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AutoVision-cloud / SA-Det3D

[ICCVW-2021] SA-Det3D: Self-attention based Context-Aware 3D Object Detection
MIT License
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[WARN] Cannot find rule for <class 'pcdet.models.detectors.pv_rcnn.PVRCNN'>. Treat it as zero Macs and zero Params. #5

Open yinggo opened 3 years ago

yinggo commented 3 years ago

I trained the code on the local sever(TITAN RTX), the result is worse than the paper reported. I got some WARNING, that may make the performance decrease. How could I solve this?

2021-09-18 18:13:00,168   INFO  ==> Loading parameters from checkpoint ../output/kitti_models/pvrcnn_fsa/default/ckpt/checkpoint_epoch_80.pth to GPU
2021-09-18 18:13:00,259   INFO  ==> Checkpoint trained from version: pcdet+0.3.0+a7cf536
2021-09-18 18:13:00,764   INFO  ==> Done (loaded 382/382)
2021-09-18 18:13:00,778   INFO  *************** EPOCH 80 EVALUATION *****************
eval:   0%|                                             | 0/943 [00:00<?, ?it/s][WARN] Cannot find rule for <class 'pcdet.models.backbones_3d.vfe.mean_vfe.MeanVFE'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'spconv.conv.SubMConv3d'>. Treat it as zero Macs and zero Params.
[INFO] Register count_bn() for <class 'torch.nn.modules.batchnorm.BatchNorm1d'>.
[INFO] Register zero_ops() for <class 'torch.nn.modules.activation.ReLU'>.
[WARN] Cannot find rule for <class 'spconv.modules.SparseSequential'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'spconv.conv.SparseConv3d'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_3d.spconv_backbone.SlimVoxelBackBone8x'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_2d.map_to_bev.height_compression.HeightCompression'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.ops.pointnet2.pointnet2_stack.pointnet2_utils.QueryAndGroup'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'torch.nn.modules.container.ModuleList'>. Treat it as zero Macs and zero Params.
[INFO] Register count_convNd() for <class 'torch.nn.modules.conv.Conv2d'>.
[INFO] Register count_bn() for <class 'torch.nn.modules.batchnorm.BatchNorm2d'>.
[WARN] Cannot find rule for <class 'torch.nn.modules.container.Sequential'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.ops.pointnet2.pointnet2_stack.pointnet2_modules.StackSAModuleMSG'>. Treat it as zero Macs and zero Params.
[INFO] Register count_linear() for <class 'torch.nn.modules.linear.Linear'>.
[INFO] Register count_convNd() for <class 'torch.nn.modules.conv.Conv1d'>.
[WARN] Cannot find rule for <class 'torch.nn.modules.normalization.GroupNorm'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'torch.nn.modules.activation.Softmax'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_3d.sa_block.SA_block'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_3d.pfe.sa_voxel_set_abstraction.SAVoxelSetAbstraction'>. Treat it as zero Macs and zero Params.
[INFO] Register zero_ops() for <class 'torch.nn.modules.padding.ZeroPad2d'>.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_2d.encoder_2d.bev_encoder.BaseBEVEncoder'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_3d.cfe.voxel_fsa.PositionalEncoding'>. Treat it as zero Macs and zero Params.
[INFO] Register zero_ops() for <class 'torch.nn.modules.dropout.Dropout'>.
[WARN] Cannot find rule for <class 'torch.nn.modules.normalization.LayerNorm'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_3d.cfe.voxel_fsa.VoxelContext3D_fsa'>. Treat it as zero Macs and zero Params.
[INFO] Register count_convNd() for <class 'torch.nn.modules.conv.ConvTranspose2d'>.
[WARN] Cannot find rule for <class 'pcdet.models.backbones_2d.decoder_2d.bev_decoder.ConcatVoxelDecoder'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.utils.loss_utils.SigmoidFocalClassificationLoss'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.utils.loss_utils.WeightedSmoothL1Loss'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.utils.loss_utils.WeightedCrossEntropyLoss'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.dense_heads.anchor_head_single.AnchorHeadSingle'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.dense_heads.point_head_simple.PointHeadSimple'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.roi_heads.target_assigner.proposal_target_layer.ProposalTargetLayer'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.roi_heads.pvrcnn_head.PVRCNNHead'>. Treat it as zero Macs and zero Params.
[WARN] Cannot find rule for <class 'pcdet.models.detectors.pv_rcnn.PVRCNN'>. Treat it as zero Macs and zero Params.
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/torch/nn/functional.py:718: UserWarning: Named tensors and all their associated APIs are an experimental feature and subject to change. Please do not use them for anything important until they are released as stable. (Triggered internally at  /pytorch/c10/core/TensorImpl.h:1156.)
  return torch.max_pool2d(input, kernel_size, stride, padding, dilation, ceil_mode)
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/torch/nn/functional.py:3613: UserWarning: Default upsampling behavior when mode=bilinear is changed to align_corners=False since 0.4.0. Please specify align_corners=True if the old behavior is desired. See the documentation of nn.Upsample for details.
  "See the documentation of nn.Upsample for details.".format(mode)
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/torch/nn/functional.py:3658: UserWarning: The default behavior for interpolate/upsample with float scale_factor changed in 1.6.0 to align with other frameworks/libraries, and now uses scale_factor directly, instead of relying on the computed output size. If you wish to restore the old behavior, please set recompute_scale_factor=True. See the documentation of nn.Upsample for details. 
  "The default behavior for interpolate/upsample with float scale_factor changed "
Model PARAMS:  , Model G-FLOPS:  9959985.0   64276345568.0
eval: 100%|█| 943/943 [05:37<00:00,  2.79it/s, recall_0.3=(16989, 17000) / 17558
2021-09-18 18:18:38,355   INFO  *************** Performance of EPOCH 80 *****************
2021-09-18 18:18:38,355   INFO  Generate label finished(sec_per_example: 0.0896 second).
2021-09-18 18:18:38,355   INFO  recall_roi_0.3: 0.967593
2021-09-18 18:18:38,355   INFO  recall_rcnn_0.3: 0.968220
2021-09-18 18:18:38,355   INFO  recall_roi_0.5: 0.923112
2021-09-18 18:18:38,355   INFO  recall_rcnn_0.5: 0.930003
2021-09-18 18:18:38,355   INFO  recall_roi_0.7: 0.676558
2021-09-18 18:18:38,355   INFO  recall_rcnn_0.7: 0.743365
2021-09-18 18:18:38,357   INFO  Average predicted number of objects(3769 samples): 9.800
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/decorators.py:110: NumbaDeprecationWarning: Eager compilation of device functions is deprecated (this occurs when a signature is provided)
  warn(NumbaDeprecationWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (24) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (30) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (35) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (20) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (40) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (28) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (25) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (96) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (24) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (30) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (30) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (24) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (35) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (20) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (40) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (28) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (25) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
/home/ds/anaconda3/envs/pcdet/lib/python3.7/site-packages/numba/cuda/compiler.py:865: NumbaPerformanceWarning: Grid size (96) < 2 * SM count (144) will likely result in GPU under utilization due to low occupancy.
  warn(NumbaPerformanceWarning(msg))
2021-09-18 18:18:58,305   INFO  Car AP@0.70, 0.70, 0.70:
bbox AP:95.6558, 89.2137, 88.9727
bev  AP:90.0087, 87.4705, 86.9144
3d   AP:89.0232, 78.7346, 78.2206
aos  AP:95.61, 89.10, 88.80
Car AP_R40@0.70, 0.70, 0.70:
bbox AP:97.8422, 93.7267, 91.9560
bev  AP:92.8356, 88.4083, 88.2203
3d   AP:91.2983, 82.0211, 79.9662
aos  AP:97.81, 93.58, 91.75
Car AP@0.70, 0.50, 0.50:
bbox AP:95.6558, 89.2137, 88.9727
bev  AP:95.7055, 89.2747, 89.0953
3d   AP:95.6466, 89.2571, 89.0537
aos  AP:95.61, 89.10, 88.80
Car AP_R40@0.70, 0.50, 0.50:
bbox AP:97.8422, 93.7267, 91.9560
bev  AP:97.8848, 94.1767, 94.1172
3d   AP:97.8545, 94.0966, 93.9559
aos  AP:97.81, 93.58, 91.75
Pedestrian AP@0.50, 0.50, 0.50:
bbox AP:71.9394, 66.0419, 63.8174
bev  AP:67.1435, 60.5519, 56.4955
3d   AP:65.0513, 57.2925, 53.5970
aos  AP:64.38, 59.06, 56.54
Pedestrian AP_R40@0.50, 0.50, 0.50:
bbox AP:72.2893, 67.0041, 64.0620
bev  AP:67.4582, 59.9565, 55.6927
3d   AP:65.0522, 56.9932, 52.4130
aos  AP:63.73, 58.78, 55.69
Pedestrian AP@0.50, 0.25, 0.25:
bbox AP:71.9394, 66.0419, 63.8174
bev  AP:76.9071, 73.0327, 70.4967
3d   AP:76.8903, 73.0165, 70.3640
aos  AP:64.38, 59.06, 56.54
Pedestrian AP_R40@0.50, 0.25, 0.25:
bbox AP:72.2893, 67.0041, 64.0620
bev  AP:78.6493, 74.0522, 71.0445
3d   AP:78.6324, 74.0364, 70.9557
aos  AP:63.73, 58.78, 55.69
Cyclist AP@0.50, 0.50, 0.50:
bbox AP:89.5657, 76.8325, 75.1482
bev  AP:87.4041, 72.6511, 69.3511
3d   AP:85.7404, 70.5434, 64.8741
aos  AP:89.38, 76.23, 74.44
Cyclist AP_R40@0.50, 0.50, 0.50:
bbox AP:94.6328, 79.5327, 75.5670
bev  AP:90.2565, 73.6993, 69.4862
3d   AP:88.3381, 70.5201, 66.3709
aos  AP:94.37, 78.81, 74.86
Cyclist AP@0.50, 0.25, 0.25:
bbox AP:89.5657, 76.8325, 75.1482
bev  AP:88.4720, 73.7940, 72.0709
3d   AP:88.4720, 73.7940, 72.0709
aos  AP:89.38, 76.23, 74.44
Cyclist AP_R40@0.50, 0.25, 0.25:
bbox AP:94.6328, 79.5327, 75.5670
bev  AP:93.1332, 76.1067, 73.0396
3d   AP:93.1332, 76.1067, 73.0396
aos  AP:94.37, 78.81, 74.86

2021-09-18 18:18:58,309   INFO  Result is save to /home/ds/anaconda3/envs/pcdet/SA-Det3D/OpenPCDet/output/kitti_models/pvrcnn_fsa/default/eval/epoch_80/val/default
2021-09-18 18:18:58,309   INFO  ****************Evaluation done.*****************
1553545365 commented 2 years ago

Have you solved this problem? I encountered the same warning