def voxelnet_init():
global sess, model
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
sess = tf.Session(config=config)
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess, tf.train.latest_checkpoint(save_model_dir))
def main(_):
with tf.Graph().as_default():
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
conf = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=conf) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
nd_names = model.get_output_nodes_names()
node_list = []
# we ned the names of the tensor, not of the ops
for nd in nd_names:
node_list.append(nd + ':0')
print(node_list)
print("\n\n\n")
with gfile.FastGFile(save_model_dir + "/frozen.pb", 'rb') as f:
graph_def = tf.GraphDef()
graph_def.ParseFromString(f.read())
trt_graph = trt.create_inference_graph(
input_graph_def=graph_def,
outputs=node_list,
max_batch_size=2,
max_workspace_size_bytes=max_workspace_size_bytes,
minimum_segment_size=6,
precision_mode=args.precision)
path_new_frozen_pb = save_model_dir + "/newFrozenModel_TRT_{}.pb".format(
args.precision)
with gfile.FastGFile(path_new_frozen_pb, 'wb') as fp:
fp.write(trt_graph.SerializeToString())
print("TRT graph written to path ", path_new_frozen_pb)
with tf.Session() as sess:
writer = tf.summary.FileWriter('logs', sess.graph)
writer.close()
def main(_):
with tf.Graph().as_default():
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
# just one run to initialize all the variables
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
# param init/restore
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
for batch in iterate_data(test_dir,
shuffle=False,
aug=False,
is_testset=True,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
tags, results = model.predict_step(sess,
batch,
summary=False,
vis=False)
break
model.save_frozen_graph(sess, save_model_dir + "/frozen.pb")
def main(_):
with tf.Graph().as_default():
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
calib_graph = load_graph(save_model_dir + "/frozen.pb")
with tf.Session(config=config, graph=calib_graph) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
writer = tf.summary.FileWriter('tensorboard_logs', sess.graph)
writer.close()
def main(_):
# TODO: split file support
with tf.Graph().as_default():
global save_model_dir
with KittiLoader(object_dir=os.path.join(dataset_dir, 'training'), queue_size=50, require_shuffle=True,
is_testset=False, batch_size=args.single_batch_size * cfg.GPU_USE_COUNT, use_multi_process_num=8, multi_gpu_sum=cfg.GPU_USE_COUNT, aug=True) as train_loader, \
KittiLoader(object_dir=os.path.join(dataset_dir, 'testing'), queue_size=50, require_shuffle=True,
is_testset=False, batch_size=args.single_batch_size * cfg.GPU_USE_COUNT, use_multi_process_num=8, multi_gpu_sum=cfg.GPU_USE_COUNT, aug=False) as valid_loader:
gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=config) as sess:
model = RPN3D(
cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
learning_rate=args.lr,
max_gradient_norm=5.0,
is_train=True,
alpha=1.5,
beta=1,
avail_gpus=cfg.GPU_AVAILABLE.split(',')
)
# param init/restore
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(
sess, tf.train.latest_checkpoint(save_model_dir))
else:
print("Created model with fresh parameters.")
tf.global_variables_initializer().run()
# train and validate
iter_per_epoch = int(
len(train_loader) / (args.single_batch_size * cfg.GPU_USE_COUNT))
is_summary, is_summary_image, is_validate = False, False, False
summary_interval = 5
summary_image_interval = 20
save_model_interval = int(iter_per_epoch / 3)
validate_interval = 60
summary_writer = tf.summary.FileWriter(log_dir, sess.graph)
while model.epoch.eval() < args.max_epoch:
is_summary, is_summary_image, is_validate = False, False, False
iter = model.global_step.eval()
if not iter % summary_interval:
is_summary = True
if not iter % summary_image_interval:
is_summary_image = True
if not iter % save_model_interval:
model.saver.save(sess, os.path.join(
save_model_dir, 'checkpoint'), global_step=model.global_step)
if not iter % validate_interval:
is_validate = True
if not iter % iter_per_epoch:
sess.run(model.epoch_add_op)
print('train {} epoch, total: {}'.format(
model.epoch.eval(), args.max_epoch))
ret = model.train_step(
sess, train_loader.load(), train=True, summary=is_summary)
print('train: {}/{} @ epoch:{}/{} loss: {} reg_loss: {} cls_loss: {} {}'.format(iter,
iter_per_epoch * args.max_epoch, model.epoch.eval(), args.max_epoch, ret[0], ret[1], ret[2], args.tag))
if is_summary:
summary_writer.add_summary(ret[-1], iter)
if is_summary_image:
ret = model.predict_step(
sess, valid_loader.load(), summary=True)
summary_writer.add_summary(ret[-1], iter)
if is_validate:
ret = model.validate_step(
sess, valid_loader.load(), summary=True)
summary_writer.add_summary(ret[-1], iter)
if check_if_should_pause(args.tag):
model.saver.save(sess, os.path.join(
save_model_dir, 'checkpoint'), global_step=model.global_step)
print('pause and save model @ {} steps:{}'.format(
save_model_dir, model.global_step.eval()))
sys.exit(0)
print('train done. total epoch:{} iter:{}'.format(
model.epoch.eval(), model.global_step.eval()))
# finallly save model
model.saver.save(sess, os.path.join(
save_model_dir, 'checkpoint'), global_step=model.global_step)
def main(_):
# TODO: split file support
with tf.Graph().as_default():
global save_model_dir
start_epoch = 0
global_counter = 0
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=config) as sess:
model = RPN3D(
cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
learning_rate=args.lr,
max_gradient_norm=5.0,
alpha=args.alpha,
beta=args.beta,
avail_gpus=cfg.GPU_AVAILABLE #.split(',')
)
# param init/restore
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
start_epoch = model.epoch.eval() + 1
global_counter = model.global_step.eval() + 1
else:
print("Created model with fresh parameters.")
tf.global_variables_initializer().run()
# train and validate
is_summary, is_summary_image, is_validate = False, False, False
summary_interval = 5
summary_val_interval = 10
summary_writer = tf.summary.FileWriter(log_dir, sess.graph)
# training
for epoch in range(start_epoch, args.max_epoch):
counter = 0
batch_time = time.time()
for batch in iterate_data(train_dir,
shuffle=True,
aug=True,
is_testset=False,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
counter += 1
global_counter += 1
if counter % summary_interval == 0:
is_summary = True
else:
is_summary = False
start_time = time.time()
ret = model.train_step(sess,
batch,
train=True,
summary=is_summary)
forward_time = time.time() - start_time
batch_time = time.time() - batch_time
print('train: {} @ epoch:{}/{} loss: {:.4f} reg_loss: {:.4f} cls_loss: {:.4f} cls_pos_loss: {:.4f} cls_neg_loss: {:.4f} forward time: {:.4f} batch time: {:.4f}'\
.format(counter,epoch, args.max_epoch, ret[0], ret[1], ret[2], ret[3], ret[4], forward_time, batch_time))
with open('log/train.txt', 'a') as f:
f.write(
'train: {} @ epoch:{}/{} loss: {:.4f} reg_loss: {:.4f} cls_loss: {:.4f} cls_pos_loss: {:.4f} cls_neg_loss: {:.4f} forward time: {:.4f} batch time: {:.4f} \n'
.format(counter, epoch, args.max_epoch, ret[0],
ret[1], ret[2], ret[3], ret[4],
forward_time, batch_time))
#print(counter, summary_interval, counter % summary_interval)
if counter % summary_interval == 0:
print("summary_interval now")
summary_writer.add_summary(ret[-1], global_counter)
#print(counter, summary_val_interval, counter % summary_val_interval)
if counter % summary_val_interval == 0:
print("summary_val_interval now")
batch = sample_test_data(
val_dir,
args.single_batch_size * cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT)
ret = model.validate_step(sess, batch, summary=True)
summary_writer.add_summary(ret[-1], global_counter)
try:
ret = model.predict_step(sess, batch, summary=True)
summary_writer.add_summary(ret[-1], global_counter)
except:
print("prediction skipped due to error")
if check_if_should_pause(args.tag):
model.saver.save(sess,
os.path.join(save_model_dir,
'checkpoint'),
global_step=model.global_step)
print('pause and save model @ {} steps:{}'.format(
save_model_dir, model.global_step.eval()))
sys.exit(0)
batch_time = time.time()
sess.run(model.epoch_add_op)
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
# dump test data every 10 epochs
if (epoch + 1) % 10 == 0:
# create output folder
os.makedirs(os.path.join(args.output_path, str(epoch)),
exist_ok=True)
os.makedirs(os.path.join(args.output_path, str(epoch),
'data'),
exist_ok=True)
if args.vis:
os.makedirs(os.path.join(args.output_path, str(epoch),
'vis'),
exist_ok=True)
for batch in iterate_data(
val_dir,
shuffle=False,
aug=False,
is_testset=False,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
if args.vis:
tags, results, front_images, bird_views, heatmaps = model.predict_step(
sess, batch, summary=False, vis=True)
else:
tags, results = model.predict_step(sess,
batch,
summary=False,
vis=False)
for tag, result in zip(tags, results):
of_path = os.path.join(args.output_path,
str(epoch), 'data',
tag + '.txt')
with open(of_path, 'w+') as f:
labels = box3d_to_label([result[:, 1:8]],
[result[:, 0]],
[result[:, -1]],
coordinate='lidar')[0]
for line in labels:
f.write(line)
print('write out {} objects to {}'.format(
len(labels), tag))
# dump visualizations
if args.vis:
for tag, front_image, bird_view, heatmap in zip(
tags, front_images, bird_views, heatmaps):
front_img_path = os.path.join(
args.output_path, str(epoch), 'vis',
tag + '_front.jpg')
bird_view_path = os.path.join(
args.output_path, str(epoch), 'vis',
tag + '_bv.jpg')
heatmap_path = os.path.join(
args.output_path, str(epoch), 'vis',
tag + '_heatmap.jpg')
cv2.imwrite(front_img_path, front_image)
cv2.imwrite(bird_view_path, bird_view)
cv2.imwrite(heatmap_path, heatmap)
# execute evaluation code
cmd_1 = "./kitti_eval/launch_test.sh"
cmd_2 = os.path.join(args.output_path, str(epoch))
cmd_3 = os.path.join(args.output_path, str(epoch), 'log')
os.system(" ".join([cmd_1, cmd_2, cmd_3]))
print('train done. total epoch:{} iter:{}'.format(
epoch, model.global_step.eval()))
# finallly save model
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
test_count = 0
for batch in iterate_data(train_dir,
shuffle=False,
aug=False,
is_testset=False,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
def main():
# load config
train_dataset_dir = os.path.join(cfg.DATA_DIR, "training")
val_dataset_dir = os.path.join(cfg.DATA_DIR, "validation")
eval_dataset_dir = os.path.join(cfg.DATA_DIR, "validation")
save_model_dir = os.path.join("./save_model", cfg.TAG)
log_dir = os.path.join("./log", cfg.TAG)
os.makedirs(log_dir, exist_ok=True)
os.makedirs(save_model_dir, exist_ok=True)
config = gpu_config()
max_epoch = cfg.MAX_EPOCH
# config logging
logging.basicConfig(filename='./log/' + cfg.TAG + '/train.log',
level=logging.ERROR)
copyfile("model/model.py",
os.path.join(log_dir,
"model.py")) # copyu model.py into log/$TAG/
copyfile(
"model/group_pointcloud.py",
os.path.join(log_dir,
"group_pointcloud.py")) # copyu model.py into log/$TAG/
copyfile("model/rpn.py",
os.path.join(log_dir, "rpn.py")) # copy rpn.py into log/$TAG/
copyfile("config.py",
os.path.join(log_dir,
"config.py")) # copy config.py into log/$TAG/
print("tag: {}".format(cfg.TAG))
logging.critical("tag: {}".format(cfg.TAG))
with tf.Session(config=config) as sess:
# load model
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=cfg.SINGLE_BATCH_SIZE,
is_training=True,
learning_rate=cfg.LR,
max_gradient_norm=5.0,
alpha=cfg.ALPHA,
beta=cfg.BETA,
gamma=cfg.GAMMA,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
saver = tf.train.Saver(write_version=tf.train.SaverDef.V2,
max_to_keep=10,
pad_step_number=True,
keep_checkpoint_every_n_hours=1.0)
summary_writer = tf.summary.FileWriter(log_dir, sess.graph)
# param init/restore
if not cfg.LOAD_CHECKPT == None:
print("Reading model parameters from {}, {}".format(
save_model_dir, cfg.LOAD_CHECKPT))
logging.critical("Reading model parameters from {}, {}".format(
save_model_dir, cfg.LOAD_CHECKPT))
saver.restore(sess, os.path.join(save_model_dir, cfg.LOAD_CHECKPT))
start_epoch = model.epoch.eval() + 1
elif tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
logging.critical("Reading model parameters from %s" %
save_model_dir)
saver.restore(sess, tf.train.latest_checkpoint(save_model_dir))
start_epoch = model.epoch.eval() + 1
else:
print("Created model with fresh parameters.")
logging.critical("Created model with fresh parameters.")
tf.global_variables_initializer().run()
start_epoch = 0
# train
for epoch in range(start_epoch, max_epoch):
# load data
data_generator_train = iterate_data(
train_dataset_dir,
shuffle=True,
aug=False,
is_testset=False,
batch_size=cfg.SINGLE_BATCH_SIZE * cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT)
data_generator_val = iterate_data(
val_dataset_dir,
shuffle=True,
aug=False,
is_testset=False,
batch_size=cfg.SINGLE_BATCH_SIZE * cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT)
for batch in data_generator_train:
# train
ret = model.train_step(sess, batch, train=True, summary=True)
output_log(epoch,
model.global_step.eval(),
pos_cls_loss=ret[3],
neg_cls_loss=ret[4],
cls_loss=ret[2],
reg_loss=ret[1],
loss=ret[0],
phase="train",
logger=logging)
summary_writer.add_summary(ret[-1], model.global_step.eval())
if model.global_step.eval() % cfg.VALIDATE_INTERVAL == 0:
# val
val_batch = data_generator_val.__next__()
ret = model.validate_step(sess, val_batch, summary=True)
output_log(epoch,
model.global_step.eval(),
pos_cls_loss=ret[3],
neg_cls_loss=ret[4],
cls_loss=ret[2],
reg_loss=ret[1],
loss=ret[0],
phase="validation",
logger=logging)
summary_writer.add_summary(ret[-1],
model.global_step.eval())
# eval
eval_batch = sample_test_data(
eval_dataset_dir,
cfg.SINGLE_BATCH_SIZE * cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT)
try:
ret = model.predict_step(sess,
eval_batch,
summary=True)
summary_writer.add_summary(ret[-1],
model.global_step.eval())
except:
print("prediction skipped due to error")
sess.run(model.epoch_add_op)
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
print('{} Training Done!'.format(cfg.TAG))
logging.critical('{} Training Done!'.format(cfg.TAG))
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(gpu_options=gpu_options,
device_count={
"GPU": GPU_USE_COUNT,
},
allow_soft_placement=True,
log_device_placement=True)
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=bs,
avail_gpus=GPU_AVAILABLE)
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
counter = 0
# with experiment.test():
for batch in iterate_data(val_dir,
shuffle=False,
aug=False,
is_testset=False,
batch_size=bs * GPU_USE_COUNT,
multi_gpu_sum=GPU_USE_COUNT):
# experiment.log_metric("counter",counter)
def main(_):
with tf.Graph().as_default():
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
decrease=args.decrease,
minimize=args.minimize,
single_batch_size=args.single_batch_size,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
# param init/restore
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
for batch in iterate_data(test_dir,
shuffle=False,
aug=False,
is_testset=True,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
if args.vis:
tags, results, front_images, bird_views, heatmaps = model.predict_step(
sess, batch, summary=False, vis=True)
else:
tags, results = model.predict_step(sess,
batch,
summary=False,
vis=False)
for tag, result in zip(tags, results):
of_path = os.path.join(res_dir, 'data', tag + '.txt')
with open(of_path, 'w+') as f:
labels = box3d_to_label([result[:, 1:8]],
[result[:, 0]],
[result[:, -1]],
coordinate='lidar')[0]
for line in labels:
f.write(line)
print('write out {} objects to {}'.format(
len(labels), tag))
# dump visualizations
if args.vis:
for tag, front_image, bird_view, heatmap in zip(
tags, front_images, bird_views, heatmaps):
front_img_path = os.path.join(res_dir, 'vis',
tag + '_front.jpg')
bird_view_path = os.path.join(res_dir, 'vis',
tag + '_bv.jpg')
heatmap_path = os.path.join(res_dir, 'vis',
tag + '_heatmap.jpg')
cv2.imwrite(front_img_path, front_image)
cv2.imwrite(bird_view_path, bird_view)
cv2.imwrite(heatmap_path, heatmap)
def main():
# load config
eval_dataset_dir = os.path.join(cfg.DATA_DIR, "validation")
save_model_dir = os.path.join("./save_model", cfg.TAG)
log_dir = os.path.join("./log", cfg.TAG)
predall_dir = os.path.join("./predicts-all", cfg.TAG)
os.makedirs(log_dir, exist_ok=True)
os.makedirs(predall_dir, exist_ok=True)
config = gpu_config()
# config logging
logging.basicConfig(filename='./log/' + cfg.TAG + '/test_all.log',
level=logging.ERROR)
with tf.Session(config=config) as sess:
# load model
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=cfg.SINGLE_BATCH_SIZE,
is_training=False,
learning_rate=cfg.LR,
max_gradient_norm=5.0,
alpha=cfg.ALPHA,
beta=cfg.BETA,
gamma=cfg.GAMMA,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
saver = tf.train.Saver(write_version=tf.train.SaverDef.V2,
max_to_keep=10,
pad_step_number=True,
keep_checkpoint_every_n_hours=1.0)
# param init/restore
print("Reading model parameters from %s" % save_model_dir)
logging.critical("Reading model parameters from %s" % save_model_dir)
ckpt_list = get_ckpt_list(save_model_dir)
for ckpt in ckpt_list:
print("Checkpoint: {}".format(ckpt))
logging.critical("Checkpoint: {}".format(ckpt))
pred_dir = os.path.join(predall_dir, ckpt)
if os.path.isdir(pred_dir):
continue
os.makedirs(pred_dir, exist_ok=True)
os.makedirs(os.path.join(pred_dir, "data"), exist_ok=True)
os.makedirs(os.path.join(pred_dir, "vis"), exist_ok=True)
saver.restore(sess, os.path.join(save_model_dir, ckpt))
# load data
data_generator_test = iterate_data(
eval_dataset_dir,
shuffle=False,
aug=False,
is_testset=False,
batch_size=cfg.SINGLE_BATCH_SIZE * cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT)
for batch in data_generator_test:
tags, results, front_images, bird_views, heatmaps = model.predict_step(
sess, batch, summary=False, vis=True)
for tag, result in zip(tags, results):
of_path = os.path.join(pred_dir, 'data', tag + '.txt')
with open(of_path, 'w+') as f:
labels = box3d_to_label([result[:, 1:8]],
[result[:, 0]],
[result[:, -1]],
coordinate='lidar')[0]
for line in labels:
f.write(line)
print('write out {} objects to {}'.format(
len(labels), tag))
logging.critical('write out {} objects to {}'.format(
len(labels), tag))
for tag, front_image, bird_view, heatmap in zip(
tags, front_images, bird_views, heatmaps):
front_img_path = os.path.join(pred_dir, 'vis',
tag + '_front.jpg')
bird_view_path = os.path.join(pred_dir, 'vis',
tag + '_bv.jpg')
heatmap_path = os.path.join(pred_dir, 'vis',
tag + '_heatmap.jpg')
cv2.imwrite(front_img_path, front_image)
cv2.imwrite(bird_view_path, bird_view)
cv2.imwrite(heatmap_path, heatmap)
print('{} Testing Done! Starting Evaluation!'.format(cfg.TAG +
ckpt))
logging.critical(
'{} Testing Done! Starting Evaluation!'.format(cfg.TAG +
ckpt))
# ./kitti_eval/evaluate_object_3d_offline /usr/app/TuneDataKitti/validation/label_2/ ./predicts/$TAG/ > ./predicts/$TAG/cmd.log
cmd = "./kitti_eval/evaluate_object_3d_offline" + " " \
+ os.path.join(eval_dataset_dir, "label_2/") + " " \
+ pred_dir + " " \
+ ">" + " " \
+ os.path.join(pred_dir, "cmd.log")
os.system(cmd)
print('{} Evaluation Done!'.format(cfg.TAG + ckpt))
logging.critical('{} Evaluation Done!'.format(cfg.TAG + ckpt))
print('{} Testing Done!'.format(cfg.TAG))
logging.critical('{} Testing Done!'.format(cfg.TAG))
with KittiLoader(object_dir=dataset_dir, queue_size=100, require_shuffle=False, is_testset=True, batch_size=args.single_batch_size*cfg.GPU_USE_COUNT, use_multi_process_num=8, multi_gpu_sum=cfg.GPU_USE_COUNT) as test_loader:
gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU" : cfg.GPU_USE_COUNT,
allow_soft_placement=True,
}
)
with tf.Session(config=config) as sess:
model = RPN3D(
cls=cfg.DETECT_OBJ,
batch_size=1,
tag=args.tag,
is_train=False,
avail_gpus=cfg.GPU_AVAILABLE.split(',')
)
while True:
data = test_loader.load()
if data is None:
print('test done.')
break
ret = model.predict_step(sess, data)
# ret: A, B
# A: (N) tag
# B: (N, N') (class, x, y, z, h, w, l, rz, score)
for tag, result in zip(*ret):
of_path = os.path.join(args.output_path, tag + '.txt')
with open(of_path, 'w+') as f:
def main(_):
with tf.Graph().as_default():
start_epoch = 0
global_counter = 0
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
decrease=args.decrease,
minimize=args.minimize,
single_batch_size=args.single_batch_size,
learning_rate=args.lr,
max_gradient_norm=5.0,
alpha=args.alpha,
beta=args.beta,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
# param init/restore
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
start_epoch = model.epoch.eval() + 1
global_counter = model.global_step.eval() + 1
else:
print("Created model with fresh parameters.")
tf.global_variables_initializer().run()
# train and validate
is_summary, is_summary_image, is_validate = False, False, False
summary_interval = 5
summary_val_interval = 10
summary_writer = tf.summary.FileWriter(log_dir, sess.graph)
# training
for epoch in range(start_epoch, args.max_epoch):
counter = 0
batch_time = time.time()
for batch in iterate_data(train_dir,
shuffle=True,
aug=True,
is_testset=False,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
counter += 1
global_counter += 1
if counter % summary_interval == 0:
is_summary = True
else:
is_summary = False
start_time = time.time()
ret = model.train_step(sess,
batch,
train=True,
summary=is_summary)
forward_time = time.time() - start_time
batch_time = time.time() - batch_time
print(
'train: {} @ epoch:{}/{} loss: {:.4f} reg_loss: {:.4f} cls_loss: {:.4f} cls_pos_loss: {:.4f} cls_neg_loss: {:.4f} forward time: {:.4f} batch time: {:.4f}'
.format(counter, epoch + 1, args.max_epoch, ret[0],
ret[1], ret[2], ret[3], ret[4], forward_time,
batch_time))
with open(os.path.join('log', 'train.txt'), 'a') as f:
f.write(
'train: {} @ epoch:{}/{} loss: {:.4f} reg_loss: {:.4f} cls_loss: {:.4f} cls_pos_loss: {:.4f} cls_neg_loss: {:.4f} forward time: {:.4f} batch time: {:.4f} \n'
.format(counter, epoch + 1, args.max_epoch, ret[0],
ret[1], ret[2], ret[3], ret[4],
forward_time, batch_time))
if counter % summary_interval == 0:
print("summary_interval now")
summary_writer.add_summary(ret[-1], global_counter)
if counter % summary_val_interval == 0:
print("summary_val_interval now")
batch = sample_test_data(
val_dir,
args.single_batch_size * cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT)
ret = model.validate_step(sess, batch, summary=True)
summary_writer.add_summary(ret[-1], global_counter)
if check_if_should_pause(args.tag):
model.saver.save(sess,
os.path.join(save_model_dir,
'checkpoint'),
global_step=model.global_step)
print('pause and save model @ {} steps:{}'.format(
save_model_dir, model.global_step.eval()))
sys.exit(0)
batch_time = time.time()
sess.run(model.epoch_add_op)
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
# dump test data every 10 epochs
if (epoch + 1) % 10 == 0:
os.makedirs(os.path.join(res_dir, str(epoch)),
exist_ok=True)
os.makedirs(os.path.join(res_dir, str(epoch), 'data'),
exist_ok=True)
for batch in iterate_data(
val_dir,
shuffle=False,
aug=False,
is_testset=False,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
tags, results = model.predict_step(sess,
batch,
summary=False,
vis=False)
for tag, result in zip(tags, results):
of_path = os.path.join(res_dir, str(epoch), 'data',
tag + '.txt')
with open(of_path, 'w+') as f:
labels = box3d_to_label([result[:, 1:8]],
[result[:, 0]],
[result[:, -1]],
coordinate='lidar')[0]
for line in labels:
f.write(line)
print('write out {} objects to {}'.format(
len(labels), tag))
# finally save model
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
def main(_):
# TODO: split file support
warn("main start")
with tf.Graph().as_default():
global save_model_dir
with KittiLoader(object_dir=os.path.join(dataset_dir, dataset),
queue_size=16,
require_shuffle=shuffle,
is_testset=False,
batch_size=args.single_batch_size * cfg.GPU_USE_COUNT,
use_multi_process_num=8,
split_file=split_file,
valid_file=valid_file,
multi_gpu_sum=cfg.GPU_USE_COUNT) as train_loader:
# , \KittiLoader(object_dir=os.path.join(dataset_dir, 'testing'), queue_size=50, require_shuffle=True,
# is_testset=False, batch_size=args.single_batch_size*cfg.GPU_USE_COUNT, use_multi_process_num=8, multi_gpu_sum=cfg.GPU_USE_COUNT) as valid_loader:
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
# tf_config = tf.ConfigProto(allow_soft_placement=True, log_device_placement=True)
# tf_config.gpu_options.allow_growth = True
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
learning_rate=args.lr,
max_gradient_norm=5.0,
is_train=True,
alpha=1.5,
beta=1.0,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
# param init/restore
if tf.train.get_checkpoint_state(save_model_dir):
# model.saver.restore(sess, save_model_dir+'/checkpoint-00343950')#tf.train.latest_checkpoint(save_model_dir))
model.saver.restore(
sess, tf.train.latest_checkpoint(save_model_dir))
warn("loading done")
else:
warn("Created model with fresh parameters.")
tf.global_variables_initializer().run()
# train and validate
iter_per_epoch = int(
len(train_loader) /
(args.single_batch_size * cfg.GPU_USE_COUNT))
is_summary, is_summary_image, is_validate = False, False, False
summary_interval = 50
summary_image_interval = 50
save_model_interval = 50
validate_interval = 8000
# if is_test == True:
# for test_idx in range(5236, train_loader.dataset_size):
# t0 = time.time()
# ret = model.test_step(sess, train_loader.load_specified(test_idx), output_path = save_result_dir, summary=True)
# t1 = time.time()
# warn("test: {:.2f}".format(t1-t0))
if is_test:
total_iter = int(
np.ceil(train_loader.validset_size /
train_loader.batch_size))
# idx = iter
save_result_folder = os.path.join(save_result_dir,
"test_result")
mkdir_p(save_result_folder)
for idx in range(total_iter):
t0 = time.time()
if train_loader.batch_size * (
idx + 1) > train_loader.validset_size:
start_idx = train_loader.validset_size - train_loader.batch_size
end_idx = train_loader.validset_size
else:
start_idx = train_loader.batch_size * idx
end_idx = train_loader.batch_size * (idx + 1)
warn("start: {} end: {}".format(start_idx, end_idx))
# ret = model.test_step(sess, train_loader.load_specified(np.arange(start_idx, end_idx)), output_path= save_result_folder, summary=True, visualize = True)
ret = model.test_step(sess,
train_loader.load(),
output_path=save_result_folder,
summary=True,
visualize=True)
t1 = time.time()
warn("test: {:.2f} sec | remaining {:.2f} sec {}/{}".
format(t1 - t0, (t1 - t0) * (total_iter - idx),
idx, total_iter))
summary_writer = tf.summary.FileWriter(log_dir, sess.graph)
while model.epoch.eval() < args.max_epoch:
is_summary, is_summary_image, is_validate = False, False, False
progress = model.epoch.eval() / args.max_epoch
train_loader.progress = progress
iter = model.global_step.eval()
if not iter % summary_interval:
is_summary = True
if not iter % summary_image_interval:
is_summary_image = True
if not iter % save_model_interval:
model.saver.save(sess,
os.path.join(save_model_dir,
'checkpoint'),
global_step=model.global_step)
if not iter % validate_interval:
is_validate = True
if not iter % iter_per_epoch:
sess.run(model.epoch_add_op)
t1 = time.time()
warn("train: {}".format(t1 - t0))
print('train {} epoch, total: {}'.format(
model.epoch.eval(), args.max_epoch))
t0 = time.time()
ret = model.train_step(sess,
train_loader.load(),
train=True,
summary=is_summary)
t1 = time.time()
warn("train: {}".format(t1 - t0))
# warn("reg loss: {}".format(ret[1]))
# warn("corner loss: {}".format(ret[3]))
# for box in range(len(ret[4][0])):
# warn("box {} : {}".format(box, ret[4][0][box]))
# warn("indexes : {}".format(ret[4][0]))
print(
'train: {:.2f} / 1 : {}/{} @ epoch:{}/{} {:.2f} sec, remaining: {:.2f} min, loss: {:.2f} corner_loss: {:.2f} reg_loss: {:.2f} cls_loss: {:.2f} {}'
.format(train_loader.progress, iter,
iter_per_epoch * args.max_epoch,
model.epoch.eval(), args.max_epoch, t1 - t0,
(t1 - t0) *
(iter_per_epoch * args.max_epoch - iter) // 60,
ret[0], ret[3], ret[1], ret[2], args.tag))
if is_summary:
summary_writer.add_summary(ret[-1], iter)
if is_summary_image:
t0 = time.time()
ret = model.predict_step(sess,
train_loader.load_specified(),
iter,
summary=True)
summary_writer.add_summary(ret[-1], iter)
t1 = time.time()
warn("predict: {}".format(t1 - t0))
if is_validate:
total_iter = int(
np.ceil(train_loader.validset_size /
train_loader.batch_size))
# idx = iter
save_result_folder = os.path.join(
save_result_dir, "{}".format(iter))
mkdir_p(save_result_folder)
for idx in range(total_iter):
t0 = time.time()
if train_loader.batch_size * (
idx + 1) > train_loader.validset_size:
start_idx = train_loader.validset_size - train_loader.batch_size
end_idx = train_loader.validset_size
else:
start_idx = train_loader.batch_size * idx
end_idx = train_loader.batch_size * (idx + 1)
warn("start: {} end: {}".format(
start_idx, end_idx))
ret = model.validate_step(
sess,
train_loader.load_specified(
np.arange(start_idx, end_idx)),
output_path=save_result_folder,
summary=True,
visualize=False)
t1 = time.time()
warn(
"valid: {:.2f} sec | remaining {:.2f} sec {}/{}"
.format(t1 - t0,
(t1 - t0) * (total_iter - idx), idx,
total_iter))
cmd = "./evaluate_object {}".format(iter)
os.system(cmd)
if extract_false_patch == True:
warn("Extracting false patch from Train set")
total_iter = int(
np.ceil(train_loader.dataset_size /
train_loader.batch_size))
# idx = iter
save_result_folder = os.path.join(
save_result_dir, "{}_false_patch".format(iter))
mkdir_p(save_result_folder)
for idx in range(total_iter):
t0 = time.time()
if train_loader.batch_size * (
idx + 1) > train_loader.dataset_size:
start_idx = train_loader.dataset_size - train_loader.batch_size
end_idx = train_loader.dataset_size
else:
start_idx = train_loader.batch_size * idx
end_idx = train_loader.batch_size * (idx + 1)
warn("start: {} end: {}".format(
start_idx, end_idx))
ret = model.false_patch_step(
sess,
train_loader.load_specified_train(
np.arange(start_idx, end_idx)),
output_path=save_result_folder,
summary=True,
visualize=False)
t1 = time.time()
warn(
"valid: {:.2f} sec | remaining {:.2f} sec {}/{}"
.format(t1 - t0,
(t1 - t0) * (total_iter - idx), idx,
total_iter))
print('train done. total epoch:{} iter:{}'.format(
model.epoch.eval(), model.global_step.eval()))
# finallly save model
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
# gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
# visible_device_list=cfg.TESTING_GPU,
# allow_growth=True)
gpu_options = tf.GPUOptions(visible_device_list=cfg.TESTING_GPU)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.TESTING_GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
avail_gpus=cfg.TESTING_GPU.split(','))
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
for batch in iterate_data(val_dir,
shuffle=False,
aug=False,
is_testset=False,
batch_size=args.single_batch_size *
cfg.TESTING_GPU_USE_COUNT,
multi_gpu_sum=cfg.TESTING_GPU_USE_COUNT):
if args.vis:
def main(_):
# TODO: split file support
with tf.Graph().as_default():
global save_model_dir
start_epoch = 0
global_counter = 0
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=cfg.GPU_MEMORY_FRACTION,
visible_device_list=cfg.GPU_AVAILABLE,
allow_growth=True)
config = tf.ConfigProto(
gpu_options=gpu_options,
device_count={
"GPU": cfg.GPU_USE_COUNT,
},
allow_soft_placement=True,
)
with tf.Session(config=config) as sess:
model = RPN3D(cls=cfg.DETECT_OBJ,
single_batch_size=args.single_batch_size,
learning_rate=args.lr,
max_gradient_norm=5.0,
is_train=True,
alpha=args.alpha,
beta=args.beta,
avail_gpus=cfg.GPU_AVAILABLE.split(','))
# param init/restore
if tf.train.get_checkpoint_state(save_model_dir):
print("Reading model parameters from %s" % save_model_dir)
model.saver.restore(sess,
tf.train.latest_checkpoint(save_model_dir))
start_epoch = model.epoch.eval() + 1
global_counter = model.global_step.eval() + 1
else:
print("Created model with fresh parameters.")
tf.global_variables_initializer().run()
# train and validate
is_summary, is_summary_image, is_validate = False, False, False
summary_interval = 5
summary_val_interval = 10
summary_writer = tf.summary.FileWriter(log_dir, sess.graph)
# training
for epoch in range(start_epoch, args.max_epoch):
counter = 0
for batch in iterate_data(train_dir,
shuffle=True,
aug=True,
is_testset=False,
batch_size=args.single_batch_size *
cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT):
counter += 1
global_counter += 1
if counter % summary_interval == 0:
is_summary = True
else:
is_summary = False
start_time = time.time()
ret = model.train_step(sess,
batch,
train=True,
summary=is_summary)
times = time.time() - start_time
print(
'train: {} @ epoch:{}/{} loss: {} reg_loss: {} cls_loss: {} time: {}'
.format(counter, epoch, args.max_epoch, ret[0], ret[1],
ret[2], times))
with open('log/train.txt', 'a') as f:
f.write(
'train: {} @ epoch:{}/{} loss: {} reg_loss: {} cls_loss: {} time: {} \n'
.format(counter, epoch, args.max_epoch, ret[0],
ret[1], ret[2], times))
#print(counter, summary_interval, counter % summary_interval)
if counter % summary_interval == 0:
print("summary_interval now")
summary_writer.add_summary(ret[-1], global_counter)
#print(counter, summary_val_interval, counter % summary_val_interval)
if counter % summary_val_interval == 0:
print("summary_val_interval now")
batch = sample_test_data(
val_dir,
args.single_batch_size * cfg.GPU_USE_COUNT,
multi_gpu_sum=cfg.GPU_USE_COUNT)
ret = model.validate_step(sess, batch, summary=True)
summary_writer.add_summary(ret[-1], global_counter)
try:
ret = model.predict_step(sess, batch, summary=True)
summary_writer.add_summary(ret[-1], global_counter)
except:
print("prediction skipped due to error")
if check_if_should_pause(args.tag):
model.saver.save(sess,
os.path.join(save_model_dir,
'checkpoint'),
global_step=model.global_step)
print('pause and save model @ {} steps:{}'.format(
save_model_dir, model.global_step.eval()))
sys.exit(0)
sess.run(model.epoch_add_op)
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
print('train done. total epoch:{} iter:{}'.format(
epoch, model.global_step.eval()))
# finallly save model
model.saver.save(sess,
os.path.join(save_model_dir, 'checkpoint'),
global_step=model.global_step)
