def main():
config = get_config()
if config.resume:
json_config = json.load(open(config.resume + '/config.json', 'r'))
json_config['resume'] = config.resume
config = edict(json_config)
if config.is_cuda and not torch.cuda.is_available():
raise Exception("No GPU found")
device = get_torch_device(config.is_cuda)
logging.info('===> Configurations')
dconfig = vars(config)
for k in dconfig:
logging.info(' {}: {}'.format(k, dconfig[k]))
DatasetClass = load_dataset(config.dataset)
if config.test_original_pointcloud:
if not DatasetClass.IS_FULL_POINTCLOUD_EVAL:
raise ValueError(
'This dataset does not support full pointcloud evaluation.')
if config.evaluate_original_pointcloud:
if not config.return_transformation:
raise ValueError(
'Pointcloud evaluation requires config.return_transformation=true.'
)
if (config.return_transformation ^ config.evaluate_original_pointcloud):
raise ValueError(
'Rotation evaluation requires config.evaluate_original_pointcloud=true and '
'config.return_transformation=true.')
logging.info('===> Initializing dataloader')
if config.is_train:
train_data_loader = initialize_data_loader(
DatasetClass,
config,
phase=config.train_phase,
threads=config.threads,
augment_data=True,
shuffle=True,
repeat=True,
batch_size=config.batch_size,
limit_numpoints=config.train_limit_numpoints)
val_data_loader = initialize_data_loader(
DatasetClass,
config,
threads=config.val_threads,
phase=config.val_phase,
augment_data=False,
shuffle=True,
repeat=False,
batch_size=config.val_batch_size,
limit_numpoints=False)
if train_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = train_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3 # RGB color
num_labels = train_data_loader.dataset.NUM_LABELS
else:
test_data_loader = initialize_data_loader(
DatasetClass,
config,
threads=config.threads,
phase=config.test_phase,
augment_data=False,
shuffle=False,
repeat=False,
batch_size=config.test_batch_size,
limit_numpoints=False)
if test_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = test_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3 # RGB color
num_labels = test_data_loader.dataset.NUM_LABELS
logging.info('===> Building model')
NetClass = load_model(config.model)
if config.wrapper_type == 'None':
model = NetClass(num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}'.format(
NetClass.__name__, count_parameters(model)))
else:
wrapper = load_wrapper(config.wrapper_type)
model = wrapper(NetClass, num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}'.format(
wrapper.__name__ + NetClass.__name__, count_parameters(model)))
logging.info(model)
model = model.to(device)
if config.weights == 'modelzoo': # Load modelzoo weights if possible.
logging.info('===> Loading modelzoo weights')
model.preload_modelzoo()
# Load weights if specified by the parameter.
elif config.weights.lower() != 'none':
logging.info('===> Loading weights: ' + config.weights)
state = torch.load(config.weights)
if config.weights_for_inner_model:
model.model.load_state_dict(state['state_dict'])
else:
if config.lenient_weight_loading:
matched_weights = load_state_with_same_shape(
model, state['state_dict'])
model_dict = model.state_dict()
model_dict.update(matched_weights)
model.load_state_dict(model_dict)
else:
model.load_state_dict(state['state_dict'])
if config.is_train:
train(model, train_data_loader, val_data_loader, config)
else:
test(model, test_data_loader, config)
def main():
config = get_config()
if config.is_cuda and not torch.cuda.is_available():
raise Exception("No GPU found")
# torch.set_num_threads(config.threads)
torch.manual_seed(config.seed)
if config.is_cuda:
torch.cuda.manual_seed(config.seed)
logging.info('===> Configurations')
dconfig = vars(config)
for k in dconfig:
logging.info(' {}: {}'.format(k, dconfig[k]))
DatasetClass = load_dataset(config.dataset)
logging.info('===> Initializing dataloader')
if config.is_train:
train_data_loader = initialize_data_loader(
DatasetClass,
config,
phase=config.train_phase,
threads=config.threads,
augment_data=True,
shuffle=True,
repeat=True,
batch_size=config.batch_size,
limit_numpoints=config.train_limit_numpoints)
val_data_loader = initialize_data_loader(
DatasetClass,
config,
threads=config.val_threads,
phase=config.val_phase,
augment_data=False,
shuffle=False,
repeat=False,
batch_size=config.val_batch_size,
limit_numpoints=False)
dataset = train_data_loader.dataset
else:
test_data_loader = initialize_data_loader(
DatasetClass,
config,
threads=config.threads,
phase=config.test_phase,
augment_data=False,
shuffle=False,
repeat=False,
batch_size=config.test_batch_size,
limit_numpoints=False)
dataset = test_data_loader.dataset
logging.info('===> Building model')
pipeline_model = load_pipeline(config, dataset)
logging.info(
f'===> Number of trainable parameters: {count_parameters(pipeline_model)}'
)
# Load weights if specified by the parameter.
if config.weights.lower() != 'none':
logging.info('===> Loading weights: ' + config.weights)
state = torch.load(config.weights)
pipeline_model.load_state_dict(
state['state_dict'], strict=(not config.lenient_weight_loading))
if config.pretrained_weights.lower() != 'none':
logging.info('===> Loading pretrained weights: ' +
config.pretrained_weights)
state = torch.load(config.pretrained_weights)
pipeline_model.load_pretrained_weights(state['state_dict'])
if config.is_train:
train(pipeline_model, train_data_loader, val_data_loader, config)
else:
test(pipeline_model, test_data_loader, config)
def main():
pcd = o3d.io.read_point_cloud(INPUT_PCD)
pcd_xyz, pcd_feats = np.asarray(pcd.points), np.asarray(pcd.colors)
print(f'Finished reading {INPUT_PCD}:')
print(f'# points: {pcd_xyz.shape[0]} points')
print(f'volume: {np.prod(pcd_xyz.max(0) - pcd_xyz.min(0))} m^3')
sparse_voxelizer = Voxelizer(voxel_size=0.05)
height = pcd_xyz[:, LOCFEAT_IDX].copy()
height -= np.percentile(height, 0.99)
pcd_feats = np.hstack((pcd_feats, height[:, None]))
preprocess = []
for i in range(7):
start = time.time()
coords, feats, labels, transformation = sparse_voxelizer.voxelize(
pcd_xyz, pcd_feats, None)
preprocess.append(time.time() - start)
print('Voxelization time average: ', np.mean(preprocess[2:]))
coords = ME.utils.batched_coordinates([torch.from_numpy(coords).int()])
feats = torch.from_numpy(feats.astype(np.float32)).to('cuda')
config = get_config()
DatasetClass = load_dataset(config.dataset)
dataloader = initialize_data_loader(DatasetClass,
config,
threads=config.threads,
phase=config.test_phase,
augment_data=False,
shuffle=False,
repeat=False,
batch_size=config.test_batch_size,
limit_numpoints=False)
pipeline_model = load_pipeline(config, dataloader.dataset)
if config.weights.lower() != 'none':
state = torch.load(config.weights)
pipeline_model.load_state_dict(
state['state_dict'], strict=(not config.lenient_weight_loading))
pipeline_model.eval()
evaltime = []
for i in range(7):
start = time.time()
sinput = ME.SparseTensor(feats, coords).to('cuda')
datum = {'sinput': sinput, 'anchor_match_coords': None}
outputs = pipeline_model(datum, False)
evaltime.append(time.time() - start)
print('Network runtime average: ', np.mean(evaltime[2:]))
pred = outputs['detection'][0]
pred_mask = pred[:, -1] > MIN_CONF
pred = pred[pred_mask]
print(f'Detected {pred.shape[0]} instances')
bbox_xyz = pred[:, :6]
bbox_xyz += 0.5
bbox_xyz[:, :3] += 0.5
bbox_xyz[:, 3:] -= 0.5
bbox_xyz[:, 3:] = np.maximum(bbox_xyz[:, 3:], bbox_xyz[:, :3] + 0.1)
bbox_xyz = bbox_xyz.reshape(-1, 3)
bbox_xyz1 = np.hstack((bbox_xyz, np.ones((bbox_xyz.shape[0], 1))))
bbox_xyz = np.linalg.solve(transformation.reshape(4, 4),
bbox_xyz1.T).T[:, :3].reshape(-1, 6)
pred = np.hstack((bbox_xyz, pred[:, 6:]))
pred_pcd = pc_utils.visualize_bboxes(pred[:, :6],
pred[:, 6],
num_points=1000)
mesh = o3d.io.read_triangle_mesh(INPUT_MESH)
mesh.compute_vertex_normals()
pc_utils.visualize_pcd(mesh, pred_pcd)
def main(config, init_distributed=False):
if not torch.cuda.is_available():
raise Exception('No GPUs FOUND.')
# setup initial seed
torch.cuda.set_device(config.device_id)
torch.manual_seed(config.seed)
torch.cuda.manual_seed(config.seed)
device = config.device_id
distributed = config.distributed_world_size > 1
if init_distributed:
config.distributed_rank = distributed_utils.distributed_init(config)
setup_logging(config)
logging.info('===> Configurations')
dconfig = vars(config)
for k in dconfig:
logging.info(' {}: {}'.format(k, dconfig[k]))
DatasetClass = load_dataset(config.dataset)
if config.test_original_pointcloud:
if not DatasetClass.IS_FULL_POINTCLOUD_EVAL:
raise ValueError(
'This dataset does not support full pointcloud evaluation.')
if config.evaluate_original_pointcloud:
if not config.return_transformation:
raise ValueError(
'Pointcloud evaluation requires config.return_transformation=true.'
)
if (config.return_transformation ^ config.evaluate_original_pointcloud):
raise ValueError(
'Rotation evaluation requires config.evaluate_original_pointcloud=true and '
'config.return_transformation=true.')
logging.info('===> Initializing dataloader')
if config.is_train:
train_data_loader = initialize_data_loader(
DatasetClass,
config,
phase=config.train_phase,
num_workers=config.num_workers,
augment_data=True,
shuffle=True,
repeat=True,
batch_size=config.batch_size,
limit_numpoints=config.train_limit_numpoints)
val_data_loader = initialize_data_loader(
DatasetClass,
config,
num_workers=config.num_val_workers,
phase=config.val_phase,
augment_data=False,
shuffle=True,
repeat=False,
batch_size=config.val_batch_size,
limit_numpoints=False)
if train_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = train_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3 # RGB color
num_labels = train_data_loader.dataset.NUM_LABELS
else:
test_data_loader = initialize_data_loader(
DatasetClass,
config,
num_workers=config.num_workers,
phase=config.test_phase,
augment_data=False,
shuffle=False,
repeat=False,
batch_size=config.test_batch_size,
limit_numpoints=False)
if test_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = test_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3 # RGB color
num_labels = test_data_loader.dataset.NUM_LABELS
logging.info('===> Building model')
NetClass = load_model(config.model)
if config.wrapper_type == 'None':
model = NetClass(num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}'.format(
NetClass.__name__, count_parameters(model)))
else:
wrapper = load_wrapper(config.wrapper_type)
model = wrapper(NetClass, num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}'.format(
wrapper.__name__ + NetClass.__name__, count_parameters(model)))
logging.info(model)
if config.weights == 'modelzoo': # Load modelzoo weights if possible.
logging.info('===> Loading modelzoo weights')
model.preload_modelzoo()
# Load weights if specified by the parameter.
elif config.weights.lower() != 'none':
logging.info('===> Loading weights: ' + config.weights)
# state = torch.load(config.weights)
state = torch.load(
config.weights,
map_location=lambda s, l: default_restore_location(s, 'cpu'))
if config.weights_for_inner_model:
model.model.load_state_dict(state['state_dict'])
else:
if config.lenient_weight_loading:
matched_weights = load_state_with_same_shape(
model, state['state_dict'])
model_dict = model.state_dict()
model_dict.update(matched_weights)
model.load_state_dict(model_dict)
else:
model.load_state_dict(state['state_dict'])
model = model.cuda()
if distributed:
model = torch.nn.parallel.DistributedDataParallel(
module=model,
device_ids=[device],
output_device=device,
broadcast_buffers=False,
bucket_cap_mb=config.bucket_cap_mb)
if config.is_train:
train(model, train_data_loader, val_data_loader, config)
else:
test(model, test_data_loader, config)
def main_worker(gpu, ngpus_per_node, config):
config.gpu = gpu
#if config.is_cuda and not torch.cuda.is_available():
# raise Exception("No GPU found")
if config.gpu is not None:
print("Use GPU: {} for training".format(config.gpu))
device = get_torch_device(config.is_cuda)
if config.distributed:
if config.dist_url == "env://" and config.rank == -1:
config.rank = int(os.environ["RANK"])
if config.multiprocessing_distributed:
# For multiprocessing distributed training, rank needs to be the
# global rank among all the processes
config.rank = config.rank * ngpus_per_node + gpu
dist.init_process_group(backend=config.dist_backend,
init_method=config.dist_url,
world_size=config.world_size,
rank=config.rank)
logging.info('===> Configurations')
dconfig = vars(config)
for k in dconfig:
logging.info(' {}: {}'.format(k, dconfig[k]))
DatasetClass = load_dataset(config.dataset)
if config.test_original_pointcloud:
if not DatasetClass.IS_FULL_POINTCLOUD_EVAL:
raise ValueError(
'This dataset does not support full pointcloud evaluation.')
if config.evaluate_original_pointcloud:
if not config.return_transformation:
raise ValueError(
'Pointcloud evaluation requires config.return_transformation=true.'
)
if (config.return_transformation ^ config.evaluate_original_pointcloud):
raise ValueError(
'Rotation evaluation requires config.evaluate_original_pointcloud=true and '
'config.return_transformation=true.')
logging.info('===> Initializing dataloader')
if config.is_train:
train_data_loader, train_sampler = initialize_data_loader(
DatasetClass,
config,
phase=config.train_phase,
num_workers=config.num_workers,
augment_data=True,
shuffle=True,
repeat=True,
batch_size=config.batch_size,
limit_numpoints=config.train_limit_numpoints)
val_data_loader, val_sampler = initialize_data_loader(
DatasetClass,
config,
num_workers=config.num_val_workers,
phase=config.val_phase,
augment_data=False,
shuffle=True,
repeat=False,
batch_size=config.val_batch_size,
limit_numpoints=False)
if train_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = train_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3 # RGB color
num_labels = train_data_loader.dataset.NUM_LABELS
else:
test_data_loader, val_sampler = initialize_data_loader(
DatasetClass,
config,
num_workers=config.num_workers,
phase=config.test_phase,
augment_data=False,
shuffle=False,
repeat=False,
batch_size=config.test_batch_size,
limit_numpoints=False)
if test_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = test_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3 # RGB color
num_labels = test_data_loader.dataset.NUM_LABELS
logging.info('===> Building model')
NetClass = load_model(config.model)
if config.wrapper_type == 'None':
model = NetClass(num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}'.format(
NetClass.__name__, count_parameters(model)))
else:
wrapper = load_wrapper(config.wrapper_type)
model = wrapper(NetClass, num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}'.format(
wrapper.__name__ + NetClass.__name__, count_parameters(model)))
logging.info(model)
if config.weights == 'modelzoo': # Load modelzoo weights if possible.
logging.info('===> Loading modelzoo weights')
model.preload_modelzoo()
# Load weights if specified by the parameter.
elif config.weights.lower() != 'none':
logging.info('===> Loading weights: ' + config.weights)
state = torch.load(config.weights)
if config.weights_for_inner_model:
model.model.load_state_dict(state['state_dict'])
else:
if config.lenient_weight_loading:
matched_weights = load_state_with_same_shape(
model, state['state_dict'])
model_dict = model.state_dict()
model_dict.update(matched_weights)
model.load_state_dict(model_dict)
else:
init_model_from_weights(model, state, freeze_bb=False)
if config.distributed:
# For multiprocessing distributed, DistributedDataParallel constructor
# should always set the single device scope, otherwise,
# DistributedDataParallel will use all available devices.
if config.gpu is not None:
torch.cuda.set_device(config.gpu)
model.cuda(config.gpu)
# When using a single GPU per process and per
# DistributedDataParallel, we need to divide the batch size
# ourselves based on the total number of GPUs we have
config.batch_size = int(config.batch_size / ngpus_per_node)
config.num_workers = int(
(config.num_workers + ngpus_per_node - 1) / ngpus_per_node)
model = torch.nn.parallel.DistributedDataParallel(
model, device_ids=[config.gpu])
else:
model.cuda()
# DistributedDataParallel will divide and allocate batch_size to all
# available GPUs if device_ids are not set
model = torch.nn.parallel.DistributedDataParallel(model)
if config.is_train:
train(model,
train_data_loader,
val_data_loader,
config,
train_sampler=train_sampler,
ngpus_per_node=ngpus_per_node)
else:
test(model, test_data_loader, config)
def main():
config = get_config()
if config.test_config:
json_config = json.load(open(config.test_config, 'r'))
json_config['is_train'] = False
json_config['weights'] = config.weights
config = edict(json_config)
elif config.resume:
json_config = json.load(open(config.resume + '/config.json', 'r'))
json_config['resume'] = config.resume
config = edict(json_config)
if config.is_cuda and not torch.cuda.is_available():
raise Exception("No GPU found")
device = get_torch_device(config.is_cuda)
# torch.set_num_threads(config.threads)
# torch.manual_seed(config.seed)
# if config.is_cuda:
# torch.cuda.manual_seed(config.seed)
logging.info('===> Configurations')
dconfig = vars(config)
for k in dconfig:
logging.info(' {}: {}'.format(k, dconfig[k]))
DatasetClass = load_dataset(config.dataset)
logging.info('===> Initializing dataloader')
if config.is_train:
setup_seed(2021)
train_data_loader = initialize_data_loader(
DatasetClass,
config,
phase=config.train_phase,
# threads=config.threads,
threads=4,
augment_data=True,
elastic_distortion=config.train_elastic_distortion,
# elastic_distortion=False,
# shuffle=True,
shuffle=False,
# repeat=True,
repeat=False,
batch_size=config.batch_size,
# batch_size=8,
limit_numpoints=config.train_limit_numpoints)
# dat = iter(train_data_loader).__next__()
# import ipdb; ipdb.set_trace()
val_data_loader = initialize_data_loader(
DatasetClass,
config,
# threads=0,
threads=config.val_threads,
phase=config.val_phase,
augment_data=False,
elastic_distortion=config.test_elastic_distortion,
shuffle=False,
repeat=False,
# batch_size=config.val_batch_size,
batch_size=8,
limit_numpoints=False)
# dat = iter(val_data_loader).__next__()
# import ipdb; ipdb.set_trace()
if train_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = train_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3
num_labels = train_data_loader.dataset.NUM_LABELS
else:
test_data_loader = initialize_data_loader(
DatasetClass,
config,
threads=config.threads,
phase=config.test_phase,
augment_data=False,
elastic_distortion=config.test_elastic_distortion,
shuffle=False,
repeat=False,
batch_size=config.test_batch_size,
limit_numpoints=False)
if test_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = test_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3
num_labels = test_data_loader.dataset.NUM_LABELS
logging.info('===> Building model')
NetClass = load_model(config.model)
model = NetClass(num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}'.format(
NetClass.__name__, count_parameters(model)))
logging.info(model)
# Set the number of threads
# ME.initialize_nthreads(12, D=3)
model = model.to(device)
if config.weights == 'modelzoo': # Load modelzoo weights if possible.
logging.info('===> Loading modelzoo weights')
model.preload_modelzoo()
# Load weights if specified by the parameter.
elif config.weights.lower() != 'none':
logging.info('===> Loading weights: ' + config.weights)
state = torch.load(config.weights)
if config.weights_for_inner_model:
model.model.load_state_dict(state['state_dict'])
else:
if config.lenient_weight_loading:
matched_weights = load_state_with_same_shape(
model, state['state_dict'])
model_dict = model.state_dict()
model_dict.update(matched_weights)
model.load_state_dict(model_dict)
else:
model.load_state_dict(state['state_dict'])
if config.is_train:
train(model, train_data_loader, val_data_loader, config)
else:
test(model, test_data_loader, config)
def setup_seed(seed):
torch.manual_seed(seed)
torch.cuda.manual_seed_all(seed)
np.random.seed(seed)
random.seed(seed)
torch.backends.cudnn.deterministic = True
setup_seed(2021)
DatasetClass = ScannetSparseVoxelizationDataset
'''
having some import issue
'''
from config import get_config
import sys
sys.path.append('../')
from dataset import initialize_data_loader
config = get_config()
train_data_loader = initialize_data_loader(
DatasetClass,
config,
phase='train',
threads=0,
augment_data=True,
elastic_distortion=config.train_elastic_distortion,
shuffle=True,
repeat=True,
batch_size=config.batch_size,
limit_numpoints=config.train_limit_numpoints)
def main():
config = get_config()
ch = logging.StreamHandler(sys.stdout)
logging.getLogger().setLevel(logging.INFO)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
file_handler = logging.FileHandler(
os.path.join(config.log_dir, './model.log'))
file_handler.setLevel(logging.INFO)
file_handler.setFormatter(formatter)
logging.basicConfig(format=os.uname()[1].split('.')[0] +
' %(asctime)s %(message)s',
datefmt='%m/%d %H:%M:%S',
handlers=[ch, file_handler])
if config.test_config:
# When using the test_config, reload and overwrite it, so should keep some configs
val_bs = config.val_batch_size
is_export = config.is_export
json_config = json.load(open(config.test_config, 'r'))
json_config['is_train'] = False
json_config['weights'] = config.weights
json_config['multiprocess'] = False
json_config['log_dir'] = config.log_dir
json_config['val_threads'] = config.val_threads
json_config['submit'] = config.submit
config = edict(json_config)
config.val_batch_size = val_bs
config.is_export = is_export
config.is_train = False
sys.path.append(config.log_dir)
# from local_models import load_model
else:
'''bakup files'''
if not os.path.exists(os.path.join(config.log_dir, 'models')):
os.mkdir(os.path.join(config.log_dir, 'models'))
for filename in os.listdir('./models'):
if ".py" in filename: # donnot cp the init file since it will raise import error
shutil.copy(os.path.join("./models", filename),
os.path.join(config.log_dir, 'models'))
elif 'modules' in filename:
# copy the moduls folder also
if os.path.exists(
os.path.join(config.log_dir, 'models/modules')):
shutil.rmtree(
os.path.join(config.log_dir, 'models/modules'))
shutil.copytree(os.path.join('./models', filename),
os.path.join(config.log_dir, 'models/modules'))
shutil.copy('./main.py', config.log_dir)
shutil.copy('./config.py', config.log_dir)
shutil.copy('./lib/train.py', config.log_dir)
shutil.copy('./lib/test.py', config.log_dir)
if config.resume == 'True':
new_iter_size = config.max_iter
new_bs = config.batch_size
config.resume = config.log_dir
json_config = json.load(open(config.resume + '/config.json', 'r'))
json_config['resume'] = config.resume
config = edict(json_config)
config.weights = os.path.join(
config.log_dir, 'weights.pth') # use the pre-trained weights
logging.info('==== resuming from {}, Total {} ======'.format(
config.max_iter, new_iter_size))
config.max_iter = new_iter_size
config.batch_size = new_bs
else:
config.resume = None
if config.is_cuda and not torch.cuda.is_available():
raise Exception("No GPU found")
gpu_list = range(config.num_gpu)
device = get_torch_device(config.is_cuda)
# torch.set_num_threads(config.threads)
# torch.manual_seed(config.seed)
# if config.is_cuda:
# torch.cuda.manual_seed(config.seed)
logging.info('===> Configurations')
dconfig = vars(config)
for k in dconfig:
logging.info(' {}: {}'.format(k, dconfig[k]))
DatasetClass = load_dataset(config.dataset)
logging.info('===> Initializing dataloader')
setup_seed(2021)
"""
---- Setting up train, val, test dataloaders ----
Supported datasets:
- ScannetSparseVoxelizationDataset
- ScannetDataset
- SemanticKITTI
"""
point_scannet = False
if config.is_train:
if config.dataset == 'ScannetSparseVoxelizationDataset':
point_scannet = False
train_data_loader = initialize_data_loader(
DatasetClass,
config,
phase=config.train_phase,
threads=config.threads,
augment_data=True,
elastic_distortion=config.train_elastic_distortion,
shuffle=True,
# shuffle=False, # DEBUG ONLY!!!
repeat=True,
# repeat=False,
batch_size=config.batch_size,
limit_numpoints=config.train_limit_numpoints)
val_data_loader = initialize_data_loader(
DatasetClass,
config,
threads=config.val_threads,
phase=config.val_phase,
augment_data=False,
elastic_distortion=config.test_elastic_distortion,
shuffle=False,
repeat=False,
batch_size=config.val_batch_size,
limit_numpoints=False)
elif config.dataset == 'ScannetDataset':
val_DatasetClass = load_dataset(
'ScannetDatasetWholeScene_evaluation')
point_scannet = True
# collate_fn = t.cfl_collate_fn_factory(False) # no limit num-points
trainset = DatasetClass(
root=
'/data/eva_share_users/zhaotianchen/scannet/raw/scannet_pickles',
npoints=config.num_points,
# split='debug',
split='train',
with_norm=False,
)
train_data_loader = torch.utils.data.DataLoader(
dataset=trainset,
num_workers=config.threads,
# num_workers=0, # for loading big pth file, should use single-thread
batch_size=config.batch_size,
# collate_fn=collate_fn, # input points, should not have collate-fn
worker_init_fn=_init_fn,
sampler=InfSampler(trainset, True)) # shuffle=True
valset = val_DatasetClass(
root=
'/data/eva_share_users/zhaotianchen/scannet/raw/scannet_pickles',
scene_list_dir=
'/data/eva_share_users/zhaotianchen/scannet/raw/metadata',
# split='debug',
split='eval',
block_points=config.num_points,
with_norm=False,
delta=1.0,
)
val_data_loader = torch.utils.data.DataLoader(
dataset=valset,
# num_workers=config.threads,
num_workers=
0, # for loading big pth file, should use single-thread
batch_size=config.val_batch_size,
# collate_fn=collate_fn, # input points, should not have collate-fn
worker_init_fn=_init_fn)
elif config.dataset == "SemanticKITTI":
point_scannet = False
dataset = SemanticKITTI(root=config.semantic_kitti_path,
num_points=None,
voxel_size=config.voxel_size,
sample_stride=config.sample_stride,
submit=False)
collate_fn_factory = t.cfl_collate_fn_factory
train_data_loader = torch.utils.data.DataLoader(
dataset['train'],
batch_size=config.batch_size,
sampler=InfSampler(dataset['train'],
shuffle=True), # shuffle=true, repeat=true
num_workers=config.threads,
pin_memory=True,
collate_fn=collate_fn_factory(config.train_limit_numpoints))
val_data_loader = torch.utils.data.DataLoader( # shuffle=false, repeat=false
dataset['test'],
batch_size=config.batch_size,
num_workers=config.val_threads,
pin_memory=True,
collate_fn=t.cfl_collate_fn_factory(False))
elif config.dataset == "S3DIS":
trainset = S3DIS(
config,
train=True,
)
valset = S3DIS(
config,
train=False,
)
train_data_loader = torch.utils.data.DataLoader(
trainset,
batch_size=config.batch_size,
sampler=InfSampler(trainset,
shuffle=True), # shuffle=true, repeat=true
num_workers=config.threads,
pin_memory=True,
collate_fn=t.cfl_collate_fn_factory(
config.train_limit_numpoints))
val_data_loader = torch.utils.data.DataLoader( # shuffle=false, repeat=false
valset,
batch_size=config.batch_size,
num_workers=config.val_threads,
pin_memory=True,
collate_fn=t.cfl_collate_fn_factory(False))
elif config.dataset == 'Nuscenes':
config.xyz_input = False
# todo:
trainset = Nuscenes(
config,
train=True,
)
valset = Nuscenes(
config,
train=False,
)
train_data_loader = torch.utils.data.DataLoader(
trainset,
batch_size=config.batch_size,
sampler=InfSampler(trainset,
shuffle=True), # shuffle=true, repeat=true
num_workers=config.threads,
pin_memory=True,
# collate_fn=t.collate_fn_BEV, # used when cylinder voxelize
collate_fn=t.cfl_collate_fn_factory(False))
val_data_loader = torch.utils.data.DataLoader( # shuffle=false, repeat=false
valset,
batch_size=config.batch_size,
num_workers=config.val_threads,
pin_memory=True,
# collate_fn=t.collate_fn_BEV,
collate_fn=t.cfl_collate_fn_factory(False))
else:
print('Dataset {} not supported').format(config.dataset)
raise NotImplementedError
# Setting up num_in_channel and num_labels
if train_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = train_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3
num_labels = train_data_loader.dataset.NUM_LABELS
# it = iter(train_data_loader)
# for _ in range(100):
# data = it.__next__()
# print(data)
else: # not config.is_train
val_DatasetClass = load_dataset('ScannetDatasetWholeScene_evaluation')
if config.dataset == 'ScannetSparseVoxelizationDataset':
if config.is_export: # when export, we need to export the train results too
train_data_loader = initialize_data_loader(
DatasetClass,
config,
phase=config.train_phase,
threads=config.threads,
augment_data=True,
elastic_distortion=config.
train_elastic_distortion, # DEBUG: not sure about this
shuffle=False,
repeat=False,
batch_size=config.batch_size,
limit_numpoints=config.train_limit_numpoints)
# the valid like, no aug data
# train_data_loader = initialize_data_loader(
# DatasetClass,
# config,
# threads=config.val_threads,
# phase=config.train_phase,
# augment_data=False,
# elastic_distortion=config.test_elastic_distortion,
# shuffle=False,
# repeat=False,
# batch_size=config.val_batch_size,
# limit_numpoints=False)
val_data_loader = initialize_data_loader(
DatasetClass,
config,
threads=config.val_threads,
phase=config.val_phase,
augment_data=False,
elastic_distortion=config.test_elastic_distortion,
shuffle=False,
repeat=False,
batch_size=config.val_batch_size,
limit_numpoints=False)
if val_data_loader.dataset.NUM_IN_CHANNEL is not None:
num_in_channel = val_data_loader.dataset.NUM_IN_CHANNEL
else:
num_in_channel = 3
num_labels = val_data_loader.dataset.NUM_LABELS
elif config.dataset == 'ScannetDataset':
'''when using scannet-point, use val instead of test'''
point_scannet = True
valset = val_DatasetClass(
root=
'/data/eva_share_users/zhaotianchen/scannet/raw/scannet_pickles',
scene_list_dir=
'/data/eva_share_users/zhaotianchen/scannet/raw/metadata',
split='eval',
block_points=config.num_points,
delta=1.0,
with_norm=False,
)
val_data_loader = torch.utils.data.DataLoader(
dataset=valset,
# num_workers=config.threads,
num_workers=
0, # for loading big pth file, should use single-thread
batch_size=config.val_batch_size,
# collate_fn=collate_fn, # input points, should not have collate-fn
worker_init_fn=_init_fn,
)
num_labels = val_data_loader.dataset.NUM_LABELS
num_in_channel = 3
elif config.dataset == "SemanticKITTI":
dataset = SemanticKITTI(root=config.semantic_kitti_path,
num_points=None,
voxel_size=config.voxel_size,
submit=config.submit)
val_data_loader = torch.utils.data.DataLoader( # shuffle=false, repeat=false
dataset['test'],
batch_size=config.val_batch_size,
num_workers=config.val_threads,
pin_memory=True,
collate_fn=t.cfl_collate_fn_factory(False))
num_in_channel = 4
num_labels = 19
elif config.dataset == 'S3DIS':
config.xyz_input = False
trainset = S3DIS(
config,
train=True,
)
valset = S3DIS(
config,
train=False,
)
train_data_loader = torch.utils.data.DataLoader(
trainset,
batch_size=config.batch_size,
sampler=InfSampler(trainset,
shuffle=True), # shuffle=true, repeat=true
num_workers=config.threads,
pin_memory=True,
collate_fn=t.cfl_collate_fn_factory(
config.train_limit_numpoints))
val_data_loader = torch.utils.data.DataLoader( # shuffle=false, repeat=false
valset,
batch_size=config.batch_size,
num_workers=config.val_threads,
pin_memory=True,
collate_fn=t.cfl_collate_fn_factory(False))
num_in_channel = 9
num_labels = 13
elif config.dataset == 'Nuscenes':
config.xyz_input = False
trainset = Nuscenes(
config,
train=True,
)
valset = Nuscenes(
config,
train - False,
)
train_data_loader = torch.utils.data.DataLoader(
trainset,
batch_size=config.batch_size,
sampler=InfSampler(trainset,
shuffle=True), # shuffle=true, repeat=true
num_workers=config.threads,
pin_memory=True,
# collate_fn=t.collate_fn_BEV,
collate_fn=t.cfl_collate_fn_factory(False))
val_data_loader = torch.utils.data.DataLoader( # shuffle=false, repeat=false
valset,
batch_size=config.batch_size,
num_workers=config.val_threads,
pin_memory=True,
# collate_fn=t.collate_fn_BEV,
collate_fn=t.cfl_collate_fn_factory(False))
num_in_channel = 5
num_labels = 16
else:
print('Dataset {} not supported').format(config.dataset)
raise NotImplementedError
logging.info('===> Building model')
# if config.model == 'PointTransformer' or config.model == 'MixedTransformer':
if config.model == 'PointTransformer':
config.pure_point = True
NetClass = load_model(config.model)
if config.pure_point:
model = NetClass(config,
num_class=num_labels,
N=config.num_points,
normal_channel=num_in_channel)
else:
if config.model == 'MixedTransformer':
model = NetClass(config,
num_class=num_labels,
N=config.num_points,
normal_channel=num_in_channel)
elif config.model == 'MinkowskiVoxelTransformer':
model = NetClass(config, num_in_channel, num_labels)
elif config.model == 'MinkowskiTransformerNet':
model = NetClass(config, num_in_channel, num_labels)
elif "Res" in config.model:
model = NetClass(num_in_channel, num_labels, config)
else:
model = NetClass(num_in_channel, num_labels, config)
logging.info('===> Number of trainable parameters: {}: {}M'.format(
NetClass.__name__,
count_parameters(model) / 1e6))
if hasattr(model, "block1"):
if hasattr(model.block1[0], 'h'):
h = model.block1[0].h
vec_dim = model.block1[0].vec_dim
else:
h = None
vec_dim = None
else:
h = None
vec_dim = None
# logging.info('===> Model Args:\n PLANES: {} \n LAYERS: {}\n HEADS: {}\n Vec-dim: {}\n'.format(model.PLANES, model.LAYERS, h, vec_dim))
logging.info(model)
# Set the number of threads
# ME.initialize_nthreads(12, D=3)
model = model.to(device)
if config.weights == 'modelzoo': # Load modelzoo weights if possible.
logging.info('===> Loading modelzoo weights')
model.preload_modelzoo()
# Load weights if specified by the parameter.
elif config.weights.lower() != 'none':
logging.info('===> Loading weights: ' + config.weights)
state = torch.load(config.weights)
# delete the keys containing the 'attn' since it raises size mismatch
d_ = {
k: v
for k, v in state['state_dict'].items() if '_map' not in k
} # debug: sometiems model conmtains 'map_qk' which is not right for naming a module, since 'map' are always buffers
d = {}
for k in d_.keys():
if 'module.' in k:
d[k.replace('module.', '')] = d_[k]
else:
d[k] = d_[k]
# del d_
if config.weights_for_inner_model:
model.model.load_state_dict(d)
else:
if config.lenient_weight_loading:
matched_weights = load_state_with_same_shape(
model, state['state_dict'])
model_dict = model.state_dict()
model_dict.update(matched_weights)
model.load_state_dict(model_dict)
else:
model.load_state_dict(d, strict=True)
if config.is_debug:
check_data(model, train_data_loader, val_data_loader, config)
return None
elif config.is_train:
if hasattr(config, 'distill') and config.distill:
assert point_scannet is not True # only support whole scene for no
train_distill(model, train_data_loader, val_data_loader, config)
if config.multiprocess:
if point_scannet:
raise NotImplementedError
else:
train_mp(NetClass, train_data_loader, val_data_loader, config)
else:
if point_scannet:
train_point(model, train_data_loader, val_data_loader, config)
else:
train(model, train_data_loader, val_data_loader, config)
elif config.is_export:
if point_scannet:
raise NotImplementedError
else: # only support the whole-scene-style for now
test(model,
train_data_loader,
config,
save_pred=True,
split='train')
test(model, val_data_loader, config, save_pred=True, split='val')
else:
assert config.multiprocess == False
# if test for submission, make a submit directory at current directory
submit_dir = os.path.join(os.getcwd(), 'submit', 'sequences')
if config.submit and not os.path.exists(submit_dir):
os.makedirs(submit_dir)
print("Made submission directory: " + submit_dir)
if point_scannet:
test_points(model, val_data_loader, config)
else:
test(model, val_data_loader, config, submit_dir=submit_dir)