evaluator = Evaluator(num_class)
model_dict = torch.load(os.path.join(config['resume_path'], 'parameters.pth'))["model"]
model.load_state_dict(model_dict)
model.eval()
test_data = read_plyfile("/home/gaoqiyu/文档/Stanford3dDataset_v1.2_Aligned_Version/ply/val/Area_1_hallway_2.ply")
sinput, coords, feats, labels = data_preprocess(test_data, voxel_size)
soutput = model(sinput.to(device))
# Feed-forward pass and get the prediction
_, pred = soutput.F.max(1)
pred = pred.cpu().numpy()
evaluator.generate(pred, labels)
IOU, mIOU = evaluator.mIOU()
print("IOU: ", IOU)
print("mIOU: ", mIOU)
# Map color
pred_pcd = o3d.geometry.PointCloud()
coordinates = soutput.C.numpy()[:, :3] # last c
colors_pred = np.array([SCANNET_COLOR_MAP[VALID_CLASS_IDS[l]] for l in pred])
# Create a point cloud fileolumn is the batch index
pred_pcd.points = o3d.utility.Vector3dVector(coordinates * voxel_size)
pred_pcd.colors = o3d.utility.Vector3dVector(colors_pred / 255)
colors_ground = np.array([SCANNET_COLOR_MAP[VALID_CLASS_IDS[l]] for l in labels])
ground_pcd = o3d.geometry.PointCloud()
ground_pcd.points = o3d.utility.Vector3dVector(coordinates * voxel_size + np.array([0, 10, 0]))
ground_pcd.colors = o3d.utility.Vector3dVector(colors_ground / 255)
class Trainer(object):
def __init__(self, config_):
self.config = config_
self.best_pred = -math.inf
self.train_iter_number = 0
self.val_iter_number = 0
self.epoch = 0
self.class_name = self.config["class_label"]
if self.config["multi_gpu"]:
self.device_list = list(range(torch.cuda.device_count()))
self.device = self.device_list[0]
else:
self.device = torch.device('cuda')
self.loss_value = torch.tensor(0.0, requires_grad=True).to(self.device)
self.point_number = self.config["point_num"]
self.batch_size = self.config["batch_size"]
self.model = ResUNet.Res16UNet34C(3, self.config["class"])
if self.config["fine_tune"]:
model_dict = torch.load(
os.path.join(self.config["resume_path"], 'weights_14.pth'),
map_location=lambda storage, loc: storage.cuda(self.device))
self.model.load_state_dict(model_dict)
self.optimizer = torch.optim.SGD(
[{
'params': self.model.convtr7p2s2.parameters(),
'lr': self.config["lr"] / 1e2
}, {
'params': self.model.bntr7.parameters(),
'lr': self.config["lr"] / 1e2
}, {
'params': self.model.block8.parameters(),
'lr': self.config["lr"] / 1e1
}, {
'params': self.model.final.parameters(),
'lr': self.config["lr"]
}],
lr=self.config["lr"] / 1e4,
momentum=self.config["momentum"],
weight_decay=1e-4)
if self.config["use_cuda"]:
self.model = self.model.to(self.device)
if self.config["multi_gpu"]:
self.model = torch.nn.DataParallel(self.model,
device_ids=self.device_list)
self.loss = torch.nn.CrossEntropyLoss(
ignore_index=self.config['ignore_label'])
self.train_data = initialize_data_loader(S3DISDataset,
self.config,
phase='TRAIN',
threads=1,
augment_data=True,
shuffle=True,
repeat=True,
batch_size=1,
limit_numpoints=False)
self.val_data = initialize_data_loader(S3DISDataset,
self.config,
threads=1,
phase='VAL',
augment_data=False,
shuffle=True,
repeat=False,
batch_size=1,
limit_numpoints=False)
self.optimizer = torch.optim.SGD(
self.model.parameters(),
lr=self.config['lr'],
momentum=self.config['momentum'],
weight_decay=self.config['weight_decay'])
# self.optimizer = torch.optim.Adam(self.model.parameters(), lr=self.config['lr'], weight_decay=self.config['weight_decay'])
self.lr_scheduler = PolyLR(self.optimizer,
max_iter=60000,
power=self.config['poly_power'],
last_step=-1)
log_path = os.path.join(self.config["log_path"], str(time.time()))
os.mkdir(log_path) if not os.path.exists(log_path) else None
self.summary = SummaryWriter(log_path)
self.evaluator = Evaluator(self.config["class"])
self.load()
def train(self, epoch_):
epoch_loss = []
self.model.train()
for ith, data_dict in enumerate(self.train_data):
point, labels = self.data_preprocess(data_dict, 'train')
output_sparse = self.model(point)
pred = output_sparse.F
self.reset_loss(labels)
self.loss_value = self.loss(pred, labels) + self.loss_value
epoch_loss.append(
self.loss(pred, labels).item() /
self.config["accumulate_gradient"])
self.train_iter_number += 1
if self.train_iter_number % self.batch_size == 0:
self.loss_value /= (self.config["accumulate_gradient"] *
self.batch_size)
self.loss_value.backward()
lr_value = self.optimizer.state_dict()['param_groups'][0]['lr']
self.optimizer.step()
self.lr_scheduler.step(self.train_iter_number)
self.optimizer.zero_grad()
torch.cuda.empty_cache()
self.summary.add_scalar('train/loss: ', self.loss_value,
self.train_iter_number)
self.summary.add_scalar('train/lr: ', lr_value,
self.train_iter_number)
print(
"train epoch: {}/{}, ith: {}/{}, loss: {:.4f}, lr: {:.6f}"
.format(epoch_, self.config['epoch'],
self.train_iter_number, len(self.train_data),
self.loss_value.item(), lr_value))
self.loss_value = 0
if ith == len(self.train_data) - 1:
break
average_loss = np.nanmean(epoch_loss)
self.summary.add_scalar('train/loss_epoch: ', average_loss, epoch_)
print("epoch: {}/{}, average_loss: {:.4f}".format(
epoch_, self.config['epoch'], average_loss))
print(
'------------------------------------------------------------------'
)
def eval(self, epoch_):
self.model.eval()
torch.cuda.empty_cache()
IOU_epoch = []
mIOU_epoch = []
Acc_epoch = []
precision_epoch = []
recall_epoch = []
epoch_loss = []
for ith, data_dict in enumerate(self.val_data):
point, labels = self.data_preprocess(data_dict, 'val')
with torch.no_grad():
output = self.model(point)
pred = output.F
loss_eval = self.loss(pred,
labels) / self.config["accumulate_gradient"]
epoch_loss.append(loss_eval.item())
mIOU, Acc, precision, recall = self.evaluator.generate(
pred.max(1)[1].cpu(), labels.cpu())
IOU, _ = self.evaluator.mIOU()
IOU_epoch.append(IOU)
mIOU_epoch.append(mIOU)
Acc_epoch.append(Acc)
precision_epoch.append(precision)
recall_epoch.append(recall)
self.val_iter_number += 1
self.summary.add_scalar('val/mIOU', mIOU, self.val_iter_number)
self.summary.add_scalar('val/accuracy', Acc, self.val_iter_number)
self.summary.add_scalar('val/precision', precision,
self.val_iter_number)
self.summary.add_scalar('val/recall', recall, self.val_iter_number)
self.summary.add_scalar('val/loss: ', loss_eval,
self.val_iter_number)
print(
"val epoch: {}/{}, ith: {}/{}, loss： {:.4f}, mIOU: {:.2%}, accuracy {:.2%}，precision {:.2%}，recall {:.2%}"
.format(epoch_, self.config['epoch'], ith, len(self.val_data),
loss_eval, mIOU, Acc, precision, recall))
average_loss = np.nanmean(epoch_loss)
average_IOU = np.nanmean(IOU_epoch, axis=0)
average_mIOU = np.nanmean(mIOU_epoch)
average_Acc = np.nanmean(Acc_epoch)
average_precision = np.nanmean(precision_epoch)
average_recall = np.nanmean(recall_epoch)
self.summary.add_scalar('val/acc_epoch', average_Acc, epoch_)
self.summary.add_scalar('val/loss_epoch', average_loss, epoch_)
self.summary.add_scalar('val/mIOU_epoch', average_mIOU, epoch_)
self.summary.add_scalar('val/precision_epoch', average_precision,
epoch_)
self.summary.add_scalar('val/recall_epoch', average_recall, epoch_)
print(
"epoch: {}/{}, average_loss： {:.4f}，average_mIOU: {:.2%}, average_accuracy： {:.2%}, average_precision： {:.2%}, average_recall： {:.2%}"
.format(epoch_, self.config['epoch'], average_loss, average_mIOU,
average_Acc, average_precision, average_recall))
print("class name ", self.class_name)
print("IOU/class: ", average_IOU)
print(
'------------------------------------------------------------------'
)
if average_mIOU > self.best_pred:
self.best_pred = average_mIOU
self.save(epoch_)
def load(self):
load_path = os.path.join(self.config["resume_path"], 'parameters.pth')
if os.path.isfile(load_path):
load_parameters = torch.load(
load_path,
map_location=lambda storage, loc: storage.cuda(self.device))
self.optimizer.load_state_dict(load_parameters['optimizer'])
self.lr_scheduler.load_state_dict(load_parameters['lr_scheduler'])
self.model.load_state_dict(load_parameters['model'])
self.best_pred = load_parameters['best_prediction']
self.epoch = load_parameters['epoch']
self.train_iter_number = load_parameters['train_iter_number']
self.val_iter_number = load_parameters['val_iter_number']
self.loss_value = load_parameters['loss_value']
self.model = self.model.to(self.device)
self.lr_scheduler.step(self.train_iter_number)
def save(self, epoch_):
os.mkdir(self.config["resume_path"]) if not os.path.exists(
self.config["resume_path"]) else None
torch.save(
{
'best_prediction': self.best_pred,
'model': self.model.state_dict(),
'optimizer': self.optimizer.state_dict(),
'lr_scheduler': self.lr_scheduler.state_dict(),
'epoch': epoch_,
'train_iter_number': self.train_iter_number,
'val_iter_number': self.val_iter_number,
'loss_value': self.loss_value
}, os.path.join(self.config["resume_path"], 'parameters.pth'))
def data_preprocess(self, data_dict, data_type='train'):
coords = data_dict[0]
feats = data_dict[1] / 255 - 0.5
labels = data_dict[2]
length = coords.shape[0]
if length > self.point_number and data_type == 'train':
inds = np.random.choice(np.arange(length),
self.point_number,
replace=False)
coords, feats, labels = coords[inds], feats[inds], labels[inds]
if data_type == 'train':
# For some networks, making the network invariant to even, odd coords is important
coords[:, :3] += (torch.rand(3) * 100).type_as(coords)
points = ME.SparseTensor(feats, coords.int())
if self.config["use_cuda"]:
points, labels = points.to(self.device), labels.to(self.device)
return points, labels.long()
def reset_loss(self, label):
data_ = label.cpu().numpy()
number = data_.shape[0]
bin = np.bincount(data_, minlength=self.config["class"])
for ith, i in enumerate(bin):
if i != 0:
bin[ith] = number / i
bin = bin / np.sum(bin)
self.loss = torch.nn.CrossEntropyLoss(
weight=torch.from_numpy(bin).cuda().float(),
ignore_index=self.config['ignore_label'])