def main():
# config
cfg = Config.fromfile(CONFIG_FILE)
# model loading
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
checkpoint = load_checkpoint(model, CHECK_POINT, map_location="cpu")
model = model.cuda()
model.eval()
# data loader
dataset = build_dataset(cfg.data.test)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=False,
shuffle=False,
)
# infer
detections = []
for i, data_batch in enumerate(data_loader):
print("step:", i)
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=0,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update({
token: output,
})
all_predictions = all_gather(detections)
def main():
cfg = Config.fromfile(
'configs/nusc/pp/nusc_centerpoint_pp_02voxel_two_pfn_10sweep_demo.py')
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
dataset = build_dataset(cfg.data.val)
data_loader = DataLoader(
dataset,
batch_size=1,
sampler=None,
shuffle=False,
num_workers=8,
collate_fn=collate_kitti,
pin_memory=False,
)
checkpoint = load_checkpoint(
model,
'work_dirs/centerpoint_pillar_512_demo/latest.pth',
map_location="cpu")
model.eval()
model = model.cuda()
cpu_device = torch.device("cpu")
points_list = []
gt_annos = []
detections = []
for i, data_batch in enumerate(data_loader):
info = dataset._nusc_infos[i]
gt_annos.append(convert_box(info))
points = data_batch['points'][:, 1:4].cpu().numpy()
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=0,
)
for output in outputs:
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.append(output)
points_list.append(points.T)
print(
'Done model inference. Please wait a minute, the matplotlib is a little slow...'
)
for i in range(len(points_list)):
visual(points_list[i], gt_annos[i], detections[i], i)
print("Rendered Image {}".format(i))
image_folder = 'demo'
video_name = 'video.avi'
images = [img for img in os.listdir(image_folder) if img.endswith(".png")]
images.sort(key=lambda img_name: int(img_name.split('.')[0][4:]))
frame = cv2.imread(os.path.join(image_folder, images[0]))
height, width, layers = frame.shape
video = cv2.VideoWriter(video_name, 0, 1, (width, height))
cv2_images = []
for image in images:
cv2_images.append(cv2.imread(os.path.join(image_folder, image)))
for img in cv2_images:
video.write(img)
cv2.destroyAllWindows()
video.release()
print("Successfully save video in the main folder")
def main():
# torch.manual_seed(0)
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.benchmark = False
# np.random.seed(0)
args = parse_args()
cfg = Config.fromfile(args.config)
# update configs according to CLI args
if args.work_dir is not None:
cfg.work_dir = args.work_dir
distributed = torch.cuda.device_count() > 1
if distributed:
if args.launcher == "pytorch":
torch.cuda.set_device(args.local_rank)
torch.distributed.init_process_group(backend="nccl", init_method="env://")
cfg.local_rank = args.local_rank
elif args.launcher == "slurm":
proc_id = int(os.environ["SLURM_PROCID"])
ntasks = int(os.environ["SLURM_NTASKS"])
node_list = os.environ["SLURM_NODELIST"]
num_gpus = torch.cuda.device_count()
cfg.gpus = num_gpus
torch.cuda.set_device(proc_id % num_gpus)
addr = subprocess.getoutput(
f"scontrol show hostname {node_list} | head -n1")
# specify master port
port = None
if port is not None:
os.environ["MASTER_PORT"] = str(port)
elif "MASTER_PORT" in os.environ:
pass # use MASTER_PORT in the environment variable
else:
# 29500 is torch.distributed default port
os.environ["MASTER_PORT"] = "29501"
# use MASTER_ADDR in the environment variable if it already exists
if "MASTER_ADDR" not in os.environ:
os.environ["MASTER_ADDR"] = addr
os.environ["WORLD_SIZE"] = str(ntasks)
os.environ["LOCAL_RANK"] = str(proc_id % num_gpus)
os.environ["RANK"] = str(proc_id)
dist.init_process_group(backend="nccl")
cfg.local_rank = int(os.environ["LOCAL_RANK"])
cfg.gpus = torch.distributed.get_world_size()
else:
cfg.gpus = args.gpus
# init logger before other steps
logger = get_root_logger(cfg.log_level)
logger.info("Distributed testing: {}".format(distributed))
logger.info(f"torch.backends.cudnn.benchmark: {torch.backends.cudnn.benchmark}")
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
if args.testset:
print("Use Test Set")
dataset = build_dataset(cfg.data.test)
else:
print("Use Val Set")
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu if not args.speed_test else 1,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# put model on gpus
if distributed:
# model = apex.parallel.convert_syncbn_model(model)
model = DistributedDataParallel(
model.cuda(cfg.local_rank),
device_ids=[cfg.local_rank],
output_device=cfg.local_rank,
# broadcast_buffers=False,
find_unused_parameters=True,
)
else:
# model = fuse_bn_recursively(model)
model = model.cuda()
model.eval()
mode = "val"
prog_bar = None
logger.info(f"work dir: {args.work_dir}")
if cfg.local_rank == 0:
prog_bar = torchie.ProgressBar(len(data_loader.dataset) // cfg.gpus)
detections = {}
cpu_device = torch.device("cpu")
start = time.time()
start = int(len(dataset) / 3)
end = int(len(dataset) * 2 /3)
time_start = 0
time_end = 0
for i, data_batch in enumerate(data_loader):
if i == start:
torch.cuda.synchronize()
time_start = time.time()
if i == end:
torch.cuda.synchronize()
time_end = time.time()
with torch.no_grad():
outputs = batch_processor(
model, data_batch, train_mode=False, local_rank=args.local_rank,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update(
{token: output,}
)
if args.local_rank == 0:
if prog_bar is not None:
prog_bar.update()
synchronize()
all_predictions = all_gather(detections)
print("\n Total time per frame: ", (time_end - time_start) / (end - start))
if args.local_rank != 0:
return
predictions = {}
for p in all_predictions:
predictions.update(p)
if not os.path.exists(args.work_dir):
os.makedirs(args.work_dir)
save_pred(predictions, args.work_dir)
result_dict, _ = dataset.evaluation(copy.deepcopy(predictions), output_dir=args.work_dir, testset=args.testset)
if result_dict is not None:
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
if args.txt_result:
assert False, "No longer support kitti"
def main():
# torch.manual_seed(0)
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.benchmark = False
# np.random.seed(0)
args = parse_args()
cfg = Config.fromfile(args.config)
cfg.local_rank = args.local_rank
# update configs according to CLI args
if args.work_dir is not None:
cfg.work_dir = args.work_dir
distributed = False
if "WORLD_SIZE" in os.environ:
distributed = int(os.environ["WORLD_SIZE"]) > 1
if distributed:
torch.cuda.set_device(args.local_rank)
torch.distributed.init_process_group(backend="nccl",
init_method="env://")
cfg.gpus = torch.distributed.get_world_size()
else:
cfg.gpus = args.gpus
# init logger before other steps
logger = get_root_logger(cfg.log_level)
logger.info("Distributed testing: {}".format(distributed))
logger.info(
f"torch.backends.cudnn.benchmark: {torch.backends.cudnn.benchmark}")
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# put model on gpus
if distributed:
model = apex.parallel.convert_syncbn_model(model)
model = DistributedDataParallel(
model.cuda(cfg.local_rank),
device_ids=[cfg.local_rank],
output_device=cfg.local_rank,
# broadcast_buffers=False,
find_unused_parameters=True,
)
else:
model = model.cuda()
model.eval()
mode = "val"
logger.info(f"work dir: {args.work_dir}")
if cfg.local_rank == 0:
prog_bar = torchie.ProgressBar(len(data_loader.dataset) // cfg.gpus)
detections = {}
cpu_device = torch.device("cpu")
for i, data_batch in enumerate(data_loader):
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=args.local_rank,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update({
token: output,
})
if args.local_rank == 0:
prog_bar.update()
synchronize()
all_predictions = all_gather(detections)
if args.local_rank != 0:
return
predictions = {}
for p in all_predictions:
predictions.update(p)
result_dict, _ = dataset.evaluation(predictions, output_dir=args.work_dir)
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
if args.txt_result:
res_dir = os.path.join(os.getcwd(), "predictions")
for k, dt in predictions.items():
with open(
os.path.join(res_dir,
"%06d.txt" % int(dt["metadata"]["token"])),
"w") as fout:
lines = kitti.annos_to_kitti_label(dt)
for line in lines:
fout.write(line + "\n")
ap_result_str, ap_dict = kitti_evaluate(
"/data/Datasets/KITTI/Kitti/object/training/label_2",
res_dir,
label_split_file="/data/Datasets/KITTI/Kitti/ImageSets/val.txt",
current_class=0,
)
print(ap_result_str)
def main():
# torch.manual_seed(0)
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.benchmark = False
# np.random.seed(0)
args = parse_args()
cfg = Config.fromfile(args.config)
cfg.local_rank = args.local_rank
# update configs according to CLI args
if args.work_dir is not None:
cfg.work_dir = args.work_dir
distributed = False
if "WORLD_SIZE" in os.environ:
distributed = int(os.environ["WORLD_SIZE"]) > 1
if distributed:
torch.cuda.set_device(args.local_rank)
torch.distributed.init_process_group(backend="nccl",
init_method="env://")
cfg.gpus = torch.distributed.get_world_size()
else:
cfg.gpus = args.gpus
# init logger before other steps
logger = get_root_logger(cfg.log_level)
logger.info("Distributed testing: {}".format(distributed))
logger.info(
f"torch.backends.cudnn.benchmark: {torch.backends.cudnn.benchmark}")
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
if args.testset:
print("Use Test Set")
dataset = build_dataset(cfg.data.test)
else:
print("Use Val Set")
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu if not args.speed_test else 1,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# put model on gpus
if distributed:
model = apex.parallel.convert_syncbn_model(model)
model = DistributedDataParallel(
model.cuda(cfg.local_rank),
device_ids=[cfg.local_rank],
output_device=cfg.local_rank,
# broadcast_buffers=False,
find_unused_parameters=True,
)
else:
# model = fuse_bn_recursively(model)
model = model.cuda()
model.eval()
mode = "val"
logger.info(f"work dir: {args.work_dir}")
if cfg.local_rank == 0:
prog_bar = torchie.ProgressBar(len(data_loader.dataset) // cfg.gpus)
detections = {}
cpu_device = torch.device("cpu")
start = time.time()
start = int(len(dataset) / 3)
end = int(len(dataset) * 2 / 3)
time_start = 0
time_end = 0
for i, data_batch in enumerate(data_loader):
if i == start:
torch.cuda.synchronize()
time_start = time.time()
if i == end:
torch.cuda.synchronize()
time_end = time.time()
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=args.local_rank,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update({
token: output,
})
if args.local_rank == 0:
prog_bar.update()
synchronize()
all_predictions = all_gather(detections)
print("\n Total time per frame: ", (time_end - time_start) / (end - start))
if args.local_rank != 0:
return
predictions = {}
for p in all_predictions:
predictions.update(p)
if not os.path.exists(args.work_dir):
os.makedirs(args.work_dir)
save_pred(predictions, args.work_dir)
with open(os.path.join(args.work_dir, 'prediction.pkl'), 'rb') as f:
predictions = pickle.load(f)
result_dict, _ = dataset.evaluation(copy.deepcopy(predictions),
output_dir=args.work_dir,
testset=args.testset)
if result_dict is not None:
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
if args.txt_result:
assert False, "No longer support kitti"