def export():
with open('configs/ntusl_20cm.json', 'r') as f:
config = json.load(f)
cuda_id = config['device']
device = torch.device("cuda:" + cuda_id)
config['device'] = device
VoxelGenerator(config)
net = PointPillars(config)
model_path = Path(
config['data_root']) / config['model_path'] / config['experiment']
latest_model_path = os.path.join(model_path, 'latest.pth')
checkpoint = torch.load(latest_model_path)
net.load_state_dict(checkpoint['model_state_dict'])
print('model loaded')
print("num_trainable parameters:", len(list(net.parameters())))
ONNX_FILE_PATH = 'pointpillars.onnx'
torch.onnx.export(net,
input,
ONNX_FILE_PATH,
input_names=['input'],
output_names=['output'],
export_params=True)
onnx_model = onnx.load(ONNX_FILE_PATH)
onnx.checker.check_model(onnx_model)
def __init__(self):
with open('configs/ntusl_20cm.json', 'r') as f:
config = json.load(f)
device = torch.device("cuda:0")
config['device'] = device
voxel_generator = VoxelGenerator(config)
anchor_assigner = AnchorAssigner(config)
self.inference = Inference(config, anchor_assigner)
self.infer_data = InferData(config, voxel_generator, anchor_assigner,
torch.float32)
self.net = PointPillars(config)
self.net.cuda()
model_path = Path(
config['data_root']) / config['model_path'] / config['experiment']
latest_model_path = model_path / 'latest.pth'
checkpoint = torch.load(latest_model_path)
self.net.load_state_dict(checkpoint['model_state_dict'])
print('model loaded')
self.net.eval()
self.data_root = Path(config['data_root'])
info_paths = config['eval_info']
self.infos = []
for info_path in info_paths:
info_path = self.data_root / info_path
with open(info_path, 'rb') as f:
self.infos += pickle.load(f)
def build_dataset(self):
with open(self.config_path, 'r') as f:
config = json.load(f)
voxel_generator = VoxelGenerator(config)
anchor_assigner = AnchorAssigner(config)
dataset = GenericDataset(config, config['train_info'], voxel_generator, anchor_assigner, training=True, augm=self.augm)
# dataset = GenericDataset(config, config['eval_info'], voxel_generator, anchor_assigner, training=True, augm=self.augm)
return dataset
def infer():
with open('configs/inhouse.json', 'r') as f:
config = json.load(f)
device = torch.device("cuda:0")
config['device'] = device
voxel_generator = VoxelGenerator(config)
anchor_assigner = AnchorAssigner(config)
inference = Inference(config, anchor_assigner)
eval_dataset = GenericDataset(config,
config['eval_info'],
voxel_generator,
anchor_assigner,
training=False,
augm=False)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=config['batch_size'],
shuffle=False,
num_workers=config['num_workers'],
pin_memory=False,
drop_last=True,
collate_fn=merge_second_batch)
net = PointPillars(config)
net.cuda()
model_path = config['model_path']
experiment = config['experiment']
model_path = os.path.join(model_path, experiment)
latest_model_path = os.path.join(model_path, 'latest.pth')
checkpoint = torch.load(latest_model_path)
net.load_state_dict(checkpoint['model_state_dict'])
print('model loaded')
net.half()
net.eval()
dt_annos = []
toGPU_t = 0.0
network_t = 0.0
post_t = 0.0
data_iter = iter(eval_dataloader)
for step in range(9999999):
print('\rStep %d' % step, end='')
try:
example = next(data_iter)
example = example_convert_to_torch(example, dtype=torch.float16)
with torch.no_grad():
preds_dict = net(example)
dt_annos += inference.infer(example, preds_dict)
except StopIteration:
break
gt_annos = [info["annos"] for info in eval_dataset.infos]
eval_classes = ["vehicle", "pedestrian", "cyclist"]
APs = get_official_eval_result(gt_annos, dt_annos, eval_classes)
def __init__(self):
print('initializing model...')
# build model and preprocessor #
with open('configs/ntusl_20cm.json', 'r') as f:
config = json.load(f)
device = torch.device("cuda:0")
config['device'] = device
self.voxel_generator = VoxelGenerator(config)
self.anchor_assigner = AnchorAssigner(config)
self.inference = Inference(config, self.anchor_assigner)
self.infer_data = InferData(config, self.voxel_generator,
self.anchor_assigner, torch.float32)
self.net = PointPillars(config)
self.net.cuda()
model_path = Path(
config['data_root']) / config['model_path'] / config['experiment']
latest_model_path = model_path / 'latest.pth'
checkpoint = torch.load(latest_model_path)
self.net.load_state_dict(checkpoint['model_state_dict'])
print('model loaded')
self.net.eval()
self.q_msg = queue.Queue(maxsize=2)
def infer_trt():
with open('configs/ntusl_20cm.json', 'r') as f:
config = json.load(f)
device = torch.device("cuda:0")
config['device'] = device
voxel_generator = VoxelGenerator(config)
anchor_assigner = AnchorAssigner(config)
inference = Inference(config, anchor_assigner)
infer_data = InferData(config, voxel_generator, anchor_assigner,
torch.float32)
net = PointPillars(config)
# model_path = Path(config['model_path']) / config['experiment']
# latest_model_path = model_path / '265000.pth'
#
# checkpoint = torch.load(latest_model_path, map_location=lambda storage, loc: storage)
# net.load_state_dict(checkpoint['model_state_dict'])
print('model loaded')
net.to(device)
# net.half()
net.eval()
data_root = Path(config['data_root'])
info_paths = config['eval_info']
infos = []
for info_path in info_paths:
info_path = data_root / info_path
with open(info_path, 'rb') as f:
infos += pickle.load(f)
changeInfo(infos)
dt_annos = []
time_elapse, pre_time_avg, net_time_avg, post_time_avg = 0.0, 0.0, 0.0, 0.0
len_infos = len(infos)
for idx, info in enumerate(infos):
print('\ridx %d' % idx, end='')
v_path = data_root / info['velodyne_path']
points = np.fromfile(v_path, dtype=np.float32,
count=-1).reshape([-1, 4])
start_time = time.time()
example = infer_data.get(points, toTorch=True)
pre_time = time.time()
with torch.no_grad():
# inputs = (example["voxels"], example["num_points_per_voxel"], example["coordinates"], example["voxel_num"])
# input_names = ['voxels', 'num_points_per_voxel', 'coordinates', 'voxel_num']
# torch.onnx.export(net, inputs, "pp.onnx", verbose=True, opset_version=11, input_names=input_names)
# return 0
preds_dict = net(example)
torch.cuda.synchronize()
net_time = time.time()
dt_annos += inference.infer_gpu(example, preds_dict)
post_time = time.time()
pre_time_avg += pre_time - start_time
net_time_avg += net_time - pre_time
post_time_avg += post_time - net_time
time_elapse += post_time - start_time
print("\naverage time : \t\t\t%.5f" % (time_elapse / len_infos))
print("pre-processing time : \t%.5f" % (pre_time_avg / len_infos))
print("network time : \t\t\t%.5f" % (net_time_avg / len_infos))
# print("pfn_time time : \t\t\t%.5f" % (net.pfn_time / len_infos))
# print("scatter time : \t\t\t\t%.5f" % (net.scatter_time / len_infos))
# print("rpn time : \t\t\t\t\t%.5f" % (net.rpn_time / len_infos))
# print("heads time : \t\t\t\t%.5f" % (net.heads_time / len_infos))
print("post-processing time : \t%.5f" % (post_time_avg / len_infos))
print("p1 time : \t\t\t\t\t%.5f" % (inference.p1 / len_infos))
print("p2 time : \t\t\t\t\t%.5f" % (inference.p2 / len_infos))
print("p3 time : \t\t\t\t\t%.5f" % (inference.p3 / len_infos))
print("p4 time : \t\t\t\t\t%.5f" % (inference.p4 / len_infos))
dt_path = Path(
config['data_root']) / config['result_path'] / config['experiment']
if not os.path.exists(dt_path):
os.makedirs(dt_path)
with open(dt_path / config['dt_info'], 'wb') as f:
pickle.dump(dt_annos, f)
gt_annos = [info["annos"] for info in infos]
eval_classes = ["vehicle", "pedestrian",
"cyclist"] # ["vehicle", "pedestrian", "cyclist"]
for range_thresh in np.arange(80.0, 90.0, 10.0):
APs, eval_str = get_official_eval_result(gt_annos, dt_annos,
eval_classes, range_thresh)
print(eval_str)
def trt_eval():
with open('configs/ntusl_20cm.json', 'r') as f:
config = json.load(f)
device = torch.device("cuda:0")
config['device'] = device
voxel_generator = VoxelGenerator(config)
anchor_assigner = AnchorAssigner(config)
inference = Inference(config, anchor_assigner)
infer_data = InferData(config, voxel_generator, anchor_assigner,
torch.float32)
pfn_engine_path = '../deployment/pfn16.engine'
rpn_engine_path = '../deployment/rpn16.engine'
head_engine_path = '../deployment/head16.engine'
net = PointPillars(config, pfn_engine_path, rpn_engine_path,
head_engine_path)
data_root = Path(config['data_root'])
info_paths = config['eval_info']
infos = []
for info_path in info_paths:
info_path = data_root / info_path
with open(info_path, 'rb') as f:
infos += pickle.load(f)
changeInfo(infos)
dt_annos = []
time_elapse, pre_time_avg, net_time_avg, post_time_avg = 0.0, 0.0, 0.0, 0.0
len_infos = len(infos)
for idx, info in enumerate(infos):
print('\ridx %d' % idx, end='')
v_path = data_root / info['velodyne_path']
points = np.fromfile(v_path, dtype=np.float32,
count=-1).reshape([-1, 4])
start_time = time.time()
example = infer_data.get(points, toTorch=True)
pre_time = time.time()
with torch.no_grad():
preds_dict = net(example)
torch.cuda.synchronize()
net_time = time.time()
dt_annos += inference.infer_gpu(example, preds_dict)
post_time = time.time()
pre_time_avg += pre_time - start_time
net_time_avg += net_time - pre_time
post_time_avg += post_time - net_time
time_elapse += post_time - start_time
print("\naverage time : \t\t\t%.5f" % (time_elapse / len_infos))
print("pre-processing time : \t%.5f" % (pre_time_avg / len_infos))
print("network time : \t\t\t%.5f" % (net_time_avg / len_infos))
# print("pfn_time time : \t\t\t%.5f" % (net.pfn_time / len_infos))
# print("scatter time : \t\t\t\t%.5f" % (net.scatter_time / len_infos))
# print("rpn time : \t\t\t\t\t%.5f" % (net.rpn_time / len_infos))
# print("heads time : \t\t\t\t%.5f" % (net.heads_time / len_infos))
print("post-processing time : \t%.5f" % (post_time_avg / len_infos))
print("p1 time : \t\t\t\t\t%.5f" % (inference.p1 / len_infos))
print("p2 time : \t\t\t\t\t%.5f" % (inference.p2 / len_infos))
print("p3 time : \t\t\t\t\t%.5f" % (inference.p3 / len_infos))
print("p4 time : \t\t\t\t\t%.5f" % (inference.p4 / len_infos))
dt_path = Path(
config['data_root']) / config['result_path'] / config['experiment']
if not os.path.exists(dt_path):
os.makedirs(dt_path)
with open(dt_path / config['dt_info'], 'wb') as f:
pickle.dump(dt_annos, f)
gt_annos = [info["annos"] for info in infos]
eval_classes = ["vehicle", "pedestrian",
"cyclist"] # ["vehicle", "pedestrian", "cyclist"]
for range_thresh in np.arange(80.0, 90.0, 10.0):
APs, eval_str = get_official_eval_result(gt_annos, dt_annos,
eval_classes, range_thresh)
print(eval_str)
def train():
with open('configs/ntusl_20cm.json', 'r') as f:
config = json.load(f)
# cuda_id = config['device']
device = torch.device("cuda:0")
config['device'] = device
voxel_generator = VoxelGenerator(config)
anchor_assigner = AnchorAssigner(config)
loss_generator = LossGenerator(config)
metrics = Metric()
inference = Inference(config, anchor_assigner)
train_dataset = GenericDataset(config,
config['train_info'],
voxel_generator,
anchor_assigner,
training=True,
augm=True)
train_dataloader = torch.utils.data.DataLoader(
train_dataset,
batch_size=config['batch_size'],
shuffle=True,
num_workers=config['num_workers'],
pin_memory=False,
drop_last=True,
collate_fn=merge_second_batch,
worker_init_fn=worker_init_fn)
eval_dataset = GenericDataset(config,
config['eval_info'],
voxel_generator,
anchor_assigner,
training=False)
eval_dataloader = torch.utils.data.DataLoader(
eval_dataset,
batch_size=config['batch_size'],
shuffle=False,
num_workers=config['num_workers'],
pin_memory=False,
drop_last=True,
collate_fn=merge_second_batch)
eval_annos = [info["annos"] for info in eval_dataset.infos]
net = PointPillars(config)
net.to(device)
optimizer = torch.optim.Adam(net.parameters(),
lr=config['learning_rate']) # AdamW
step_num = 0
model_path = Path(
config['data_root']) / config['model_path'] / config['experiment']
latest_model_path = os.path.join(model_path, 'latest.pth')
log_file = os.path.join(model_path, 'log.txt')
if not os.path.exists(model_path):
os.makedirs(model_path)
elif os.path.exists(latest_model_path):
checkpoint = torch.load(latest_model_path)
net.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
optimizer.param_groups[0]['lr'] = config['learning_rate']
# optimizer.param_groups[0]['betas'] = (0.5, 0.999)
step_num = checkpoint['step']
print('model loaded')
print("num_trainable parameters:", len(list(net.parameters())))
print("num train data:", len(train_dataset))
print("num eval data:", len(eval_dataset))
net.train()
display_step = 50
save_step = 5000
eval_step = 5000
avg_loss = 0
data_iter = iter(train_dataloader)
avg_time = time.time()
# scaler = torch.cuda.amp.GradScaler()
for step in range(step_num + 1, 10000000):
epoch = (step * config['batch_size']) // len(train_dataset) + 1
try:
example = next(data_iter)
except StopIteration:
print("end epoch")
data_iter = iter(train_dataloader)
example = next(data_iter)
optimizer.zero_grad()
example = example_convert_to_torch(example, device=device)
# with torch.cuda.amp.autocast():
preds_dict = net(example)
loss_dict = loss_generator.generate(preds_dict, example)
loss = loss_dict['loss']
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 10.0)
optimizer.step()
# scaler.scale(loss).backward() #loss.backward()
# scaler.step(optimizer) #optimizer.step()
# scaler.update()
labels = example['labels']
cls_preds = preds_dict['cls_preds'].view(config['batch_size'], -1, 1)
metrics.update(labels, cls_preds)
avg_loss += loss.detach().item()
if step % save_step == 0:
torch.save(
{
'step': step,
'model_state_dict': net.state_dict(),
'optimizer_state_dict': optimizer.state_dict()
}, latest_model_path)
step_model_path = os.path.join(model_path, str(step) + '.pth')
torch.save(
{
'step': step,
'model_state_dict': net.state_dict(),
'optimizer_state_dict': optimizer.state_dict()
}, step_model_path)
print("Model saved")
if step % display_step == 0:
avg_loss = avg_loss / display_step
avg_time = (time.time() - avg_time) / display_step
print('### Epoch %d, Step %d, Loss: %f, Time: %f' %
(epoch, step, avg_loss, avg_time))
print(metrics)
metrics.clear()
avg_loss = 0
avg_time = time.time()
if step % eval_step == 0:
net.eval()
print("#################################")
print("# EVAL")
print("#################################")
dt_annos = []
t = time.time()
eval_total = len(eval_dataloader)
for count, example in enumerate(eval_dataloader, start=1):
print('\r%d / %d' % (count, eval_total), end='')
example = example_convert_to_torch(example, device=device)
preds_dict = net(example)
dt_annos += inference.infer_gpu(example, preds_dict)
t = (time.time() - t) / len(eval_dataloader)
print('\nTime for each frame: %f\n' % t)
gt_annos = copy.deepcopy(eval_annos)
eval_classes = ["vehicle", "pedestrian",
"cyclist"] # ["vehicle", "pedestrian", "cyclist"]
APs, eval_str = get_official_eval_result(gt_annos, dt_annos,
eval_classes, 1000.0)
log_str = '\nStep: %d%s' % (step, eval_str)
print(log_str)
with open(log_file, 'a+') as f:
f.write(log_str)
net.train()