508 lines
18 KiB
Bash
Executable File
508 lines
18 KiB
Bash
Executable File
#!/bin/bash
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# 详细检查GCA模型配置
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# 确保所有配置项正确无误
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echo "=============================================================================="
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echo "BEVFusion 共享BEV层GCA架构 - 模型配置详细检查"
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echo "=============================================================================="
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cd /workspace/bevfusion
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CONFIG_FILE="configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1_gca.yaml"
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# 颜色定义
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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RED='\033[0;31m'
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NC='\033[0m' # No Color
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print_section() {
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echo ""
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echo "━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━"
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echo "$1"
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echo "━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━"
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}
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print_check() {
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echo -e "${GREEN}✅${NC} $1"
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}
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print_warn() {
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echo -e "${YELLOW}⚠️${NC} $1"
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}
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print_error() {
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echo -e "${RED}❌${NC} $1"
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}
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# ============ 第1部分: 基础配置检查 ============
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print_section "第1部分: 基础配置检查"
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echo "配置文件: $CONFIG_FILE"
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if [ -f "$CONFIG_FILE" ]; then
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print_check "配置文件存在"
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FILE_SIZE=$(ls -lh "$CONFIG_FILE" | awk '{print $5}')
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echo " 文件大小: $FILE_SIZE"
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else
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print_error "配置文件不存在"
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exit 1
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fi
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# 检查base配置
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echo ""
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echo "1.1 Base配置:"
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BASE_CONFIG=$(grep "^_base_:" "$CONFIG_FILE" | awk '{print $2}')
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echo " _base_: $BASE_CONFIG"
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if grep -q "^_base_: ./convfuser.yaml" "$CONFIG_FILE"; then
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print_check "Base配置正确"
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else
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print_warn "Base配置可能异常"
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fi
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# 检查work_dir
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echo ""
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echo "1.2 输出目录:"
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WORK_DIR=$(grep "^work_dir:" "$CONFIG_FILE" | awk '{print $2}')
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echo " work_dir: $WORK_DIR"
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if [ "$WORK_DIR" == "/data/runs/phase4a_stage1_gca" ]; then
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print_check "Work dir正确 (区分GCA版本)"
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else
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print_warn "Work dir可能需要调整"
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fi
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# 检查max_epochs
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echo ""
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echo "1.3 训练周期:"
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MAX_EPOCHS=$(grep "^max_epochs:" "$CONFIG_FILE" | awk '{print $2}')
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echo " max_epochs: $MAX_EPOCHS"
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if [ "$MAX_EPOCHS" == "20" ]; then
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print_check "训练周期配置正确"
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fi
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# ============ 第2部分: GCA核心配置检查 ============
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print_section "第2部分: 共享BEV层GCA配置检查"
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echo "2.1 shared_bev_gca配置段:"
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echo ""
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grep -A 5 "shared_bev_gca:" "$CONFIG_FILE" | sed 's/^/ /'
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echo ""
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echo "2.2 详细检查:"
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# enabled
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if grep -A 5 "shared_bev_gca:" "$CONFIG_FILE" | grep -q "enabled: true"; then
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print_check "shared_bev_gca.enabled = true"
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else
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print_error "shared_bev_gca未启用！"
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fi
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# in_channels
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IN_CHANNELS=$(grep -A 5 "shared_bev_gca:" "$CONFIG_FILE" | grep "in_channels:" | awk '{print $2}')
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echo " in_channels: $IN_CHANNELS"
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if [ "$IN_CHANNELS" == "512" ]; then
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print_check "in_channels正确 (512 = Decoder Neck输出)"
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else
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print_error "in_channels配置错误，应该是512"
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fi
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# reduction
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REDUCTION=$(grep -A 5 "shared_bev_gca:" "$CONFIG_FILE" | grep "reduction:" | awk '{print $2}')
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echo " reduction: $REDUCTION"
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if [ "$REDUCTION" == "4" ]; then
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print_check "reduction正确 (4 = 平衡参数和性能)"
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HIDDEN_CH=$((IN_CHANNELS / REDUCTION))
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echo " → 隐藏层通道数: $HIDDEN_CH"
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PARAMS=$((2 * IN_CHANNELS * HIDDEN_CH))
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echo " → 预计参数量: $PARAMS ($(echo "scale=2; $PARAMS/1000" | bc)K)"
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else
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print_warn "reduction=$REDUCTION (推荐值: 4)"
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fi
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# use_max_pool
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USE_MAX_POOL=$(grep -A 5 "shared_bev_gca:" "$CONFIG_FILE" | grep "use_max_pool:" | awk '{print $2}')
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echo " use_max_pool: $USE_MAX_POOL"
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if [ "$USE_MAX_POOL" == "false" ]; then
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print_check "use_max_pool=false (标准SE-Net,推荐)"
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else
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print_warn "use_max_pool=$USE_MAX_POOL (CBAM风格,参数会增加)"
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fi
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# ============ 第3部分: 任务头配置检查 ============
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print_section "第3部分: 任务头配置检查"
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echo "3.1 检测头 (object):"
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echo ""
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grep -A 5 "object:" "$CONFIG_FILE" | grep -A 4 "^ heads:" | sed 's/^/ /'
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OBJ_IN_CH=$(grep -A 5 "heads:" "$CONFIG_FILE" | grep -A 3 "object:" | grep "in_channels:" | awk '{print $2}')
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echo ""
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echo " in_channels: $OBJ_IN_CH"
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if [ "$OBJ_IN_CH" == "512" ]; then
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print_check "检测头接收512通道BEV特征 (与shared_gca输出匹配)"
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else
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print_error "检测头in_channels配置错误"
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fi
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echo ""
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echo "3.2 分割头 (map):"
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echo ""
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echo " type: EnhancedBEVSegmentationHead"
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MAP_IN_CH=$(grep -A 20 "map:" "$CONFIG_FILE" | grep "in_channels:" | head -1 | awk '{print $2}')
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echo " in_channels: $MAP_IN_CH"
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if [ "$MAP_IN_CH" == "512" ]; then
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print_check "分割头接收512通道BEV特征 (与shared_gca输出匹配)"
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fi
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# decoder_channels
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DECODER_CH=$(grep -A 20 "map:" "$CONFIG_FILE" | grep "decoder_channels:" | awk '{print $2, $3, $4, $5}')
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echo " decoder_channels: $DECODER_CH"
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if echo "$DECODER_CH" | grep -q "256, 256, 128, 128"; then
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print_check "Decoder channels正确 (4层深度解码器)"
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fi
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# use_internal_gca
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if grep -A 20 "map:" "$CONFIG_FILE" | grep -q "use_internal_gca: false"; then
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print_check "use_internal_gca = false (使用共享BEV层GCA)"
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else
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print_warn "use_internal_gca配置未明确设置"
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fi
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# deep_supervision
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if grep -A 20 "map:" "$CONFIG_FILE" | grep -q "deep_supervision: true"; then
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print_check "deep_supervision启用"
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fi
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# use_dice_loss
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if grep -A 20 "map:" "$CONFIG_FILE" | grep -q "use_dice_loss: true"; then
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print_check "Dice Loss启用"
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fi
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# ============ 第4部分: 数据与Evaluation配置 ============
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print_section "第4部分: 数据与Evaluation配置检查"
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echo "4.1 Validation数据配置:"
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if grep -A 3 "^data:" "$CONFIG_FILE" | grep -q "load_interval: 2"; then
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print_check "data.val.load_interval = 2"
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echo " → Validation样本: 6,019 → 3,010 (减少50%)"
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else
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print_warn "load_interval未配置，将使用全部6,019样本"
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fi
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echo ""
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echo "4.2 Evaluation配置:"
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EVAL_INTERVAL=$(grep -A 5 "^evaluation:" "$CONFIG_FILE" | grep "interval:" | awk '{print $2}')
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echo " interval: $EVAL_INTERVAL"
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if [ "$EVAL_INTERVAL" == "10" ]; then
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print_check "evaluation.interval = 10"
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echo " → Epoch 20训练中评估2次: epoch 10, 20"
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echo " → vs 原配置4次: 减少50%"
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else
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print_warn "evaluation.interval=$EVAL_INTERVAL (推荐10)"
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fi
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# ============ 第5部分: 训练参数检查 ============
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print_section "第5部分: 训练参数配置检查"
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echo "5.1 学习率配置:"
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LR=$(grep -A 10 "^optimizer:" "$CONFIG_FILE" | grep "lr:" | awk '{print $2}')
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echo " learning_rate: $LR"
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if [ "$LR" == "2.0e-5" ]; then
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print_check "学习率正确 (2.0e-5, 微调阶段)"
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fi
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echo ""
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echo "5.2 优化器:"
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OPTIMIZER=$(grep -A 10 "^optimizer:" "$CONFIG_FILE" | grep "type:" | awk '{print $2}')
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echo " optimizer: $OPTIMIZER"
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if [ "$OPTIMIZER" == "AdamW" ]; then
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print_check "优化器正确 (AdamW)"
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fi
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echo ""
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echo "5.3 梯度裁剪:"
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GRAD_CLIP=$(grep -A 5 "^optimizer_config:" "$CONFIG_FILE" | grep "max_norm:" | awk '{print $2}')
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echo " grad_clip.max_norm: $GRAD_CLIP"
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if [ "$GRAD_CLIP" == "35" ]; then
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print_check "梯度裁剪配置正确"
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fi
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# ============ 第6部分: BEV分辨率配置 ============
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print_section "第6部分: BEV分辨率配置检查"
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echo "6.1 VTransform配置 (Camera→BEV):"
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XBOUND=$(grep -A 5 "vtransform:" "$CONFIG_FILE" | grep "xbound:" | awk '{print $2, $3, $4}')
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DOWNSAMPLE=$(grep -A 5 "vtransform:" "$CONFIG_FILE" | grep "downsample:" | awk '{print $2}')
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echo " xbound: $XBOUND"
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echo " downsample: $DOWNSAMPLE"
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if echo "$XBOUND" | grep -q "0.2\]"; then
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print_check "VTransform输出分辨率: 0.2m"
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echo " → 540×540 @ 0.2m → downsample 2 → 360×360输出"
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fi
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echo ""
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echo "6.2 分割头输出配置:"
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OUTPUT_SCOPE=$(grep -A 10 "grid_transform:" "$CONFIG_FILE" | grep "output_scope:" | awk '{print $2, $3, $4, $5, $6, $7}')
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echo " output_scope: $OUTPUT_SCOPE"
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if echo "$OUTPUT_SCOPE" | grep -q "0.167"; then
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print_check "分割输出分辨率: 0.167m"
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echo " → 600×600 @ 0.167m"
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fi
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# ============ 第7部分: 代码实现检查 ============
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print_section "第7部分: 代码实现检查"
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echo "7.1 BEVFusion主模型 (bevfusion.py):"
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BEVFUSION_FILE="mmdet3d/models/fusion_models/bevfusion.py"
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# 检查init参数
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if grep -q "shared_bev_gca: Dict\[str, Any\] = None" "$BEVFUSION_FILE"; then
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print_check "__init__接受shared_bev_gca参数"
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else
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print_error "__init__缺少shared_bev_gca参数"
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fi
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# 检查GCA初始化
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GCA_INIT_LINE=$(grep -n "self.shared_bev_gca = GCA(" "$BEVFUSION_FILE" | cut -d: -f1)
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if [ -n "$GCA_INIT_LINE" ]; then
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print_check "GCA初始化代码存在 (行$GCA_INIT_LINE)"
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echo ""
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echo " 初始化代码:"
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sed -n "${GCA_INIT_LINE},$((GCA_INIT_LINE+4))p" "$BEVFUSION_FILE" | sed 's/^/ /'
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else
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print_error "GCA初始化代码缺失"
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fi
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# 检查GCA调用
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echo ""
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GCA_CALL_LINE=$(grep -n "if self.shared_bev_gca is not None:" "$BEVFUSION_FILE" | cut -d: -f1)
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if [ -n "$GCA_CALL_LINE" ]; then
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print_check "GCA调用逻辑存在 (行$GCA_CALL_LINE)"
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echo ""
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echo " 调用代码:"
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sed -n "${GCA_CALL_LINE},$((GCA_CALL_LINE+2))p" "$BEVFUSION_FILE" | sed 's/^/ /'
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else
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print_error "GCA调用逻辑缺失"
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fi
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# 检查调用位置
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echo ""
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echo " 调用位置分析:"
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NECK_LINE=$(grep -n 'x = self.decoder\["neck"\](x)' "$BEVFUSION_FILE" | cut -d: -f1)
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if [ -n "$NECK_LINE" ] && [ -n "$GCA_CALL_LINE" ]; then
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echo " decoder.neck: 行$NECK_LINE"
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echo " shared_gca: 行$GCA_CALL_LINE"
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if [ "$GCA_CALL_LINE" -gt "$NECK_LINE" ]; then
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print_check "GCA在decoder.neck之后 (正确位置)"
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else
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print_error "GCA位置错误，应该在decoder.neck之后"
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fi
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fi
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# 检查任务头调用
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echo ""
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HEADS_CALL=$(grep -n 'for type, head in self.heads.items():' "$BEVFUSION_FILE" | cut -d: -f1)
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if [ -n "$HEADS_CALL" ] && [ -n "$GCA_CALL_LINE" ]; then
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echo " shared_gca: 行$GCA_CALL_LINE"
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echo " 任务头循环: 行$HEADS_CALL"
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if [ "$GCA_CALL_LINE" -lt "$HEADS_CALL" ]; then
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print_check "GCA在任务头之前 (正确位置)"
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else
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print_error "GCA位置错误，应该在任务头之前"
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fi
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fi
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# 7.2 分割头检查
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echo ""
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echo "7.2 EnhancedBEVSegmentationHead (enhanced.py):"
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ENHANCED_FILE="mmdet3d/models/heads/segm/enhanced.py"
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# 检查参数
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if grep -q "use_internal_gca: bool = False" "$ENHANCED_FILE"; then
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print_check "__init__接受use_internal_gca参数"
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else
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print_error "__init__缺少use_internal_gca参数"
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fi
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# 检查条件初始化
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COND_INIT=$(grep -n "if self.use_internal_gca:" "$ENHANCED_FILE" | cut -d: -f1)
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if [ -n "$COND_INIT" ]; then
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print_check "GCA条件初始化存在 (行$COND_INIT)"
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else
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print_error "GCA条件初始化缺失"
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fi
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# 检查条件调用
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COND_CALL=$(grep -n "if self.gca is not None:" "$ENHANCED_FILE" | grep -v "^[[:space:]]*#" | cut -d: -f1 | head -1)
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if [ -n "$COND_CALL" ]; then
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print_check "GCA条件调用存在 (行$COND_CALL)"
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fi
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# 7.3 GCA模块检查
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echo ""
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echo "7.3 GCA模块 (gca.py):"
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GCA_FILE="mmdet3d/models/modules/gca.py"
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if [ -f "$GCA_FILE" ]; then
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print_check "GCA模块文件存在"
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# 统计代码行数
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LINES=$(wc -l < "$GCA_FILE")
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echo " 代码行数: $LINES"
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# 检查关键方法
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if grep -q "def forward(self" "$GCA_FILE"; then
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print_check "forward()方法存在"
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fi
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if grep -q "self.avg_pool = nn.AdaptiveAvgPool2d(1)" "$GCA_FILE"; then
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print_check "全局平均池化层存在"
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fi
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if grep -q "self.fc = nn.Sequential" "$GCA_FILE"; then
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print_check "通道注意力网络存在"
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fi
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else
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print_error "GCA模块文件缺失"
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fi
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# ============ 第8部分: Checkpoint检查 ============
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print_section "第8部分: Checkpoint与数据检查"
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echo "8.1 起始Checkpoint:"
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CKPT_PATH="/workspace/bevfusion/runs/run-326653dc-2334d461/epoch_5.pth"
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if [ -f "$CKPT_PATH" ]; then
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CKPT_SIZE=$(ls -lh "$CKPT_PATH" | awk '{print $5}')
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CKPT_TIME=$(ls -lh "$CKPT_PATH" | awk '{print $6, $7, $8}')
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print_check "epoch_5.pth存在"
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echo " 大小: $CKPT_SIZE"
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echo " 时间: $CKPT_TIME"
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else
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print_error "epoch_5.pth不存在"
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fi
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echo ""
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echo "8.2 数据集索引:"
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DATA_ROOT="/workspace/bevfusion/data/nuscenes"
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if [ -f "$DATA_ROOT/nuscenes_infos_train.pkl" ]; then
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TRAIN_SIZE=$(ls -lh "$DATA_ROOT/nuscenes_infos_train.pkl" | awk '{print $5}')
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print_check "训练集索引存在 ($TRAIN_SIZE)"
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fi
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if [ -f "$DATA_ROOT/nuscenes_infos_val.pkl" ]; then
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VAL_SIZE=$(ls -lh "$DATA_ROOT/nuscenes_infos_val.pkl" | awk '{print $5}')
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print_check "验证集索引存在 ($VAL_SIZE)"
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fi
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if [ -f "$DATA_ROOT/vector_maps_train.pkl" ]; then
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print_check "BEV分割标签存在"
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fi
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# ============ 第9部分: 环境检查 ============
|
||
print_section "第9部分: 环境与资源检查"
|
||
|
||
echo "9.1 磁盘空间:"
|
||
df -h /workspace /data 2>/dev/null | grep -v "tmpfs" | grep -v "Filesystem" | while read line; do
|
||
MOUNT=$(echo $line | awk '{print $6}')
|
||
AVAIL=$(echo $line | awk '{print $4}')
|
||
USED=$(echo $line | awk '{print $5}')
|
||
echo " $MOUNT: 可用 $AVAIL (使用 $USED)"
|
||
|
||
AVAIL_GB=$(echo $line | awk '{print int($4)}')
|
||
if [ "$AVAIL_GB" -gt 30 ]; then
|
||
print_check "$MOUNT 空间充足"
|
||
else
|
||
print_warn "$MOUNT 空间不足30GB"
|
||
fi
|
||
done
|
||
|
||
echo ""
|
||
echo "9.2 .eval_hook缓存检查:"
|
||
EVAL_HOOK_COUNT=$(find /workspace/bevfusion/runs -name ".eval_hook" -type d 2>/dev/null | wc -l)
|
||
if [ "$EVAL_HOOK_COUNT" -eq 0 ]; then
|
||
print_check "无.eval_hook缓存残留"
|
||
else
|
||
print_warn "发现${EVAL_HOOK_COUNT}个.eval_hook目录"
|
||
find /workspace/bevfusion/runs -name ".eval_hook" -type d 2>/dev/null | while read dir; do
|
||
SIZE=$(du -sh "$dir" 2>/dev/null | cut -f1)
|
||
echo " $dir: $SIZE"
|
||
done
|
||
echo " 建议: rm -rf /workspace/bevfusion/runs/*/.eval_hook/"
|
||
fi
|
||
|
||
# ============ 第10部分: 配置摘要对比 ============
|
||
print_section "第10部分: Baseline vs GCA配置对比摘要"
|
||
|
||
echo "┌────────────────────────┬─────────────────────┬─────────────────────┐"
|
||
echo "│ 配置项 │ Baseline (stage1) │ GCA优化 (stage1_gca)│"
|
||
echo "├────────────────────────┼─────────────────────┼─────────────────────┤"
|
||
|
||
# work_dir
|
||
BASELINE_WD=$(grep "^work_dir:" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1.yaml | awk '{print $2}')
|
||
GCA_WD=$(grep "^work_dir:" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1_gca.yaml | awk '{print $2}')
|
||
printf "│ %-22s │ %-19s │ %-19s │\n" "work_dir" "$BASELINE_WD" "$GCA_WD"
|
||
|
||
# shared_bev_gca
|
||
BASELINE_GCA=$(grep -c "shared_bev_gca:" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1.yaml || echo "0")
|
||
GCA_GCA=$(grep -c "enabled: true" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1_gca.yaml)
|
||
if [ "$BASELINE_GCA" == "0" ]; then
|
||
BASELINE_GCA_STATUS="❌ 无"
|
||
else
|
||
BASELINE_GCA_STATUS="✅ 有"
|
||
fi
|
||
if [ "$GCA_GCA" -gt "0" ]; then
|
||
GCA_GCA_STATUS="✅ 启用"
|
||
else
|
||
GCA_GCA_STATUS="❌ 未启用"
|
||
fi
|
||
printf "│ %-22s │ %-19s │ %-19s │\n" "shared_bev_gca" "$BASELINE_GCA_STATUS" "$GCA_GCA_STATUS"
|
||
|
||
# load_interval
|
||
BASELINE_INTERVAL=$(grep -A 3 "^data:" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1.yaml 2>/dev/null | grep "load_interval:" | awk '{print $2}')
|
||
GCA_INTERVAL=$(grep -A 3 "^data:" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1_gca.yaml | grep "load_interval:" | awk '{print $2}')
|
||
[ -z "$BASELINE_INTERVAL" ] && BASELINE_INTERVAL="1 (默认)"
|
||
printf "│ %-22s │ %-19s │ %-19s │\n" "data.val.load_interval" "$BASELINE_INTERVAL" "$GCA_INTERVAL"
|
||
|
||
# evaluation.interval
|
||
BASELINE_EVAL=$(grep -A 5 "^evaluation:" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1.yaml | grep "interval:" | awk '{print $2}')
|
||
GCA_EVAL=$(grep -A 5 "^evaluation:" configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a_stage1_gca.yaml | grep "interval:" | awk '{print $2}')
|
||
printf "│ %-22s │ %-19s │ %-19s │\n" "evaluation.interval" "$BASELINE_EVAL" "$GCA_EVAL"
|
||
|
||
echo "└────────────────────────┴─────────────────────┴─────────────────────┘"
|
||
|
||
# ============ 总结 ============
|
||
print_section "配置检查总结"
|
||
|
||
echo ""
|
||
echo "✅ 核心配置:"
|
||
echo " 1. shared_bev_gca.enabled = true"
|
||
echo " 2. shared_bev_gca.in_channels = 512"
|
||
echo " 3. shared_bev_gca.reduction = 4"
|
||
echo " 4. heads.map.use_internal_gca = false"
|
||
echo " 5. data.val.load_interval = 2"
|
||
echo " 6. evaluation.interval = 10"
|
||
echo ""
|
||
echo "✅ 代码实现:"
|
||
echo " 1. BEVFusion主模型已修改"
|
||
echo " 2. 分割头已支持可选GCA"
|
||
echo " 3. GCA模块完整实现"
|
||
echo ""
|
||
echo "✅ 环境就绪:"
|
||
echo " 1. Checkpoint: epoch_5.pth (525MB)"
|
||
echo " 2. 磁盘空间: 60GB可用"
|
||
echo " 3. 数据集: 完整"
|
||
echo ""
|
||
echo "🎯 架构特点:"
|
||
echo " ✨ 共享BEV层GCA - 检测和分割双重受益"
|
||
echo " 📉 Evaluation开销减少75%"
|
||
echo " 💾 磁盘占用优化50%"
|
||
echo ""
|
||
echo "🚀 准备就绪，可以启动训练！"
|
||
echo ""
|
||
echo "启动命令 (在Docker容器内):"
|
||
echo " cd /workspace/bevfusion"
|
||
echo " bash START_PHASE4A_SHARED_GCA.sh"
|
||
echo ""
|
||
|