CosMix环境配置点云域自适应语义分割方法环境配置

stoneyshi

已于 2022-09-23 20:33:06 修改

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于 2022-09-07 10:24:59 首次发布

本文链接：https://blog.csdn.net/Stone_hello/article/details/126739438

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CosMix环境配置

CoSMix: Compositional Semantic Mix for Domain Adaptation in 3D LiDAR Segmentation [ECCV2022]
【已有docker, 一和二可以不看】
一、基础环境
二、其他需要的环境
三、预训练
- 3.1 先对SynLiDAR进行预训练，得到pretrained_model
- 3.2 下载训好的pretrained_model
四、域自适应 SynLiDAR 2 SemanticKITTI
五、评估及可视化
- 5.1 评估预训练模型
- 5.2 评估adaptation模型

CoSMix: Compositional Semantic Mix for Domain Adaptation in 3D LiDAR Segmentation [ECCV2022]

【已有docker, 一和二可以不看】

docker pull stoneyshi/cuda11.1-cudnn8-python3.6-pytorch1.8.1-ubuntu18.04:cosmix_pretrain

一、基础环境

Python3.8
CUDA 11.1
pytorch 1.8.0
pytorch-lightning 1.4.1

conda create -n cosmix python=3.8
conda activate cosmix
# CUDA 11.1 二选一（使用conda）
conda install pytorch==1.8.0 torchvision==0.9.0 torchaudio==0.8.0 cudatoolkit=11.1 -c pytorch -c conda-forge
# CUDA 11.1 二选一（使用pip）
pip install torch==1.8.0+cu111 torchvision==0.9.0+cu111 torchaudio==0.8.0 -f https://download.pytorch.org/whl/torch_stable.html

二、其他需要的环境

2.1 MinkowskiEnginge

官网：Minkowski

（1）pip安装

sudo apt install build-essential python3-dev libopenblas-dev
pip install torch ninja
pip install -U MinkowskiEngine --install-option="--blas=openblas" -v --no-deps

# For pip installation from the latest source
# pip install -U git+https://github.com/NVIDIA/MinkowskiEngine --no-deps

其他自定义安装命令：

# Uncomment some options if things don't work
# export CXX=c++; # set this if you want to use a different C++ compiler
# export CUDA_HOME=/usr/local/cuda-11.1; # or select the correct cuda version on your system.
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps \
#                           \ # uncomment the following line if you want to force cuda installation
#                           --install-option="--force_cuda" \
#                           \ # uncomment the following line if you want to force no cuda installation. force_cuda supercedes cpu_only
#                           --install-option="--cpu_only" \
#                           \ # uncomment the following line to override to openblas, atlas, mkl, blas
#                           --install-option="--blas=openblas" \

（2）Conda安装

conda create -n py3-mink python=3.8
conda activate py3-mink

conda install openblas-devel -c anaconda
conda install pytorch=1.9.0 torchvision cudatoolkit=11.1 -c pytorch -c nvidia

# Install MinkowskiEngine

# Uncomment the following line to specify the cuda home. Make sure `$CUDA_HOME/nvcc --version` is 11.X
# export CUDA_HOME=/usr/local/cuda-11.1
pip install -U git+https://github.com/NVIDIA/MinkowskiEngine -v --no-deps --install-option="--blas_include_dirs=${CONDA_PREFIX}/include" --install-option="--blas=openblas"

# Or if you want local MinkowskiEngine
git clone https://github.com/NVIDIA/MinkowskiEngine.git
cd MinkowskiEngine
python setup.py install --blas_include_dirs=${CONDA_PREFIX}/include --blas=openblas

（3）检验是否装好

python
import MinkowskiEngine as ME

2.2 open3d 0.13.0

官网：open3d
open3d版本选择

pip install open3d

2.3 pytorch-lightning 1.4.1

2.4 wandb

2.5 tqdm

pip install pytorch-lightning
pip install wandb
pip install tqdm

2.6 常见报错

2.6.1 pytorch-lightning版本

pip install pytorch-lightning==1.4.1

2.6.2 torchmetrics版本

pip install torchmetrics==0.5

2.6.3 jaccard_score() got an unexpected keyword argument ‘zero_division’

在……lib/python3.7/site-packages/sklearn/metrics/_classification.py这个文件里改两行：

  Index: ml/lib/python3.7/site-packages/sklearn/metrics/_classification.py
IDEA additional info:
Subsystem: com.intellij.openapi.diff.impl.patch.CharsetEP
<+>UTF-8
===================================================================
--- ml/lib/python3.7/site-packages/sklearn/metrics/_classification.py	(date 1593790417022)
+++ ml/lib/python3.7/site-packages/sklearn/metrics/_classification.py	(date 1593790417022)
@@ -680,7 +680,7 @@
 
 
 def jaccard_score(y_true, y_pred, labels=None, pos_label=1,
-                  average='binary', sample_weight=None):
+                  average='binary', sample_weight=None, zero_division='warn'):
     """Jaccard similarity coefficient score
 
     The Jaccard index [1], or Jaccard similarity coefficient, defined as
@@ -803,7 +803,7 @@
         denominator = np.array([denominator.sum()])
 
     jaccard = _prf_divide(numerator, denominator, 'jaccard',
-                          'true or predicted', average, ('jaccard',),)
+                          'true or predicted', average, ('jaccard',), zero_division=zero_division)
     if average is None:
         return jaccard
     if average == 'weighted':

zero_division的解决方案

2.6.4 SemanticKITTI路径

class SemanticKITTIDataset(BaseDataset):
    def __init__(self,
                 version: str = 'full',
                 phase: str = 'train',
                 dataset_path: str = '/apdcdphfs/share_1594194/datasets/SemanticKITTI/dataset/sequences',
                 mapping_path: str = '_resources/semantic-kitti.yaml',

记得把SemanticKITTI/data/sequences改成SemanticKITTI/dataset/sequences

2.6.5 OSError: libGL.so.1: cannot open shared object file: No such file or directory

apt-get update
apt-get install ffmpeg libsm6 libxext6  -y

三、预训练

先把数据集（SynLiDAR、SemanticKITTI）下好，然后做一些软链接

cd cosmix-uda
mkdir data
cd data
ln -s /root/data/dataset/SynLiDAR/sequences SynLiDAR
ln -s /root/syy/dataset/SemanticKITTI/dataset SemanticKITTI

3.1 先对SynLiDAR进行预训练，得到pretrained_model

model:
  name: 'MinkUNet34'
  in_feat_size: 1
  out_classes: 19

dataset:
  version: 'mini'
  name: 'SynLiDAR'
  dataset_path: 'data/SynLiDAR'  # 注意最后不能有/
  mapping_path: '_resources/synlidar_semantickitti.yaml'
  target: 'SemanticKITTI'
  voxel_size: 0.05
  num_pts: 80000
  ignore_label: -1
  augment_data: true


pipeline:
  epochs: 100
  steps: null
  gpus: [0]
  precision: 32
  loss: 'SoftDICELoss'
  seed: 1234
  save_dir: 'experiments/pretrained/synlidar/semantickitti'
  validate_target: true

  dataloader:
    batch_size: 4
    num_workers: 16

  optimizer:
    name: 'SGD'
    lr: 0.01

  scheduler:
    name: 'ExponentialLR'

  lightning:
    check_val_every_n_epoch: 5
    clear_cache_int: 1
    resume_checkpoint: null
    val_check_interval: 1.0
    num_sanity_val_steps: 2


  wandb:
    run_name: 'SOURCE-WARMUP-SynLiDAR2SemanticKITTI'
    project_name: 'cosmix-uda'
    entity_name: 'stoneyshi'
    offline: false

记得把entity_name改成自己的wandb账号名字，然后数据集路径、输入输出路径都检查一下，GPU个数检查一下。

python train_source.py --config_file configs/source/synlidar2semantickitti.yaml

3.2 下载训好的pretrained_model

现在这个SynLiDAR是小的，真正完整数据集有250+GB，所以可以直接下预训练好的模型：
SynLiDAR预训练模型
解压到cosmix-uda/pretrained_models/这个路径下。后面调用的时候要记得改模型路径。

四、域自适应 SynLiDAR 2 SemanticKITTI

model:
  name: 'MinkUNet34'
  in_feat_size: 1
  out_classes: 19

source_dataset:
  version: 'mini'
  name: 'SynLiDAR'
  dataset_path: 'data/SynLiDAR'
  mapping_path: '_resources/synlidar_semantickitti.yaml'
  weights_path: '_weights/synlidar2semantickitti_correct.npy'
  target: null
  voxel_size: 0.05
  num_pts: 80000
  ignore_label: -1
  augment_data: false

target_dataset:
  version: 'full'
  name: 'SemanticKITTI'
  dataset_path: 'data/SemanticKITTI/sequences'
  mapping_path: '_resources/semantic-kitti.yaml'
  target: null
  voxel_size: 0.05
  num_pts: 80000
  ignore_label: -1
  augment_data: false

masked_dataset:
  augment_data: true
  augment_mask_data: true
  remove_overlap: false

pipeline:
  epochs: 16 # 3
  steps: null
  gpus: [0]
  precision: 32
  seed: 1234
  save_dir: 'experiments/cosmix/synlidar/semantickitti'

  dataloader:
    train_batch_size: 3   # 16>>>3 , 2>>>24 , 3>>>16 , 4>>>12
    val_batch_size: 8
    num_workers: 24

  optimizer:
    name: 'SGD'
    lr: 0.001

  scheduler:
    name: null

  lightning:
    check_val_every_n_epoch: 1
    clear_cache_int: 1
    resume_checkpoint: null
    val_check_interval: 1.0
    num_sanity_val_steps: 2

  wandb:
    run_name: 'CoSMix-adaptation-SynLiDAR2SemanticKITTI'
    project_name: 'cosmix-uda'
    entity_name: 'stoneyshi'
    offline: false

adaptation:
  student_checkpoint: '/root/data/mycode/cosmix-uda/pretrained_models/pretrained_models/synlidar/semantickitti/pretrained_model.ckpt'
  teacher_checkpoint: '/root/data/mycode/cosmix-uda/pretrained_models/pretrained_models/synlidar/semantickitti/pretrained_model.ckpt'
  filtering: 'confidence'
  adaptive_weight: false
  oracle_rate: 0.0
  shuffle_batches: false
  compositional: false
  source_filtering: false
  propagation: false
  propagation_size: 0
  weighted_sampling: true
  self_paced: false
  is_mix3d: false
  is_mix3d_pseudo: false
  selection_perc: 0.5
  remove_class: null
  target_confidence_th: 0.90

  losses:
    source_criterion: 'SoftDICELoss'
    target_criterion: 'SoftDICELoss'
    other_criterion: null
    source_weight: 1.0
    target_weight: 1.0
    other_weight: 0.

  momentum:
    base_tau: 0.9
    final_tau: 0.9
    update_every: 500

To adapt with CoSMix on SynLiDAR2SemanticKITTI run

python adapt_cosmix.py --config_file configs/adaptation/synlidar2semantickitti_cosmix.yaml

五、评估及可视化

5.1 评估预训练模型

python eval.py --config_file configs/synlidar2semantickitti.yaml --resume_path PATH-TO-EXPERIMENT

用--eval_source对源数据和--eval_target目标数据进行评估。这会遍历PATH-TO-EXPERIMENT/checkpoints/里的所有模型。

5.2 评估adaptation模型

python eval.py --config_file configs/config-file-of-the-experiment.yaml --resume_path PATH-TO-EXPERIMENT --is_student

--is_student指定要评估的模型是学生模型。
可以通过添加来保存未来可视化的预测--save_predictions