bev-project/verify_weight_reuse.py

#!/usr/bin/env python3
"""验证当前训练模型是否真的复用了epoch_19.pth的权重"""

import torch
import sys

print("=" * 80)
print("验证权重复用情况")
print("=" * 80)

# 加载epoch_19.pth
print("\n1. 加载 epoch_19.pth...")
checkpoint_path = "runs/run-326653dc-74184412/epoch_19.pth"
checkpoint = torch.load(checkpoint_path, map_location='cpu')

print(f"   ✅ Checkpoint加载成功")
print(f"   - Epoch: {checkpoint.get('meta', {}).get('epoch', 'N/A')}")
print(f"   - 总keys数量: {len(checkpoint['state_dict'])}")

# 分析权重结构
state_dict = checkpoint['state_dict']

# 统计各模块的参数
modules = {
    'Camera Encoder (encoders.camera)': [],
    'LiDAR Encoder (encoders.lidar)': [],
    'Fuser': [],
    'Decoder Backbone': [],
    'Object Head (heads.object)': [],
    'Map Head (heads.map)': [],
}

for key in state_dict.keys():
    if key.startswith('encoders.camera'):
        modules['Camera Encoder (encoders.camera)'].append(key)
    elif key.startswith('encoders.lidar'):
        modules['LiDAR Encoder (encoders.lidar)'].append(key)
    elif key.startswith('fuser'):
        modules['Fuser'].append(key)
    elif key.startswith('decoder'):
        modules['Decoder Backbone'].append(key)
    elif key.startswith('heads.object'):
        modules['Object Head (heads.object)'].append(key)
    elif key.startswith('heads.map'):
        modules['Map Head (heads.map)'].append(key)

print("\n2. epoch_19.pth中的模块权重统计：")
print("-" * 80)

total_params = 0
for module_name, keys in modules.items():
    if keys:
        # 计算参数量
        module_params = 0
        for key in keys:
            tensor = state_dict[key]
            module_params += tensor.numel()
        
        total_params += module_params
        print(f"   {module_name}")
        print(f"      - Keys数量: {len(keys)}")
        print(f"      - 参数量: {module_params:,} ({module_params/1e6:.2f}M)")

print(f"\n   总参数量: {total_params:,} ({total_params/1e6:.2f}M)")

# 显示Map Head的具体keys
print("\n3. Map Head的具体权重keys：")
print("-" * 80)
map_keys = modules['Map Head (heads.map)']
for key in sorted(map_keys):
    shape = tuple(state_dict[key].shape)
    print(f"   {key}: {shape}")

print("\n" + "=" * 80)
print("结论:")
print("=" * 80)
print("✅ 可以复用的模块（会被加载）：")
print("   - Camera Encoder: encoders.camera.*")
print("   - LiDAR Encoder: encoders.lidar.*")
print("   - Fuser: fuser.*")
print("   - Decoder Backbone: decoder.*")
print("   - Object Head: heads.object.*")
print()
print("❌ 无法复用的模块（会被忽略）：")
print("   - Map Head: heads.map.classifier.* (与EnhancedHead不匹配)")
print()
print("💡 使用 --load_from epoch_19.pth 时：")
print("   PyTorch会尝试加载所有能匹配的权重")
print("   不匹配的权重会被警告并忽略")
print("   EnhancedHead的新权重会随机初始化")
print("=" * 80)