File size: 4,042 Bytes
9897e20 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 | #!/bin/bash
#SBATCH --partition=gre
#SBATCH --nodes=1
#SBATCH --ntasks-per-node=1
# NuScenes conversion is CPU-bound. If this partition requires GPU allocation,
# uncomment the next line.
##SBATCH --gres=gpu:1
#SBATCH --time=24:00:00
#SBATCH --job-name=lzh_gpu
#SBATCH --output=%x-%j.out
#SBATCH --mem=128G
#SBATCH --cpus-per-task=16
set -euo pipefail
PROJECT_ROOT="${PROJECT_ROOT:-/mingli01/project/zihanliu/gpudrive-main}"
NUSCENES_ROOT="${NUSCENES_ROOT:-/mingli01/data/nuscenes}"
OUTPUT_DIR="${OUTPUT_DIR:-${PROJECT_ROOT}/data/processed/nuscenes}"
CONDA_ENV_NAME="${CONDA_ENV_NAME:-gpudrive}"
NUSCENES_VERSION="${NUSCENES_VERSION:-v1.0-trainval}"
NUSCENES_SPLIT="${NUSCENES_SPLIT-train}"
SCENE_NAMES="${SCENE_NAMES:-}"
MAX_SCENES="${MAX_SCENES:-}"
TARGET_HZ="${TARGET_HZ:-10.0}"
NUM_STEPS="${NUM_STEPS:-91}"
MAX_ANNOTATION_GAP_SEC="${MAX_ANNOTATION_GAP_SEC:-1.1}"
WINDOW_STRIDE_SEC="${WINDOW_STRIDE_SEC:-}"
FILE_PREFIX="${FILE_PREFIX:-tfrecord-nuscenes}"
MAP_RADIUS_M="${MAP_RADIUS_M:-120.0}"
MAP_DISCRETIZATION_M="${MAP_DISCRETIZATION_M:-1.0}"
MAX_ROAD_ELEMENTS="${MAX_ROAD_ELEMENTS:-900}"
MAX_GEOMETRY_POINTS="${MAX_GEOMETRY_POINTS:-512}"
ALLOW_PARTIAL_WINDOW="${ALLOW_PARTIAL_WINDOW:-false}"
NO_EGO="${NO_EGO:-false}"
NO_MAP="${NO_MAP:-false}"
FAIL_ON_MISSING_MAP="${FAIL_ON_MISSING_MAP:-false}"
QUIET="${QUIET:-true}"
module load conda/3
source "$(conda info --base)/etc/profile.d/conda.sh"
conda activate "${CONDA_ENV_NAME}"
export PYTHONNOUSERSITE=1
export OMP_NUM_THREADS="${OMP_NUM_THREADS:-${SLURM_CPUS_PER_TASK:-1}}"
export MKL_NUM_THREADS="${MKL_NUM_THREADS:-${SLURM_CPUS_PER_TASK:-1}}"
cd "${PROJECT_ROOT}"
export PYTHONPATH="${PROJECT_ROOT}:${PYTHONPATH:-}"
if [[ ! -d "${PROJECT_ROOT}" ]]; then
echo "ERROR: PROJECT_ROOT does not exist: ${PROJECT_ROOT}"
exit 1
fi
if [[ ! -f "${PROJECT_ROOT}/data_utils/process_nuscenes_files.py" ]]; then
echo "ERROR: NuScenes converter not found under PROJECT_ROOT=${PROJECT_ROOT}"
exit 1
fi
if [[ ! -d "${NUSCENES_ROOT}" ]]; then
echo "ERROR: NUSCENES_ROOT does not exist: ${NUSCENES_ROOT}"
exit 1
fi
mkdir -p "${OUTPUT_DIR}"
echo "SLURM_JOB_ID=${SLURM_JOB_ID:-unknown}"
echo "PROJECT_ROOT=${PROJECT_ROOT}"
echo "NUSCENES_ROOT=${NUSCENES_ROOT}"
echo "OUTPUT_DIR=${OUTPUT_DIR}"
echo "CONDA_ENV_NAME=${CONDA_ENV_NAME}"
echo "NUSCENES_VERSION=${NUSCENES_VERSION}"
echo "NUSCENES_SPLIT=${NUSCENES_SPLIT:-<all>}"
echo "SCENE_NAMES=${SCENE_NAMES:-<empty>}"
echo "MAX_SCENES=${MAX_SCENES:-<empty>}"
echo "TARGET_HZ=${TARGET_HZ}"
echo "NUM_STEPS=${NUM_STEPS}"
echo "WINDOW_STRIDE_SEC=${WINDOW_STRIDE_SEC:-<single-window>}"
echo "NO_MAP=${NO_MAP}"
echo "HOSTNAME=$(hostname)"
echo "PWD=$(pwd)"
echo "SLURM_CPUS_PER_TASK=${SLURM_CPUS_PER_TASK:-unset}"
echo "OMP_NUM_THREADS=${OMP_NUM_THREADS}"
echo "MKL_NUM_THREADS=${MKL_NUM_THREADS}"
CMD=(
python data_utils/process_nuscenes_files.py
--dataroot "${NUSCENES_ROOT}"
--version "${NUSCENES_VERSION}"
--output-dir "${OUTPUT_DIR}"
--file-prefix "${FILE_PREFIX}"
--target-hz "${TARGET_HZ}"
--num-steps "${NUM_STEPS}"
--max-annotation-gap-sec "${MAX_ANNOTATION_GAP_SEC}"
--map-radius-m "${MAP_RADIUS_M}"
--map-discretization-m "${MAP_DISCRETIZATION_M}"
--max-road-elements "${MAX_ROAD_ELEMENTS}"
--max-geometry-points "${MAX_GEOMETRY_POINTS}"
)
if [[ -n "${NUSCENES_SPLIT}" ]]; then
CMD+=(--split "${NUSCENES_SPLIT}")
fi
if [[ -n "${SCENE_NAMES}" ]]; then
CMD+=(--scene-names "${SCENE_NAMES}")
fi
if [[ -n "${MAX_SCENES}" ]]; then
CMD+=(--max-scenes "${MAX_SCENES}")
fi
if [[ -n "${WINDOW_STRIDE_SEC}" ]]; then
CMD+=(--window-stride-sec "${WINDOW_STRIDE_SEC}")
fi
if [[ "${ALLOW_PARTIAL_WINDOW}" == "true" ]]; then
CMD+=(--allow-partial-window)
fi
if [[ "${NO_EGO}" == "true" ]]; then
CMD+=(--no-ego)
fi
if [[ "${NO_MAP}" == "true" ]]; then
CMD+=(--no-map)
fi
if [[ "${FAIL_ON_MISSING_MAP}" == "true" ]]; then
CMD+=(--fail-on-missing-map)
fi
if [[ "${QUIET}" == "true" ]]; then
CMD+=(--quiet)
fi
echo "COMMAND_BEGIN"
printf '%q ' "${CMD[@]}"
echo
echo "COMMAND_END"
"${CMD[@]}"
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