def evaluate_one_epoch(): stat_dict = {} ap_calculator = APCalculator(ap_iou_thresh=FLAGS.ap_iou_thresh, class2type_map=DATASET_CONFIG.class2type) ap_calculator_l = APCalculator(ap_iou_thresh=FLAGS.ap_iou_thresh * 2, class2type_map=DATASET_CONFIG.class2type) net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): end_points = {} if batch_idx % 10 == 0: print('Eval batch: %d' % (batch_idx)) for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} with torch.no_grad(): end_points = net(inputs, end_points) # Compute loss for key in batch_data_label: end_points[key] = batch_data_label[key] loss, end_points = criterion(inputs, end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions( end_points, CONFIG_DICT, opt_ang=(FLAGS.dataset == 'sunrgbd')) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) batch_pred_map_cls = parse_predictions( end_points, CONFIG_DICT_L, opt_ang=(FLAGS.dataset == 'sunrgbd')) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT_L) ap_calculator_l.step(batch_pred_map_cls, batch_gt_map_cls) if FLAGS.dump_results: dump_results(end_points, DUMP_DIR + '/result/', DATASET_CONFIG, TEST_DATASET) # Log statistics for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('iou = 0.25, eval %s: %f' % (key, metrics_dict[key])) metrics_dict = ap_calculator_l.compute_metrics() for key in metrics_dict: log_string('iou = 0.5, eval %s: %f' % (key, metrics_dict[key])) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} # collect statistics ap_calculator = APCalculator(ap_iou_thresh=FLAGS.ap_iou_thresh, class2type_map=DATASET_CONFIG.class2type) net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): if batch_idx % 10 == 0: print('Eval batch: %d' % (batch_idx)) for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} with torch.no_grad(): end_points = net(inputs) end_points['relation_type'] = FLAGS.relation_type end_points['relation_pair'] = FLAGS.relation_pair # Compute loss for key in batch_data_label: assert (key not in end_points) end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if FLAGS.dump_results and batch_idx == 0 and EPOCH_CNT % 10 == 0: MODEL.dump_results(end_points, DUMP_DIR, DATASET_CONFIG) # Log statistics TEST_VISUALIZER.log_scalars( {key: stat_dict[key] / float(batch_idx + 1) for key in stat_dict}, (EPOCH_CNT + 1) * len(TRAIN_DATALOADER) * BATCH_SIZE) for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) # Evaluate average precision metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) \ for iou_thresh in AP_IOU_THRESHOLDS] net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): if batch_idx % 10 == 0: print('Eval batch: %d' % (batch_idx)) for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} with torch.no_grad(): end_points = net(inputs) # Compute loss for key in batch_data_label: assert (key not in end_points) end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if batch_idx == 0: MODEL.dump_results(end_points, DUMP_DIR, DATASET_CONFIG) else: break # Log statistics for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) # Evaluate average precision for i, ap_calculator in enumerate(ap_calculator_list): print('-' * 10, 'iou_thresh: %f' % (AP_IOU_THRESHOLDS[i]), '-' * 10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} # collect statistics ap_calculator = APCalculator(ap_iou_thresh=FLAGS.ap_iou_thresh, class2type_map=DATASET_CONFIG.class2type) detector.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} with torch.no_grad(): end_points = detector(inputs) # Compute loss for key in batch_data_label: assert (key not in end_points) end_points[key] = batch_data_label[key] loss, end_points = test_detector_criterion(end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Log statistics TEST_VISUALIZER.log_scalars( {key: stat_dict[key] / float(batch_idx + 1) for key in stat_dict}, (EPOCH_CNT + 1) * len(LABELED_DATALOADER) * BATCH_SIZE) for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) # Evaluate average precision metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) TEST_VISUALIZER.log_scalars( { 'mAP': metrics_dict['mAP'], 'AR': metrics_dict['AR'] }, (EPOCH_CNT + 1) * len(LABELED_DATALOADER) * BATCH_SIZE) mean_loss = stat_dict['detection_loss'] / float(batch_idx + 1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) for iou_thresh in AP_IOU_THRESHOLDS] net.eval() # set model to eval mode (for bn and dp) serialize_preds = dict() for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): if batch_idx % 10 == 0: print("Eval batch: %d" % (batch_idx)) for key in batch_data_label: if key not in ["scan_name", "frame_idx"]: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {"point_clouds": batch_data_label["point_clouds"]} with torch.no_grad(): end_points = net(inputs) # Compute loss for key in batch_data_label: assert key not in end_points end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if "loss" in key or "acc" in key or "ratio" in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) for i in range(len(batch_data_label["scan_name"])): scan_name, frame_idx = batch_data_label["scan_name"][i], batch_data_label["frame_idx"][i] # serialize_pred = {"scan_name": scan_name, "frame_idx": frame_idx.item()} pred_maps_cls = batch_pred_map_cls[i] instances = [] for pred_map in pred_maps_cls: cls_id, pred_corners_3d_upright_camera, obj_prob = pred_map instances.append({"cls_id": cls_id, "faabb": pred_corners_3d_upright_camera, "obj_prob": float(obj_prob)}) # serialize_pred["instances"] = instances serialize_preds[(scan_name, frame_idx.item())] = instances # (pred_sem_cls[i,j].item(), pred_corners_3d_upright_camera[i,j], obj_prob[i,j]) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if batch_idx == 0: MODEL.dump_results(end_points, DUMP_DIR, DATASET_CONFIG) Dyme(DUMP_DIR).store("serialize_preds.yaml", serialize_preds) # json.dump(serialize_preds, open(DUMP_DIR + "serialize_preds.json", "w")) # Log statistics for key in sorted(stat_dict.keys()): log_string("eval mean %s: %f" % (key, stat_dict[key] / (float(batch_idx + 1)))) # Evaluate average precision for i, ap_calculator in enumerate(ap_calculator_list): print("-" * 10, "iou_thresh: %f" % (AP_IOU_THRESHOLDS[i]), "-" * 10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string("eval %s: %f" % (key, metrics_dict[key])) mean_loss = stat_dict["loss"] / float(batch_idx + 1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} # collect statistics ap_calculator_dict = {} for key_prefix in KEY_PREFIX_LIST: ap_calculator_dict[key_prefix + 'ap_calculator'] = APCalculator( ap_iou_thresh=FLAGS.ap_iou_thresh, class2type_map=DATASET_CONFIG.class2type) net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): if batch_idx % 10 == 0: print('Eval batch: %d' % (batch_idx)) for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} if FLAGS.use_imvotenet: inputs.update({ 'scale': batch_data_label['scale'], 'calib_K': batch_data_label['calib_K'], 'calib_Rtilt': batch_data_label['calib_Rtilt'], 'cls_score_feats': batch_data_label['cls_score_feats'], 'full_img_votes_1d': batch_data_label['full_img_votes_1d'], 'full_img_1d': batch_data_label['full_img_1d'], 'full_img_width': batch_data_label['full_img_width'], }) with torch.no_grad(): end_points = net(inputs) # Compute loss for key in batch_data_label: if key not in end_points: end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG, KEY_PREFIX_LIST, TOWER_WEIGHTS) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() for key_prefix in KEY_PREFIX_LIST: batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT, key_prefix) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) ap_calculator_dict[key_prefix + 'ap_calculator'].step( batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if FLAGS.dump_results and batch_idx == 0 and EPOCH_CNT % 10 == 0: MODEL.dump_results(end_points, DUMP_DIR, DATASET_CONFIG, key_prefix=KEY_PREFIX_LIST[-1]) # Log statistics TEST_VISUALIZER.log_scalars( {key: stat_dict[key] / float(batch_idx + 1) for key in stat_dict}, (EPOCH_CNT + 1) * len(TRAIN_DATALOADER) * BATCH_SIZE) for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) # Evaluate average precision for key_prefix in KEY_PREFIX_LIST: metrics_dict = ap_calculator_dict[key_prefix + 'ap_calculator'].compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss
def evaluate_one_full_tour(scan_name): stat_dict = {} ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) \ for iou_thresh in AP_IOU_THRESHOLDS] l = os.listdir(os.path.join(DUMP_DIR, 'outputs')) l = [x for x in l if scan_name in x] end_points = {} filename = l[0] h5file = h5py.File(os.path.join(DUMP_DIR, 'outputs', filename)) for k in output_keys: end_points[k] = torch.FloatTensor(h5file[k]).unsqueeze(0) h5file.close() for filename in l[1:]: h5file = h5py.File(os.path.join(DUMP_DIR, 'outputs', filename)) for k in output_keys: end_points[k] = torch.cat( (end_points[k], torch.FloatTensor(h5file[k]).unsqueeze(0)), dim=1) h5file.close() ### -- load input dirdir = 'mp3d/votenet_training_data_full_tours_fixed_pc_fixed_votes/val/votenet_inputs/' h5file = h5py.File(os.path.join(dirdir, scan_name + '.h5'), 'r') mesh_vertices = np.array(h5file['point_cloud'], dtype=np.float32) instance_labels = np.array(h5file['instance'], dtype=np.int32) semantic_labels = np.array(h5file['semantic'], dtype=np.int32) instance_bboxes = np.array(h5file['bboxes'], dtype=np.float32) instance_bboxes = instance_bboxes[:, :8] h5file.close() # convert PC to z is up. mesh_vertices[:, [0, 1, 2]] = mesh_vertices[:, [0, 2, 1]] # convert annotations to z is up. instance_bboxes[:, [0, 1, 2]] = instance_bboxes[:, [0, 2, 1]] instance_bboxes[:, [3, 4, 5]] = instance_bboxes[:, [3, 5, 4]] if not FLAGS.use_color: point_cloud = mesh_vertices[:, 0:3] # do not use color for now else: point_cloud = mesh_vertices[:, 0:6] MEAN_COLOR_RGB = np.array([109.8, 97.2, 83.8]) point_cloud[:, 3:] = point_cloud[:, 3:] - (MEAN_COLOR_RGB) / 256.0 if (not FLAGS.no_height): floor_height = np.percentile(point_cloud[:, 2], 0.99) height = point_cloud[:, 2] - floor_height point_cloud = np.concatenate( [point_cloud, np.expand_dims(height, 1)], 1) # ------------------------------- LABELS ------------------------------ MAX_NUM_OBJ_FT = 256 target_bboxes = np.zeros((MAX_NUM_OBJ_FT, 6)) target_bboxes_mask = np.zeros((MAX_NUM_OBJ_FT)) angle_classes = np.zeros((MAX_NUM_OBJ_FT, )) angle_residuals = np.zeros((MAX_NUM_OBJ_FT, )) size_classes = np.zeros((MAX_NUM_OBJ_FT, )) size_residuals = np.zeros((MAX_NUM_OBJ_FT, 3)) target_bboxes_mask[0:instance_bboxes.shape[0]] = 1 target_bboxes[0:instance_bboxes.shape[0], :] = instance_bboxes[:, 0:6] # compute votes *AFTER* augmentation # generate votes # Note: since there's no map between bbox instance labels and # pc instance_labels (it had been filtered # in the data preparation step) we'll compute the instance bbox # from the points sharing the same instance label. num_points = mesh_vertices.shape[0] print('total num points: ', num_points) point_votes = np.zeros([num_points, 3]) point_votes_mask = np.zeros(num_points) for i_instance in np.unique(instance_labels): # ignore points not associated with a box #if i_instance not in instance_bboxes_instance_labels: continue # find all points belong to that instance ind = np.where(instance_labels == i_instance)[0] # find the semantic label #TODO: change classe labels if not (semantic_labels[ind[0]] == -1): x = point_cloud[ind, :3] center = 0.5 * (x.min(0) + x.max(0)) point_votes[ind, :] = center - x point_votes_mask[ind] = 1.0 point_votes = np.tile(point_votes, (1, 3)) # make 3 votes identical # NOTE: set size class as semantic class. Consider use size2class. size_classes[0:instance_bboxes.shape[0]] = instance_bboxes[:, -1] instance_bboxes_sids = instance_bboxes[:, -1] instance_bboxes_sids = instance_bboxes_sids.astype(np.int) size_residuals[0:instance_bboxes.shape[0], :] = \ target_bboxes[0:instance_bboxes.shape[0], 3:6] - DATASET_CONFIG.mean_size_arr[instance_bboxes_sids,:] #TODO: update angle_classes + residuals angle_residuals[0:instance_bboxes.shape[0]] = instance_bboxes[:, 6] ret_dict = {} ret_dict['point_clouds'] = point_cloud.astype(np.float32) ret_dict['center_label'] = target_bboxes.astype(np.float32)[:, 0:3] ret_dict['heading_class_label'] = angle_classes.astype(np.int64) ret_dict['heading_residual_label'] = angle_residuals.astype(np.float32) ret_dict['size_class_label'] = size_classes.astype(np.int64) ret_dict['size_residual_label'] = size_residuals.astype(np.float32) target_bboxes_semcls = np.zeros((MAX_NUM_OBJ_FT)) target_bboxes_semcls[0:instance_bboxes.shape[0]] = instance_bboxes[:, -1] ret_dict['sem_cls_label'] = target_bboxes_semcls.astype(np.int64) ret_dict['box_label_mask'] = target_bboxes_mask.astype(np.float32) ret_dict['vote_label'] = point_votes.astype(np.float32) ret_dict['vote_label_mask'] = point_votes_mask.astype(np.int64) for key in ret_dict: ret_dict[key] = torch.FloatTensor( ret_dict[key]).to(device).unsqueeze(0) ### -- DONE load input for key in ret_dict: assert (key not in end_points) end_points[key] = ret_dict[key] print('parse pred') batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) print('parse GT') batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) print('preint metrics') for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) for i, ap_calculator in enumerate(ap_calculator_list): print('-' * 10, 'iou_thresh: %f' % (AP_IOU_THRESHOLDS[i]), '-' * 10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: print('eval %s: %f' % (key, metrics_dict[key]))
def evaluate_one_epoch(): stat_dict = {} # collect statistics ap_calculator = APCalculator(ap_iou_thresh=FLAGS.ap_iou_thresh, class2type_map=DATASET_CONFIG.class2type) ap_calculator_l = APCalculator(ap_iou_thresh=FLAGS.ap_iou_thresh*2, class2type_map=DATASET_CONFIG.class2type) net.eval() # set model to eval mode (for bn and dp) time_file = 'time_file_%s.txt' % FLAGS.dataset time_file = os.path.join(DUMP_DIR, time_file) f = open(time_file, 'w') all_time = 0 for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): if batch_idx % 10 == 0: print('Eval batch: %d'%(batch_idx)) end_points = {} for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) inputs = {'point_clouds': batch_data_label['point_clouds']} tic = time.time() with torch.no_grad(): end_points = net(inputs, end_points) toc = time.time() t = toc - tic all_time += t f.write('batch_idx:%d, infer time:%f\n' % (batch_idx, t)) print('Inference time: %f'%(t)) # Compute loss for key in batch_data_label: end_points[key] = batch_data_label[key] loss, end_points = criterion(inputs, end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT, opt_ang=(FLAGS.dataset == 'sunrgbd')) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT_L, opt_ang=(FLAGS.dataset == 'sunrgbd')) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT_L) ap_calculator_l.step(batch_pred_map_cls, batch_gt_map_cls) if FLAGS.dump_results: dump_results(end_points, DUMP_DIR+'/result/', DATASET_CONFIG, TEST_DATASET) mean_time = all_time/float(batch_idx+1) f.write('Batch number:%d\n' % (batch_idx+1)) f.write('mean infer time: %f\n' % (mean_time)) f.close() print('Mean inference time: %f'%(mean_time)) # Log statistics TEST_VISUALIZER.log_scalars({key:stat_dict[key]/float(batch_idx+1) for key in stat_dict}, (EPOCH_CNT+1)*len(TRAIN_DATALOADER)*BATCH_SIZE) for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f'%(key, stat_dict[key]/(float(batch_idx+1)))) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f'%(key, metrics_dict[key])) metrics_dict = ap_calculator_l.compute_metrics() for key in metrics_dict: log_string('eval %s: %f'%(key, metrics_dict[key])) mean_loss = stat_dict['loss']/float(batch_idx+1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) \ for iou_thresh in AP_IOU_THRESHOLDS] net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): if batch_idx % 10 == 0: print('Eval batch: %d'%(batch_idx)) if 'files_crops' in batch_data_label: if len(batch_data_label['files_crops']) == 0: continue batch_data_label['files_crops'] = [x[0] for x in batch_data_label['files_crops']] # Forward pass with torch.no_grad(): end_points = net.forward_full_tour(batch_data_label, DATASET_CONFIG, device, files_crops=batch_data_label['files_crops'], **settings) for key in batch_data_label: assert(key not in end_points) end_points[key] = batch_data_label[key] # send data to device for key in end_points: if (key == 'scan_name') or\ (key == 'files_crops'): continue end_points[key] = end_points[key].to(device) # /!\ cannot compute loss bc not the same #points and #seeds/pred-votes (crops are upsampled) # Compute loss # -- loss, end_points = criterion(end_points, DATASET_CONFIG) # -- # Accumulate statistics and print out # -- for key in end_points: # -- if 'loss' in key or 'acc' in key or 'ratio' in key: # -- if key not in stat_dict: stat_dict[key] = 0 # -- stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization # -- if batch_idx == 0: # -- MODEL.dump_results(end_points, # -- DUMP_DIR, # -- DATASET_CONFIG) # Log statistics #for key in sorted(stat_dict.keys()): # log_string('eval mean %s: %f'%(key, stat_dict[key]/(float(batch_idx+1)))) # Evaluate average precision for i, ap_calculator in enumerate(ap_calculator_list): print('-'*10, 'iou_thresh: %f'%(AP_IOU_THRESHOLDS[i]), '-'*10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f'%(key, metrics_dict[key])) #mean_loss = stat_dict['loss']/float(batch_idx+1) #return mean_loss return -1
batch_pred_map_cls = parse_predictions( objectness_score_normalized_batch, center_batch, heading_batch, size_batch, sem_class_normalized_batch, conf_thresh, nms_iou, DC.num_class, per_class_proposal=per_class_proposal, cls_nms=cls_nms) batch_gt_map_cls = parse_groundtruths( center_label.astype(np.float32), heading_class_label.astype(np.float32), heading_residual_label.astype(np.float32), size_class_label.astype(np.float32), size_residual_label.astype(np.float32), sem_cls_label.astype(np.float32), box_label_mask.astype(np.float32), DC) ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) if i_batch % 20 == 19: print("Done", i_batch + 1, 'of', len(dataset) + 1) # visualize the first batch if visualize_first_batch and i_batch == 0: for i in range(batch_size): # take one point cloud points_xyz = pcd[i, :, :3] objectness_score_normalized = objectness_score_normalized_batch[i] center = center_batch[i]
end_points = net(inputs) # Compute loss for key in batch_data_label: assert (key not in end_points) end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) ap_Measurement.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if FLAGS.dump_results and batch_idx == 0 and EPOCH_CNT % 10 == 0: MODEL.dump_results(end_points, DUMP_DIR, DATASET_CONFIG) # Log statistics TEST_VISUALIZER.log_scalars( { key: stat_dict[key] / float(batch_idx + 1) for key in stat_dict }, (EPOCH_CNT + 1) * len(TRAIN_DATALOADER) * BATCH_SIZE) for key in sorted(stat_dict.keys()): print('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1))))
def evaluate_one_epoch(): stat_dict = {} ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) \ for iou_thresh in AP_IOU_THRESHOLDS] net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): if batch_idx % 10 == 0: print('Eval batch: %d' % (batch_idx)) for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} if FLAGS.use_imvotenet: inputs.update({ 'scale': batch_data_label['scale'], 'calib_K': batch_data_label['calib_K'], 'calib_Rtilt': batch_data_label['calib_Rtilt'], 'cls_score_feats': batch_data_label['cls_score_feats'], 'full_img_votes_1d': batch_data_label['full_img_votes_1d'], 'full_img_1d': batch_data_label['full_img_1d'], 'full_img_width': batch_data_label['full_img_width'], }) with torch.no_grad(): end_points = net(inputs, joint_only=True) else: with torch.no_grad(): end_points = net(inputs) # Compute loss for key in batch_data_label: if key not in end_points: end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG, KEY_PREFIX_LIST, TOWER_WEIGHTS) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT, KEY_PREFIX_LIST[0]) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if batch_idx == 0: MODEL.dump_results(end_points, DUMP_DIR, DATASET_CONFIG, key_prefix=KEY_PREFIX_LIST[-1]) # Log statistics for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) # Evaluate average precision for i, ap_calculator in enumerate(ap_calculator_list): print('-' * 10, 'iou_thresh: %f' % (AP_IOU_THRESHOLDS[i]), '-' * 10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} pred_dict = [] ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) \ for iou_thresh in AP_IOU_THRESHOLDS] net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): # if batch_idx > 2: # break if batch_idx % 10 == 0: print('Eval batch: %d' % (batch_idx)) for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} with torch.no_grad(): end_points = net(inputs) end_points['relation_type'] = FLAGS.relation_type end_points['relation_pair'] = FLAGS.relation_pair # Compute loss for key in batch_data_label: assert (key not in end_points) end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if batch_idx == 0: MODEL.dump_results(end_points, DUMP_DIR, DATASET_CONFIG) # Record the bbox before/after nms for vis # pred_center = end_points['center'].detach().cpu().numpy() # (B,K,3) # pred_heading_class = torch.argmax(end_points['heading_scores'], -1) # B,num_proposal # pred_heading_residual = torch.gather(end_points['heading_residuals'], 2, # pred_heading_class.unsqueeze(-1)) # B,num_proposal,1 # pred_heading_class = pred_heading_class.detach().cpu().numpy() # B,num_proposal # pred_heading_residual = pred_heading_residual.squeeze(2).detach().cpu().numpy() # B,num_proposal # pred_size_class = torch.argmax(end_points['size_scores'], -1) # B,num_proposal # pred_size_residual = torch.gather(end_points['size_residuals'], 2, # pred_size_class.unsqueeze(-1).unsqueeze(-1).repeat(1, 1, 1, # 3)) # B,num_proposal,1,3 # pred_size_residual = pred_size_residual.squeeze(2).detach().cpu().numpy() # B,num_proposal,3 # pred_size_class = pred_size_class.detach().cpu().numpy() # for _i in range(len(pred_center)): # pred_dict.append({ # 'point_clouds': end_points['mesh_vertices'][_i].detach().cpu().numpy(), # 'pred_corners_3d_upright_camera': end_points['pred_corners_3d_upright_camera'][_i], # 'pred_mask': end_points['pred_mask'][_i], # 'pred_center': pred_center[_i], # 'pred_heading_class': pred_heading_class[_i], # 'pred_heading_residual': pred_heading_residual[_i], # 'pred_size_class': pred_size_class[_i], # 'pred_size_residual': pred_size_residual[_i], # 'nearest_n_index': end_points['nearest_n_index'][_i].detach().cpu().numpy(), # 'sem_cls_label': torch.gather(end_points['sem_cls_label'], 1, end_points['object_assignment'])[ # _i].detach().cpu().numpy(), # 'rn_label': end_points['rn_labels_1'][_i].detach().cpu().numpy(), # # 'scan_name': TEST_DATASET.scan_names[batch_data_label['scan_idx'][_i]] # }) # draw the bbox # for _i in range(len(pred_dict)): # # draw_bbox(pred_dict[_i], DATASET_CONFIG, nms=True) # # draw_bbox2(pred_dict[_i]) # draw_relation_pairs(pred_dict[_i], DATASET_CONFIG) # Log statistics for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) class_list = [ 'window', 'bed', 'counter', 'sofa', 'table', 'showercurtrain', 'garbagebin', 'sink', 'picture', 'chair', 'desk', 'curtain', 'refrigerator', 'door', 'toilet', 'bookshelf', 'bathtub', 'cabinet', 'mAP', 'AR' ] # Evaluate average precision for i, ap_calculator in enumerate(ap_calculator_list): print('-' * 10, 'iou_thresh: %f' % (AP_IOU_THRESHOLDS[i]), '-' * 10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) # for i, ap_calculator in enumerate(ap_calculator_list): # print('-'*10, 'iou_thresh: %f'%(AP_IOU_THRESHOLDS[i]), '-'*10) # metrics_dict = ap_calculator.compute_metrics() # # for cls in class_list: # for key in metrics_dict: # if cls in key: # log_string('eval %s: %f'%(key, metrics_dict[key])) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss
def evaluate_one_epoch(): stat_dict = {} # collect statistics ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) \ for iou_thresh in AP_IOU_THRESHOLDS] net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} with torch.no_grad(): end_points = net(inputs) # Compute loss for key in batch_data_label: assert (key not in end_points) end_points[key] = batch_data_label[key] loss, end_points = get_labeled_loss(end_points, DATASET_CONFIG, CONFIG_DICT) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) # Dump evaluation results for visualization if FLAGS.dump_results and batch_idx == 0 and EPOCH_CNT % 10 == 0: dump_results(end_points, DUMP_DIR, DATASET_CONFIG) # Log statistics TEST_VISUALIZER.log_scalars( { tb_name(key): stat_dict[key] / float(batch_idx + 1) for key in stat_dict }, (EPOCH_CNT + 1) * len(TRAIN_DATALOADER) * BATCH_SIZE) for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) map = [] # Evaluate average precision for i, ap_calculator in enumerate(ap_calculator_list): print('-' * 10, 'iou_thresh: %f' % (AP_IOU_THRESHOLDS[i]), '-' * 10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) TEST_VISUALIZER.log_scalars( { 'metrics_' + str(AP_IOU_THRESHOLDS[i]) + '/' + key: metrics_dict[key] for key in metrics_dict if key in ['mAP', 'AR'] }, (EPOCH_CNT + 1) * len(TRAIN_DATALOADER) * BATCH_SIZE) map.append(metrics_dict['mAP']) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss, map
def evaluate_one_epoch(): stat_dict = {} ap_calculator_list = [APCalculator(iou_thresh, DATASET_CONFIG.class2type) \ for iou_thresh in AP_IOU_THRESHOLDS] net.eval() # set model to eval mode (for bn and dp) for batch_idx, batch_data_label in enumerate(TEST_DATALOADER): scan_name_list = batch_data_label['scan_name'] del batch_data_label['scan_name'] if batch_idx % 10 == 0: print('Eval batch: %d' % (batch_idx)) for key in batch_data_label: batch_data_label[key] = batch_data_label[key].to(device) # Forward pass inputs = {'point_clouds': batch_data_label['point_clouds']} with torch.no_grad(): end_points = net(inputs) # Compute loss for key in batch_data_label: assert (key not in end_points) end_points[key] = batch_data_label[key] loss, end_points = criterion(end_points, DATASET_CONFIG) # Accumulate statistics and print out for key in end_points: if 'loss' in key or 'acc' in key or 'ratio' in key: if key not in stat_dict: stat_dict[key] = 0 stat_dict[key] += end_points[key].item() batch_pred_map_cls = parse_predictions(end_points, CONFIG_DICT) batch_gt_map_cls = parse_groundtruths(end_points, CONFIG_DICT) for ap_calculator in ap_calculator_list: ap_calculator.step(batch_pred_map_cls, batch_gt_map_cls) ######## Saving data ######## save_dir = '/home/sirdome/katefgroup/language_grounding/mlcvnet_dump' # INPUT point_clouds = end_points['point_clouds'].cpu().numpy() batch_size = point_clouds.shape[0] # NETWORK OUTPUTS seed_xyz = end_points['seed_xyz'].detach().cpu().numpy( ) # (B,num_seed,3) if 'vote_xyz' in end_points: aggregated_vote_xyz = end_points['aggregated_vote_xyz'].detach( ).cpu().numpy() vote_xyz = end_points['vote_xyz'].detach().cpu().numpy( ) # (B,num_seed,3) aggregated_vote_xyz = end_points['aggregated_vote_xyz'].detach( ).cpu().numpy() objectness_scores = end_points['objectness_scores'].detach().cpu( ).numpy() # (B,K,2) pred_center = end_points['center'].detach().cpu().numpy() # (B,K,3) pred_heading_class = torch.argmax(end_points['heading_scores'], -1) # B,num_proposal pred_heading_residual = torch.gather( end_points['heading_residuals'], 2, pred_heading_class.unsqueeze(-1)) # B,num_proposal,1 pred_heading_class = pred_heading_class.detach().cpu().numpy( ) # B,num_proposal pred_heading_residual = pred_heading_residual.squeeze( 2).detach().cpu().numpy() # B,num_proposal pred_size_class = torch.argmax(end_points['size_scores'], -1) # B,num_proposal pred_size_residual = torch.gather( end_points['size_residuals'], 2, pred_size_class.unsqueeze(-1).unsqueeze(-1).repeat( 1, 1, 1, 3)) # B,num_proposal,1,3 pred_size_residual = pred_size_residual.squeeze( 2).detach().cpu().numpy() # B,num_proposal,3 # OTHERS pred_mask = end_points['pred_mask'] # B,num_proposal idx_beg = 0 pred_center_upright_camera = flip_axis_to_camera(pred_center) for i in range(batch_size): objectness_prob = softmax(objectness_scores[i, :, :])[:, 1] # (K,) # Dump predicted bounding boxes if np.sum(objectness_prob > 0.5) > 0: num_proposal = pred_center.shape[1] sr3d_boxes = [] for j in range(num_proposal): heading_angle = CONFIG_DICT['dataset_config'].class2angle(\ pred_heading_class[i,j], pred_heading_residual[i,j]) box_size = CONFIG_DICT['dataset_config'].class2size(\ int(pred_size_class[i,j]), pred_size_residual[i,j]) corners_3d_upright_camera = get_3d_box( box_size, heading_angle, pred_center_upright_camera[i, j, :]) box3d = corners_3d_upright_camera box3d = flip_axis_to_depth(box3d) sr3d_box = _convert_all_corners_to_end_points(box3d) # sr3d_box = convert_mlcvnetbox_to_sr3d(DATASET_CONFIG, pred_center[i,j,0:3], # pred_size_class[i,j], pred_size_residual[i,j]) sr3d_boxes.append(sr3d_box) if len(sr3d_boxes) > 0: sr3d_boxes = np.vstack( tuple(sr3d_boxes)) # (num_proposal, 6) # Output boxes according to their semantic labels pred_sem_cls = torch.argmax(end_points['sem_cls_scores'], -1) # B,num_proposal pred_sem_cls = pred_sem_cls.detach().cpu().numpy() mask = np.logical_and(objectness_prob > 0.5, pred_mask[i, :] == 1) sr3d_boxes = sr3d_boxes[mask, :] sr3d_boxes = list(sr3d_boxes) scan_name = scan_name_list[i] class_label_list = [ DATASET_CONFIG.class2type[p[0]] for p in batch_pred_map_cls[i] ] print(len(class_label_list)) assert (len(sr3d_boxes) == len(class_label_list)) data_dict = { "class": class_label_list, "box": sr3d_boxes, "pc": point_clouds[i] } np.save(f'{save_dir}/{scan_name}.npy', data_dict) # Log statistics for key in sorted(stat_dict.keys()): log_string('eval mean %s: %f' % (key, stat_dict[key] / (float(batch_idx + 1)))) # Evaluate average precision for i, ap_calculator in enumerate(ap_calculator_list): print('-' * 10, 'iou_thresh: %f' % (AP_IOU_THRESHOLDS[i]), '-' * 10) metrics_dict = ap_calculator.compute_metrics() for key in metrics_dict: log_string('eval %s: %f' % (key, metrics_dict[key])) mean_loss = stat_dict['loss'] / float(batch_idx + 1) return mean_loss