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evaluate.py
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evaluate.py
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import argparse
import sys
import torch
import torch.backends.cudnn
import torch.cuda
import torch.nn
import torch.utils.data
from torchpack import distributed as dist
from torchpack.callbacks import Callbacks, SaverRestore
from torchpack.environ import auto_set_run_dir, set_run_dir
from torchpack.utils.config import configs
from torchpack.utils.logging import logger
from tqdm import tqdm
from core import builder
from core.callbacks import MeanIoU
from core.trainers import SemanticKITTITrainer
from model_zoo import minkunet, spvcnn, spvnas_specialized
def main() -> None:
dist.init()
torch.backends.cudnn.benchmark = True
torch.cuda.set_device(dist.local_rank())
parser = argparse.ArgumentParser()
parser.add_argument('config', metavar='FILE', help='config file')
parser.add_argument('--run-dir', metavar='DIR', help='run directory')
parser.add_argument('--name', type=str, help='model name')
args, opts = parser.parse_known_args()
configs.load(args.config, recursive=True)
configs.update(opts)
if args.run_dir is None:
args.run_dir = auto_set_run_dir()
else:
set_run_dir(args.run_dir)
logger.info(' '.join([sys.executable] + sys.argv))
logger.info(f'Experiment started: "{args.run_dir}".' + '\n' + f'{configs}')
dataset = builder.make_dataset()
dataflow = {}
for split in dataset:
sampler = torch.utils.data.distributed.DistributedSampler(
dataset[split],
num_replicas=dist.size(),
rank=dist.rank(),
shuffle=(split == 'train'))
dataflow[split] = torch.utils.data.DataLoader(
dataset[split],
batch_size=configs.batch_size if split == 'train' else 1,
sampler=sampler,
num_workers=configs.workers_per_gpu,
pin_memory=True,
collate_fn=dataset[split].collate_fn)
if 'spvnas' in args.name.lower():
model = spvnas_specialized(args.name)
elif 'spvcnn' in args.name.lower():
model = spvcnn(args.name)
elif 'mink' in args.name.lower():
model = minkunet(args.name)
else:
raise NotImplementedError
model = torch.nn.parallel.DistributedDataParallel(
model.cuda(),
device_ids=[dist.local_rank()],
find_unused_parameters=True)
model.eval()
criterion = builder.make_criterion()
optimizer = builder.make_optimizer(model)
scheduler = builder.make_scheduler(optimizer)
trainer = SemanticKITTITrainer(model=model,
criterion=criterion,
optimizer=optimizer,
scheduler=scheduler,
num_workers=configs.workers_per_gpu,
seed=configs.train.seed)
callbacks = Callbacks([
SaverRestore(),
MeanIoU(configs.data.num_classes, configs.data.ignore_label)
])
callbacks._set_trainer(trainer)
trainer.callbacks = callbacks
trainer.dataflow = dataflow['test']
trainer.before_train()
trainer.before_epoch()
model.eval()
for feed_dict in tqdm(dataflow['test'], desc='eval'):
_inputs = {}
for key, value in feed_dict.items():
if 'name' not in key:
_inputs[key] = value.cuda()
inputs = _inputs['lidar']
targets = feed_dict['targets'].F.long().cuda(non_blocking=True)
outputs = model(inputs)
invs = feed_dict['inverse_map']
all_labels = feed_dict['targets_mapped']
_outputs = []
_targets = []
for idx in range(invs.C[:, -1].max() + 1):
cur_scene_pts = (inputs.C[:, -1] == idx).cpu().numpy()
cur_inv = invs.F[invs.C[:, -1] == idx].cpu().numpy()
cur_label = (all_labels.C[:, -1] == idx).cpu().numpy()
outputs_mapped = outputs[cur_scene_pts][cur_inv].argmax(1)
targets_mapped = all_labels.F[cur_label]
_outputs.append(outputs_mapped)
_targets.append(targets_mapped)
outputs = torch.cat(_outputs, 0)
targets = torch.cat(_targets, 0)
output_dict = {'outputs': outputs, 'targets': targets}
trainer.after_step(output_dict)
trainer.after_epoch()
if __name__ == '__main__':
main()