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from second.pytorch.train import train, evaluate
from google.protobuf import text_format
from second.protos import pipeline_pb2
from pathlib import Path
from second.utils import config_tool, model_tool
import datetime
from second.data.all_dataset import get_dataset_class
def _div_up(a, b):
return (a + b - 1) // b
def _get_config(path):
config = pipeline_pb2.TrainEvalPipelineConfig()
with open(path, "r") as f:
proto_str = f.read()
text_format.Merge(proto_str, config)
return config
def _nuscenes_modify_step(config,
epochs,
eval_epoch,
data_sample_factor,
num_examples=28130):
input_cfg = config.train_input_reader
train_cfg = config.train_config
batch_size = input_cfg.batch_size
data_sample_factor_to_name = {
1: "NuScenesDataset",
2: "NuScenesDatasetD2",
3: "NuScenesDatasetD3",
4: "NuScenesDatasetD4",
5: "NuScenesDatasetD5",
6: "NuScenesDatasetD6",
7: "NuScenesDatasetD7",
8: "NuScenesDatasetD8",
}
dataset_name = data_sample_factor_to_name[data_sample_factor]
input_cfg.dataset.dataset_class_name = dataset_name
ds = get_dataset_class(dataset_name)(
root_path=input_cfg.dataset.kitti_root_path,
info_path=input_cfg.dataset.kitti_info_path,
)
num_examples_after_sample = len(ds)
step_per_epoch = _div_up(num_examples_after_sample, batch_size)
step_per_eval = step_per_epoch * eval_epoch
total_step = step_per_epoch * epochs
train_cfg.steps = total_step
train_cfg.steps_per_eval = step_per_eval
def train_nuscenes_lite():
config = Path(
__file__).resolve().parent / "configs/nuscenes/car.lite.nu.config"
ckpt_path = "/home/yy/deeplearning/voxelnet_torch_sparse/car_lite_small_v1/voxelnet-15500.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "car_lite_with_pretrain" / ("test_" + date_str),
pretrained_path=ckpt_path)
def train_nuscenes():
config = Path(
__file__).resolve().parent / "configs/nuscenes/car.fhd.nu.config"
ckpt_path = "/home/yy/deeplearning/voxelnet_torch_sparse/car_fhd_small_v1/voxelnet-27855.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "car_fhd_with_pretrain" / ("test_" + date_str),
pretrained_path=ckpt_path)
def train_nuscenes_pp():
config = Path(
__file__).resolve().parent / "configs/nuscenes/pp.nu.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "car_pp_with_pretrain" / ("test_" + date_str),
pretrained_path=ckpt_path)
def train_nuscenes_all():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.fhd.config"
ckpt_path = "/home/yy/deeplearning/voxelnet_torch_sparse/car_fhd_small_v1/voxelnet-27855.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "all_fhd" / ("test_" + date_str))
def train_nuscenes_pp_all():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.pp.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "all_pp" / ("test_" + date_str),
pretrained_path=ckpt_path)
def train_nuscenes_pp_all_sample():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.pp.sample.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "all_pp_sample" / ("test_" + date_str),
pretrained_path=ckpt_path)
def train_nuscenes_pp_all_sample_v2():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.pp.sample.v2.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "all_pp_sample_v2" / ("test_" + date_str))
def train_nuscenes_pp_all_v2():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.pp.v2.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "all_pp_v2" / ("test_" + date_str))
def train_nuscenes_pp_vel():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.pp.vel.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "pp_vel" / ("test_" + date_str))
def train_nuscenes_pp_vel_v2():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.pp.vel.v2.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "pp_vel" / ("test_" + date_str))
def train_nuscenes_pp_car():
config = Path(
__file__).resolve().parent / "configs/nuscenes/car.pp.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
date_str = datetime.datetime.now().strftime("%y%m%d_%H%M%S")
train(
config,
model_dir_root / "pp_car" / ("test_" + date_str))
def resume_nuscenes_pp_all():
config = Path(
__file__).resolve().parent / "configs/nuscenes/all.pp.config"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
ckpt_path = "/home/yy/deeplearning/model_dirs/kitti/car_pp_long_v0/voxelnet-296960.tckpt"
# config = Path(__file__).resolve().parent() / "configs/car.fhd.nu.config"
config = _get_config(config)
_nuscenes_modify_step(config, 50, 5, 8)
model_dir_root = Path("/home/yy/deeplearning/model_dirs/nuscene")
train(
config,
model_dir_root / "all_pp" / ("test_190424_232942"), resume=True)
if __name__ == "__main__":
model_tool.rm_invalid_model_dir("/home/yy/deeplearning/model_dirs/nuscene")
# train_nuscenes_lite_hrz()
resume_nuscenes_pp_all()