner,
config_tr=config_tr,
set_source='val',
evaluate=True,
valid_transform=valid_transform)
def _worker_init_fn(worker_id):
time_seed = np.array(time.time(), dtype=np.int32)
np.random.seed(time_seed + worker_id)
print(f"WORKER {worker_id} seed:", np.random.get_state()[1][0])
dataloader = torch.utils.data.DataLoader(
dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch_tr_vid_spatio,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch_tr_vid_spatio)
data_iter = iter(dataloader)
######################
# TRAINING
######################
training_detail = []
log_path = model_dir / 'log.txt'
training_detail_path = model_dir / 'log.json'
if training_detail_path.exists():
with open(training_detail_path, 'r') as f:
training_detail = json.load(f)
logf = open(log_path, 'a')
logf.write(proto_str)
logf.write("\n")
summary_dir = model_dir / 'summary'
summary_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(str(summary_dir))
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
# optimizer_tr.zero_grad()
logger = logging.getLogger('global_logger')
best_mota = 0
losses = AverageMeter(config_tr.print_freq)
total_steps = train_cfg.steps
total_loop = total_steps // len(dataloader)
kkkk = 0
for step in range(total_loop):
for i, (example) in enumerate(dataloader):
curr_step = 0 + i
kkkk += 1
lr_scheduler.step(net.get_global_step())
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
ret_dict = net(example_torch, train_param=True)
cls_preds = ret_dict["cls_preds"]
loss = ret_dict["loss"].mean()
cls_loss_reduced = ret_dict["cls_loss_reduced"].mean()
loc_loss_reduced = ret_dict["loc_loss_reduced"].mean()
cls_pos_loss = ret_dict["cls_pos_loss"]
cls_neg_loss = ret_dict["cls_neg_loss"]
loc_loss = ret_dict["loc_loss"]
cls_loss = ret_dict["cls_loss"]
dir_loss_reduced = ret_dict["dir_loss_reduced"]
cared = ret_dict["cared"]
# loss_tr = ret_dict["loss_tr"]
if use_second_stage or use_endtoend:
labels = ret_dict["labels"]
else:
labels = example_torch["labels"]
if train_cfg.enable_mixed_precision:
loss *= loss_scale
try:
loss.backward()
except:
abc = 1
# import pdb; pdb.set_trace()
# abc = 1
# torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
# optimizer_tr.step()
# optimizer_tr.zero_grad()
mixed_optimizer.step()
mixed_optimizer.zero_grad()
net.update_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
if 'anchors_mask' not in example_torch:
num_anchors = example_torch['anchors'].shape[1]
else:
num_anchors = int(example_torch['anchors_mask'][0].sum())
global_step = net.get_global_step()
# print(step)
if global_step % display_step == 0:
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
metrics["type"] = "step_info"
metrics["step"] = global_step
metrics["steptime"] = step_time
metrics.update(net_metrics)
metrics["loss"] = {}
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
metrics["num_vox"] = int(example_torch["voxels"].shape[0])
metrics["num_pos"] = int(num_pos)
metrics["num_neg"] = int(num_neg)
metrics["num_anchors"] = int(num_anchors)
metrics["lr"] = float(
optimizer.lr)
metrics["image_idx"] = example['image_idx'][0][7:]
training_detail.append(metrics)
flatted_metrics = flat_nested_json_dict(metrics)
flatted_summarys = flat_nested_json_dict(metrics, "/")
for k, v in flatted_summarys.items():
if isinstance(v, (list, tuple)):
v = {str(i): e for i, e in enumerate(v)}
if type(v) != str and ('loc_elem' not in k):
writer.add_scalars(k, v, global_step)
else:
if (type(v) != str) and ('loc_elem' not in k):
writer.add_scalar(k, v, global_step)
metrics_str_list = []
for k, v in flatted_metrics.items():
if isinstance(v, float):
metrics_str_list.append(f"{k}={v:.3}")
elif isinstance(v, (list, tuple)):
if v and isinstance(v[0], float):
v_str = ', '.join([f"{e:.3}" for e in v])
metrics_str_list.append(f"{k}=[{v_str}]")
else:
metrics_str_list.append(f"{k}={v}")
else:
metrics_str_list.append(f"{k}={v}")
log_str = ', '.join(metrics_str_list)
print(log_str, file=logf)
print(log_str)
ckpt_elasped_time = time.time() - ckpt_start_time
if ckpt_elasped_time > train_cfg.save_checkpoints_secs:
torchplus.train.save_models(model_dir, [net, optimizer], net.get_global_step())
ckpt_start_time = time.time()
if kkkk > 0 and (kkkk) % config_tr.val_freq == 0:
# if True:
torchplus.train.save_models(model_dir, [net, optimizer], net.get_global_step())
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
print("#################################")
print("#################################", file=logf)
print("# EVAL")
print("# EVAL", file=logf)
print("#################################")
print("#################################", file=logf)
print("Generate output labels...")
print("Generate output labels...", file=logf)
t = time.time()
dt_annos = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start((len(eval_dataset) + eval_input_cfg.batch_size - 1) // eval_input_cfg.batch_size)
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
if pickle_result:
results = predict_kitti_to_anno(
net, example, class_names, center_limit_range,
model_cfg.lidar_input)
dt_annos += results
else:
_predict_kitti_to_file(net, example, result_path_step,
class_names, center_limit_range,
model_cfg.lidar_input)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:')
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:',file=logf)
gt_annos = [
info["annos"] for info in eval_dataset.dataset.kitti_infos
]
if not pickle_result:
dt_annos = kitti.get_label_annos(result_path_step)
# result = get_official_eval_result_v2(gt_annos, dt_annos, class_names)
# print(json.dumps(result, indent=2), file=logf)
result = get_official_eval_result(gt_annos, dt_annos, class_names)
print(result, file=logf)
print(result)
result_1 = result.split("\n")[:5]
result_2 = result.split("\n")[10:15]
result_3 = result.split("\n")[20:25]
emh = ['0_easy', '1_mod', '2_hard']
result_save = result_1
for i in range(len(result_save)-1):
save_targ = result_save[i+1]
name_val = save_targ.split(':')[0].split(' ')[0]
value_val = save_targ.split(':')[1:]
for ev in range(3):
each_val = value_val[0].split(',')[ev]
merge_txt = 'AP_kitti/car_70/' + name_val+'/'+emh[ev]
try:
writer.add_scalar(merge_txt, float(each_val), global_step)
except:
abc=1
import pdb; pdb.set_trace()
abc=1
if pickle_result:
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(dt_annos, f)
writer.add_text('eval_result', result, global_step)
logger.info('Evaluation on validation set:')
# MOTA, MOTP, recall, prec, F1, fp, fn, id_switches = validate(
# val_dataset,
# net,
# str(0 + 1),
# config_tr,
# result_path_tr,
# part='val')
# print(MOTA, MOTP, recall, prec, F1, fp, fn, id_switches)
# curr_step = step
# if tb_logger is not None:
# tb_logger.add_scalar('prec', prec, curr_step)
# tb_logger.add_scalar('recall', recall, curr_step)
# tb_logger.add_scalar('mota', MOTA, curr_step)
# tb_logger.add_scalar('motp', MOTP, curr_step)
# tb_logger.add_scalar('fp', fp, curr_step)
# tb_logger.add_scalar('fn', fn, curr_step)
# tb_logger.add_scalar('f1', F1, curr_step)
# tb_logger.add_scalar('id_switches', id_switches, curr_step)
# if lr_scheduler is not None:
# tb_logger.add_scalar('lr', current_lr, curr_step)
# is_best = MOTA > best_mota
# best_mota = max(MOTA, best_mota)
# print(best_mota)
# import pdb; pdb.set_trace()
# save_checkpoint(
# { 'step': net.get_global_step(),
# 'score_arch': config_tr.model.score_arch,
# 'appear_arch': config_tr.model.appear_arch,
# 'best_mota': best_mota,
# 'state_dict': tracking_module.model.state_dict(),
# 'optimizer': tracking_module.optimizer.state_dict(),
# }, is_best, config_tr.save_path + '/ckpt')
# net.train()
# save model before exit
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
def train(config_path,
model_dir,
use_fusion=False,
use_ft=False,
use_second_stage=False,
use_endtoend=False,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
local_rank=0,
pickle_result=True,
patchs=None):
"""train a VoxelNet model specified by a config file.
"""
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
patchs = patchs or []
model_dir = pathlib.Path(model_dir)
model_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config_file_bkp = "pipeline.config"
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
for patch in patchs:
patch = "config." + patch
exec(patch)
shutil.copyfile(config_path, str(model_dir / config_file_bkp))
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
######################
# BUILD VOXEL GENERATOR
######################
voxel_generator = voxel_builder.build(model_cfg.voxel_generator)
######################
# BUILD TARGET ASSIGNER
######################
bv_range = voxel_generator.point_cloud_range[[0, 1, 3, 4]]
box_coder = box_coder_builder.build(model_cfg.box_coder)
target_assigner_cfg = model_cfg.target_assigner
target_assigner = target_assigner_builder.build(target_assigner_cfg,
bv_range, box_coder)
class_names = target_assigner.classes
######################
# BUILD NET
######################
center_limit_range = model_cfg.post_center_limit_range
if use_second_stage:
net = second_2stage_builder.build(model_cfg, voxel_generator,
target_assigner)
if use_endtoend:
net = second_endtoend_builder.build(model_cfg, voxel_generator,
target_assigner)
else:
net = second_builder.build(model_cfg, voxel_generator, target_assigner)
net.cuda()
# import pdb; pdb.set_trace()
print("num_trainable parameters:", len(list(net.parameters())))
# for n, p in net.named_parameters():
# print(n, p.shape)
# pth_name = 'pre_weight/first_stage/fusion_split/voxelnet-35210.tckpt'
# # pth_name = 'pre_weight/first_stage/fusion_split/voxelnet-20130.tckpt'
# res_pre_weights = torch.load(pth_name)
# new_res_state_dict = OrderedDict()
# model_dict = net.state_dict()
# for k,v in res_pre_weights.items():
# if 'global_step' not in k:
# if 'dir' not in k:
# new_res_state_dict[k] = v
# model_dict.update(new_res_state_dict)
# net.load_state_dict(model_dict)
######################
if use_second_stage or use_endtoend:
if use_fusion:
# pth_name = 'pre_weight/8020/voxelnet-20130.tckpt'
pth_name = 'pre_weight/first_stage/fusion_split/voxelnet-35210.tckpt'
for i in range(30):
print(
'################## load Fusion First stage weight complete #######################'
)
else:
pth_name = 'pre_weight/first_stage/lidaronly/voxelnet-30950.tckpt'
for i in range(30):
print(
'################## load LiDAR Only First stage weight complete #######################'
)
res_pre_weights = torch.load(pth_name)
new_res_state_dict = OrderedDict()
model_dict = net.state_dict()
for k, v in res_pre_weights.items():
if 'global_step' not in k:
if 'dir' not in k:
new_res_state_dict[k] = v
model_dict.update(new_res_state_dict)
net.load_state_dict(model_dict)
############ load FPN18 pre-weight #############
if (use_fusion and not use_second_stage and not use_endtoend):
# if True:
# or (use_endtoend and use_fusion):
fpn_depth = 18
pth_name = 'pre_weight/FPN' + str(fpn_depth) + '_retinanet_968.pth'
res_pre_weights = torch.load(pth_name)
new_res_state_dict = OrderedDict()
model_dict = net.state_dict()
for k, v in res_pre_weights['state_dict'].items():
if ('regressionModel' not in k) and ('classificationModel'
not in k):
name = k.replace('module', 'rpn')
new_res_state_dict[name] = v
model_dict.update(new_res_state_dict)
net.load_state_dict(model_dict)
for i in range(30):
print('!!!!!!!!!!!!!!!!!! load FPN' + str(fpn_depth) +
' weight complete !!!!!!!!!!!!!!!!!!')
################################################
# BUILD OPTIMIZER
#####################
# we need global_step to create lr_scheduler, so restore net first.
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
gstep = net.get_global_step() - 1
optimizer_cfg = train_cfg.optimizer
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = optimizer_builder.build(
optimizer_cfg,
net,
mixed=train_cfg.enable_mixed_precision,
loss_scale=loss_scale)
optimizer = mixed_optimizer
"""
if train_cfg.enable_mixed_precision:
mixed_optimizer = torchplus.train.MixedPrecisionWrapper(
optimizer, loss_scale)
else:
mixed_optimizer = optimizer
"""
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer,
train_cfg.steps)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataset = input_reader_builder.build(eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
def _worker_init_fn(worker_id):
time_seed = np.array(time.time(), dtype=np.int32)
np.random.seed(time_seed + worker_id)
print(f"WORKER {worker_id} seed:", np.random.get_state()[1][0])
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
data_iter = iter(dataloader)
######################
# TRAINING
######################
training_detail = []
log_path = model_dir / 'log.txt'
training_detail_path = model_dir / 'log.json'
if training_detail_path.exists():
with open(training_detail_path, 'r') as f:
training_detail = json.load(f)
logf = open(log_path, 'a')
logf.write(proto_str)
logf.write("\n")
summary_dir = model_dir / 'summary'
summary_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(str(summary_dir))
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
# total_loop = remain_steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
try:
for _ in range(total_loop):
if total_step_elapsed + train_cfg.steps_per_eval > train_cfg.steps:
steps = train_cfg.steps % train_cfg.steps_per_eval
else:
steps = train_cfg.steps_per_eval
for step in range(steps):
lr_scheduler.step(net.get_global_step())
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
if clear_metrics_every_epoch:
net.clear_metrics()
data_iter = iter(dataloader)
example = next(data_iter)
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
ret_dict = net(example_torch)
# box_preds = ret_dict["box_preds"]
cls_preds = ret_dict["cls_preds"]
loss = ret_dict["loss"].mean()
cls_loss_reduced = ret_dict["cls_loss_reduced"].mean()
loc_loss_reduced = ret_dict["loc_loss_reduced"].mean()
cls_pos_loss = ret_dict["cls_pos_loss"]
cls_neg_loss = ret_dict["cls_neg_loss"]
loc_loss = ret_dict["loc_loss"]
cls_loss = ret_dict["cls_loss"]
dir_loss_reduced = ret_dict["dir_loss_reduced"]
cared = ret_dict["cared"]
# idx_offset = ret_dict["idx_offset"]
# labels = example_torch["labels"]
if use_second_stage or use_endtoend:
labels = ret_dict["labels"]
else:
labels = example_torch["labels"]
if train_cfg.enable_mixed_precision:
loss *= loss_scale
loss.backward()
# import pdb; pdb.set_trace()
torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
mixed_optimizer.step()
mixed_optimizer.zero_grad()
net.update_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
if 'anchors_mask' not in example_torch:
num_anchors = example_torch['anchors'].shape[1]
else:
num_anchors = int(example_torch['anchors_mask'][0].sum())
global_step = net.get_global_step()
# print(step)
if global_step % display_step == 0:
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
metrics["type"] = "step_info"
metrics["step"] = global_step
metrics["steptime"] = step_time
metrics.update(net_metrics)
metrics["loss"] = {}
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
metrics["num_vox"] = int(example_torch["voxels"].shape[0])
metrics["num_pos"] = int(num_pos)
metrics["num_neg"] = int(num_neg)
metrics["num_anchors"] = int(num_anchors)
# metrics["idx_offset_mean"] = float(idx_offset.mean().detach().cpu().numpy())
# metrics["idx_offset_sum"] = float(idx_offset.sum().detach().cpu().numpy())
# metrics["lr"] = float(
# mixed_optimizer.param_groups[0]['lr'])
metrics["lr"] = float(optimizer.lr)
metrics["image_idx"] = example['image_idx'][0]
training_detail.append(metrics)
flatted_metrics = flat_nested_json_dict(metrics)
flatted_summarys = flat_nested_json_dict(metrics, "/")
for k, v in flatted_summarys.items():
if isinstance(v, (list, tuple)):
v = {str(i): e for i, e in enumerate(v)}
if type(v) != str and ('loc_elem' not in k):
writer.add_scalars(k, v, global_step)
else:
if (type(v) != str) and ('loc_elem' not in k):
writer.add_scalar(k, v, global_step)
# if use_second_stage or use_endtoend:
# bev_logs = ret_dict['bev_crops_output'][:64,0,...].view(64,1,14,14)
# bev_vis = torchvision.utils.make_grid(bev_logs,normalize=True,scale_each=True)
# writer.add_image('bev_crop',img_tensor=bev_vis, global_step=global_step)
# if ret_dict['concat_crops_output'] is not None:
# concat_logs = ret_dict['concat_crops_output'][:64,0,...].view(64,1,14,14)
# concat_vis = torchvision.utils.make_grid(concat_logs,normalize=True,scale_each=True)
# writer.add_image('concat_crop',img_tensor=concat_vis, global_step=global_step)
metrics_str_list = []
for k, v in flatted_metrics.items():
if isinstance(v, float):
metrics_str_list.append(f"{k}={v:.3}")
elif isinstance(v, (list, tuple)):
if v and isinstance(v[0], float):
v_str = ', '.join([f"{e:.3}" for e in v])
metrics_str_list.append(f"{k}=[{v_str}]")
else:
metrics_str_list.append(f"{k}={v}")
else:
metrics_str_list.append(f"{k}={v}")
log_str = ', '.join(metrics_str_list)
print(log_str, file=logf)
print(log_str)
ckpt_elasped_time = time.time() - ckpt_start_time
if ckpt_elasped_time > train_cfg.save_checkpoints_secs:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
ckpt_start_time = time.time()
total_step_elapsed += steps
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
print("#################################")
print("#################################", file=logf)
print("# EVAL")
print("# EVAL", file=logf)
print("#################################")
print("#################################", file=logf)
print("Generate output labels...")
print("Generate output labels...", file=logf)
t = time.time()
dt_annos = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start(
(len(eval_dataset) + eval_input_cfg.batch_size - 1) //
eval_input_cfg.batch_size)
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
if pickle_result:
dt_annos += predict_kitti_to_anno(net, example,
class_names,
center_limit_range,
model_cfg.lidar_input)
else:
_predict_kitti_to_file(net, example, result_path_step,
class_names, center_limit_range,
model_cfg.lidar_input)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:')
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:',
file=logf)
gt_annos = [
info["annos"] for info in eval_dataset.dataset.kitti_infos
]
if not pickle_result:
dt_annos = kitti.get_label_annos(result_path_step)
# result = get_official_eval_result_v2(gt_annos, dt_annos, class_names)
# print(json.dumps(result, indent=2), file=logf)
result = get_official_eval_result(gt_annos, dt_annos, class_names)
print(result, file=logf)
print(result)
result_1 = result.split("\n")[:5]
result_2 = result.split("\n")[10:15]
result_3 = result.split("\n")[20:25]
emh = ['0_easy', '1_mod', '2_hard']
result_save = result_1
for i in range(len(result_save) - 1):
save_targ = result_save[i + 1]
name_val = save_targ.split(':')[0].split(' ')[0]
value_val = save_targ.split(':')[1:]
for ev in range(3):
each_val = value_val[0].split(',')[ev]
merge_txt = 'AP_kitti/car_70/' + name_val + '/' + emh[ev]
writer.add_scalar(merge_txt, float(each_val), global_step)
if pickle_result:
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(dt_annos, f)
writer.add_text('eval_result', result, global_step)
net.train()
except Exception as e:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
raise e
# save model before exit
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
def train(config_path,
model_dir,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
pickle_result=True):
"""train a VoxelNet model specified by a config file.
"""
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
model_dir = pathlib.Path(model_dir)
model_dir.mkdir(parents=True, exist_ok=True)
eval_checkpoint_dir = model_dir / 'eval_checkpoints'
eval_checkpoint_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config_file_bkp = "pipeline.config"
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
shutil.copyfile(config_path, str(model_dir / config_file_bkp))
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
class_names = list(input_cfg.class_names)
#########################
# Build Voxel Generator
#########################
voxel_generator = voxel_builder.build(model_cfg.voxel_generator)
#########################
# Build Target Assigner
#########################
bv_range = voxel_generator.point_cloud_range[[0, 1, 3, 4]]
box_coder = box_coder_builder.build(model_cfg.box_coder)
target_assigner_cfg = model_cfg.target_assigner
target_assigner = target_assigner_builder.build(target_assigner_cfg,
bv_range, box_coder)
######################
# Build NetWork
######################
center_limit_range = model_cfg.post_center_limit_range
# net = second_builder.build(model_cfg, voxel_generator, target_assigner)
net = second_builder.build(model_cfg, voxel_generator, target_assigner,
input_cfg.batch_size)
net.cuda()
# net_train = torch.nn.DataParallel(net).cuda()
print("num_trainable parameters:", len(list(net.parameters())))
# for n, p in net.named_parameters():
# print(n, p.shape)
######################
# Build Optimizer
######################
# we need global_step to create lr_scheduler, so restore net first.
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
gstep = net.get_global_step() - 1
optimizer_cfg = train_cfg.optimizer
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
optimizer = optimizer_builder.build(optimizer_cfg, net.parameters())
if train_cfg.enable_mixed_precision:
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = torchplus.train.MixedPrecisionWrapper(
optimizer, loss_scale)
else:
mixed_optimizer = optimizer
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer, gstep)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# Prepare Input
######################
dataset = input_reader_builder.build(input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataset = input_reader_builder.build(eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
def _worker_init_fn(worker_id):
time_seed = np.array(time.time(), dtype=np.int32)
np.random.seed(time_seed + worker_id)
print(f"WORKER {worker_id} seed:", np.random.get_state()[1][0])
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
data_iter = iter(dataloader)
######################
# Training
######################
log_path = model_dir / 'log.txt'
logf = open(log_path, 'a')
logf.write(proto_str)
logf.write("\n")
summary_dir = model_dir / 'summary'
summary_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(str(summary_dir))
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
# total_loop = remain_steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
try:
for _ in range(total_loop):
if total_step_elapsed + train_cfg.steps_per_eval > train_cfg.steps:
steps = train_cfg.steps % train_cfg.steps_per_eval
else:
steps = train_cfg.steps_per_eval
for step in range(steps):
lr_scheduler.step()
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
if clear_metrics_every_epoch:
net.clear_metrics()
data_iter = iter(dataloader)
example = next(data_iter)
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
example_tuple = list(example_torch.values())
example_tuple[11] = torch.from_numpy(example_tuple[11])
example_tuple[12] = torch.from_numpy(example_tuple[12])
assert 13 == len(
example_tuple), "something write with training input size!"
# ret_dict = net(example_torch)
# Training Input form example
pillar_x = example_tuple[0][:, :, 0].unsqueeze(0).unsqueeze(0)
pillar_y = example_tuple[0][:, :, 1].unsqueeze(0).unsqueeze(0)
pillar_z = example_tuple[0][:, :, 2].unsqueeze(0).unsqueeze(0)
pillar_i = example_tuple[0][:, :, 3].unsqueeze(0).unsqueeze(0)
num_points_per_pillar = example_tuple[1].float().unsqueeze(0)
################################################################
# Find distance of x, y, z from pillar center
# assume config_file xyres_16.proto
coors_x = example_tuple[2][:, 3].float()
coors_y = example_tuple[2][:, 2].float()
# self.x_offset = self.vx / 2 + pc_range[0]
# self.y_offset = self.vy / 2 + pc_range[1]
# this assumes xyres 20
# x_sub = coors_x.unsqueeze(1) * 0.16 + 0.1
# y_sub = coors_y.unsqueeze(1) * 0.16 + -39.9
################################################################
# assumes xyres_16
x_sub = coors_x.unsqueeze(1) * 0.16 + 0.08
y_sub = coors_y.unsqueeze(1) * 0.16 - 39.6
ones = torch.ones([1, 100],
dtype=torch.float32,
device=pillar_x.device)
x_sub_shaped = torch.mm(x_sub, ones).unsqueeze(0).unsqueeze(0)
y_sub_shaped = torch.mm(y_sub, ones).unsqueeze(0).unsqueeze(0)
num_points_for_a_pillar = pillar_x.size()[3]
mask = get_paddings_indicator(num_points_per_pillar,
num_points_for_a_pillar,
axis=0)
mask = mask.permute(0, 2, 1)
mask = mask.unsqueeze(1)
mask = mask.type_as(pillar_x)
coors = example_tuple[2]
anchors = example_tuple[6]
labels = example_tuple[8]
reg_targets = example_tuple[9]
input = [
pillar_x, pillar_y, pillar_z, pillar_i,
num_points_per_pillar, x_sub_shaped, y_sub_shaped, mask,
coors, anchors, labels, reg_targets
]
ret_dict = net(input)
assert 10 == len(
ret_dict), "something write with training output size!"
cls_preds = ret_dict[5]
loss = ret_dict[0].mean()
cls_loss_reduced = ret_dict[7].mean()
loc_loss_reduced = ret_dict[8].mean()
cls_pos_loss = ret_dict[3]
cls_neg_loss = ret_dict[4]
loc_loss = ret_dict[2]
cls_loss = ret_dict[1]
dir_loss_reduced = ret_dict[6]
cared = ret_dict[9]
labels = example_tuple[8]
if train_cfg.enable_mixed_precision:
loss *= loss_scale
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
mixed_optimizer.step()
mixed_optimizer.zero_grad()
net.update_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
# if 'anchors_mask' not in example_torch:
# num_anchors = example_torch['anchors'].shape[1]
# else:
# num_anchors = int(example_torch['anchors_mask'][0].sum())
num_anchors = int(example_tuple[7][0].sum())
global_step = net.get_global_step()
if global_step % display_step == 0:
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
metrics["step"] = global_step
metrics["steptime"] = step_time
metrics.update(net_metrics)
metrics["loss"] = {}
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
# if unlabeled_training:
# metrics["loss"]["diff_rt"] = float(
# diff_loc_loss_reduced.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
metrics["num_vox"] = int(example_tuple[0].shape[0])
metrics["num_pos"] = int(num_pos)
metrics["num_neg"] = int(num_neg)
metrics["num_anchors"] = int(num_anchors)
metrics["lr"] = float(
mixed_optimizer.param_groups[0]['lr'])
metrics["image_idx"] = example_tuple[11][0]
flatted_metrics = flat_nested_json_dict(metrics)
flatted_summarys = flat_nested_json_dict(metrics, "/")
for k, v in flatted_summarys.items():
if isinstance(v, (list, tuple)):
v = {str(i): e for i, e in enumerate(v)}
writer.add_scalars(k, v, global_step)
else:
writer.add_scalar(k, v, global_step)
metrics_str_list = []
for k, v in flatted_metrics.items():
if isinstance(v, float):
metrics_str_list.append(f"{k}={v:.3}")
elif isinstance(v, (list, tuple)):
if v and isinstance(v[0], float):
v_str = ', '.join([f"{e:.3}" for e in v])
metrics_str_list.append(f"{k}=[{v_str}]")
else:
metrics_str_list.append(f"{k}={v}")
else:
metrics_str_list.append(f"{k}={v}")
log_str = ', '.join(metrics_str_list)
print(log_str, file=logf)
print(log_str)
ckpt_elasped_time = time.time() - ckpt_start_time
if ckpt_elasped_time > train_cfg.save_checkpoints_secs:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
ckpt_start_time = time.time()
total_step_elapsed += steps
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
# Ensure that all evaluation points are saved forever
torchplus.train.save_models(eval_checkpoint_dir, [net, optimizer],
net.get_global_step(),
max_to_keep=100)
except Exception as e:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
raise e
# save model before exit
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
def train(config_path,
model_dir,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
pickle_result=True):
"""train a VoxelNet model specified by a config file.
"""
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
model_dir = pathlib.Path(model_dir)
model_dir.mkdir(parents=True, exist_ok=True)
eval_checkpoint_dir = model_dir / 'eval_checkpoints'
eval_checkpoint_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config_file_bkp = "pipeline.config"
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
shutil.copyfile(config_path, str(model_dir / config_file_bkp))
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
class_names = list(input_cfg.class_names)
######################
# BUILD VOXEL GENERATOR
######################
voxel_generator = voxel_builder.build(model_cfg.voxel_generator)
######################
# BUILD TARGET ASSIGNER
######################
bv_range = voxel_generator.point_cloud_range[[0, 1, 3, 4]]
box_coder = box_coder_builder.build(model_cfg.box_coder)
target_assigner_cfg = model_cfg.target_assigner
target_assigner = target_assigner_builder.build(target_assigner_cfg,
bv_range, box_coder)
######################
# BUILD NET
######################
center_limit_range = model_cfg.post_center_limit_range
# net = second_builder.build(model_cfg, voxel_generator, target_assigner)
net = second_builder.build(model_cfg, voxel_generator, target_assigner, input_cfg.batch_size)
net.cuda()
# net_train = torch.nn.DataParallel(net).cuda()
print("num_trainable parameters:", len(list(net.parameters())))
# for n, p in net.named_parameters():
# print(n, p.shape)
######################
# BUILD OPTIMIZER
######################
# we need global_step to create lr_scheduler, so restore net first.
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
gstep = net.get_global_step() - 1
optimizer_cfg = train_cfg.optimizer
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
optimizer = optimizer_builder.build(optimizer_cfg, net.parameters())
if train_cfg.enable_mixed_precision:
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = torchplus.train.MixedPrecisionWrapper(
optimizer, loss_scale)
else:
mixed_optimizer = optimizer
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer, gstep)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(
input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataset = input_reader_builder.build(
eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
def _worker_init_fn(worker_id):
time_seed = np.array(time.time(), dtype=np.int32)
np.random.seed(time_seed + worker_id)
print(f"WORKER {worker_id} seed:", np.random.get_state()[1][0])
dataloader = torch.utils.data.DataLoader(
dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
data_iter = iter(dataloader)
######################
# TRAINING
######################
log_path = model_dir / 'log.txt'
logf = open(log_path, 'a')
logf.write(proto_str)
logf.write("\n")
summary_dir = model_dir / 'summary'
summary_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(str(summary_dir))
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
# total_loop = remain_steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
try:
for _ in range(total_loop):
if total_step_elapsed + train_cfg.steps_per_eval > train_cfg.steps:
steps = train_cfg.steps % train_cfg.steps_per_eval
else:
steps = train_cfg.steps_per_eval
for step in range(steps):
lr_scheduler.step()
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
if clear_metrics_every_epoch:
net.clear_metrics()
data_iter = iter(dataloader)
example = next(data_iter)
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
example_tuple = list(example_torch.values())
example_tuple[11] = torch.from_numpy(example_tuple[11])
example_tuple[12] = torch.from_numpy(example_tuple[12])
assert 13==len(example_tuple), "something wring with training input size!"
# training example:[0:'voxels', 1:'num_points', 2:'coordinates', 3:'rect',
# 4:'Trv2c', 5:'P2',
# 6:'anchors', 7:'anchors_mask', 8:'labels', 9:'reg_targets', 10:'reg_weights',
# 11:'image_idx', 12:'image_shape']
# ret_dict = net(example_torch)
# training input from example
# print("example[0] size", example_tuple[0].size())
pillar_x = example_tuple[0][:,:,0].unsqueeze(0).unsqueeze(0)
pillar_y = example_tuple[0][:,:,1].unsqueeze(0).unsqueeze(0)
pillar_z = example_tuple[0][:,:,2].unsqueeze(0).unsqueeze(0)
pillar_i = example_tuple[0][:,:,3].unsqueeze(0).unsqueeze(0)
num_points_per_pillar = example_tuple[1].float().unsqueeze(0)
# Find distance of x, y, and z from pillar center
# assuming xyres_16.proto
coors_x = example_tuple[2][:, 3].float()
coors_y = example_tuple[2][:, 2].float()
# self.x_offset = self.vx / 2 + pc_range[0]
# self.y_offset = self.vy / 2 + pc_range[1]
# this assumes xyres 20
# x_sub = coors_x.unsqueeze(1) * 0.16 + 0.1
# y_sub = coors_y.unsqueeze(1) * 0.16 + -39.9
# here assumes xyres 16
x_sub = coors_x.unsqueeze(1) * 0.16 + 0.08
y_sub = coors_y.unsqueeze(1) * 0.16 + -39.6
ones = torch.ones([1, 100],dtype=torch.float32, device=pillar_x.device )
x_sub_shaped = torch.mm(x_sub, ones).unsqueeze(0).unsqueeze(0)
y_sub_shaped = torch.mm(y_sub, ones).unsqueeze(0).unsqueeze(0)
num_points_for_a_pillar = pillar_x.size()[3]
mask = get_paddings_indicator(num_points_per_pillar, num_points_for_a_pillar, axis=0)
mask = mask.permute(0, 2, 1)
mask = mask.unsqueeze(1)
mask = mask.type_as(pillar_x)
coors = example_tuple[2]
anchors = example_tuple[6]
labels = example_tuple[8]
reg_targets = example_tuple[9]
input = [pillar_x, pillar_y, pillar_z, pillar_i,
num_points_per_pillar, x_sub_shaped, y_sub_shaped, mask, coors,
anchors, labels, reg_targets]
ret_dict = net(input)
assert 10==len(ret_dict), "something wring with training output size!"
# return 0
# ret_dict {
# 0:"loss": loss,
# 1:"cls_loss": cls_loss,
# 2:"loc_loss": loc_loss,
# 3:"cls_pos_loss": cls_pos_loss,
# 4:"cls_neg_loss": cls_neg_loss,
# 5:"cls_preds": cls_preds,
# 6:"dir_loss_reduced": dir_loss_reduced,
# 7:"cls_loss_reduced": cls_loss_reduced,
# 8:"loc_loss_reduced": loc_loss_reduced,
# 9:"cared": cared,
# }
# cls_preds = ret_dict["cls_preds"]
cls_preds = ret_dict[5]
# loss = ret_dict["loss"].mean()
loss = ret_dict[0].mean()
# cls_loss_reduced = ret_dict["cls_loss_reduced"].mean()
cls_loss_reduced = ret_dict[7].mean()
# loc_loss_reduced = ret_dict["loc_loss_reduced"].mean()
loc_loss_reduced = ret_dict[8].mean()
# cls_pos_loss = ret_dict["cls_pos_loss"]
cls_pos_loss = ret_dict[3]
# cls_neg_loss = ret_dict["cls_neg_loss"]
cls_neg_loss = ret_dict[4]
# loc_loss = ret_dict["loc_loss"]
loc_loss = ret_dict[2]
# cls_loss = ret_dict["cls_loss"]
cls_loss = ret_dict[1]
# dir_loss_reduced = ret_dict["dir_loss_reduced"]
dir_loss_reduced = ret_dict[6]
# cared = ret_dict["cared"]
cared = ret_dict[9]
# labels = example_torch["labels"]
labels = example_tuple[8]
if train_cfg.enable_mixed_precision:
loss *= loss_scale
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
mixed_optimizer.step()
mixed_optimizer.zero_grad()
net.update_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
# if 'anchors_mask' not in example_torch:
# num_anchors = example_torch['anchors'].shape[1]
# else:
# num_anchors = int(example_torch['anchors_mask'][0].sum())
num_anchors = int(example_tuple[7][0].sum())
global_step = net.get_global_step()
if global_step % display_step == 0:
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
metrics["step"] = global_step
metrics["steptime"] = step_time
metrics.update(net_metrics)
metrics["loss"] = {}
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
# if unlabeled_training:
# metrics["loss"]["diff_rt"] = float(
# diff_loc_loss_reduced.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
# metrics["num_vox"] = int(example_torch["voxels"].shape[0])
metrics["num_vox"] = int(example_tuple[0].shape[0])
metrics["num_pos"] = int(num_pos)
metrics["num_neg"] = int(num_neg)
metrics["num_anchors"] = int(num_anchors)
metrics["lr"] = float(
mixed_optimizer.param_groups[0]['lr'])
# metrics["image_idx"] = example['image_idx'][0]
metrics["image_idx"] = example_tuple[11][0]
flatted_metrics = flat_nested_json_dict(metrics)
flatted_summarys = flat_nested_json_dict(metrics, "/")
for k, v in flatted_summarys.items():
if isinstance(v, (list, tuple)):
v = {str(i): e for i, e in enumerate(v)}
writer.add_scalars(k, v, global_step)
else:
writer.add_scalar(k, v, global_step)
metrics_str_list = []
for k, v in flatted_metrics.items():
if isinstance(v, float):
metrics_str_list.append(f"{k}={v:.3}")
elif isinstance(v, (list, tuple)):
if v and isinstance(v[0], float):
v_str = ', '.join([f"{e:.3}" for e in v])
metrics_str_list.append(f"{k}=[{v_str}]")
else:
metrics_str_list.append(f"{k}={v}")
else:
metrics_str_list.append(f"{k}={v}")
log_str = ', '.join(metrics_str_list)
print(log_str, file=logf)
print(log_str)
ckpt_elasped_time = time.time() - ckpt_start_time
if ckpt_elasped_time > train_cfg.save_checkpoints_secs:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
ckpt_start_time = time.time()
total_step_elapsed += steps
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
# Ensure that all evaluation points are saved forever
torchplus.train.save_models(eval_checkpoint_dir, [net, optimizer], net.get_global_step(), max_to_keep=100)
# net.eval()
# result_path_step = result_path / f"step_{net.get_global_step()}"
# result_path_step.mkdir(parents=True, exist_ok=True)
# print("#################################")
# print("#################################", file=logf)
# print("# EVAL")
# print("# EVAL", file=logf)
# print("#################################")
# print("#################################", file=logf)
# print("Generate output labels...")
# print("Generate output labels...", file=logf)
# t = time.time()
# dt_annos = []
# prog_bar = ProgressBar()
# prog_bar.start(len(eval_dataset) // eval_input_cfg.batch_size + 1)
# for example in iter(eval_dataloader):
# example = example_convert_to_torch(example, float_dtype)
# # evaluation example:[0:'voxels', 1:'num_points', 2:'coordinates', 3:'rect',
# # 4:'Trv2c', 5:'P2',
# # 6:'anchors', 7:'anchors_mask', 8:'image_idx', 9:'image_shape']
# example_tuple = list(example.values())
# example_tuple[8] = torch.from_numpy(example_tuple[8])
# example_tuple[9] = torch.from_numpy(example_tuple[9])
# if pickle_result:
# dt_annos += predict_kitti_to_anno(
# net, example_tuple, class_names, center_limit_range,
# model_cfg.lidar_input)
# else:
# _predict_kitti_to_file(net, example, result_path_step,
# class_names, center_limit_range,
# model_cfg.lidar_input)
#
# prog_bar.print_bar()
#
# sec_per_ex = len(eval_dataset) / (time.time() - t)
# print(f"avg forward time per example: {net.avg_forward_time:.3f}")
# print(
# f"avg postprocess time per example: {net.avg_postprocess_time:.3f}"
# )
#
# net.clear_time_metrics()
# print(f'generate label finished({sec_per_ex:.2f}/s). start eval:')
# print(
# f'generate label finished({sec_per_ex:.2f}/s). start eval:',
# file=logf)
# gt_annos = [
# info["annos"] for info in eval_dataset.dataset.kitti_infos
# ]
# if not pickle_result:
# dt_annos = kitti.get_label_annos(result_path_step)
# result, mAPbbox, mAPbev, mAP3d, mAPaos = get_official_eval_result(gt_annos, dt_annos, class_names,
# return_data=True)
# print(result, file=logf)
# print(result)
# writer.add_text('eval_result', result, global_step)
#
# for i, class_name in enumerate(class_names):
# writer.add_scalar('bev_ap:{}'.format(class_name), mAPbev[i, 1, 0], global_step)
# writer.add_scalar('3d_ap:{}'.format(class_name), mAP3d[i, 1, 0], global_step)
# writer.add_scalar('aos_ap:{}'.format(class_name), mAPaos[i, 1, 0], global_step)
# writer.add_scalar('bev_map', np.mean(mAPbev[:, 1, 0]), global_step)
# writer.add_scalar('3d_map', np.mean(mAP3d[:, 1, 0]), global_step)
# writer.add_scalar('aos_map', np.mean(mAPaos[:, 1, 0]), global_step)
#
# result = get_coco_eval_result(gt_annos, dt_annos, class_names)
# print(result, file=logf)
# print(result)
# if pickle_result:
# with open(result_path_step / "result.pkl", 'wb') as f:
# pickle.dump(dt_annos, f)
# writer.add_text('eval_result', result, global_step)
# net.train()
except Exception as e:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
raise e
# save model before exit
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
def train(config_path,
model_dir,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
resume=False):
"""train a VoxelNet model specified by a config file.
"""
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
model_dir = pathlib.Path(model_dir)
if not resume and model_dir.exists():
raise ValueError("model dir exists and you don't specify resume.")
model_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config_file_bkp = "pipeline.config"
if isinstance(config_path, str):
# directly provide a config object. this usually used
# when you want to train with several different parameters in
# one script.
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
else:
config = config_path
proto_str = text_format.MessageToString(config, indent=2)
with (model_dir / config_file_bkp).open("w") as f:
f.write(proto_str)
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
net = build_network(model_cfg).to(device)
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
target_assigner = net.target_assigner
voxel_generator = net.voxel_generator
class_names = target_assigner.classes
# net_train = torch.nn.DataParallel(net).cuda()
print("num_trainable parameters:", len(list(net.parameters())))
# for n, p in net.named_parameters():
# print(n, p.shape)
######################
# BUILD OPTIMIZER
######################
# we need global_step to create lr_scheduler, so restore net first.
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
gstep = net.get_global_step() - 1
optimizer_cfg = train_cfg.optimizer
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = optimizer_builder.build(
optimizer_cfg,
net,
mixed=train_cfg.enable_mixed_precision,
loss_scale=loss_scale)
optimizer = mixed_optimizer
center_limit_range = model_cfg.post_center_limit_range
"""
if train_cfg.enable_mixed_precision:
mixed_optimizer = torchplus.train.MixedPrecisionWrapper(
optimizer, loss_scale)
else:
mixed_optimizer = optimizer
"""
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer,
train_cfg.steps)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataset = input_reader_builder.build(eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
dataloader = torch.utils.data.DataLoader(
dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.preprocess.num_workers,
pin_memory=False,
collate_fn=merge_second_batch,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.preprocess.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
data_iter = iter(dataloader)
print(data_iter)
######################
# TRAINING
######################
model_logging = SimpleModelLog(model_dir)
model_logging.open()
model_logging.log_text(proto_str + "\n", 0, tag="config")
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
steps_per_eval = train_cfg.steps_per_eval
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
try:
for _ in range(total_loop):
if total_step_elapsed + train_cfg.steps_per_eval > train_cfg.steps:
steps = train_cfg.steps % train_cfg.steps_per_eval
else:
steps = train_cfg.steps_per_eval
for step in range(steps):
lr_scheduler.step(net.get_global_step())
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
if clear_metrics_every_epoch:
net.clear_metrics()
data_iter = iter(dataloader)
example = next(data_iter)
example_torch = example_convert_to_torch(example, float_dtype)
#batch_size = example["anchors"].shape[0]
ret_dict = net(example_torch)
# FCOS
losses = ret_dict['total_loss']
loss_cls = ret_dict["loss_cls"]
loss_reg = ret_dict["loss_reg"]
cls_preds = ret_dict['cls_preds']
labels = ret_dict["labels"]
cared = ret_dict["labels"]
optimizer.zero_grad()
losses.backward()
#torch.nn.utils.clip_grad_norm_(net.parameters(), 1)
# optimizer_step is for updating the parameter, so clip before update
optimizer.step()
net.update_global_step()
#need to unpack the [0] for fpn
net_metrics = net.update_metrics(loss_cls, loss_reg,
cls_preds[0], labels, cared)
step_time = (time.time() - t)
t = time.time()
metrics = {}
global_step = net.get_global_step()
#print log
if global_step % display_step == 0:
metrics["runtime"] = {
"step": global_step,
"steptime": step_time,
}
metrics.update(net_metrics)
metrics["misc"] = {
"num_vox": int(example_torch["voxels"].shape[0]),
"lr": float(optimizer.lr),
}
model_logging.log_metrics(metrics, global_step)
ckpt_elasped_time = time.time() - ckpt_start_time
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
total_step_elapsed += steps
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
model_logging.log_text("#################################",
global_step)
model_logging.log_text("# EVAL", global_step)
model_logging.log_text("#################################",
global_step)
model_logging.log_text("Generate output labels...", global_step)
t = time.time()
detections = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start(
(len(eval_dataset) + eval_input_cfg.batch_size - 1) //
eval_input_cfg.batch_size)
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
with torch.no_grad():
detections += net(example)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
model_logging.log_text(
f'generate label finished({sec_per_ex:.2f}/s). start eval:',
global_step)
result_dict = eval_dataset.dataset.evaluation(
detections, str(result_path_step))
for k, v in result_dict["results"].items():
model_logging.log_text("Evaluation {}".format(k), global_step)
model_logging.log_text(v, global_step)
model_logging.log_metrics(result_dict["detail"], global_step)
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(detections, f)
net.train()
'''
new version of evaluation while trainging
# do the evaluation while traingingi
if global_step % steps_per_eval == 0:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
model_logging.log_text("#################################",
global_step)
model_logging.log_text("# EVAL", global_step)
model_logging.log_text("#################################",
global_step)
model_logging.log_text("Generate output labels...", global_step)
t = time.time()
detections = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start((len(eval_dataset) + eval_input_cfg.batch_size - 1)
// eval_input_cfg.batch_size)
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
with torch.no_grad():
detections += net(example)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
model_logging.log_text(
f'generate label finished({sec_per_ex:.2f}/s). start eval:',
global_step)
result_dict = eval_dataset.dataset.evaluation(
detections, str(result_path_step))
for k, v in result_dict["results"].items():
model_logging.log_text("Evaluation {}".format(k), global_step)
model_logging.log_text(v, global_step)
model_logging.log_metrics(result_dict["detail"], global_step)
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(detections, f)
net.train()
'''
except Exception as e:
print("trainging error")
raise e
finally:
model_logging.close()
# save model before exit
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
def train(
config_path: Union[str, Path, pipeline.TrainEvalPipelineConfig],
model_dir: Union[str, Path],
data_root_path: Union[str, Path],
result_path: Optional[Union[str, Path]] = None,
display_step: int = 50,
pretrained_path=None,
pretrained_include=None,
pretrained_exclude=None,
freeze_include=None,
freeze_exclude=None,
measure_time: bool = False,
resume: bool = False,
):
"""train a VoxelNet model specified by a config file.
"""
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model_dir = real_path(model_dir, check_exists=False)
if not resume and model_dir.exists():
raise ValueError("model dir exists and you don't specify resume.")
model_dir.mkdir(parents=True, exist_ok=True)
model_dir = Path(model_dir)
if result_path is None:
result_path = model_dir / "results"
else:
result_path = assert_real_path(result_path, mkdir=True)
config_file_bkp = DEFAULT_CONFIG_FILE_NAME
if isinstance(config_path, pipeline.TrainEvalPipelineConfig):
# directly provide a config object. this usually used
# when you want to train with several different parameters in
# one script.
config = config_path
proto_str = text_format.MessageToString(config, use_short_repeated_primitives=True, indent=2)
else:
config_path = assert_real_path(config_path)
data_root_path = assert_real_path(data_root_path)
config = read_pipeline_config(config_path, data_root_path)
# Copy the contents of config_path to config_file_bkp verbatim without passing it through the protobuf parser.
with open(str(config_path), "r") as f:
proto_str = f.read()
with (model_dir / config_file_bkp).open("w") as f:
f.write(proto_str)
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
net = build_network(model_cfg, measure_time).to(device)
if train_cfg.enable_mixed_precision:
# net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
target_assigner = net.target_assigner
voxel_generator = net.voxel_generator
# print("num parameters:", len(list(net.parameters())))
print("num parameters (million): ", count_parameters(net) * 1e-6)
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
if pretrained_path is not None:
model_dict = net.state_dict()
pretrained_dict = torch.load(pretrained_path)
pretrained_dict = filter_param_dict(pretrained_dict, pretrained_include, pretrained_exclude)
new_pretrained_dict = {}
for k, v in pretrained_dict.items():
if k in model_dict and v.shape == model_dict[k].shape:
new_pretrained_dict[k] = v
print("Load pretrained parameters:")
for k, v in new_pretrained_dict.items():
print(k, v.shape)
model_dict.update(new_pretrained_dict)
net.load_state_dict(model_dict)
freeze_params_v2(dict(net.named_parameters()), freeze_include, freeze_exclude)
net.clear_global_step()
net.clear_metrics()
optimizer_cfg = train_cfg.optimizer
loss_scale = train_cfg.loss_scale_factor
fastai_optimizer = optimizer_builder.build(
optimizer_cfg,
net,
mixed=False,
loss_scale=loss_scale)
if loss_scale < 0:
loss_scale = "dynamic"
amp_optimizer = fastai_optimizer
torchplus.train.try_restore_latest_checkpoints(model_dir,[amp_optimizer])
float_dtype = torch.float32
collate_fn = merge_second_batch
num_gpu = 1
######################
# PREPARE INPUT
######################
def get_train_dataloader(input_cfg, model_cfg, voxel_generator, target_assigner,
multi_gpu, num_gpu, collate_fn, _worker_init_fn):
dataset = input_reader_builder.build(
input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner,
multi_gpu=multi_gpu)
dataloader = torch.utils.data.DataLoader(
dataset,
batch_size=input_cfg.batch_size * num_gpu,
shuffle=True,
num_workers=input_cfg.preprocess.num_workers * num_gpu,
pin_memory=True,
collate_fn=collate_fn,
worker_init_fn=_worker_init_fn,
drop_last=not multi_gpu)
return dataloader
eval_dataset = input_reader_builder.build(
eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size, # only support multi-gpu train
shuffle=False,
num_workers=eval_input_cfg.preprocess.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
######################
# TRAINING
######################
model_logging = SimpleModelLog(model_dir)
model_logging.open()
model_logging.log_text(proto_str + "\n", 0, tag="config")
epochs = train_cfg.steps
epochs_per_eval = train_cfg.steps_per_eval
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
amp_optimizer.zero_grad()
step_times = []
eval_times = []
t = time.time()
reset_ds_epoch = False
run_once = True
if not (os.getenv("MLFLOW_EXPERIMENT_ID") or os.getenv("MLFLOW_EXPERIMENT_NAME")):
mlflow.set_experiment("object_detection")
try:
while True:
if run_once or reset_ds_epoch:
dataloader = get_train_dataloader(input_cfg, model_cfg, voxel_generator, target_assigner,
multi_gpu, num_gpu, collate_fn, _worker_init_fn)
total_step = int(np.ceil((len(dataloader.dataset) / dataloader.batch_size) * epochs))
steps_per_eval = int(np.floor((len(dataloader.dataset) / dataloader.batch_size) * epochs_per_eval))
train_cfg.steps = int(total_step)
train_cfg.steps_per_eval = int(steps_per_eval)
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, amp_optimizer, total_step)
print(f"\nnumber of samples: {len(dataloader.dataset)}\ntotal_steps: {total_step}\nsteps_per_eval: {steps_per_eval}")
run_once = False
if clear_metrics_every_epoch:
net.clear_metrics()
for example in dataloader:
lr_scheduler.step(net.get_global_step())
time_metrics = example["metrics"]
example.pop("metrics")
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
ret_dict = net(example_torch)
cls_preds = ret_dict["cls_preds"]
loss = ret_dict["loss"].mean()
cls_loss_reduced = ret_dict["cls_loss_reduced"].mean()
loc_loss_reduced = ret_dict["loc_loss_reduced"].mean()
cls_pos_loss = ret_dict["cls_pos_loss"].mean()
cls_neg_loss = ret_dict["cls_neg_loss"].mean()
loc_loss = ret_dict["loc_loss"]
# cls_loss = ret_dict["cls_loss"]
cared = ret_dict["cared"]
labels = example_torch["labels"]
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 30.0)
# torch.nn.utils.clip_grad_norm_(amp.master_params(amp_optimizer), 10.0)
amp_optimizer.step()
amp_optimizer.zero_grad()
net.update_global_step()
global_step = net.get_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
step_times.append(step_time)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
if 'anchors_mask' not in example_torch:
num_anchors = example_torch['anchors'].shape[1]
else:
num_anchors = int(example_torch['anchors_mask'][0].sum())
if global_step % display_step == 0:
if measure_time:
for name, val in net.get_avg_time_dict().items():
print(f"avg {name} time = {val * 1000:.3f} ms")
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
total_seconds = ((total_step - global_step) * np.mean(step_times))
if len(eval_times) != 0:
eval_seconds = ((epochs / epochs_per_eval) - len(eval_times)) * np.mean(eval_times)
total_seconds += eval_seconds
next_eval_seconds = (steps_per_eval - (global_step % steps_per_eval)) * np.mean(step_times)
metrics["runtime"] = {
"step": global_step,
"steptime": np.mean(step_times),
"ETA": seconds_to_eta(total_seconds),
"eval_ETA": seconds_to_eta(next_eval_seconds),
}
metrics["runtime"].update(time_metrics[0])
step_times = []
metrics.update(net_metrics)
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
dir_loss_reduced = ret_dict["dir_loss_reduced"].mean()
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
metrics["misc"] = {
"num_vox": int(example_torch["voxels"].shape[0]),
"num_pos": int(num_pos),
"num_neg": int(num_neg),
"num_anchors": int(num_anchors),
"lr": float(amp_optimizer.lr),
"mem_usage": psutil.virtual_memory().percent,
}
model_logging.log_metrics(metrics, global_step)
# if global_step % steps_per_eval != 0 and global_step % 1000 == 0:
# torchplus.train.save_models(model_dir, [net, amp_optimizer], net.get_global_step())
if global_step % steps_per_eval == 0:
torchplus.train.save_models(model_dir, [net, amp_optimizer], global_step)
net.eval()
result_path_step = result_path / f"step_{global_step}"
result_path_step.mkdir(parents=True, exist_ok=True)
model_logging.log_text("#################################", global_step)
model_logging.log_text("# EVAL", global_step)
model_logging.log_text("#################################", global_step)
model_logging.log_text("Generate output labels...", global_step)
t = time.time()
detections = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start((len(eval_dataset) + eval_input_cfg.batch_size - 1)
// eval_input_cfg.batch_size)
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
detections += net(example)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
eval_times.append((time.time() - t))
model_logging.log_text(f'generate label finished({sec_per_ex:.2f}/s). start eval:', global_step)
result_dict = eval_dataset.dataset.evaluation(detections, result_path_step)
if result_dict is None:
raise RuntimeError("eval_dataset.dataset.evaluation() returned None")
for k, v in result_dict["results"].items():
model_logging.log_text("Evaluation {}".format(k), global_step)
model_logging.log_text(v, global_step)
model_logging.log_metrics(result_dict["detail"], global_step)
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(detections, f)
net.train()
if global_step >= total_step:
break
if net.get_global_step() >= total_step:
break
except Exception as e:
if 'example' in locals():
print(json.dumps(example["metadata"], indent=2))
global_step = net.get_global_step()
model_logging.log_text(str(e), global_step)
if 'example' in locals():
model_logging.log_text(json.dumps(example["metadata"], indent=2), global_step)
torchplus.train.save_models(model_dir, [net, amp_optimizer], global_step)
raise e
finally:
model_logging.close()
torchplus.train.save_models(model_dir, [net, amp_optimizer], net.get_global_step())
def _save_checkpoint_info(file_path, config_filename, checkpoint_filename):
from yaml import dump
with open(file_path, "w") as config_info_file:
checkpoint_info = { "config": config_filename, "checkpoint": checkpoint_filename }
dump(checkpoint_info, config_info_file, default_flow_style=False)
ckpt_info_path = str(model_dir / "checkpoint_info.yaml")
latest_ckpt_filename = "voxelnet-{}.tckpt".format(net.get_global_step())
_save_checkpoint_info(ckpt_info_path, config_file_bkp, latest_ckpt_filename)
mlflow.log_artifact(ckpt_info_path, "model")
mlflow.log_artifact(str(model_dir / config_file_bkp), "model")
mlflow.log_artifact(str(model_dir / latest_ckpt_filename), "model")
else:
net_parallel = net
optimizer_cfg = train_cfg.optimizer
loss_scale = train_cfg.loss_scale_factor
fastai_optimizer = optimizer_builder.build(optimizer_cfg,
net,
mixed=False,
loss_scale=loss_scale)
if loss_scale < 0:
loss_scale = "dynamic"
amp_optimizer = fastai_optimizer
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, amp_optimizer,
train_cfg.steps)
float_dtype = torch.float32
if cfg.multi_gpu:
num_gpu = torch.cuda.device_count()
print(f"MULTI-GPU: use {num_gpu} gpu")
collate_fn = merge_second_batch_multigpu
else:
collate_fn = merge_second_batch
num_gpu = 1
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(input_cfg,
def train(config_path,
model_dir,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
pickle_result=True,
resume=False):
"""train a VoxelNet model specified by a config file.
"""
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
model_dir = pathlib.Path(model_dir)
if not resume and model_dir.exists():
raise ValueError("model dir exists and you don't specify resume.")
model_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config_file_bkp = "pipeline.config"
if isinstance(config_path, str):
# directly provide a config object. this usually used
# when you want to train with several different parameters in
# one script.
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
else:
config = config_path
proto_str = text_format.MessageToString(config, indent=2)
with (model_dir / config_file_bkp).open("w") as f:
f.write(proto_str)
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
net = build_network(model_cfg).cuda()
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
target_assigner = net.target_assigner
voxel_generator = net.voxel_generator
class_names = target_assigner.classes
# net_train = torch.nn.DataParallel(net).cuda()
print("num_trainable parameters:", len(list(net.parameters())))
# for n, p in net.named_parameters():
# print(n, p.shape)
######################
# BUILD OPTIMIZER
######################
# we need global_step to create lr_scheduler, so restore net first.
torchplus.train.try_restore_latest_checkpoints(model_dir, [net])
gstep = net.get_global_step() - 1
optimizer_cfg = train_cfg.optimizer
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = optimizer_builder.build(
optimizer_cfg,
net,
mixed=train_cfg.enable_mixed_precision,
loss_scale=loss_scale)
optimizer = mixed_optimizer
center_limit_range = model_cfg.post_center_limit_range
"""
if train_cfg.enable_mixed_precision:
mixed_optimizer = torchplus.train.MixedPrecisionWrapper(
optimizer, loss_scale)
else:
mixed_optimizer = optimizer
"""
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer,
train_cfg.steps)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataset = input_reader_builder.build(eval_input_cfg,
model_cfg,
training=False,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
data_iter = iter(dataloader)
######################
# TRAINING
######################
training_detail = []
log_path = model_dir / 'log.txt'
training_detail_path = model_dir / 'log.json'
if training_detail_path.exists():
with open(training_detail_path, 'r') as f:
training_detail = json.load(f)
logf = open(log_path, 'a')
logf.write(proto_str)
logf.write("\n")
summary_dir = model_dir / 'summary'
summary_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(str(summary_dir))
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
# total_loop = remain_steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
try:
for _ in range(total_loop):
if total_step_elapsed + train_cfg.steps_per_eval > train_cfg.steps:
steps = train_cfg.steps % train_cfg.steps_per_eval
else:
steps = train_cfg.steps_per_eval
for step in range(steps):
lr_scheduler.step(net.get_global_step())
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
if clear_metrics_every_epoch:
net.clear_metrics()
data_iter = iter(dataloader)
example = next(data_iter)
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
ret_dict = net(example_torch)
# box_preds = ret_dict["box_preds"]
cls_preds = ret_dict["cls_preds"]
loss = ret_dict["loss"].mean()
cls_loss_reduced = ret_dict["cls_loss_reduced"].mean()
loc_loss_reduced = ret_dict["loc_loss_reduced"].mean()
cls_pos_loss = ret_dict["cls_pos_loss"]
cls_neg_loss = ret_dict["cls_neg_loss"]
loc_loss = ret_dict["loc_loss"]
cls_loss = ret_dict["cls_loss"]
dir_loss_reduced = ret_dict["dir_loss_reduced"]
cared = ret_dict["cared"]
labels = example_torch["labels"]
if train_cfg.enable_mixed_precision:
loss *= loss_scale
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
mixed_optimizer.step()
mixed_optimizer.zero_grad()
net.update_global_step()
net_metrics = net.update_metrics(cls_loss_reduced,
loc_loss_reduced, cls_preds,
labels, cared)
step_time = (time.time() - t)
t = time.time()
metrics = {}
num_pos = int((labels > 0)[0].float().sum().cpu().numpy())
num_neg = int((labels == 0)[0].float().sum().cpu().numpy())
if 'anchors_mask' not in example_torch:
num_anchors = example_torch['anchors'].shape[1]
else:
num_anchors = int(example_torch['anchors_mask'][0].sum())
global_step = net.get_global_step()
if global_step % display_step == 0:
loc_loss_elem = [
float(loc_loss[:, :, i].sum().detach().cpu().numpy() /
batch_size) for i in range(loc_loss.shape[-1])
]
metrics["type"] = "step_info"
metrics["step"] = global_step
metrics["steptime"] = step_time
metrics.update(net_metrics)
metrics["loss"] = {}
metrics["loss"]["loc_elem"] = loc_loss_elem
metrics["loss"]["cls_pos_rt"] = float(
cls_pos_loss.detach().cpu().numpy())
metrics["loss"]["cls_neg_rt"] = float(
cls_neg_loss.detach().cpu().numpy())
if model_cfg.use_direction_classifier:
metrics["loss"]["dir_rt"] = float(
dir_loss_reduced.detach().cpu().numpy())
metrics["num_vox"] = int(example_torch["voxels"].shape[0])
metrics["num_pos"] = int(num_pos)
metrics["num_neg"] = int(num_neg)
metrics["num_anchors"] = int(num_anchors)
# metrics["lr"] = float(
# mixed_optimizer.param_groups[0]['lr'])
metrics["lr"] = float(optimizer.lr)
if "image_info" in example['metadata'][0]:
metrics["image_idx"] = example['metadata'][0][
"image_info"]['image_idx']
training_detail.append(metrics)
flatted_summarys = flat_nested_json_dict(metrics, "/")
"""
for k, v in flatted_summarys.items():
if isinstance(v, (list, tuple)):
v = {str(i): e for i, e in enumerate(v)}
writer.add_scalars(k, v, global_step)
else:
writer.add_scalar(k, v, global_step)
"""
log_str = metric_to_str(metrics)
print(log_str, file=logf)
print(log_str)
ckpt_elasped_time = time.time() - ckpt_start_time
if ckpt_elasped_time > train_cfg.save_checkpoints_secs:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
ckpt_start_time = time.time()
total_step_elapsed += steps
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
print("#################################")
print("#################################", file=logf)
print("# EVAL")
print("# EVAL", file=logf)
print("#################################")
print("#################################", file=logf)
print("Generate output labels...")
print("Generate output labels...", file=logf)
t = time.time()
dt_annos = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start(
(len(eval_dataset) + eval_input_cfg.batch_size - 1) //
eval_input_cfg.batch_size)
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
dt_annos += predict_to_kitti_label(net, example, class_names,
center_limit_range,
model_cfg.lidar_input)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:')
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:',
file=logf)
result_official, result_coco = eval_dataset.dataset.evaluation(
dt_annos)
print(result_official)
print(result_official, file=logf)
print(result_coco)
print(result_coco, file=logf)
if pickle_result:
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(dt_annos, f)
else:
kitti_anno_to_label_file(dt_annos, result_path_step)
writer.add_text('eval_result', result_official, global_step)
writer.add_text('eval_result coco', result_coco, global_step)
net.train()
except Exception as e:
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
raise e
# save model before exit
torchplus.train.save_models(model_dir, [net, optimizer],
net.get_global_step())
logf.close()
def train(config_path,
model_dir,
result_path=None,
create_folder=False,
display_step=50,
summary_step=5,
pickle_result=True,
patchs=None):
torch.manual_seed(3)
np.random.seed(3)
if create_folder:
if pathlib.Path(model_dir).exists():
model_dir = torchplus.train.create_folder(model_dir)
patchs = patchs or []
model_dir = pathlib.Path(model_dir)
model_dir.mkdir(parents=True, exist_ok=True)
if result_path is None:
result_path = model_dir / 'results'
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(config_path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
input_cfg = config.train_input_reader
eval_input_cfg = config.eval_input_reader
model_cfg = config.model.second
train_cfg = config.train_config
detection_2d_path = config.train_config.detection_2d_path
print("2d detection path:", detection_2d_path)
center_limit_range = model_cfg.post_center_limit_range
voxel_generator = voxel_builder.build(model_cfg.voxel_generator)
bv_range = voxel_generator.point_cloud_range[[0, 1, 3, 4]]
box_coder = box_coder_builder.build(model_cfg.box_coder)
target_assigner_cfg = model_cfg.target_assigner
target_assigner = target_assigner_builder.build(target_assigner_cfg,
bv_range, box_coder)
class_names = target_assigner.classes
net = build_inference_net('./configs/car.fhd.config', '../model_dir')
fusion_layer = fusion.fusion()
fusion_layer.cuda()
optimizer_cfg = train_cfg.optimizer
if train_cfg.enable_mixed_precision:
net.half()
net.metrics_to_float()
net.convert_norm_to_float(net)
loss_scale = train_cfg.loss_scale_factor
mixed_optimizer = optimizer_builder.build(
optimizer_cfg,
fusion_layer,
mixed=train_cfg.enable_mixed_precision,
loss_scale=loss_scale)
optimizer = mixed_optimizer
# must restore optimizer AFTER using MixedPrecisionWrapper
torchplus.train.try_restore_latest_checkpoints(model_dir,
[mixed_optimizer])
lr_scheduler = lr_scheduler_builder.build(optimizer_cfg, optimizer,
train_cfg.steps)
if train_cfg.enable_mixed_precision:
float_dtype = torch.float16
else:
float_dtype = torch.float32
######################
# PREPARE INPUT
######################
dataset = input_reader_builder.build(input_cfg,
model_cfg,
training=True,
voxel_generator=voxel_generator,
target_assigner=target_assigner)
eval_dataset = input_reader_builder.build(
eval_input_cfg,
model_cfg,
training=True, #if rhnning for test, here it needs to be False
voxel_generator=voxel_generator,
target_assigner=target_assigner)
def _worker_init_fn(worker_id):
time_seed = np.array(time.time(), dtype=np.int32)
np.random.seed(time_seed + worker_id)
print(f"WORKER {worker_id} seed:", np.random.get_state()[1][0])
dataloader = torch.utils.data.DataLoader(dataset,
batch_size=input_cfg.batch_size,
shuffle=True,
num_workers=input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch,
worker_init_fn=_worker_init_fn)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=eval_input_cfg.batch_size,
shuffle=False,
num_workers=eval_input_cfg.num_workers,
pin_memory=False,
collate_fn=merge_second_batch)
data_iter = iter(dataloader)
######################
# TRAINING
######################
focal_loss = SigmoidFocalClassificationLoss()
cls_loss_sum = 0
training_detail = []
log_path = model_dir / 'log.txt'
training_detail_path = model_dir / 'log.json'
if training_detail_path.exists():
with open(training_detail_path, 'r') as f:
training_detail = json.load(f)
logf = open(log_path, 'a')
logf.write(proto_str)
logf.write("\n")
summary_dir = model_dir / 'summary'
summary_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(str(summary_dir))
total_step_elapsed = 0
remain_steps = train_cfg.steps - net.get_global_step()
t = time.time()
ckpt_start_time = t
total_loop = train_cfg.steps // train_cfg.steps_per_eval + 1
#print("steps, steps_per_eval, total_loop:", train_cfg.steps, train_cfg.steps_per_eval, total_loop)
# total_loop = remain_steps // train_cfg.steps_per_eval + 1
clear_metrics_every_epoch = train_cfg.clear_metrics_every_epoch
net.set_global_step(torch.tensor([0]))
if train_cfg.steps % train_cfg.steps_per_eval == 0:
total_loop -= 1
mixed_optimizer.zero_grad()
try:
for _ in range(total_loop):
if total_step_elapsed + train_cfg.steps_per_eval > train_cfg.steps:
steps = train_cfg.steps % train_cfg.steps_per_eval
else:
steps = train_cfg.steps_per_eval
for step in range(steps):
lr_scheduler.step(net.get_global_step())
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
if clear_metrics_every_epoch:
net.clear_metrics()
data_iter = iter(dataloader)
example = next(data_iter)
example_torch = example_convert_to_torch(example, float_dtype)
batch_size = example["anchors"].shape[0]
all_3d_output_camera_dict, all_3d_output, top_predictions, fusion_input, tensor_index = net(
example_torch, detection_2d_path)
d3_gt_boxes = example_torch["d3_gt_boxes"][0, :, :]
if d3_gt_boxes.shape[0] == 0:
target_for_fusion = np.zeros((1, 70400, 1))
positives = torch.zeros(1,
70400).type(torch.float32).cuda()
negatives = torch.zeros(1,
70400).type(torch.float32).cuda()
negatives[:, :] = 1
else:
d3_gt_boxes_camera = box_torch_ops.box_lidar_to_camera(
d3_gt_boxes, example_torch['rect'][0, :],
example_torch['Trv2c'][0, :])
d3_gt_boxes_camera_bev = d3_gt_boxes_camera[:, [
0, 2, 3, 5, 6
]]
###### predicted bev boxes
pred_3d_box = all_3d_output_camera_dict[0]["box3d_camera"]
pred_bev_box = pred_3d_box[:, [0, 2, 3, 5, 6]]
#iou_bev = bev_box_overlap(d3_gt_boxes_camera_bev.detach().cpu().numpy(), pred_bev_box.detach().cpu().numpy(), criterion=-1)
iou_bev = d3_box_overlap(
d3_gt_boxes_camera.detach().cpu().numpy(),
pred_3d_box.squeeze().detach().cpu().numpy(),
criterion=-1)
iou_bev_max = np.amax(iou_bev, axis=0)
#print(np.max(iou_bev_max))
target_for_fusion = ((iou_bev_max >= 0.7) * 1).reshape(
1, -1, 1)
positive_index = ((iou_bev_max >= 0.7) * 1).reshape(1, -1)
positives = torch.from_numpy(positive_index).type(
torch.float32).cuda()
negative_index = ((iou_bev_max <= 0.5) * 1).reshape(1, -1)
negatives = torch.from_numpy(negative_index).type(
torch.float32).cuda()
cls_preds, flag = fusion_layer(fusion_input.cuda(),
tensor_index.cuda())
one_hot_targets = torch.from_numpy(target_for_fusion).type(
torch.float32).cuda()
negative_cls_weights = negatives.type(torch.float32) * 1.0
cls_weights = negative_cls_weights + 1.0 * positives.type(
torch.float32)
pos_normalizer = positives.sum(1, keepdim=True).type(
torch.float32)
cls_weights /= torch.clamp(pos_normalizer, min=1.0)
if flag == 1:
cls_losses = focal_loss._compute_loss(
cls_preds, one_hot_targets,
cls_weights.cuda()) # [N, M]
cls_losses_reduced = cls_losses.sum(
) / example_torch['labels'].shape[0]
cls_loss_sum = cls_loss_sum + cls_losses_reduced
if train_cfg.enable_mixed_precision:
loss *= loss_scale
cls_losses_reduced.backward()
mixed_optimizer.step()
mixed_optimizer.zero_grad()
net.update_global_step()
step_time = (time.time() - t)
t = time.time()
metrics = {}
global_step = net.get_global_step()
if global_step % display_step == 0:
print("now it is",
global_step,
"steps",
" and the cls_loss is :",
cls_loss_sum / display_step,
"learning_rate: ",
float(optimizer.lr),
file=logf)
print("now it is", global_step, "steps",
" and the cls_loss is :",
cls_loss_sum / display_step, "learning_rate: ",
float(optimizer.lr))
cls_loss_sum = 0
ckpt_elasped_time = time.time() - ckpt_start_time
if ckpt_elasped_time > train_cfg.save_checkpoints_secs:
torchplus.train.save_models(model_dir,
[fusion_layer, optimizer],
net.get_global_step())
ckpt_start_time = time.time()
total_step_elapsed += steps
torchplus.train.save_models(model_dir, [fusion_layer, optimizer],
net.get_global_step())
fusion_layer.eval()
net.eval()
result_path_step = result_path / f"step_{net.get_global_step()}"
result_path_step.mkdir(parents=True, exist_ok=True)
print("#################################")
print("#################################", file=logf)
print("# EVAL")
print("# EVAL", file=logf)
print("#################################")
print("#################################", file=logf)
print("Generate output labels...")
print("Generate output labels...", file=logf)
t = time.time()
dt_annos = []
prog_bar = ProgressBar()
net.clear_timer()
prog_bar.start(
(len(eval_dataset) + eval_input_cfg.batch_size - 1) //
eval_input_cfg.batch_size)
val_loss_final = 0
for example in iter(eval_dataloader):
example = example_convert_to_torch(example, float_dtype)
if pickle_result:
dt_annos_i, val_losses = predict_kitti_to_anno(
net, detection_2d_path, fusion_layer, example,
class_names, center_limit_range, model_cfg.lidar_input)
dt_annos += dt_annos_i
val_loss_final = val_loss_final + val_losses
else:
_predict_kitti_to_file(net, detection_2d_path, example,
result_path_step, class_names,
center_limit_range,
model_cfg.lidar_input)
prog_bar.print_bar()
sec_per_ex = len(eval_dataset) / (time.time() - t)
print("validation_loss:", val_loss_final / len(eval_dataloader))
print("validation_loss:",
val_loss_final / len(eval_dataloader),
file=logf)
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:')
print(f'generate label finished({sec_per_ex:.2f}/s). start eval:',
file=logf)
gt_annos = [
info["annos"] for info in eval_dataset.dataset.kitti_infos
]
if not pickle_result:
dt_annos = kitti.get_label_annos(result_path_step)
# result = get_official_eval_result_v2(gt_annos, dt_annos, class_names)
result = get_official_eval_result(gt_annos, dt_annos, class_names)
print(result, file=logf)
print(result)
writer.add_text('eval_result', json.dumps(result, indent=2),
global_step)
result = get_coco_eval_result(gt_annos, dt_annos, class_names)
print(result, file=logf)
print(result)
if pickle_result:
with open(result_path_step / "result.pkl", 'wb') as f:
pickle.dump(dt_annos, f)
writer.add_text('eval_result', result, global_step)
#net.train()
fusion_layer.train()
except Exception as e:
torchplus.train.save_models(model_dir, [fusion_layer, optimizer],
net.get_global_step())
logf.close()
raise e
# save model before exit
torchplus.train.save_models(model_dir, [fusion_layer, optimizer],
net.get_global_step())
logf.close()
