
# Benchmarks

Here we benchmark the training and testing speed of models in MMDetection3D,
with some other open source 3D detection codebases.

## Settings

* Hardwares: 8 NVIDIA Tesla V100 (32G) GPUs, Intel(R) Xeon(R) Gold 6148 CPU @ 2.40GHz
* Software: Python 3.7, CUDA 10.1, cuDNN 7.6.5, PyTorch 1.3, numba 0.48.0.
* Model: Since all the other codebases implements different models, we compare the corresponding models including SECOND, PointPillars, Part-A2, and VoteNet with them separately.
* Metrics: We use the average throughput in iterations of the entire training run and skip the first 50 iterations of each epoch to skip GPU warmup time.
  Note that the throughput of a detector typically changes during training, because it depends on the predictions of the model.

## Main Results

### VoteNet

We compare our implementation of VoteNet with [votenet](https://github.com/facebookresearch/votenet/) and report the performance on SUNRGB-D v2 dataset under the AP@0.5 metric. We find that our implementation achieves higher accuracy, so we also report the AP here.

```eval_rst
+----------------+---------------------+--------------------+--------+
| Implementation | Training (sample/s) | Testing (sample/s) | AP@0.5 |
+================+=====================+====================+========+
| MMDetection3D  |        358          |         17         |  35.8  |
+----------------+---------------------+--------------------+--------+
| votenet        |        77           |         3          |  31.5  |
+----------------+---------------------+--------------------+--------+

```

### Single-Class PointPillars

Since [Det3D](https://github.com/poodarchu/Det3D/) only provides PointPillars on car class, we compare the training speed of single-class PointPillars here.

```eval_rst
+----------------+---------------------+--------------------+
| Implementation | Training (sample/s) | Testing (sample/s) |
+================+=====================+====================+
| MMDetection3D  |         141         |        44          |
+----------------+---------------------+--------------------+
| Det3D          |         140         |        24          |
+----------------+---------------------+--------------------+
```

### Multi-Class PointPillars

[OpenPCDet](https://github.com/open-mmlab/OpenPCDet/tree/b32fbddbe06183507bad433ed99b407cbc2175c2) only provides PointPillars
on 3 classes, we compare the training speed of multi-class PointPillars here.

```eval_rst
+----------------+---------------------+--------------------+
| Implementation | Training (sample/s) | Testing (sample/s) |
+================+=====================+====================+
| MMDetection3D  |         107         |                    |
+----------------+---------------------+--------------------+
| OpenPCDet      |         44          |        67          |
+----------------+---------------------+--------------------+
```

### SECOND

[Det3D](https://github.com/poodarchu/Det3D/) provides a different SECOND on car class and we cannot train the original SECOND by modifying the config.
So we only compare SECOND with [OpenPCDet](https://github.com/open-mmlab/OpenPCDet/tree/b32fbddbe06183507bad433ed99b407cbc2175c2), which is a SECOND model on 3 classes, we report the AP on moderate
condition following the KITTI benchmark and compare average AP over all classes on moderate condition for
performance on 3 classes.

```eval_rst
+----------------+---------------------+--------------------+
| Implementation | Training (sample/s) | Testing (sample/s) |
+================+=====================+====================+
| MMDetection3D  |         40          |                    |
+----------------+---------------------+--------------------+
| OpenPCDet      |         30          |         32         |
+----------------+---------------------+--------------------+
```

### Part-A2

We benchmark Part-A2 with that in [OpenPCDet](https://github.com/open-mmlab/OpenPCDet/tree/b32fbddbe06183507bad433ed99b407cbc2175c2). We report the AP on moderate condition following the KITTI benchmark
and compare average AP over all classes on moderate condition for performance on 3 classes.

```eval_rst
+----------------+---------------------+--------------------+
| Implementation | Training (sample/s) | Testing (sample/s) |
+================+=====================+====================+
| MMDetection3D  |         17          |                    |
+----------------+---------------------+--------------------+
| OpenPCDet      |         14          |         13         |
+----------------+---------------------+--------------------+
```

## Details of Comparison

### Modification for Calculating Speed

* __MMDetection3D__: We try to use as similar settings as those of other codebases as possible using [benchmark configs](https://github.com/open-mmlab/MMDetection3D/blob/master/configs/benchmark).

* __Det3D__: For comparison with Det3D, we use the commit [519251e](https://github.com/poodarchu/Det3D/tree/519251e72a5c1fdd58972eabeac67808676b9bb7).

* __OpenPCDet__: For comparison with OpenPCDet, we use the commit [b32fbddb](https://github.com/open-mmlab/OpenPCDet/tree/b32fbddbe06183507bad433ed99b407cbc2175c2).

    For training speed, we add code to record the running time in the file `./tools/train_utils/train_utils.py`. We calculate the speed of each epoch, and report the average speed of all the epochs.
    <details>
    <summary>
    (diff to make it use the same method for benchmarking speed - click to expand)
    </summary>

    ```diff
    diff --git a/tools/train_utils/train_utils.py b/tools/train_utils/train_utils.py
    index 91f21dd..021359d 100644
    --- a/tools/train_utils/train_utils.py
    +++ b/tools/train_utils/train_utils.py
    @@ -2,6 +2,7 @@ import torch
     import os
     import glob
     import tqdm
    +import datetime
     from torch.nn.utils import clip_grad_norm_


    @@ -13,7 +14,10 @@ def train_one_epoch(model, optimizer, train_loader, model_func, lr_scheduler, ac
         if rank == 0:
             pbar = tqdm.tqdm(total=total_it_each_epoch, leave=leave_pbar, desc='train', dynamic_ncols=True)

    +    start_time = None
         for cur_it in range(total_it_each_epoch):
    +        if cur_it > 49 and start_time is None:
    +            start_time = datetime.datetime.now()
             try:
                 batch = next(dataloader_iter)
             except StopIteration:
    @@ -55,9 +59,11 @@ def train_one_epoch(model, optimizer, train_loader, model_func, lr_scheduler, ac
                     tb_log.add_scalar('learning_rate', cur_lr, accumulated_iter)
                     for key, val in tb_dict.items():
                         tb_log.add_scalar('train_' + key, val, accumulated_iter)
    +    endtime = datetime.datetime.now()
    +    speed = (endtime - start_time).seconds / (total_it_each_epoch - 50)
         if rank == 0:
             pbar.close()
    -    return accumulated_iter
    +    return accumulated_iter, speed


     def train_model(model, optimizer, train_loader, model_func, lr_scheduler, optim_cfg,
    @@ -65,6 +71,7 @@ def train_model(model, optimizer, train_loader, model_func, lr_scheduler, optim_
                     lr_warmup_scheduler=None, ckpt_save_interval=1, max_ckpt_save_num=50,
                     merge_all_iters_to_one_epoch=False):
         accumulated_iter = start_iter
    +    speeds = []
         with tqdm.trange(start_epoch, total_epochs, desc='epochs', dynamic_ncols=True, leave=(rank == 0)) as tbar:
             total_it_each_epoch = len(train_loader)
             if merge_all_iters_to_one_epoch:
    @@ -82,7 +89,7 @@ def train_model(model, optimizer, train_loader, model_func, lr_scheduler, optim_
                     cur_scheduler = lr_warmup_scheduler
                 else:
                     cur_scheduler = lr_scheduler
    -            accumulated_iter = train_one_epoch(
    +            accumulated_iter, speed = train_one_epoch(
                     model, optimizer, train_loader, model_func,
                     lr_scheduler=cur_scheduler,
                     accumulated_iter=accumulated_iter, optim_cfg=optim_cfg,
    @@ -91,7 +98,7 @@ def train_model(model, optimizer, train_loader, model_func, lr_scheduler, optim_
                     total_it_each_epoch=total_it_each_epoch,
                     dataloader_iter=dataloader_iter
                 )
    -
    +            speeds.append(speed)
                 # save trained model
                 trained_epoch = cur_epoch + 1
                 if trained_epoch % ckpt_save_interval == 0 and rank == 0:
    @@ -107,6 +114,8 @@ def train_model(model, optimizer, train_loader, model_func, lr_scheduler, optim_
                     save_checkpoint(
                         checkpoint_state(model, optimizer, trained_epoch, accumulated_iter), filename=ckpt_name,
                     )
    +            print(speed)
    +    print(f'*******{sum(speeds) / len(speeds)}******')


     def model_state_to_cpu(model_state):
    ```

    </details>

    For testing speed, we add code to record the running time in the file `./tools/eval_utils/eval_utils.py`.
    <details>
    <summary>
    (diff to make it use the same method for benchmarking speed - click to expand)
    </summary>

    ```diff
    diff --git a/tools/eval_utils/eval_utils.py b/tools/eval_utils/eval_utils.py
    index 0cbf17b..f51e687 100644
    --- a/tools/eval_utils/eval_utils.py
    +++ b/tools/eval_utils/eval_utils.py
    @@ -49,8 +49,11 @@ def eval_one_epoch(cfg, model, dataloader, epoch_id, logger, dist_test=False, sa

         if cfg.LOCAL_RANK == 0:
             progress_bar = tqdm.tqdm(total=len(dataloader), leave=True, desc='eval', dynamic_ncols=True)
    -    start_time = time.time()
    +    num_warmup = 5
    +    pure_inf_time = 0
         for i, batch_dict in enumerate(dataloader):
    +        torch.cuda.synchronize()
    +        start_time = time.perf_counter()
             for key, val in batch_dict.items():
                 if not isinstance(val, np.ndarray):
                     continue
    @@ -61,7 +64,14 @@ def eval_one_epoch(cfg, model, dataloader, epoch_id, logger, dist_test=False, sa
             with torch.no_grad():
                 pred_dicts, ret_dict = model(batch_dict)
             disp_dict = {}
    -
    +        torch.cuda.synchronize()
    +        elapsed = time.perf_counter() - start_time
    +        if i >= num_warmup:
    +            pure_inf_time += elapsed
    +        if (i + 1) == 2000:
    +            pure_inf_time += elapsed
    +            fps = (i + 1 - num_warmup) / pure_inf_time
    +            out_str = f'Overall fps: {fps:.1f} img / s'
             statistics_info(cfg, ret_dict, metric, disp_dict)
             annos = dataset.generate_prediction_dicts(
                 batch_dict, pred_dicts, class_names,
    @@ -71,7 +81,7 @@ def eval_one_epoch(cfg, model, dataloader, epoch_id, logger, dist_test=False, sa
             if cfg.LOCAL_RANK == 0:
                 progress_bar.set_postfix(disp_dict)
                 progress_bar.update()
    -
    +    print(out_str)
         if cfg.LOCAL_RANK == 0:
             progress_bar.close()
    ```

    </details>

### VoteNet

* __MMDetection3D__: With release v0.1.0, run

  ```bash
  ./tools/dist_train.sh configs/votenet/votenet_16x8_sunrgbd-3d-10class.py 8 --no-validate
  ```

  Then benchmark the test speed by running

  ```bash
  python tools/benchmark.py configs/votenet/votenet_16x8_sunrgbd-3d-10class.py ${CHECKPOINTS}
  ```

* __votenet__: At commit 2f6d6d3, run

  ```bash
  python train.py --dataset sunrgbd --batch_size 16
  ```

  Then benchmark the test speed by running

  ```bash
  python eval.py --dataset sunrgbd --checkpoint_path log_sunrgbd/checkpoint.tar --batch_size 1 --dump_dir eval_sunrgbd --cluster_sampling seed_fps --use_3d_nms --use_cls_nms --per_class_proposal
  ```

### Single-class PointPillars

* __MMDetection3D__: With release v0.1.0, run

  ```bash
  ./tools/dist_train.sh configs/benchmark/hv_pointpillars_secfpn_3x8_100e_det3d_kitti-3d-car.py 8 --no-validate
  ```

  Then benchmark the test speed by running

  ```bash
  python tools/benchmark.py configs/benchmark/hv_pointpillars_secfpn_3x8 ${CHECKPOINT}
  ```

* __Det3D__: At commit 519251e, use kitti_point_pillars_mghead_syncbn.py and run

  ```bash
  ./tools/scripts/train.sh --launcher=slurm --gpus=8
  ```

  Note that the config in train.sh is modified to train point pillars.

  <details>
  <summary>
  (diff to benchmark the similar models - click to expand)
  </summary>

  ```diff
  diff --git a/tools/scripts/train.sh b/tools/scripts/train.sh
  index 3a93f95..461e0ea 100755
  --- a/tools/scripts/train.sh
  +++ b/tools/scripts/train.sh
  @@ -16,9 +16,9 @@ then
   fi

   # Voxelnet
  -python -m torch.distributed.launch --nproc_per_node=8 ./tools/train.py examples/second/configs/  kitti_car_vfev3_spmiddlefhd_rpn1_mghead_syncbn.py --work_dir=$SECOND_WORK_DIR
  +# python -m torch.distributed.launch --nproc_per_node=8 ./tools/train.py examples/second/configs/  kitti_car_vfev3_spmiddlefhd_rpn1_mghead_syncbn.py --work_dir=$SECOND_WORK_DIR
   # python -m torch.distributed.launch --nproc_per_node=8 ./tools/train.py examples/cbgs/configs/  nusc_all_vfev3_spmiddleresnetfhd_rpn2_mghead_syncbn.py --work_dir=$NUSC_CBGS_WORK_DIR
   # python -m torch.distributed.launch --nproc_per_node=8 ./tools/train.py examples/second/configs/  lyft_all_vfev3_spmiddleresnetfhd_rpn2_mghead_syncbn.py --work_dir=$LYFT_CBGS_WORK_DIR

   # PointPillars
  -# python -m torch.distributed.launch --nproc_per_node=8 ./tools/train.py ./examples/point_pillars/configs/  original_pp_mghead_syncbn_kitti.py --work_dir=$PP_WORK_DIR
  +python -m torch.distributed.launch --nproc_per_node=8 ./tools/train.py ./examples/point_pillars/configs/  kitti_point_pillars_mghead_syncbn.py
  ```

  </details>

  Then benchmark the test speed by running

  ```bash
  ./tools/scripts/test.sh examples/point_pillars/configs/kitti_point_pillars_mghead_syncbn.py ./work_dir/Point_Pillars/latest.pth
  ```

   Note that the `tools/dist_test.py` is modified to benchmark point pillars.

  <details>
  <summary>
  (diff to benchmark the similar models - click to expand)
  </summary>

  ```diff
  diff --git a/tools/dist_test.py b/tools/dist_test.py
    index 3e37f8a..0908fee 100644
    --- a/tools/dist_test.py
    +++ b/tools/dist_test.py
    @@ -3,6 +3,7 @@ import json
     import os
     import sys

    +import time
     import apex
     import numpy as np
     import torch
    @@ -128,12 +129,26 @@ def main():

         detections = {}
         cpu_device = torch.device("cpu")
    +    sample_time = list()

         for i, data_batch in enumerate(data_loader):
             with torch.no_grad():
    +
    +            torch.cuda.synchronize()
    +            start_time = time.perf_counter()
    +
                 outputs = batch_processor(
                     model, data_batch, train_mode=False, local_rank=args.local_rank,
                 )
    +
    +            torch.cuda.synchronize()
    +            elapsed = time.perf_counter() - start_time
    +            sample_time.append(elapsed)
    +            if i == 2006:
    +                st_arr = np.array(sample_time)[5:]
    +
    +                print('avg time elapsed: %f s'%st_arr.mean())
    +
             for output in outputs:
                 token = output["metadata"]["token"]
                 for k, v in output.items():
    @@ -185,3 +200,4 @@ def main():

     if __name__ == "__main__":
         main()
  ```

### Multi-class PointPillars

* __MMDetection3D__: With release v0.1.0, run

  ```bash
  ./tools/dist_train.sh configs/benchmark/hv_pointpillars_secfpn_4x8_80e_pcdet_kitti-3d-3class.py 8 --no-validate
  ```

  Then benchmark the test speed by running

  ```bash

  ```

* __OpenPCDet__: At commit [b32fbddb](https://github.com/open-mmlab/OpenPCDet/tree/b32fbddbe06183507bad433ed99b407cbc2175c2), run

  ```bash
  cd tools
  sh scripts/slurm_train.sh ${PARTITION} ${JOB_NAME} 8  --cfg_file ./cfgs/pointpillar.yaml --batch_size 32  --workers 32
  ```

  Then benchmark the test speed by running

  ```bash

  ```

### SECOND

* __MMDetection3D__: With release v0.1.0, run

  ```bash
  ./tools/dist_train.sh configs/benchmark/hv_second_secfpn_4x8_80e_pcdet_kitti-3d-3class.py 8 --no-validate
  ```

  Then benchmark the test speed by running

  ```bash

  ```

* __OpenPCDet__: At commit [b32fbddb](https://github.com/open-mmlab/OpenPCDet/tree/b32fbddbe06183507bad433ed99b407cbc2175c2), run

  ```bash
  cd tools
  ./scripts/slurm_train.sh ${PARTITION} ${JOB_NAME} 8  --cfg_file ./cfgs/second.yaml --batch_size 32  --workers 32
  ```

  Then benchmark the test speed by running

  ```bash

  ```

### Part-A2

* __MMDetection3D__: With release v0.1.0, run

  ```bash
  ./tools/dist_train.sh configs/benchmark/hv_PartA2_secfpn_4x8_cyclic_80e_pcdet_kitti-3d-3class.py 8 --no-validate
  ```

  Then benchmark the test speed by running

  ```bash

  ```

* __OpenPCDet__: At commit [b32fbddb](https://github.com/open-mmlab/OpenPCDet/tree/b32fbddbe06183507bad433ed99b407cbc2175c2), train the model by running

  ```bash
  cd tools
  ./scripts/slurm_train.sh ${PARTITION} ${JOB_NAME} 8  --cfg_file ./cfgs/PartA2.yaml --batch_size 32 --workers 32
  ```

  Then benchmark the test speed by running

  ```bash

  ```
