def main():
args = parse_args()
args.uncropped = True
with open('models/detection/%s/config.yml' % args.name, 'r') as f:
config = yaml.load(f, Loader=yaml.FullLoader)
# config["tvec"] = False
print('-'*20)
for key in config.keys():
print('%s: %s' % (key, str(config[key])))
print('-'*20)
cudnn.benchmark = False
df = pd.read_csv('inputs/sample_submission.csv')
img_ids = df['ImageId'].values
img_paths = np.array('inputs/test_images/' + df['ImageId'].values + '.jpg')
mask_paths = np.array('inputs/test_masks/' + df['ImageId'].values + '.jpg')
labels = np.array([convert_str_to_labels(s, names=['yaw', 'pitch', 'roll',
'x', 'y', 'z', 'score']) for s in df['PredictionString']])
if not args.uncropped:
cropped_img_ids = pd.read_csv('inputs/testset_cropped_imageids.csv')['ImageId'].values
for i, img_id in enumerate(img_ids):
if img_id in cropped_img_ids:
img_paths[i] = 'inputs/test_images_uncropped/' + img_id + '.jpg'
mask_paths[i] = 'inputs/test_masks_uncropped/' + img_id + '.jpg'
test_set = Dataset(
img_paths,
mask_paths,
labels,
input_w=config['input_w'],
input_h=config['input_h'],
transform=None,
test=True,
lhalf=config['lhalf'])
test_loader = torch.utils.data.DataLoader(
test_set,
batch_size=16,
shuffle=False,
num_workers=0,
# num_workers=config['num_workers'],
# pin_memory=True,
)
heads = OrderedDict([
('hm', 1),
('reg', 2),
('depth', 1),
])
if config['rot'] == 'eular':
heads['eular'] = 3
elif config['rot'] == 'trig':
heads['trig'] = 6
elif config['rot'] == 'quat':
heads['quat'] = 4
else:
raise NotImplementedError
if config['wh']:
heads['wh'] = 2
if config['tvec']:
heads['tvec'] = 3
name = args.name
if args.uncropped:
name += '_uncropped'
if args.hflip:
name += '_hf'
if os.path.exists('outputs/raw/test/%s.pth' %name):
merged_outputs = torch.load('outputs/raw/test/%s.pth' %name)
else:
merged_outputs = {}
for i in tqdm(range(len(df))):
img_id = df.loc[i, 'ImageId']
output = {
'hm': 0,
'reg': 0,
'depth': 0,
'eular': 0 if config['rot'] == 'eular' else None,
'trig': 0 if config['rot'] == 'trig' else None,
'quat': 0 if config['rot'] == 'quat' else None,
'wh': 0 if config['wh'] else None,
'tvec': 0 if config['tvec'] else None,
}
merged_outputs[img_id] = output
preds = []
for fold in range(config['n_splits']):
print('Fold [%d/%d]' %(fold + 1, config['n_splits']))
model = get_model(config['arch'], heads=heads,
head_conv=config['head_conv'],
num_filters=config['num_filters'],
dcn=config['dcn'],
gn=config['gn'], ws=config['ws'],
freeze_bn=config['freeze_bn'])
model = model.cuda()
model_path = 'models/detection/%s/model_%d.pth' % (config['name'], fold+1)
if not os.path.exists(model_path):
print('%s is not exists.' %model_path)
continue
model.load_state_dict(torch.load(model_path))
model.eval()
preds_fold = []
outputs_fold = {}
with torch.no_grad():
pbar = tqdm(total=len(test_loader))
for i, batch in enumerate(test_loader):
input = batch['input'].cuda()
mask = batch['mask'].cuda()
output = model(input)
# print(output)
if args.hflip:
output_hf = model(torch.flip(input, (-1,)))
output_hf['hm'] = torch.flip(output_hf['hm'], (-1,))
output_hf['reg'] = torch.flip(output_hf['reg'], (-1,))
output_hf['reg'][:, 0] = 1 - output_hf['reg'][:, 0]
output_hf['depth'] = torch.flip(output_hf['depth'], (-1,))
if config['rot'] == 'trig':
output_hf['trig'] = torch.flip(output_hf['trig'], (-1,))
yaw = torch.atan2(output_hf['trig'][:, 1], output_hf['trig'][:, 0])
yaw *= -1.0
output_hf['trig'][:, 0] = torch.cos(yaw)
output_hf['trig'][:, 1] = torch.sin(yaw)
roll = torch.atan2(output_hf['trig'][:, 5], output_hf['trig'][:, 4])
roll = rotate(roll, -np.pi)
roll *= -1.0
roll = rotate(roll, np.pi)
output_hf['trig'][:, 4] = torch.cos(roll)
output_hf['trig'][:, 5] = torch.sin(roll)
if config['wh']:
output_hf['wh'] = torch.flip(output_hf['wh'], (-1,))
if config['tvec']:
output_hf['tvec'] = torch.flip(output_hf['tvec'], (-1,))
output_hf['tvec'][:, 0] *= -1.0
output['hm'] = (output['hm'] + output_hf['hm']) / 2
output['reg'] = (output['reg'] + output_hf['reg']) / 2
output['depth'] = (output['depth'] + output_hf['depth']) / 2
if config['rot'] == 'trig':
output['trig'] = (output['trig'] + output_hf['trig']) / 2
if config['wh']:
output['wh'] = (output['wh'] + output_hf['wh']) / 2
if config['tvec']:
output['tvec'] = (output['tvec'] + output_hf['tvec']) / 2
for b in range(len(batch['img_path'])):
img_id = os.path.splitext(os.path.basename(batch['img_path'][b]))[0]
outputs_fold[img_id] = {
'hm': output['hm'][b:b+1].cpu(),
'reg': output['reg'][b:b+1].cpu(),
'depth': output['depth'][b:b+1].cpu(),
'eular': output['eular'][b:b+1].cpu() if config['rot'] == 'eular' else None,
'trig': output['trig'][b:b+1].cpu() if config['rot'] == 'trig' else None,
'quat': output['quat'][b:b+1].cpu() if config['rot'] == 'quat' else None,
'wh': output['wh'][b:b+1].cpu() if config['wh'] else None,
'tvec': output['tvec'][b:b+1].cpu() if config['tvec'] else None,
'mask': mask[b:b+1].cpu(),
}
merged_outputs[img_id]['hm'] += outputs_fold[img_id]['hm'] / config['n_splits']
merged_outputs[img_id]['reg'] += outputs_fold[img_id]['reg'] / config['n_splits']
merged_outputs[img_id]['depth'] += outputs_fold[img_id]['depth'] / config['n_splits']
if config['rot'] == 'eular':
merged_outputs[img_id]['eular'] += outputs_fold[img_id]['eular'] / config['n_splits']
if config['rot'] == 'trig':
merged_outputs[img_id]['trig'] += outputs_fold[img_id]['trig'] / config['n_splits']
if config['rot'] == 'quat':
merged_outputs[img_id]['quat'] += outputs_fold[img_id]['quat'] / config['n_splits']
if config['wh']:
merged_outputs[img_id]['wh'] += outputs_fold[img_id]['wh'] / config['n_splits']
if config['tvec']:
merged_outputs[img_id]['tvec'] += outputs_fold[img_id]['tvec'] / config['n_splits']
merged_outputs[img_id]['mask'] = outputs_fold[img_id]['mask']
batch_det = decode(
config,
output['hm'],
output['reg'],
output['depth'],
eular=output['eular'] if config['rot'] == 'eular' else None,
trig=output['trig'] if config['rot'] == 'trig' else None,
quat=output['quat'] if config['rot'] == 'quat' else None,
wh=output['wh'] if config['wh'] else None,
tvec=output['tvec'] if config['tvec'] else None,
mask=mask,
)
batch_det = batch_det.cpu().numpy()
for k, det in enumerate(batch_det):
if args.nms:
det = nms(det, dist_th=args.nms_th)
preds_fold.append(convert_labels_to_str(det[det[:, 6] > args.score_th, :7]))
if args.show and not config['cv']:
img = cv2.imread(batch['img_path'][k])
img_pred = visualize(img, det[det[:, 6] > args.score_th])
plt.imshow(img_pred[..., ::-1])
plt.show()
pbar.update(1)
pbar.close()
if not config['cv']:
df['PredictionString'] = preds_fold
name = '%s_1_%.2f' %(args.name, args.score_th)
if args.uncropped:
name += '_uncropped'
if args.nms:
name += '_nms%.2f' %args.nms_th
df.to_csv('outputs/submissions/test/%s.csv' %name, index=False)
return
if not args.uncropped:
# ensemble duplicate images
dup_df = pd.read_csv('processed/test_image_hash.csv')
dups = dup_df.hash.value_counts()
dups = dups.loc[dups>1]
for i in range(len(dups)):
img_ids = dup_df[dup_df.hash == dups.index[i]].ImageId
output = {
'hm': 0,
'reg': 0,
'depth': 0,
'eular': 0 if config['rot'] == 'eular' else None,
'trig': 0 if config['rot'] == 'trig' else None,
'quat': 0 if config['rot'] == 'quat' else None,
'wh': 0 if config['wh'] else None,
'tvec': 0 if config['tvec'] else None,
'mask': 0,
}
for img_id in img_ids:
if img_id in cropped_img_ids:
print('fooo')
output['hm'] += merged_outputs[img_id]['hm'] / len(img_ids)
output['reg'] += merged_outputs[img_id]['reg'] / len(img_ids)
output['depth'] += merged_outputs[img_id]['depth'] / len(img_ids)
if config['rot'] == 'eular':
output['eular'] += merged_outputs[img_id]['eular'] / len(img_ids)
if config['rot'] == 'trig':
output['trig'] += merged_outputs[img_id]['trig'] / len(img_ids)
if config['rot'] == 'quat':
output['quat'] += merged_outputs[img_id]['quat'] / len(img_ids)
if config['wh']:
output['wh'] += merged_outputs[img_id]['wh'] / len(img_ids)
if config['tvec']:
output['tvec'] += merged_outputs[img_id]['tvec'] / len(img_ids)
output['mask'] += merged_outputs[img_id]['mask'] / len(img_ids)
for img_id in img_ids:
merged_outputs[img_id] = output
torch.save(merged_outputs, 'outputs/raw/test/%s.pth' %name)
# decode
dets = {}
for i in tqdm(range(len(df))):
img_id = df.loc[i, 'ImageId']
output = merged_outputs[img_id]
det = decode(
config,
output['hm'],
output['reg'],
output['depth'],
eular=output['eular'] if config['rot'] == 'eular' else None,
trig=output['trig'] if config['rot'] == 'trig' else None,
quat=output['quat'] if config['rot'] == 'quat' else None,
wh=output['wh'] if config['wh'] else None,
tvec=output['tvec'] if config['tvec'] else None,
mask=output['mask'],
)
det = det.numpy()[0]
dets[img_id] = det.tolist()
if args.nms:
det = nms(det, dist_th=args.nms_th)
if np.sum(det[:, 6] > args.score_th) >= args.min_samples:
det = det[det[:, 6] > args.score_th]
else:
det = det[:args.min_samples]
if args.show:
img = cv2.imread('inputs/test_images/%s.jpg' %img_id)
img_pred = visualize(img, det)
plt.imshow(img_pred[..., ::-1])
plt.show()
df.loc[i, 'PredictionString'] = convert_labels_to_str(det[:, :7])
with open('outputs/decoded/test/%s.json' %name, 'w') as f:
json.dump(dets, f)
name = '%s_%.2f' %(args.name, args.score_th)
if args.uncropped:
name += '_uncropped'
if args.nms:
name += '_nms%.2f' %args.nms_th
if args.hflip:
name += '_hf'
if args.min_samples > 0:
name += '_min%d' %args.min_samples
df.to_csv('outputs/submissions/test/%s.csv' %name, index=False)
def main():
config = vars(parse_args())
if config['name'] is None:
config['name'] = 'ensemble_%s' % datetime.now().strftime('%m%d%H')
if os.path.exists('models/detection/%s/config.yml' % config['name']):
with open('models/detection/%s/config.yml' % config['name'], 'r') as f:
config = yaml.load(f, Loader=yaml.FullLoader)
else:
config['models'] = config['models'].split(',')
if not os.path.exists('models/detection/%s' % config['name']):
os.makedirs('models/detection/%s' % config['name'])
with open('models/detection/%s/config.yml' % config['name'], 'w') as f:
yaml.dump(config, f)
print('-'*20)
for key in config.keys():
print('%s: %s' % (key, str(config[key])))
print('-'*20)
with open('models/detection/%s/config.yml' % config['models'][0], 'r') as f:
model_config = yaml.load(f, Loader=yaml.FullLoader)
df = pd.read_csv('inputs/train.csv')
img_paths = np.array('inputs/train_images/' + df['ImageId'].values + '.jpg')
img_ids = df['ImageId'].values
mask_paths = np.array('inputs/train_masks/' + df['ImageId'].values + '.jpg')
labels = np.array([convert_str_to_labels(s, names=['yaw', 'pitch', 'roll',
'x', 'y', 'z', 'score']) for s in df['PredictionString']])
dets = {}
kf = KFold(n_splits=model_config['n_splits'], shuffle=True, random_state=41)
for fold, (train_idx, val_idx) in enumerate(kf.split(img_paths)):
val_img_ids = img_ids[val_idx]
if os.path.exists('outputs/raw/val/%s.pth' %config['name']):
merged_outputs = torch.load('outputs/raw/val/%s.pth' %config['name'])
else:
merged_outputs = {}
for img_id in tqdm(val_img_ids, total=len(val_img_ids)):
output = {
'hm': 0,
'reg': 0,
'depth': 0,
'eular': 0 if model_config['rot'] == 'eular' else None,
'trig': 0 if model_config['rot'] == 'trig' else None,
'quat': 0 if model_config['rot'] == 'quat' else None,
'wh': 0 if model_config['wh'] else None,
'mask': 0,
}
merged_outputs[img_id] = output
for model_name in config['models']:
outputs = torch.load('outputs/raw/val/%s_%d.pth' %(model_name, fold + 1))
for img_id in tqdm(val_img_ids, total=len(val_img_ids)):
output = outputs[img_id]
merged_outputs[img_id]['hm'] += output['hm'] / len(config['models'])
merged_outputs[img_id]['reg'] += output['reg'] / len(config['models'])
merged_outputs[img_id]['depth'] += output['depth'] / len(config['models'])
merged_outputs[img_id]['trig'] += output['trig'] / len(config['models'])
merged_outputs[img_id]['wh'] += output['wh'] / len(config['models'])
merged_outputs[img_id]['mask'] += output['mask'] / len(config['models'])
torch.save(merged_outputs, 'outputs/raw/val/%s_%d.pth' %(config['name'], fold + 1))
# decode
for img_id in tqdm(val_img_ids, total=len(val_img_ids)):
output = merged_outputs[img_id]
det = decode(
model_config,
output['hm'],
output['reg'],
output['depth'],
eular=output['eular'] if model_config['rot'] == 'eular' else None,
trig=output['trig'] if model_config['rot'] == 'trig' else None,
quat=output['quat'] if model_config['rot'] == 'quat' else None,
wh=output['wh'] if model_config['wh'] else None,
mask=output['mask'],
)
det = det.numpy()[0]
dets[img_id] = det.tolist()
if config['nms']:
det = nms(det, dist_th=config['nms_th'])
if np.sum(det[:, 6] > config['score_th']) >= config['min_samples']:
det = det[det[:, 6] > config['score_th']]
else:
det = det[:config['min_samples']]
if config['show']:
img = cv2.imread('inputs/train_images/%s.jpg' %img_id)
img_pred = visualize(img, det)
plt.imshow(img_pred[..., ::-1])
plt.show()
df.loc[df.ImageId == img_id, 'PredictionString'] = convert_labels_to_str(det[:, :7])
with open('outputs/decoded/val/%s.json' %config['name'], 'w') as f:
json.dump(dets, f)
df.to_csv('outputs/submissions/val/%s.csv' %config['name'], index=False)
def main():
args = parse_args()
with open('models/detection/%s/config.yml' % args.name, 'r') as f:
config = yaml.load(f, Loader=yaml.FullLoader)
print('-' * 20)
for key in config.keys():
print('%s: %s' % (key, str(config[key])))
print('-' * 20)
cudnn.benchmark = True
df = pd.read_csv('inputs/train.csv')
img_paths = np.array('inputs/train_images/' + df['ImageId'].values +
'.jpg')
mask_paths = np.array('inputs/train_masks/' + df['ImageId'].values +
'.jpg')
labels = np.array(
[convert_str_to_labels(s) for s in df['PredictionString']])
heads = OrderedDict([
('hm', 1),
('reg', 2),
('depth', 1),
])
if config['rot'] == 'eular':
heads['eular'] = 3
elif config['rot'] == 'trig':
heads['trig'] = 6
elif config['rot'] == 'quat':
heads['quat'] = 4
else:
raise NotImplementedError
if config['wh']:
heads['wh'] = 2
pred_df = df.copy()
pred_df['PredictionString'] = np.nan
dets = {}
kf = KFold(n_splits=config['n_splits'], shuffle=True, random_state=41)
for fold, (train_idx, val_idx) in enumerate(kf.split(img_paths)):
print('Fold [%d/%d]' % (fold + 1, config['n_splits']))
train_img_paths, val_img_paths = img_paths[train_idx], img_paths[
val_idx]
train_mask_paths, val_mask_paths = mask_paths[train_idx], mask_paths[
val_idx]
train_labels, val_labels = labels[train_idx], labels[val_idx]
val_set = Dataset(val_img_paths,
val_mask_paths,
val_labels,
input_w=config['input_w'],
input_h=config['input_h'],
transform=None,
lhalf=config['lhalf'])
val_loader = torch.utils.data.DataLoader(
val_set,
batch_size=config['batch_size'],
shuffle=False,
num_workers=config['num_workers'],
# pin_memory=True,
)
model = get_model(config['arch'],
heads=heads,
head_conv=config['head_conv'],
num_filters=config['num_filters'],
dcn=config['dcn'],
gn=config['gn'],
ws=config['ws'],
freeze_bn=config['freeze_bn'])
model = model.cuda()
model_path = 'models/detection/%s/model_%d.pth' % (config['name'],
fold + 1)
if not os.path.exists(model_path):
print('%s is not exists.' % model_path)
continue
model.load_state_dict(torch.load(model_path))
model.eval()
outputs = {}
with torch.no_grad():
pbar = tqdm(total=len(val_loader))
for i, batch in enumerate(val_loader):
input = batch['input'].cuda()
mask = batch['mask'].cuda()
hm = batch['hm'].cuda()
reg_mask = batch['reg_mask'].cuda()
output = model(input)
if args.hflip:
output_hf = model(torch.flip(input, (-1, )))
output_hf['hm'] = torch.flip(output_hf['hm'], (-1, ))
output_hf['reg'] = torch.flip(output_hf['reg'], (-1, ))
output_hf['reg'][:, 0] = 1 - output_hf['reg'][:, 0]
output_hf['depth'] = torch.flip(output_hf['depth'], (-1, ))
if config['rot'] == 'trig':
output_hf['trig'] = torch.flip(output_hf['trig'],
(-1, ))
yaw = torch.atan2(output_hf['trig'][:, 1],
output_hf['trig'][:, 0])
yaw *= -1.0
output_hf['trig'][:, 0] = torch.cos(yaw)
output_hf['trig'][:, 1] = torch.sin(yaw)
roll = torch.atan2(output_hf['trig'][:, 5],
output_hf['trig'][:, 4])
roll = rotate(roll, -np.pi)
roll *= -1.0
roll = rotate(roll, np.pi)
output_hf['trig'][:, 4] = torch.cos(roll)
output_hf['trig'][:, 5] = torch.sin(roll)
if config['wh']:
output_hf['wh'] = torch.flip(output_hf['wh'], (-1, ))
output['hm'] = (output['hm'] + output_hf['hm']) / 2
output['reg'] = (output['reg'] + output_hf['reg']) / 2
output['depth'] = (output['depth'] +
output_hf['depth']) / 2
if config['rot'] == 'trig':
output['trig'] = (output['trig'] +
output_hf['trig']) / 2
if config['wh']:
output['wh'] = (output['wh'] + output_hf['wh']) / 2
batch_det = decode(
config,
output['hm'],
output['reg'],
output['depth'],
eular=output['eular']
if config['rot'] == 'eular' else None,
trig=output['trig'] if config['rot'] == 'trig' else None,
quat=output['quat'] if config['rot'] == 'quat' else None,
wh=output['wh'] if config['wh'] else None,
mask=mask,
)
batch_det = batch_det.cpu().numpy()
for k, det in enumerate(batch_det):
img_id = os.path.splitext(
os.path.basename(batch['img_path'][k]))[0]
outputs[img_id] = {
'hm':
output['hm'][k:k + 1].cpu(),
'reg':
output['reg'][k:k + 1].cpu(),
'depth':
output['depth'][k:k + 1].cpu(),
'eular':
output['eular'][k:k + 1].cpu()
if config['rot'] == 'eular' else None,
'trig':
output['trig'][k:k + 1].cpu()
if config['rot'] == 'trig' else None,
'quat':
output['quat'][k:k + 1].cpu()
if config['rot'] == 'quat' else None,
'wh':
output['wh'][k:k + 1].cpu() if config['wh'] else None,
'mask':
mask[k:k + 1].cpu(),
}
dets[img_id] = det.tolist()
if args.nms:
det = nms(det, dist_th=args.nms_th)
pred_df.loc[pred_df.ImageId == img_id,
'PredictionString'] = convert_labels_to_str(
det[det[:, 6] > args.score_th, :7])
if args.show:
gt = batch['gt'].numpy()[k]
img = cv2.imread(batch['img_path'][k])
img_gt = visualize(img, gt[gt[:, -1] > 0])
img_pred = visualize(img,
det[det[:, 6] > args.score_th])
plt.subplot(121)
plt.imshow(img_gt[..., ::-1])
plt.subplot(122)
plt.imshow(img_pred[..., ::-1])
plt.show()
pbar.update(1)
pbar.close()
torch.save(outputs,
'outputs/raw/val/%s_%d.pth' % (args.name, fold + 1))
torch.cuda.empty_cache()
if not config['cv']:
break
with open('outputs/decoded/val/%s.json' % args.name, 'w') as f:
json.dump(dets, f)
name = '%s_%.2f' % (args.name, args.score_th)
if args.nms:
name += '_nms%.2f' % args.nms_th
if args.hflip:
name += '_hf'
pred_df.to_csv('outputs/submissions/val/%s.csv' % name, index=False)
print(pred_df.head())