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evaluate_SemanticKITTI.py
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evaluate_SemanticKITTI.py
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#!/usr/bin/env python
"""
Author: Anshul Paigwar
email: p.anshul6@gmail.com
"""
import argparse
import os
import shutil
import yaml
import time
import math
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import numpy as np
# from modules import gnd_est_Loss
from model import GroundEstimatorNet
from modules.loss_func import MaskedHuberLoss
from dataset_utils.dataset_provider import get_train_loader, get_valid_loader
from utils.utils import lidar_to_img, lidar_to_heightmap, segment_cloud
from utils.point_cloud_ops import points_to_voxel
import ipdb as pdb
import matplotlib.pyplot as plt
import numba
from numba import jit,types
use_cuda = torch.cuda.is_available()
if use_cuda:
print('setting gpu on gpu_id: 0') #TODO: find the actual gpu id being used
#############################################xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx#######################################
parser = argparse.ArgumentParser()
parser.add_argument('--resume', default='', type=str, metavar='PATH', help='path to latest checkpoint (default: none)')
parser.add_argument('--config', default='config/config_kittiSem.yaml', type=str, metavar='PATH', help='path to config file (default: none)')
parser.add_argument('-v', '--visualize', dest='visualize', action='store_true', help='visualize model on validation set')
parser.add_argument('-gnd', '--visualize_gnd', dest='visualize_gnd', action='store_true', help='visualize ground elevation')
parser.add_argument('--data_dir', default="/home/anshul/es3cap/semkitti_gndnet/kitti_semantic/dataset/sequences/07/",
type=str, metavar='PATH', help='path to config file (default: none)')
args = parser.parse_args()
if os.path.isfile(args.config):
print("using config file:", args.config)
with open(args.config) as f:
config_dict = yaml.load(f, Loader=yaml.FullLoader)
class ConfigClass:
def __init__(self, **entries):
self.__dict__.update(entries)
cfg = ConfigClass(**config_dict) # convert python dict to class for ease of use
else:
print("=> no config file found at '{}'".format(args.config))
print("setting batch_size to 1")
cfg.batch_size = 1
if args.visualize:
# Ros Includes
import rospy
from utils.ros_utils import np2ros_pub_2, gnd_marker_pub
from sensor_msgs.msg import PointCloud2
from visualization_msgs.msg import Marker
rospy.init_node('gnd_data_provider', anonymous=True)
pcl_pub = rospy.Publisher("/kitti/velo/pointcloud", PointCloud2, queue_size=10)
marker_pub_2 = rospy.Publisher("/kitti/gnd_marker_pred", Marker, queue_size=10)
model = GroundEstimatorNet(cfg).cuda()
optimizer = optim.SGD(model.parameters(), lr=cfg.lr, momentum=0.9, weight_decay=0.0005)
def get_GndSeg(sem_label, GndClasses):
index = np.isin(sem_label, GndClasses)
GndSeg = np.ones(sem_label.shape)
GndSeg[index] = 0
index = np.isin(sem_label, [0,1])
GndSeg[index] = -1
return GndSeg
@jit(nopython=True)
def remove_outliers(pred_GndSeg, GndSeg): # removes the points outside grid and unlabled points
index = pred_GndSeg >= 0
pred_GndSeg = pred_GndSeg[index]
GndSeg = GndSeg[index]
index = GndSeg >=0
pred_GndSeg = pred_GndSeg[index]
GndSeg = GndSeg[index]
return 1-pred_GndSeg, 1-GndSeg
@jit(nopython=True)
def _shift_cloud(cloud, height):
cloud += np.array([0,0,height,0], dtype=np.float32)
return cloud
def get_target_gnd(cloud, sem_label):
if cloud.shape[0] != sem_label.shape[0]:
raise Exception('Points and label MisMatch')
index = np.isin(sem_label, [40, 44, 48, 49,60,72])
gnd = cloud[index]
gnd_mask = lidar_to_img(np.copy(gnd), np.asarray(cfg.grid_range), cfg.voxel_size[0], fill = 1)
gnd_heightmap = lidar_to_heightmap(np.copy(gnd), np.asarray(cfg.grid_range), cfg.voxel_size[0], max_points = 100)
return gnd_heightmap, gnd_mask
def InferGround(cloud):
cloud = _shift_cloud(cloud[:,:4], cfg.lidar_height)
voxels, coors, num_points = points_to_voxel(cloud, cfg.voxel_size, cfg.pc_range, cfg.max_points_voxel, True, cfg.max_voxels)
voxels = torch.from_numpy(voxels).float().cuda()
coors = torch.from_numpy(coors)
coors = F.pad(coors, (1,0), 'constant', 0).float().cuda()
num_points = torch.from_numpy(num_points).float().cuda()
with torch.no_grad():
output = model(voxels, coors, num_points)
return output
# if args.visualize:
# plt.ion()
# fig = plt.figure()
def evaluate_SemanticKITTI(data_dir):
velodyne_dir = data_dir + "velodyne/"
label_dir = data_dir + 'labels/'
frames = os.listdir(velodyne_dir)
# calibration = parse_calibration(os.path.join(data_dir, "calib.txt"))
# poses = parse_poses(os.path.join(data_dir, "poses.txt"), calibration)
# rate = rospy.Rate(2) # 10hz
# angle = 0
# increase = True
iou_score = 0
mse_score = 0
prec_score = 0
recall_score = 0
print(len(frames))
for f in range(len(frames)):
points_path = os.path.join(velodyne_dir, "%06d.bin" % f)
points = np.fromfile(points_path, dtype=np.float32).reshape(-1, 4)
label_path = os.path.join(label_dir, "%06d.label" % f)
sem_label = np.fromfile(label_path, dtype=np.uint32)
sem_label = sem_label.reshape((-1))
pred_gnd = InferGround(points)
pred_gnd = pred_gnd.cpu().numpy()
# TODO: Remove the points which are very below the ground
pred_GndSeg = segment_cloud(points.copy(),np.asarray(cfg.grid_range), cfg.voxel_size[0], elevation_map = pred_gnd.T, threshold = 0.2)
GndSeg = get_GndSeg(sem_label, GndClasses = [40, 44, 48, 49,60,72])
if args.visualize:
np2ros_pub_2(points, pcl_pub, None, pred_GndSeg)
if args.visualize_gnd:
gnd_marker_pub(pred_gnd, marker_pub_2, cfg, color = "red")
# pdb.set_trace()
pred_GndSeg, GndSeg = remove_outliers(pred_GndSeg, GndSeg)
intersection = np.logical_and(GndSeg, pred_GndSeg)
union = np.logical_or(GndSeg, pred_GndSeg)
iou = np.sum(intersection) / np.sum(union)
prec = np.sum(intersection)/pred_GndSeg.sum()
recall = np.sum(intersection)/GndSeg.sum()
# tn = np.count_nonzero(pred_GndSeg==0) - np.sum(intersection)
# iou = np.count_nonzero(pred_GndSeg==0)/(np.count_nonzero(GndSeg==0)+tn)
iou_score += iou
prec_score += prec
recall_score += recall
target_gnd, gnd_mask = get_target_gnd(points, sem_label)
# if args.visualize:
# fig.clear()
# fig.add_subplot(1, 3, 1)
# plt.imshow(gnd_mask, interpolation='nearest')
# fig.add_subplot(1, 3, 2)
# cs = plt.imshow(target_gnd*gnd_mask, interpolation='nearest')
# cbar = fig.colorbar(cs)
# fig.add_subplot(1, 3, 3)
# cs = plt.imshow(pred_gnd.T*gnd_mask, interpolation='nearest')
# cbar = fig.colorbar(cs)
# plt.show()
mse = (np.square(target_gnd - pred_gnd.T)*gnd_mask).sum()
mse = mse/gnd_mask.sum()
mse_score += mse
print(f, iou, mse, prec, recall)
iou_score = iou_score/len(frames)
mse_score = mse_score/len(frames)
recall_score = recall_score/len(frames)
prec_score = prec_score/len(frames)
print(iou_score, mse_score, prec_score, recall_score)
def main():
# rospy.init_node('pcl2_pub_example', anonymous=True)
global args
# optionally resume from a checkpoint
if args.resume:
if os.path.isfile(args.resume):
print("=> loading checkpoint '{}'".format(args.resume))
checkpoint = torch.load(args.resume)
args.start_epoch = checkpoint['epoch']
lowest_loss = checkpoint['lowest_loss']
model.load_state_dict(checkpoint['state_dict'])
optimizer.load_state_dict(checkpoint['optimizer'])
print("=> loaded checkpoint '{}' (epoch {})"
.format(args.resume, checkpoint['epoch']))
else:
print("=> no checkpoint found at '{}'".format(args.resume))
else:
raise Exception('please specify checkpoint to load')
evaluate_SemanticKITTI(args.data_dir)
if __name__ == '__main__':
main()