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 get_detections(self, depth):
"""
Detection output after applying confidence threshold and non-maximum suppression
Format is (batch size, # of preds) array of tuples of
(semantic class, bbox corners, objectness).
"""
pc = self.depth_to_pc(depth)
inputs = {'point_clouds': torch.from_numpy(pc).to(self.device)}
tic = time.time()
with torch.no_grad():
end_points = self.net(inputs)
toc = time.time()
obj_logits = end_points['objectness_scores'].detach().cpu().numpy()
obj_prob = softmax(obj_logits)[:, :, 1] # (B,K)
if np.sum(obj_prob > self.eval_config_dict['conf_thresh']) == 0:
return [[]]
#print('Inference time: %f'%(toc-tic))
end_points['point_clouds'] = inputs['point_clouds']
pred_map_cls = parse_predictions(end_points, self.eval_config_dict)
return pred_map_cls
def _votenet_inference(queue):
# Set file paths and dataset config
demo_dir = os.path.join(BASE_DIR, 'demo_files')
# Use sunrgbd
sys.path.append(os.path.join(ROOT_DIR, 'sunrgbd'))
from sunrgbd_detection_dataset import DC # dataset config
checkpoint_path = os.path.join(demo_dir,
'pretrained_votenet_on_sunrgbd.tar')
eval_config_dict = {
'remove_empty_box': True,
'use_3d_nms': True,
'nms_iou': 0.25,
'use_old_type_nms': False,
'cls_nms': False,
'per_class_proposal': False,
'conf_thresh': 0.5,
'dataset_config': DC
}
# Init the model and optimzier
MODEL = importlib.import_module('votenet') # import network module
device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
net = MODEL.VoteNet(
num_proposal=256,
input_feature_dim=1,
vote_factor=1,
#sampling='seed_fps', num_class=DC.num_class,
sampling='vote_fps',
num_class=DC.num_class,
num_heading_bin=DC.num_heading_bin,
num_size_cluster=DC.num_size_cluster,
mean_size_arr=DC.mean_size_arr).to(device)
print('Constructed model.')
# Load checkpoint
optimizer = optim.Adam(net.parameters(), lr=0.001)
checkpoint = torch.load(checkpoint_path)
net.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
epoch = checkpoint['epoch']
print("Loaded checkpoint %s (epoch: %d)" % (checkpoint_path, epoch))
# Load and preprocess input point cloud
net.eval() # set model to eval mode (for bn and dp)
filename = queue.get()
print(filename)
pc_dir = os.path.join(BASE_DIR, 'point_cloud')
pc_path = os.path.join(pc_dir, filename)
point_cloud = read_ply(pc_path)
pc = preprocess_point_cloud(point_cloud)
print('Loaded point cloud data: %s' % (pc_path))
# Model inference
inputs = {'point_clouds': torch.from_numpy(pc).to(device)}
tic = time.time()
with torch.no_grad():
#with profiler.profile(with_stack=True, profile_memory=True) as prof:
end_points = net(inputs)
toc = time.time()
print('Inference time: %f' % (toc - tic))
end_points['point_clouds'] = inputs['point_clouds']
pred_map_cls = parse_predictions(end_points, eval_config_dict)
print('Finished detection. %d object detected.' % (len(pred_map_cls[0])))
#dump_dir = os.path.join(demo_dir, '%s_results'%('sunrgbd'))
#if not os.path.exists(dump_dir): os.mkdir(dump_dir)
#MODEL.dump_results(end_points, dump_dir, DC, True)
#print('Dumped detection results to folder %s'%(dump_dir))
#return pred_map_cls
queue.put(pred_map_cls)
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
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)
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
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)
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] /
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_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
np.float32) # B, num_proposal,2
center_batch = y_pred[1].astype(np.float32) # B, num_proposal,3
heading_batch = y_pred[2].astype(np.float32) # B, num_proposal
size_batch = y_pred[3].astype(np.float32) # B, num_proposal,3
sem_class_normalized_batch = y_pred[4].astype(
np.float32) # B, num_proposal,num_class
seeds_xyz_batch = y_pred[5].astype(np.float32) # B, num_seeds,3
votes_xyz_batch = y_pred[6].astype(
np.float32) # B, num_seeds*vote_factor,3
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)
def run(self):
logging.info('Start running...')
idx = 0
flip_transform = [[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0],
[0, 0, 0, 1]]
if self.visualize:
logging.info('Creating visualizer...')
set_bounding_box = False
self.vis = o3d.visualization.Visualizer()
self.vis.create_window(window_name='point cloud',
width=1280,
height=960)
self.point_cloud = o3d.geometry.PointCloud()
self.point_cloud.points = o3d.utility.Vector3dVector([])
self.point_cloud.colors = o3d.utility.Vector3dVector([])
self.bbox = o3d.geometry.LineSet()
self.bbox.points = o3d.utility.Vector3dVector([])
self.bbox.lines = o3d.utility.Vector2iVector([])
self.bbox.colors = o3d.utility.Vector3dVector([])
while not self.flag_exit:
point_cloud = self.get_data(idx)
if point_cloud is None:
continue
pc = self.preprocess_point_cloud(point_cloud)
inputs = {
'point_clouds': torch.from_numpy(pc).to(self.torch_device)
}
tic = time.time()
with torch.no_grad():
end_points = self.net(inputs)
toc = time.time()
logging.info('Inference time: %f' % (toc - tic))
end_points['point_clouds'] = inputs['point_clouds']
pred_map_cls = parse_predictions(end_points, self.eval_config_dict)
logging.info('Finished detection. %d object detected.' %
(len(pred_map_cls[0])))
if self.visualize:
geometries = self.get_geometries(point_cloud, end_points, idx)
pcd = geometries[0]
if len(geometries) == 2:
bbox = geometries[1]
else:
bbox = o3d.geometry.LineSet()
bbox.points = o3d.utility.Vector3dVector([])
bbox.lines = o3d.utility.Vector2iVector([])
bbox.colors = o3d.utility.Vector3dVector([])
self.point_cloud.points = pcd.points
self.point_cloud.colors = pcd.colors
self.bbox.points = bbox.points
self.bbox.lines = bbox.lines
self.bbox.colors = bbox.colors
self.point_cloud.transform(flip_transform)
self.bbox.transform(flip_transform)
if idx == 0:
self.vis.add_geometry(self.point_cloud)
self.vis.add_geometry(self.bbox)
self.vis.update_geometry(self.point_cloud)
self.vis.update_geometry(self.bbox)
self.vis.poll_events()
self.vis.update_renderer()
if self.save_data:
print(idx)
if not os.path.exists(self.output_dir):
os.mkdir(self.output_dir)
self.MODEL.dump_results(end_points,
self.output_dir,
DC,
inference_switch=True,
DUMP_CONF_THRESH=self.DUMP_CONF_THRESH,
idx_beg=idx)
logging.info('Dumped detection results to folder %s' %
(self.output_dir))
idx += 1
self.vis.destroy_window()
# Load checkpoint
optimizer = optim.Adam(net.parameters(), lr=0.001)
checkpoint = torch.load(checkpoint_path)
net.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
epoch = checkpoint['epoch']
print("Loaded checkpoint %s (epoch: %d)" % (checkpoint_path, epoch))
# Load and preprocess input point cloud
net.eval() # set model to eval mode (for bn and dp)
point_cloud = read_ply(pc_path)
pc = preprocess_point_cloud(point_cloud)
print('Loaded point cloud data: %s' % (pc_path))
# Model inference
inputs = {'point_clouds': torch.from_numpy(pc).to(device)}
tic = time.time()
with torch.no_grad():
end_points = net(inputs)
toc = time.time()
print('Inference time: %f' % (toc - tic))
end_points['point_clouds'] = inputs['point_clouds']
pred_map_cls = parse_predictions(end_points, eval_config_dict)
print('Finished detection. %d object detected.' % (len(pred_map_cls[0])))
dump_dir = os.path.join(demo_dir, '%s_results' % (FLAGS.dataset))
if not os.path.exists(dump_dir): os.mkdir(dump_dir)
MODEL.dump_results(end_points, dump_dir, DC, True)
print('Dumped detection results to folder %s' % (dump_dir))
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