pytorch转onnx模型问题 #8

yhwang-hub · 2023-08-04T02:58:35Z

在我使用您提供的pth文件和export_onnx工具转onnx模型，我也按照您的config将pre_process进行了屏蔽，但是发生如下报错：
load checkpoint from local path: models/new-bevdet-lt-d-ft-nearest.pth
[[1, 2, 128, 128], [1, 1, 128, 128], [1, 3, 128, 128], [1, 2, 128, 128], [1, 2, 128, 128], [1, 10, 128, 128]]
['reg_0', 'height_0', 'dim_0', 'rot_0', 'vel_0', 'heatmap_0']
Traceback (most recent call last):
File "tools/export/export_onnx.py", line 142, in
torch.onnx.export(
File "/opt/conda/lib/python3.8/site-packages/torch/onnx/init.py", line 316, in export
return utils.export(model, args, f, export_params, verbose, training,
File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 107, in export
_export(model, args, f, export_params, verbose, training, input_names, output_names,
File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 724, in _export
_model_to_graph(model, args, verbose, input_names,
File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 493, in _model_to_graph
graph, params, torch_out, module = _create_jit_graph(model, args)
File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 437, in _create_jit_graph
graph, torch_out = _trace_and_get_graph_from_model(model, args)
File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 388, in _trace_and_get_graph_from_model
torch.jit._get_trace_graph(model, args, strict=False, _force_outplace=False, _return_inputs_states=True)
File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 1166, in _get_trace_graph
outs = ONNXTracedModule(f, strict, _force_outplace, return_inputs, _return_inputs_states)(*args, **kwargs)
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
return forward_call(*input, **kwargs)
File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 127, in forward
graph, out = torch._C._create_graph_by_tracing(
File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 118, in wrapper
outs.append(self.inner(*trace_inputs))
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
return forward_call(*input, **kwargs)
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1090, in _slow_forward
result = self.forward(*input, **kwargs)
File "/home/wyh/BEVDet/mmdet3d/models/detectors/trt_model.py", line 67, in forward
x = self.img_view_transformer.depth_net(x, mlp_input)
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
return forward_call(*input, **kwargs)
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1090, in _slow_forward
result = self.forward(*input, **kwargs)
File "/home/wyh/BEVDet/mmdet3d/models/necks/view_transformer.py", line 694, in forward
mlp_input = self.bn(mlp_input.reshape(-1, mlp_input.shape[-1]))
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
return forward_call(*input, **kwargs)
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1090, in _slow_forward
result = self.forward(*input, **kwargs)
File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/batchnorm.py", line 168, in forward
return F.batch_norm(
File "/opt/conda/lib/python3.8/site-packages/torch/nn/functional.py", line 2282, in batch_norm
return torch.batch_norm(
RuntimeError: running_mean should contain 24 elements not 27

LCH1238 · 2023-08-06T11:11:22Z

请问你使用的是这份代码吗？这个错误看上去是网络的源码或者config不一致导致的。

yhwang-hub · 2023-08-06T14:27:16Z

使用的是bevdet最新的代码https://github.com/HuangJunJie2017/BEVDet

LCH1238 · 2023-08-07T06:30:08Z

使用的是bevdet最新的代码https://github.com/HuangJunJie2017/BEVDet

我fork的是较早版本的BEVDet官方仓库，源码部分可能有些不同。

yhwang-hub · 2023-08-07T13:23:37Z

使用https://github.com/LCH1238/BEVDet/tree/export中的export_onnx.py，权重使用https://drive.google.com/drive/folders/1jSGT0PhKOmW3fibp6fvlJ7EY6mIBVv6i路径中的bevdet-lt-d-ft-nearest.pth导出onnx，最终的img_stage_lt_d.onnx如下图所示，与作者您提供的img_stage_lt_d.onnx不一致

zouzouwei · 2023-08-08T12:47:58Z

使用的是bevdet最新的代码https://github.com/HuangJunJie2017/BEVDet

我fork的是较早版本的BEVDet官方仓库，源码部分可能有些不同。

大佬，你这份代码的mmdet3d/datasets/pipelines
/loading.py 用的是官方2.1的代码，但是view_transformer.py get_mlp 用的是2.0的代码，我把它都换成2.0的这有影响吗

zouzouwei · 2023-08-09T02:22:03Z

使用https://github.com/LCH1238/BEVDet/tree/export中的export_onnx.py，权重使用https://drive.google.com/drive/folders/1jSGT0PhKOmW3fibp6fvlJ7EY6mIBVv6i路径中的bevdet-lt-d-ft-nearest.pth导出onnx，最终的img_stage_lt_d.onnx如下图所示，与作者您提供的img_stage_lt_d.onnx不一致

修改tools/export/export_onnx.py文件第115-116行

        rot = torch.rand([1, 6, 4, 4], dtype=torch.float, device=f'cuda:{args.gpu_id}')
        tran = torch.rand([1, 6, 4], dtype=torch.float, device=f'cuda:{args.gpu_id}')

yhwang-hub · 2023-08-10T02:18:06Z

使用https://github.com/LCH1238/BEVDet/tree/export中的export_onnx.py，权重使用https://drive.google.com/drive/folders/1jSGT0PhKOmW3fibp6fvlJ7EY6mIBVv6i路径中的bevdet-lt-d-ft-nearest.pth导出onnx，最终的img_stage_lt_d.onnx如下图所示，与作者您提供的img_stage_lt_d.onnx不一致

修改tools/export/export_onnx.py文件第115-116行
        rot = torch.rand([1, 6, 4, 4], dtype=torch.float, device=f'cuda:{args.gpu_id}')
        tran = torch.rand([1, 6, 4], dtype=torch.float, device=f'cuda:{args.gpu_id}')

只修改这个地方会报错

Traceback (most recent call last):
  File "tools/export/export_onnx.py", line 146, in <module>
    torch.onnx.export(
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/__init__.py", line 316, in export
    return utils.export(model, args, f, export_params, verbose, training,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 107, in export
    _export(model, args, f, export_params, verbose, training, input_names, output_names,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 724, in _export
    _model_to_graph(model, args, verbose, input_names,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 493, in _model_to_graph
    graph, params, torch_out, module = _create_jit_graph(model, args)
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 437, in _create_jit_graph
    graph, torch_out = _trace_and_get_graph_from_model(model, args)
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 388, in _trace_and_get_graph_from_model
    torch.jit._get_trace_graph(model, args, strict=False, _force_outplace=False, _return_inputs_states=True)
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 1166, in _get_trace_graph
    outs = ONNXTracedModule(f, strict, _force_outplace, return_inputs, _return_inputs_states)(*args, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 127, in forward
    graph, out = torch._C._create_graph_by_tracing(
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 118, in wrapper
    outs.append(self.inner(*trace_inputs))
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1090, in _slow_forward
    result = self.forward(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/mmdet3d-1.0.0rc4-py3.8-linux-x86_64.egg/mmdet3d/models/detectors/trt_model.py", line 65, in forward
    mlp_input = self.img_view_transformer.get_mlp_input(
  File "/opt/conda/lib/python3.8/site-packages/mmdet3d-1.0.0rc4-py3.8-linux-x86_64.egg/mmdet3d/models/necks/view_transformer.py", line 617, in get_mlp_input
    sensor2ego = torch.cat([rot, tran.reshape(B, N, 3, 1)],
RuntimeError: shape '[1, 6, 3, 1]' is invalid for input of size 24

zouzouwei · 2023-08-10T06:13:32Z

只修改这个地方会报错

Traceback (most recent call last):
  File "tools/export/export_onnx.py", line 146, in <module>
    torch.onnx.export(
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/__init__.py", line 316, in export
    return utils.export(model, args, f, export_params, verbose, training,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 107, in export
    _export(model, args, f, export_params, verbose, training, input_names, output_names,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 724, in _export
    _model_to_graph(model, args, verbose, input_names,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 493, in _model_to_graph
    graph, params, torch_out, module = _create_jit_graph(model, args)
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 437, in _create_jit_graph
    graph, torch_out = _trace_and_get_graph_from_model(model, args)
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 388, in _trace_and_get_graph_from_model
    torch.jit._get_trace_graph(model, args, strict=False, _force_outplace=False, _return_inputs_states=True)
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 1166, in _get_trace_graph
    outs = ONNXTracedModule(f, strict, _force_outplace, return_inputs, _return_inputs_states)(*args, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 127, in forward
    graph, out = torch._C._create_graph_by_tracing(
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 118, in wrapper
    outs.append(self.inner(*trace_inputs))
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1090, in _slow_forward
    result = self.forward(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/mmdet3d-1.0.0rc4-py3.8-linux-x86_64.egg/mmdet3d/models/detectors/trt_model.py", line 65, in forward
    mlp_input = self.img_view_transformer.get_mlp_input(
  File "/opt/conda/lib/python3.8/site-packages/mmdet3d-1.0.0rc4-py3.8-linux-x86_64.egg/mmdet3d/models/necks/view_transformer.py", line 617, in get_mlp_input
    sensor2ego = torch.cat([rot, tran.reshape(B, N, 3, 1)],
RuntimeError: shape '[1, 6, 3, 1]' is invalid for input of size 24

建议把mmdet3d/dataset/pipline/loading PrepareImageInputs函数，跟mmdet3d/models/necks/view_transformer.py 统一成统一版本

cyn-liu · 2023-08-10T07:37:28Z

使用https://github.com/LCH1238/BEVDet/tree/export中的export_onnx.py，权重使用https://drive.google.com/drive/folders/1jSGT0PhKOmW3fibp6fvlJ7EY6mIBVv6i路径中的bevdet-lt-d-ft-nearest.pth导出onnx，最终的img_stage_lt_d.onnx如下图所示，与作者您提供的img_stage_lt_d.onnx不一致

修改tools/export/export_onnx.py文件第115-116行
        rot = torch.rand([1, 6, 4, 4], dtype=torch.float, device=f'cuda:{args.gpu_id}')
        tran = torch.rand([1, 6, 4], dtype=torch.float, device=f'cuda:{args.gpu_id}')

只修改这个地方会报错

Traceback (most recent call last):
  File "tools/export/export_onnx.py", line 146, in <module>
    torch.onnx.export(
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/__init__.py", line 316, in export
    return utils.export(model, args, f, export_params, verbose, training,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 107, in export
    _export(model, args, f, export_params, verbose, training, input_names, output_names,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 724, in _export
    _model_to_graph(model, args, verbose, input_names,
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 493, in _model_to_graph
    graph, params, torch_out, module = _create_jit_graph(model, args)
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 437, in _create_jit_graph
    graph, torch_out = _trace_and_get_graph_from_model(model, args)
  File "/opt/conda/lib/python3.8/site-packages/torch/onnx/utils.py", line 388, in _trace_and_get_graph_from_model
    torch.jit._get_trace_graph(model, args, strict=False, _force_outplace=False, _return_inputs_states=True)
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 1166, in _get_trace_graph
    outs = ONNXTracedModule(f, strict, _force_outplace, return_inputs, _return_inputs_states)(*args, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 127, in forward
    graph, out = torch._C._create_graph_by_tracing(
  File "/opt/conda/lib/python3.8/site-packages/torch/jit/_trace.py", line 118, in wrapper
    outs.append(self.inner(*trace_inputs))
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1102, in _call_impl
    return forward_call(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/torch/nn/modules/module.py", line 1090, in _slow_forward
    result = self.forward(*input, **kwargs)
  File "/opt/conda/lib/python3.8/site-packages/mmdet3d-1.0.0rc4-py3.8-linux-x86_64.egg/mmdet3d/models/detectors/trt_model.py", line 65, in forward
    mlp_input = self.img_view_transformer.get_mlp_input(
  File "/opt/conda/lib/python3.8/site-packages/mmdet3d-1.0.0rc4-py3.8-linux-x86_64.egg/mmdet3d/models/necks/view_transformer.py", line 617, in get_mlp_input
    sensor2ego = torch.cat([rot, tran.reshape(B, N, 3, 1)],
RuntimeError: shape '[1, 6, 3, 1]' is invalid for input of size 24

@yhwang-hub 你解决这个问题了吗？我也遇到了这个问题，转出来的onnx与作者的不一样，和你转出来的结果一样。
我不理解上面的回复，修改rot 和trans的shape，和loading.py，因为我觉得执行export_onnx.py时并不涉及loading.py中的内容？
感觉这是这个代码存在bug??? @LCH1238

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pytorch转onnx模型问题 #8

pytorch转onnx模型问题 #8

yhwang-hub commented Aug 4, 2023 •

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pytorch转onnx模型问题 #8

pytorch转onnx模型问题 #8

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