def init_weights(self, pretrained=None):
if pretrained is None:
return
load_checkpoint(self, pretrained,
strict=False) # we don't have bbox_head now
print("init weight from {}".format(pretrained))
def init_weights(self, pretrained=None):
if isinstance(pretrained, str):
logger = logging.getLogger()
load_checkpoint(self, pretrained, strict=False, logger=logger)
elif pretrained is None:
for m in self.modules():
if isinstance(m, nn.Conv2d):
kaiming_init(m)
elif isinstance(m, (_BatchNorm, nn.GroupNorm)):
constant_init(m, 1)
if self.dcn is not None:
for m in self.modules():
if isinstance(m, Bottleneck) and hasattr(
m, "conv2_offset"):
constant_init(m.conv2_offset, 0)
if self.zero_init_residual:
for m in self.modules():
if isinstance(m, Bottleneck):
constant_init(m.norm3, 0)
elif isinstance(m, BasicBlock):
constant_init(m.norm2, 0)
else:
raise TypeError("pretrained must be a str or None")
def initialize_model(args):
global model, voxel_generator
cfg = Config.fromfile(args.config)
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
if args.checkpoint is not None:
load_checkpoint(model, args.checkpoint, map_location="cpu")
# print(model)
if args.fp16:
print("cast model to fp16")
model = model.half()
model = model.cuda()
model.eval()
global device
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
range = cfg.voxel_generator.range
voxel_size = cfg.voxel_generator.voxel_size
max_points_in_voxel = cfg.voxel_generator.max_points_in_voxel
max_voxel_num = cfg.voxel_generator.max_voxel_num[1]
voxel_generator = VoxelGenerator(voxel_size=voxel_size,
point_cloud_range=range,
max_num_points=max_points_in_voxel,
max_voxels=max_voxel_num)
return model
def init_weights(self, pretrained=None):
if pretrained is None:
return
try:
load_checkpoint(self, pretrained, strict=False)
print("init weight from {}".format(pretrained))
except:
print("no pretrained model at {}".format(pretrained))
def main():
# Usage: python visualize.py <config_path> <checkpoint_path>
parser = argparse.ArgumentParser()
parser.add_argument("config_path",
type=str,
help="Path to the configuration file")
parser.add_argument("checkpoint_path",
type=str,
help="Path to the model checkpoint file")
args = parser.parse_args()
cfg = torchie.Config.fromfile(args.config_path)
cfg.data.val.test_mode = True
# build the dataloader
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=1,
workers_per_gpu=1,
dist=False,
shuffle=False,
)
# build the model and load checkpoint
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
checkpoint = load_checkpoint(model,
args.checkpoint_path,
map_location="cpu")
model = MegDataParallel(model, device_ids=[0])
device = torch.device("cuda")
visualize(model, data_loader, device)
def init_weights(self, pretrained=None):
if isinstance(pretrained, str):
logger = logging.getLogger()
load_checkpoint(self, pretrained, strict=False, logger=logger)
elif pretrained is None:
for m in self.features.modules():
if isinstance(m, nn.Conv2d):
kaiming_init(m)
elif isinstance(m, nn.BatchNorm2d):
constant_init(m, 1)
elif isinstance(m, nn.Linear):
normal_init(m, std=0.01)
else:
raise TypeError("pretrained must be a str or None")
for m in self.extra.modules():
if isinstance(m, nn.Conv2d):
xavier_init(m, distribution="uniform")
constant_init(self.l2_norm, self.l2_norm.scale)
def main():
# config
cfg = Config.fromfile(CONFIG_FILE)
# model loading
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
checkpoint = load_checkpoint(model, CHECK_POINT, map_location="cpu")
model = model.cuda()
model.eval()
# data loader
dataset = build_dataset(cfg.data.test)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=False,
shuffle=False,
)
# infer
detections = []
for i, data_batch in enumerate(data_loader):
print("step:", i)
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=0,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update({
token: output,
})
all_predictions = all_gather(detections)
def main():
cfg = Config.fromfile(
'configs/nusc/pp/nusc_centerpoint_pp_02voxel_two_pfn_10sweep_demo.py')
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
dataset = build_dataset(cfg.data.val)
data_loader = DataLoader(
dataset,
batch_size=1,
sampler=None,
shuffle=False,
num_workers=8,
collate_fn=collate_kitti,
pin_memory=False,
)
checkpoint = load_checkpoint(
model,
'work_dirs/centerpoint_pillar_512_demo/latest.pth',
map_location="cpu")
model.eval()
model = model.cuda()
cpu_device = torch.device("cpu")
points_list = []
gt_annos = []
detections = []
for i, data_batch in enumerate(data_loader):
info = dataset._nusc_infos[i]
gt_annos.append(convert_box(info))
points = data_batch['points'][:, 1:4].cpu().numpy()
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=0,
)
for output in outputs:
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.append(output)
points_list.append(points.T)
print(
'Done model inference. Please wait a minute, the matplotlib is a little slow...'
)
for i in range(len(points_list)):
visual(points_list[i], gt_annos[i], detections[i], i)
print("Rendered Image {}".format(i))
image_folder = 'demo'
video_name = 'video.avi'
images = [img for img in os.listdir(image_folder) if img.endswith(".png")]
images.sort(key=lambda img_name: int(img_name.split('.')[0][4:]))
frame = cv2.imread(os.path.join(image_folder, images[0]))
height, width, layers = frame.shape
video = cv2.VideoWriter(video_name, 0, 1, (width, height))
cv2_images = []
for image in images:
cv2_images.append(cv2.imread(os.path.join(image_folder, image)))
for img in cv2_images:
video.write(img)
cv2.destroyAllWindows()
video.release()
print("Successfully save video in the main folder")
def main():
args = parse_args()
assert args.out or args.show or args.json_out, (
"Please specify at least one operation (save or show the results) "
'with the argument "--out" or "--show" or "--json_out"'
)
if args.out is not None and not args.out.endswith((".pkl", ".pickle")):
raise ValueError("The output file must be a pkl file.")
if args.json_out is not None and args.json_out.endswith(".json"):
args.json_out = args.json_out[:-5]
cfg = torchie.Config.fromfile(args.config)
# set cudnn_benchmark
if cfg.get("cudnn_benchmark", False):
torch.backends.cudnn.benchmark = True
# cfg.model.pretrained = None
cfg.data.test.test_mode = True
# cfg.data.val.test_mode = True
# init distributed env first, since logger depends on the dist info.
if args.launcher == "none":
distributed = False
else:
distributed = True
init_dist(args.launcher, **cfg.dist_params)
# build the dataloader
# TODO: support multiple images per gpu (only minor changes are needed)
dataset = build_dataset(cfg.data.test)
# dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
# build the model and load checkpoint
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# old versions did not save class info in checkpoints, this walkaround is
# for backward compatibility
if "CLASSES" in checkpoint["meta"]:
model.CLASSES = checkpoint["meta"]["CLASSES"]
else:
model.CLASSES = dataset.CLASSES
model = MegDataParallel(model, device_ids=[0])
result_dict, detections = test(
data_loader, model, save_dir=None, distributed=distributed
)
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
rank, _ = get_dist_info()
if args.out and rank == 0:
print("\nwriting results to {}".format(args.out))
torchie.dump(detections, args.out)
if args.txt_result:
res_dir = os.path.join(os.getcwd(), "predictions")
for dt in detections:
with open(
os.path.join(res_dir, "%06d.txt" % int(dt["metadata"]["token"])), "w"
) as fout:
lines = kitti.annos_to_kitti_label(dt)
for line in lines:
fout.write(line + "\n")
ap_result_str, ap_dict = kitti_evaluate(
"/data/Datasets/KITTI/Kitti/object/training/label_2",
res_dir,
label_split_file="/data/Datasets/KITTI/Kitti/ImageSets/val.txt",
current_class=0,
)
print(ap_result_str)
def main():
# torch.manual_seed(0)
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.benchmark = False
# np.random.seed(0)
args = parse_args()
cfg = Config.fromfile(args.config)
# update configs according to CLI args
if args.work_dir is not None:
cfg.work_dir = args.work_dir
distributed = torch.cuda.device_count() > 1
if distributed:
if args.launcher == "pytorch":
torch.cuda.set_device(args.local_rank)
torch.distributed.init_process_group(backend="nccl", init_method="env://")
cfg.local_rank = args.local_rank
elif args.launcher == "slurm":
proc_id = int(os.environ["SLURM_PROCID"])
ntasks = int(os.environ["SLURM_NTASKS"])
node_list = os.environ["SLURM_NODELIST"]
num_gpus = torch.cuda.device_count()
cfg.gpus = num_gpus
torch.cuda.set_device(proc_id % num_gpus)
addr = subprocess.getoutput(
f"scontrol show hostname {node_list} | head -n1")
# specify master port
port = None
if port is not None:
os.environ["MASTER_PORT"] = str(port)
elif "MASTER_PORT" in os.environ:
pass # use MASTER_PORT in the environment variable
else:
# 29500 is torch.distributed default port
os.environ["MASTER_PORT"] = "29501"
# use MASTER_ADDR in the environment variable if it already exists
if "MASTER_ADDR" not in os.environ:
os.environ["MASTER_ADDR"] = addr
os.environ["WORLD_SIZE"] = str(ntasks)
os.environ["LOCAL_RANK"] = str(proc_id % num_gpus)
os.environ["RANK"] = str(proc_id)
dist.init_process_group(backend="nccl")
cfg.local_rank = int(os.environ["LOCAL_RANK"])
cfg.gpus = torch.distributed.get_world_size()
else:
cfg.gpus = args.gpus
# init logger before other steps
logger = get_root_logger(cfg.log_level)
logger.info("Distributed testing: {}".format(distributed))
logger.info(f"torch.backends.cudnn.benchmark: {torch.backends.cudnn.benchmark}")
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
if args.testset:
print("Use Test Set")
dataset = build_dataset(cfg.data.test)
else:
print("Use Val Set")
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu if not args.speed_test else 1,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# put model on gpus
if distributed:
# model = apex.parallel.convert_syncbn_model(model)
model = DistributedDataParallel(
model.cuda(cfg.local_rank),
device_ids=[cfg.local_rank],
output_device=cfg.local_rank,
# broadcast_buffers=False,
find_unused_parameters=True,
)
else:
# model = fuse_bn_recursively(model)
model = model.cuda()
model.eval()
mode = "val"
prog_bar = None
logger.info(f"work dir: {args.work_dir}")
if cfg.local_rank == 0:
prog_bar = torchie.ProgressBar(len(data_loader.dataset) // cfg.gpus)
detections = {}
cpu_device = torch.device("cpu")
start = time.time()
start = int(len(dataset) / 3)
end = int(len(dataset) * 2 /3)
time_start = 0
time_end = 0
for i, data_batch in enumerate(data_loader):
if i == start:
torch.cuda.synchronize()
time_start = time.time()
if i == end:
torch.cuda.synchronize()
time_end = time.time()
with torch.no_grad():
outputs = batch_processor(
model, data_batch, train_mode=False, local_rank=args.local_rank,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update(
{token: output,}
)
if args.local_rank == 0:
if prog_bar is not None:
prog_bar.update()
synchronize()
all_predictions = all_gather(detections)
print("\n Total time per frame: ", (time_end - time_start) / (end - start))
if args.local_rank != 0:
return
predictions = {}
for p in all_predictions:
predictions.update(p)
if not os.path.exists(args.work_dir):
os.makedirs(args.work_dir)
save_pred(predictions, args.work_dir)
result_dict, _ = dataset.evaluation(copy.deepcopy(predictions), output_dir=args.work_dir, testset=args.testset)
if result_dict is not None:
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
if args.txt_result:
assert False, "No longer support kitti"
def main():
# torch.manual_seed(0)
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.benchmark = False
# np.random.seed(0)
args = parse_args()
cfg = Config.fromfile(args.config)
cfg.local_rank = args.local_rank
# update configs according to CLI args
if args.work_dir is not None:
cfg.work_dir = args.work_dir
distributed = False
if "WORLD_SIZE" in os.environ:
distributed = int(os.environ["WORLD_SIZE"]) > 1
if distributed:
torch.cuda.set_device(args.local_rank)
torch.distributed.init_process_group(backend="nccl",
init_method="env://")
cfg.gpus = torch.distributed.get_world_size()
else:
cfg.gpus = args.gpus
# init logger before other steps
logger = get_root_logger(cfg.log_level)
logger.info("Distributed testing: {}".format(distributed))
logger.info(
f"torch.backends.cudnn.benchmark: {torch.backends.cudnn.benchmark}")
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# put model on gpus
if distributed:
model = apex.parallel.convert_syncbn_model(model)
model = DistributedDataParallel(
model.cuda(cfg.local_rank),
device_ids=[cfg.local_rank],
output_device=cfg.local_rank,
# broadcast_buffers=False,
find_unused_parameters=True,
)
else:
model = model.cuda()
model.eval()
mode = "val"
logger.info(f"work dir: {args.work_dir}")
if cfg.local_rank == 0:
prog_bar = torchie.ProgressBar(len(data_loader.dataset) // cfg.gpus)
detections = {}
cpu_device = torch.device("cpu")
for i, data_batch in enumerate(data_loader):
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=args.local_rank,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update({
token: output,
})
if args.local_rank == 0:
prog_bar.update()
synchronize()
all_predictions = all_gather(detections)
if args.local_rank != 0:
return
predictions = {}
for p in all_predictions:
predictions.update(p)
result_dict, _ = dataset.evaluation(predictions, output_dir=args.work_dir)
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
if args.txt_result:
res_dir = os.path.join(os.getcwd(), "predictions")
for k, dt in predictions.items():
with open(
os.path.join(res_dir,
"%06d.txt" % int(dt["metadata"]["token"])),
"w") as fout:
lines = kitti.annos_to_kitti_label(dt)
for line in lines:
fout.write(line + "\n")
ap_result_str, ap_dict = kitti_evaluate(
"/data/Datasets/KITTI/Kitti/object/training/label_2",
res_dir,
label_split_file="/data/Datasets/KITTI/Kitti/ImageSets/val.txt",
current_class=0,
)
print(ap_result_str)
def main():
# torch.manual_seed(0)
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.benchmark = False
# np.random.seed(0)
args = parse_args()
cfg = Config.fromfile(args.config)
cfg.local_rank = args.local_rank
# update configs according to CLI args
if args.work_dir is not None:
cfg.work_dir = args.work_dir
distributed = False
if "WORLD_SIZE" in os.environ:
distributed = int(os.environ["WORLD_SIZE"]) > 1
if distributed:
torch.cuda.set_device(args.local_rank)
torch.distributed.init_process_group(backend="nccl",
init_method="env://")
cfg.gpus = torch.distributed.get_world_size()
else:
cfg.gpus = args.gpus
# init logger before other steps
logger = get_root_logger(cfg.log_level)
logger.info("Distributed testing: {}".format(distributed))
logger.info(
f"torch.backends.cudnn.benchmark: {torch.backends.cudnn.benchmark}")
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
if args.testset:
print("Use Test Set")
dataset = build_dataset(cfg.data.test)
else:
print("Use Val Set")
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu if not args.speed_test else 1,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# put model on gpus
if distributed:
model = apex.parallel.convert_syncbn_model(model)
model = DistributedDataParallel(
model.cuda(cfg.local_rank),
device_ids=[cfg.local_rank],
output_device=cfg.local_rank,
# broadcast_buffers=False,
find_unused_parameters=True,
)
else:
# model = fuse_bn_recursively(model)
model = model.cuda()
model.eval()
mode = "val"
logger.info(f"work dir: {args.work_dir}")
if cfg.local_rank == 0:
prog_bar = torchie.ProgressBar(len(data_loader.dataset) // cfg.gpus)
detections = {}
cpu_device = torch.device("cpu")
start = time.time()
start = int(len(dataset) / 3)
end = int(len(dataset) * 2 / 3)
time_start = 0
time_end = 0
for i, data_batch in enumerate(data_loader):
if i == start:
torch.cuda.synchronize()
time_start = time.time()
if i == end:
torch.cuda.synchronize()
time_end = time.time()
with torch.no_grad():
outputs = batch_processor(
model,
data_batch,
train_mode=False,
local_rank=args.local_rank,
)
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update({
token: output,
})
if args.local_rank == 0:
prog_bar.update()
synchronize()
all_predictions = all_gather(detections)
print("\n Total time per frame: ", (time_end - time_start) / (end - start))
if args.local_rank != 0:
return
predictions = {}
for p in all_predictions:
predictions.update(p)
if not os.path.exists(args.work_dir):
os.makedirs(args.work_dir)
save_pred(predictions, args.work_dir)
with open(os.path.join(args.work_dir, 'prediction.pkl'), 'rb') as f:
predictions = pickle.load(f)
result_dict, _ = dataset.evaluation(copy.deepcopy(predictions),
output_dir=args.work_dir,
testset=args.testset)
if result_dict is not None:
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
if args.txt_result:
assert False, "No longer support kitti"
def main():
# torch.manual_seed(0)
# torch.backends.cudnn.deterministic = True
# torch.backends.cudnn.benchmark = False
# np.random.seed(0)
args = parse_args()
cfg = Config.fromfile(args.config)
cfg.local_rank = args.local_rank
# update configs according to CLI args
if args.work_dir is not None:
cfg.work_dir = args.work_dir
distributed = False
if "WORLD_SIZE" in os.environ:
distributed = int(os.environ["WORLD_SIZE"]) > 1
if distributed:
torch.cuda.set_device(args.local_rank)
torch.distributed.init_process_group(backend="nccl",
init_method="env://")
cfg.gpus = torch.distributed.get_world_size()
else:
cfg.gpus = args.gpus
# init logger before other steps
logger = get_root_logger(cfg.log_level)
logger.info("Distributed testing: {}".format(distributed))
logger.info(
f"torch.backends.cudnn.benchmark: {torch.backends.cudnn.benchmark}")
torch.cuda.empty_cache()
model = build_detector(cfg.nohead_model,
train_cfg=None,
test_cfg=cfg.test_cfg)
if args.testset:
print("Use Test Set")
dataset = build_dataset(cfg.data.test)
else:
print("Use Val Set")
dataset = build_dataset(cfg.data.val)
data_loader = build_dataloader(
dataset,
batch_size=cfg.data.samples_per_gpu if not args.speed_test else 1,
workers_per_gpu=cfg.data.workers_per_gpu,
dist=distributed,
shuffle=False,
)
checkpoint = load_checkpoint(model, args.checkpoint, map_location="cpu")
# put model on gpus
# model = fuse_bn_recursively(model)
model = model.cuda()
model.eval()
mode = "val"
logger.info(f"work dir: {args.work_dir}")
if cfg.local_rank == 0:
prog_bar = torchie.ProgressBar(len(data_loader.dataset) // cfg.gpus)
detections = {}
cpu_device = torch.device("cpu")
start = time.time()
start = int(len(dataset) / 3)
end = int(len(dataset) * 2 / 3)
time_start = 0
time_end = 0
device = torch.device(args.local_rank)
POINTS_NUM = 2
for i, data_batch in enumerate(data_loader):
if i == start:
torch.cuda.synchronize()
time_start = time.time()
if i == end:
torch.cuda.synchronize()
time_end = time.time()
with torch.no_grad():
sample = example_to_device(data_batch, device=device)
for i in range(len(sample["metadata"])):
sample["metadata"][i]['image_prefix'] = None
del sample["metadata"]
del sample["points"]
#del sample["shape"]
sample["shape"] = torch.tensor(sample["shape"])
sample["voxels"] = sample["voxels"][0:POINTS_NUM, :, :]
sample["num_points"] = sample["num_points"][0:POINTS_NUM]
sample["coordinates"] = sample["coordinates"][0:POINTS_NUM, :]
outputs = model(sample, return_loss=False)
#outputs = batch_processor(
# model, data_batch, train_mode=False, local_rank=args.local_rank,
#)
for k, t in sample.items():
print("====", k)
print(t.shape)
print("============== start =============")
register_custom_op_symbolic("spconv::get_indice_pairs_3d",
symbolic_get_indice_pairs_3d, 11)
torch.onnx.export(
model, # model being run
sample, # model input (or a tuple for multiple inputs)
"/workspace/data/center_point.onnx", # where to save the model (can be a file or file-like object)
export_params=
True, # store the trained parameter weights inside the model file
opset_version=11, # the ONNX version to export the model to
do_constant_folding=True
) # whether to execute constant folding for optimization
print("============== finish =============")
break
for output in outputs:
token = output["metadata"]["token"]
for k, v in output.items():
if k not in [
"metadata",
]:
output[k] = v.to(cpu_device)
detections.update({
token: output,
})
if args.local_rank == 0:
prog_bar.update()
synchronize()
all_predictions = all_gather(detections)
print("\n Total time per frame: ", (time_end - time_start) / (end - start))
if args.local_rank != 0:
return
predictions = {}
for p in all_predictions:
predictions.update(p)
if not os.path.exists(args.work_dir):
os.makedirs(args.work_dir)
save_pred(predictions, args.work_dir)
result_dict, _ = dataset.evaluation(copy.deepcopy(predictions),
output_dir=args.work_dir,
testset=args.testset)
if result_dict is not None:
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
if args.txt_result:
assert False, "No longer support kitti"
def main():
args = parse_args()
print(args)
assert args.out or args.show or args.json_out, (
'Please specify at least one operation (save or show the results) with the argument "--out" or "--show" or "--json_out"'
)
if args.out is not None and not args.out.endswith((".pkl", ".pickle")):
raise ValueError("The output file must be a pkl file.")
if args.json_out is not None and args.json_out.endswith(".json"):
args.json_out = args.json_out[:-5]
cfg = torchie.Config.fromfile(args.config)
if cfg.get("cudnn_benchmark", False): # False
torch.backends.cudnn.benchmark = True
# cfg.model.pretrained = None
# cfg.data.test.test_mode = True
cfg.data.val.test_mode = True
# init distributed env first, since logger depends on the dist info.
if args.launcher == "none":
distributed = False
else:
distributed = True
init_dist(args.launcher, **cfg.dist_params)
# build the dataloader, TODO: support multiple images per gpu (only minor changes are needed)
dataset = build_dataset(cfg.data.val)
batch_size = cfg.data.samples_per_gpu
num_workers = cfg.data.workers_per_gpu
data_loader = DataLoader(
dataset,
batch_size=batch_size,
sampler=None,
num_workers=num_workers,
collate_fn=collate_kitti,
shuffle=False,
)
# build the model and load checkpoint
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
checkpoint_path = os.path.join(cfg.work_dir, args.checkpoint)
checkpoint = load_checkpoint(model, checkpoint_path, map_location="cpu")
# old versions did not save class info in checkpoints, this walkaround is for backward compatibility
if "CLASSES" in checkpoint["meta"]:
model.CLASSES = checkpoint["meta"]["CLASSES"]
else:
model.CLASSES = dataset.CLASSES
model = MegDataParallel(model, device_ids=[0])
if args.eval_id is None:
result_dict, detections = test(data_loader,
model,
save_dir=None,
distributed=distributed)
# for k, v in result_dict["results"].items():
# print(f"Evaluation {k}: {v}")
for k, v in result_dict["results"].items():
print(f"Evaluation {k}: {v}")
# f.write(f"\nEvaluation {k}: {v}\n")
for k, v in result_dict["results_2"].items():
print(f"Evaluation {k}: {v}")
# f.write(f"\nEvaluation {k}: {v}\n")
# save mAP results to out.pkl file.
# rank, _ = get_dist_info()
# if args.out and rank == 0:
# print("\nwriting results to {}".format(args.out))
# torchie.dump(detections, os.path.join(cfg.work_dir, args.out))
# if args.txt_result: # True
# res_dir = os.path.join(cfg.work_dir, "predictions")
# os.makedirs(res_dir, exist_ok=True)
# for dt in detections:
# with open(os.path.join(res_dir, "%06d.txt" % int(dt["metadata"]["token"])), "w") as fout:
# lines = kitti.annos_to_kitti_label(dt)
# for line in lines:
# fout.write(line + "\n")
# gt_labels_dir = data_root + "/KITTI/object/training/label_2"
# label_split_file = data_root + "/KITTI/ImageSets/val.txt"
# # todo: this evaluation is different from previous one
# ap_result_str, ap_dict = kitti_evaluate(gt_labels_dir, res_dir, label_split_file=label_split_file, current_class=0,)
# print(ap_result_str)
else:
assert type(args.eval_id) is list
test_v2(data_loader,
model,
distributed=distributed,
eval_id=args.eval_id,
vis_id=args.vis_id)
def main():
cfg = Config.fromfile(
'configs/nusc/pp/nusc_centerpoint_pp_02voxel_two_pfn_10sweep_demo_export_onnx.py'
)
model = build_detector(cfg.model, train_cfg=None, test_cfg=cfg.test_cfg)
dataset = build_dataset(cfg.data.val)
data_loader = DataLoader(
dataset,
batch_size=1,
sampler=None,
shuffle=False,
num_workers=8,
collate_fn=collate_kitti,
pin_memory=False,
)
checkpoint = load_checkpoint(model, './latest.pth', map_location="cpu")
model.eval()
model = model.cuda()
gpu_device = torch.device("cuda")
points_list = []
gt_annos = []
detections = []
data_iter = iter(data_loader)
data_batch = next(data_iter)
pp_model = PointPillars(model)
points = data_batch['points'][:, 1:4].cpu().numpy()
with torch.no_grad():
example = example_to_device(data_batch, gpu_device, non_blocking=False)
example["voxels"] = torch.zeros(
(example["voxels"].shape[0], example["voxels"].shape[1], 10),
dtype=torch.float32,
device=gpu_device)
example.pop("metadata")
example.pop("points")
example["shape"] = torch.tensor(example["shape"],
dtype=torch.int32,
device=gpu_device)
model(example)
torch.onnx.export(
model.reader,
(example["voxels"], example["num_voxels"], example["coordinates"]),
"onnx_model/pfe.onnx",
opset_version=11)
rpn_input = torch.zeros((1, 64, 512, 512),
dtype=torch.float32,
device=gpu_device)
torch.onnx.export(pp_model,
rpn_input,
"onnx_model/rpn.onnx",
opset_version=11)
print("Done")
