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evaluate.py
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evaluate.py
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"""Adapted from:
@longcw faster_rcnn_pytorch: https://github.com/longcw/faster_rcnn_pytorch
@rbgirshick py-faster-rcnn https://github.com/rbgirshick/py-faster-rcnn
Licensed under The MIT License [see LICENSE for details]
"""
from __future__ import print_function
import torch
import torch.backends.cudnn as cudnn
from data import VOCroot, VIDroot, UWroot
from data import AnnotationTransform, VOCDetection, BaseTransform, VOC_CLASSES, VID_CLASSES, VID_CLASSES_name, UW_CLASSES, mb_cfg
from layers.functions import Detect,PriorBox
import sys
import os
import time
import argparse
import numpy as np
import pickle
import cv2
if sys.version_info[0] == 2:
import xml.etree.cElementTree as ET
else:
import xml.etree.ElementTree as ET
def str2bool(v):
return v.lower() in ("yes", "true", "t", "1")
parser = argparse.ArgumentParser(description='Single Shot MultiBox Detection')
parser.add_argument('--model_name', default='ssd',
type=str, help='Trained state_dict file path to open')
parser.add_argument('--save_folder', default='../eval', type=str,
help='File path to save results')
parser.add_argument('--confidence_threshold', default=0.01, type=float,
help='Detection confidence threshold')
parser.add_argument('--nms_threshold', default=0.45, type=float,
help=' nms threshold')
parser.add_argument('--top_k', default=200, type=int,
help='Further restrict the number of predictions to parse')
parser.add_argument('--cuda', default=True, type=str2bool,
help='Use cuda to train model')
parser.add_argument('--dataset_name', default='VID2017', help='Which dataset')
parser.add_argument('--year', default='2007', help='2007 or 2012')
parser.add_argument('--ssd_dim', default=300, type=int, help='ssd_dim 300 or 512')
parser.add_argument('--backbone', default='VGG16', type=str, help='Backbone')
parser.add_argument('--bn', default=False, type=str2bool, help='Batch norm')
parser.add_argument('--refine', default=False, type=str2bool, help='refine symbol for RefineDet')
parser.add_argument('--deform', default=0, type=int, help='Only work when backbone==RefineDet')
parser.add_argument('--multihead', default=False, type=str2bool, help='Only work when backbone==RefineDet')
parser.add_argument('--c7_channel', default=1024, type=int, help='out_channel of Conv7 in VGG')
parser.add_argument('--set_file_name', default='test', type=str,help='File path to save results')
parser.add_argument('--iteration', default='20000', type=str,help='File path to save results')
parser.add_argument('--model_dir', default='../weights', type=str,help='Path to save model')
parser.add_argument('--detection', default='no', type=str2bool, help='detection or not')
parser.add_argument('--gpu_id', default='6', type=str,help='gpu id')
parser.add_argument('--display', default=False, type=str2bool, help='display')
args = parser.parse_args()
# os.environ["CUDA_VISIBLE_DEVICES"] = args.gpu_id
device = torch.device('cuda' if args.cuda and torch.cuda.is_available() else 'cpu')
if not os.path.exists(args.save_folder):
os.mkdir(args.save_folder)
if args.cuda and torch.cuda.is_available():
torch.set_default_tensor_type('torch.cuda.FloatTensor')
cudnn.benchmark = True
else:
torch.set_default_tensor_type('torch.FloatTensor')
set_type = args.set_file_name.split('_')[0]
if args.dataset_name== 'VOC0712':
annopath = os.path.join(VOCroot, 'VOC2007', 'Annotations', '%s.xml')
imgsetpath = os.path.join(VOCroot, 'VOC2007', 'ImageSets', 'Main', '{:s}.txt')
devkit_path = VOCroot + 'VOC' + args.year
labelmap = VOC_CLASSES
elif args.dataset_name == 'VID2017':
annopath = os.path.join(VIDroot, 'Annotations', 'VID', set_type, '%s.xml')
imgsetpath = os.path.join(VIDroot, 'ImageSets', 'VID', '{:s}.txt')
devkit_path = VIDroot[:-1]
labelmap = VID_CLASSES
prior = 'VOC_'+ str(args.ssd_dim)
if 'RefineDet' in args.backbone and args.ssd_dim == 512:
prior += '_RefineDet'
elif 'RFB' in args.backbone and args.ssd_dim == 300:
prior += '_RFB'
cfg = mb_cfg[prior]
dataset_mean = (104, 117, 123)
ssd_dim = args.ssd_dim
if '.pth' in args.model_dir.split('/')[-1]:
pkl_dir = os.path.join(args.save_folder, args.model_dir.split('/')[-2])
trained_model = args.model_dir
else:
pkl_dir = os.path.join(args.save_folder, args.model_dir.split('/')[-1])
if 'VIDDET' in args.model_dir.split('/')[-1]:
trained_model = os.path.join(args.model_dir, args.model_name+str(ssd_dim)+'_VIDDET_' + args.iteration +'.pth')
else:
trained_model = os.path.join(args.model_dir, args.model_name+str(args.ssd_dim)+'_' + args.dataset_name +'_'+ args.iteration +'.pth')
class Timer(object):
"""A simple timer."""
def __init__(self):
self.total_time = 0.
self.calls = 0
self.start_time = 0.
self.diff = 0.
self.average_time = 0.
def tic(self):
# using time.time instead of time.clock because time time.clock
# does not normalize for multithreading
self.start_time = time.time()
def toc(self, average=True):
self.diff = time.time() - self.start_time
self.total_time += self.diff
self.calls += 1
self.average_time = self.total_time / self.calls
if average:
return self.average_time
else:
return self.diff
def parse_rec(filename):
""" Parse a PASCAL VOC xml file """
tree = ET.parse(filename)
objects = []
for obj in tree.findall('object'):
obj_struct = {}
obj_struct['name'] = obj.find('name').text
if args.dataset_name == 'VOC0712':
obj_struct['pose'] = obj.find('pose').text
obj_struct['truncated'] = int(obj.find('truncated').text)
obj_struct['difficult'] = int(obj.find('difficult').text)
bbox = obj.find('bndbox')
obj_struct['bbox'] = [int(bbox.find('xmin').text) - 1,
int(bbox.find('ymin').text) - 1,
int(bbox.find('xmax').text) - 1,
int(bbox.find('ymax').text) - 1]
objects.append(obj_struct)
return objects
def get_output_dir(name, phase):
"""Return the directory where experimental artifacts are placed.
If the directory does not exist, it is created.
A canonical path is built using the name from an imdb and a network
(if not None).
"""
filedir = os.path.join(name, phase)
if not os.path.exists(filedir):
os.makedirs(filedir)
return filedir
def get_voc_results_file_template(image_set, cls, output_dir):
# VOCdevkit/VOC2007/results/det_test_aeroplane.txt
filename = 'comp4_det_' + image_set + '_%s.txt' % (cls)
filedir = os.path.join(output_dir, 'results')
if not os.path.exists(filedir):
os.makedirs(filedir)
path = os.path.join(filedir, filename)
return path
def write_voc_results_file(all_boxes, dataset, output_dir):
for cls_ind, cls in enumerate(labelmap):
# print('Writing {:s} VOC results file'.format(cls))
filename = get_voc_results_file_template(set_type, cls, output_dir)
with open(filename, 'wt') as f:
for im_ind, index in enumerate(dataset.ids):
dets = all_boxes[cls_ind+1][im_ind]
if dets == []:
continue
# the VOCdevkit expects 1-based indices
for k in range(dets.shape[0]):
f.write('{:s} {:.3f} {:.1f} {:.1f} {:.1f} {:.1f}\n'.
format(index[1], dets[k, -1],
dets[k, 0] + 1, dets[k, 1] + 1,
dets[k, 2] + 1, dets[k, 3] + 1))
def do_python_eval(output_dir='output', use_07=True, FPS=None):
cachedir = os.path.join(devkit_path, 'annotations_cache')
aps = []
recs = []
precs = []
# The PASCAL VOC metric changed in 2010
use_07_metric = use_07
print('VOC07 metric? ' + ('Yes' if use_07_metric else 'No'))
if not os.path.isdir(output_dir):
os.mkdir(output_dir)
for i, cls in enumerate(labelmap):
filename = get_voc_results_file_template(set_type, cls, output_dir)
rec, prec, ap = voc_eval(
filename, annopath, imgsetpath.format(args.set_file_name), cls, cachedir,
ovthresh=0.5, use_07_metric=use_07_metric)
aps += [ap]
recs += [rec] #if isinstance(rec, float) else rec
precs += [prec] #if isinstance(prec, float) else prec
# print(recs)
# rec_top = rec[args.top_k-1] if len(rec) > args.top_k else rec[-1]
# prec_top = prec[args.top_k - 1] if len(prec) > args.top_k else prec[-1]
if args.dataset_name in ['VID2017']:
print('{} AP = {:.4f}, Rec = {:.4f}, Prec = {:.4f}'.format(VID_CLASSES_name[VID_CLASSES.index(cls)], ap, rec[-1], np.max(prec)))
else:
print('{} AP = {:.4f}, Rec = {:.4f}, Prec = {:.4f}'.format(cls, ap, rec[-1], np.max(prec)))
with open(os.path.join(output_dir, cls + '_pr.pkl'), 'wb') as f:
pickle.dump({'rec': rec, 'prec': prec, 'ap': ap}, f)
print('Mean AP = {:.4f}'.format(np.mean(aps)))
with open(os.path.join(output_dir, str(np.mean(aps))[2:6])+'.txt', 'w') as res_file:
res_file.write('CUDA: '+ str(args.cuda)+ '\n')
res_file.write('model_dir: '+ args.model_dir+ '\n')
res_file.write('iteration: '+ args.iteration+ '\n')
res_file.write('model_name: '+ args.model_name+ '\n')
res_file.write('backbone : '+ args.backbone + '\n')
if args.backbone in ['RefineDet_VGG']:
res_file.write('refine : ' + str(args.refine) + '\n')
res_file.write('deform : ' + str(args.deform) + '\n')
res_file.write('multi-head : ' + str(args.multihead) + '\n')
res_file.write('ssd_dim: '+ str(args.ssd_dim)+ '\n')
res_file.write('confidence_threshold: '+ str(args.confidence_threshold)+ '\n')
res_file.write('nms_threshold: '+ str(args.nms_threshold)+ '\n')
res_file.write('top_k: '+ str(args.top_k)+ '\n')
res_file.write('dataset_name: '+ str(args.dataset_name)+ '\n')
res_file.write('set_file_name: '+ str(args.set_file_name)+ '\n')
res_file.write('detection: '+ str(args.detection)+ '\n')
res_file.write('~~~~~~~~~~~~~~~~~\n')
for i, cls in enumerate(labelmap):
if args.dataset_name in ['VID2017']:
res_file.write('{} AP = {:.4f}, Rec = {:.4f}, Prec = {:.4f}\n'.format(VID_CLASSES_name[VID_CLASSES.index(cls)], aps[i], recs[i][-1], np.max(precs[i])))
else:
res_file.write('{} AP = {:.4f}, Rec = {:.4f}, Prec = {:.4f}\n'.format(cls, aps[i], recs[i][-1], np.max(precs[i])))
res_file.write('Mean AP = {:.4f}\n'.format(np.mean(aps)))
if FPS:
for i, f in enumerate(FPS):
res_file.write(str(i)+': FPS = {:.4f}\n'.format(f))
def voc_ap(rec, prec, use_07_metric=True):
""" ap = voc_ap(rec, prec, [use_07_metric])
Compute VOC AP given precision and recall.
If use_07_metric is true, uses the
VOC 07 11 point method (default:False).
"""
if use_07_metric:
# 11 point metric
ap = 0.
for t in np.arange(0., 1.1, 0.1):
if np.sum(rec >= t) == 0:
p = 0
else:
p = np.max(prec[rec >= t])
ap = ap + p / 11.
else:
# correct AP calculation
# first append sentinel values at the end
mrec = np.concatenate(([0.], rec, [1.]))
mpre = np.concatenate(([0.], prec, [0.]))
# compute the precision envelope
for i in range(mpre.size - 1, 0, -1):
mpre[i - 1] = np.maximum(mpre[i - 1], mpre[i])
# to calculate area under PR curve, look for points
# where X axis (recall) changes value
i = np.where(mrec[1:] != mrec[:-1])[0]
# and sum (\Delta recall) * prec
ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])
return ap
def voc_eval(detpath,
annopath,
imagesetfile,
classname,
cachedir,
ovthresh=0.5,
use_07_metric=True):
"""rec, prec, ap = voc_eval(detpath,
annopath,
imagesetfile,
classname,
[ovthresh],
[use_07_metric])
Top level function that does the PASCAL VOC evaluation.
detpath: Path to detections
detpath.format(classname) should produce the detection results file.
annopath: Path to annotations
annopath.format(imagename) should be the xml annotations file.
imagesetfile: Text file containing the list of images, one image per line.
classname: Category name (duh)
cachedir: Directory for caching the annotations
[ovthresh]: Overlap threshold (default = 0.5)
[use_07_metric]: Whether to use VOC07's 11 point AP computation
(default False)
"""
# assumes detections are in detpath.format(classname)
# assumes annotations are in annopath.format(imagename)
# assumes imagesetfile is a text file with each line an image name
# cachedir caches the annotations in a pickle file
# first load gt
if not os.path.isdir(cachedir):
os.mkdir(cachedir)
cachefile = os.path.join(cachedir, 'annots_'+args.set_file_name+'.pkl')
# read list of images
with open(imagesetfile, 'r') as f:
if args.dataset_name == 'VID2017':
lines_tmp = f.readlines()
lines = []
for i in range(len(lines_tmp)):
lines.append(lines_tmp[i].split(' ')[0])
else:
lines = f.readlines()
imagenames = [x.strip() for x in lines]
if not os.path.isfile(cachefile):
# load annots
recs = {}
for i, imagename in enumerate(imagenames):
recs[imagename] = parse_rec(annopath % (imagename))
if i % 100 == 0:
print('Reading annotation for {:d}/{:d}'.format(
i + 1, len(imagenames)))
# save
print('Saving cached annotations to {:s}'.format(cachefile))
with open(cachefile, 'wb') as f:
pickle.dump(recs, f)
else:
# from load cachefile load gt, e.g.
#{'ILSVRC2015_val_00004000/000010': [{'bbox': [241, 114, 451, 233], 'name': 'n02121808'},
# {'bbox': [106, 59, 384, 245], 'name': 'n02484322'}],
#'ILSVRC2015_val_00000000/000000': [{'bbox': [416, 6, 605, 171], 'name': 'n01662784'}],
#'ILSVRC2015_val_00000001/000158': [{'bbox': [644, 137, 903, 384], 'name': 'n01662784'}]}
with open(cachefile, 'rb') as f:
recs = pickle.load(f)
# extract gt objects for this class
class_recs = {}
npos = 0 # the total number of gt objects in a class
for imagename in imagenames:
R = [obj for obj in recs[imagename] if obj['name'] == classname]
#e.g. R = [{'name': 'n02121808', 'bbox': [241, 114, 451, 233]}]
bbox = np.array([x['bbox'] for x in R])
if args.dataset_name == 'VOC0712':
difficult = np.array([x['difficult'] for x in R]).astype(np.bool)
else:
difficult = np.array([False for _ in R]).astype(np.bool)
det = [False] * len(R) # False : have not been detected
npos = npos + sum(~difficult)
class_recs[imagename] = {'bbox': bbox,
'difficult': difficult,
'det': det}
# read dets
#e.g.: /home/sean/data/ILSVRC/results/det_val_n02834778.txt
detfile = detpath.format(classname)
with open(detfile, 'r') as f:
lines = f.readlines()
if any(lines) == 1:
splitlines = [x.strip().split(' ') for x in lines]
image_ids = [x[0] for x in splitlines]
confidence = np.array([float(x[1]) for x in splitlines])
BB = np.array([[float(z) for z in x[2:]] for x in splitlines])
# sort by confidence: greater->smaller
sorted_ind = np.argsort(-confidence)
sorted_scores = np.sort(-confidence)
BB = BB[sorted_ind, :]
image_ids = [image_ids[x] for x in sorted_ind]
# go down dets and mark TPs and FPs
nd = len(image_ids) # the total number of det objects in a class
tp = np.zeros(nd)
fp = np.zeros(nd)
for d in range(nd): # each det boxes are compared with all
R = class_recs[image_ids[d]] # gt
bb = BB[d, :].astype(float) # det
ovmax = -np.inf
BBGT = R['bbox'].astype(float) # gt
if BBGT.size > 0:
# compute overlaps
# intersection
ixmin = np.maximum(BBGT[:, 0], bb[0])
iymin = np.maximum(BBGT[:, 1], bb[1])
ixmax = np.minimum(BBGT[:, 2], bb[2])
iymax = np.minimum(BBGT[:, 3], bb[3])
iw = np.maximum(ixmax - ixmin, 0.)
ih = np.maximum(iymax - iymin, 0.)
inters = iw * ih
uni = ((bb[2] - bb[0]) * (bb[3] - bb[1]) +
(BBGT[:, 2] - BBGT[:, 0]) *
(BBGT[:, 3] - BBGT[:, 1]) - inters)
overlaps = inters / uni
ovmax = np.max(overlaps)
jmax = np.argmax(overlaps)
if ovmax > ovthresh:
if not R['difficult'][jmax]:
if not R['det'][jmax]:
tp[d] = 1.
R['det'][jmax] = 1
else:
fp[d] = 1.
else:
fp[d] = 1.
# compute precision recall
fp = np.cumsum(fp) # compute top k
tp = np.cumsum(tp)
rec = tp / float(npos)
# avoid divide by zero in case the first detection matches a difficult
# ground truth
prec = tp / np.maximum(tp + fp, np.finfo(np.float64).eps)
ap = voc_ap(rec, prec, use_07_metric)
else:
# original latter all = -1.
rec = 0.
prec = 0.
ap = 0.
return rec, prec, ap
def test_net(save_folder, net, dataset, top_k, detector, priors):
"""Test a Fast R-CNN network on an image database."""
num_images = len(dataset)
# all detections are collected into:
# all_boxes[cls][image] = N x 5 array of detections in
# (x1, y1, x2, y2, score)
all_boxes = [[[] for _ in range(num_images)]
for _ in range(len(labelmap)+1)]
# timers
_t = {'im_detect': Timer(), 'misc': Timer()}
all_time = 0.
all_forward = 0.
all_detect = 0.
output_dir = get_output_dir(pkl_dir, args.iteration+'_'+args.dataset_name+'_'+ args.set_file_name)
det_file = os.path.join(output_dir, 'detections.pkl')
for i in range(num_images):
# im, gt, h, w = dataset.pull_item(i)
# i = i+3200
im, h, w = dataset.pull_transformed_image(i)
img_id = dataset.pull_img_id(i)
if args.display:
image_draw = dataset.pull_image(i)
with torch.no_grad():
x = im.unsqueeze(0).to(device)
_t['im_detect'].tic()
if 'RefineDet' in args.backbone and args.refine:
arm_loc,_, loc, conf = net(x)
else:
loc, conf = net(x)
arm_loc = None
forward_time = _t['im_detect'].toc(average=False)
_t['im_detect'].tic()
detections = detector.forward(loc, conf, priors, arm_loc_data=arm_loc, scale=torch.cuda.FloatTensor([w,h,w,h]))
detect_time = _t['im_detect'].toc(average=False)
if i>10:
all_time += forward_time + detect_time
all_forward += forward_time
all_detect += detect_time
# skip j = 0, because it's the background class
for j in range(1, detections.size(1)):
dets = detections[0, j, :]
if dets.sum() == 0:
continue
mask = dets[:, 0].gt(0.).expand(dets.size(-1), dets.size(0)).t()
dets = torch.masked_select(dets, mask).view(-1, dets.size(-1))
boxes = dets[:, 1:-1] if dets.size(-1)==6 else dets[:, 1:]
boxes[:, 0] *= w
boxes[:, 2] *= w
boxes[:, 1] *= h
boxes[:, 3] *= h
scores = dets[:, 0].cpu().numpy()
cls_dets = np.hstack((boxes.cpu().numpy(), scores[:, np.newaxis])) \
.astype(np.float32, copy=False)
all_boxes[j][i] = cls_dets
if args.display:
boxes_np = boxes.cpu().numpy()
for b, s in zip(boxes_np, scores):
if s > 0.5:
cv2.rectangle(image_draw, (int(b[0]), int(b[1])), (int(b[2]), int(b[3])), (255, 0, 0),
thickness=1)
put_str = str(VID_CLASSES_name[j - 1] + ':' + str(np.around(s, decimals=2)))
cv2.putText(image_draw, put_str,
(int(b[0]) + 10, int(b[1]) - 10), cv2.FONT_HERSHEY_DUPLEX, 0.5, color=(255, 0, 0),
thickness=1)
if args.display:
cv2.imshow('frame', image_draw)
cv2.waitKey(0)
if i % 100 == 0:
print('im_detect: {:d}/{:d} {:.5f}s, {:.5f}s, {:.5f}s'.format(i + 1,
num_images, forward_time, detect_time, forward_time+detect_time))
FPS = (num_images - 10) / all_time
FPS_forward = (num_images - 10) / all_forward
FPS_detect = (num_images - 10) / all_detect
print('forward: ', FPS_forward, 'detect: ', FPS_detect, 'FPS:', FPS)
with open(det_file, 'wb') as f:
pickle.dump(all_boxes, f, pickle.HIGHEST_PROTOCOL)
print('Evaluating detections')
evaluate_detections(all_boxes, output_dir, dataset, FPS=(FPS_forward, FPS_detect, FPS))
def evaluate_detections(box_list, output_dir, dataset, FPS=None):
write_voc_results_file(box_list, dataset, output_dir)
if args.year != '2012':
do_python_eval(output_dir, FPS=FPS)
if __name__ == '__main__':
# load net
num_classes = len(labelmap) + 1 # +1 background
if args.dataset_name == 'VOC0712':
dataset = VOCDetection(VOCroot, [(args.year, set_type)], BaseTransform(ssd_dim, dataset_mean),
AnnotationTransform(dataset_name=args.dataset_name), dataset_name=args.dataset_name )
elif args.dataset_name == 'VID2017':
dataset = VOCDetection(VIDroot, set_type, BaseTransform(ssd_dim, dataset_mean),
AnnotationTransform(dataset_name=args.dataset_name),
dataset_name=args.dataset_name, set_file_name=args.set_file_name)
elif args.dataset_name == 'UW':
dataset = VOCDetection(UWroot, [(args.year, set_type)], BaseTransform(ssd_dim, dataset_mean),
AnnotationTransform(dataset_name=args.dataset_name),
dataset_name=args.dataset_name, set_file_name=args.set_file_name)
if args.detection:
if 'RFB' in args.backbone :
from model.rfbnet_vgg import build_net
net = build_net('test', ssd_dim, num_classes, bn=args.bn)
elif 'RefineDet' in args.backbone:
if 'MobNet' in args.backbone:
from model.refinedet_mobilenet import build_net
net = build_net('test', size=ssd_dim, num_classes=num_classes, use_refine=args.refine)
elif args.deform:
from model.dualrefinedet_vggbn import build_net
net = build_net('test', size=ssd_dim, num_classes=num_classes,
c7_channel=args.c7_channel, def_groups=args.deform, multihead=args.multihead, bn=args.bn)
else:
from model.refinedet_vgg import build_net
net = build_net('test', size=ssd_dim, num_classes=num_classes, use_refine=args.refine, c7_channel=args.c7_channel, bn=args.bn, multihead=args.multihead)
elif 'MobNet' in args.backbone:
from model.ssd4scale_mobile import build_net
net = build_net('test', size=ssd_dim, num_classes=num_classes, c7_channel=args.c7_channel)
elif 'VGG4s' in args.backbone:
from model.ssd4scale_vgg import build_net
net = build_net('test', size=ssd_dim, num_classes=num_classes, c7_channel=1024, bn=args.bn)
else:
net = None
net.load_state_dict(torch.load(trained_model))
net.eval()
print('Finished loading model!', args.model_dir, args.iteration)
detector = Detect(num_classes, 0, args.top_k, args.confidence_threshold, args.nms_threshold)
priorbox = PriorBox(cfg)
with torch.no_grad():
priors = priorbox.forward().to(device)
# load data
net = net.to(device)
# evaluation
test_net(args.save_folder, net, dataset, args.top_k, detector, priors)
else:
out_dir = get_output_dir(pkl_dir, args.iteration+'_'+args.dataset_name+'_'+ args.set_file_name)
print('Without detection', out_dir)
do_python_eval(out_dir)
print('Finished!', args.model_dir, args.iteration)