def main():
"""Inference for semantic segmentation.
"""
# Retreve experiment configurations.
args = parse_args('Inference for semantic segmentation.')
config.network.kmeans_num_clusters = separate_comma(
args.kmeans_num_clusters)
config.network.label_divisor = args.label_divisor
# Create directories to save results.
semantic_dir = os.path.join(args.save_dir, 'semantic_gray')
semantic_rgb_dir = os.path.join(args.save_dir, 'semantic_color')
# Create color map.
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
color_map = color_map.numpy()
# Create data loaders.
test_dataset = ListDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=None,
random_crop=False,
random_scale=False,
random_mirror=False,
training=False)
test_image_paths = test_dataset.image_paths
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config)
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
if config.network.prediction_types == 'segsort':
prediction_model = segsort(config)
else:
raise ValueError('Not support ' + config.network.prediction_types)
embedding_model = embedding_model.to("cuda:0")
prediction_model = prediction_model.to("cuda:0")
embedding_model.eval()
prediction_model.eval()
# Load trained weights.
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
save_iter = config.train.max_iteration - 1
embedding_model.load_state_dict(torch.load(
model_path_template.format(save_iter))['embedding_model'],
resume=True)
#prediction_model.load_state_dict(
# torch.load(model_path_template.format(save_iter))['prediction_model'])
# Load memory prototypes.
semantic_memory_prototypes, semantic_memory_prototype_labels = None, None
if args.semantic_memory_dir is not None:
semantic_memory_prototypes, semantic_memory_prototype_labels = (
segsort_others.load_memory_banks(args.semantic_memory_dir))
semantic_memory_prototypes = semantic_memory_prototypes.to("cuda:0")
semantic_memory_prototype_labels = semantic_memory_prototype_labels.to(
"cuda:0")
# Remove ignore class.
valid_prototypes = torch.ne(
semantic_memory_prototype_labels,
config.dataset.semantic_ignore_index).nonzero()
valid_prototypes = valid_prototypes.view(-1)
semantic_memory_prototypes = torch.index_select(
semantic_memory_prototypes, 0, valid_prototypes)
semantic_memory_prototype_labels = torch.index_select(
semantic_memory_prototype_labels, 0, valid_prototypes)
# Start inferencing.
for data_index in tqdm(range(len(test_dataset))):
# Image path.
image_path = test_image_paths[data_index]
base_name = os.path.basename(image_path).replace('.jpg', '.png')
# Image resolution.
image_batch, label_batch, _ = test_dataset[data_index]
image_h, image_w = image_batch['image'].shape[-2:]
# Resize the input image.
if config.test.image_size > 0:
image_batch['image'] = transforms.resize_with_interpolation(
image_batch['image'].transpose(1, 2, 0),
config.test.image_size,
method='bilinear').transpose(2, 0, 1)
for lab_name in ['semantic_label', 'instance_label']:
label_batch[lab_name] = transforms.resize_with_interpolation(
label_batch[lab_name],
config.test.image_size,
method='nearest')
resize_image_h, resize_image_w = image_batch['image'].shape[-2:]
# Crop and Pad the input image.
image_batch['image'] = transforms.resize_with_pad(
image_batch['image'].transpose(1, 2, 0),
config.test.crop_size,
image_pad_value=0).transpose(2, 0, 1)
image_batch['image'] = torch.FloatTensor(
image_batch['image'][np.newaxis, ...]).to("cuda:0")
pad_image_h, pad_image_w = image_batch['image'].shape[-2:]
# Create the fake labels where clustering ignores 255.
fake_label_batch = {}
for label_name in ['semantic_label', 'instance_label']:
lab = np.zeros((resize_image_h, resize_image_w), dtype=np.uint8)
lab = transforms.resize_with_pad(
lab,
config.test.crop_size,
image_pad_value=config.dataset.semantic_ignore_index)
fake_label_batch[label_name] = torch.LongTensor(
lab[np.newaxis, ...]).to("cuda:0")
# Put label batch to gpu 1.
for k, v in label_batch.items():
label_batch[k] = torch.LongTensor(v[np.newaxis, ...]).to("cuda:0")
# Create the ending index of each patch.
stride_h, stride_w = config.test.stride
crop_h, crop_w = config.test.crop_size
npatches_h = math.ceil(1.0 * (pad_image_h - crop_h) / stride_h) + 1
npatches_w = math.ceil(1.0 * (pad_image_w - crop_w) / stride_w) + 1
patch_ind_h = np.linspace(crop_h,
pad_image_h,
npatches_h,
dtype=np.int32)
patch_ind_w = np.linspace(crop_w,
pad_image_w,
npatches_w,
dtype=np.int32)
# Create place holder for full-resolution embeddings.
embeddings = {}
counts = torch.FloatTensor(1, 1, pad_image_h,
pad_image_w).zero_().to("cuda:0")
with torch.no_grad():
for ind_h in patch_ind_h:
for ind_w in patch_ind_w:
sh, eh = ind_h - crop_h, ind_h
sw, ew = ind_w - crop_w, ind_w
crop_image_batch = {
k: v[:, :, sh:eh, sw:ew]
for k, v in image_batch.items()
}
# Feed-forward.
crop_embeddings = embedding_model.generate_embeddings(
crop_image_batch, resize_as_input=True)
# Initialize embedding.
for name in crop_embeddings:
if crop_embeddings[name] is None:
continue
crop_emb = crop_embeddings[name].to("cuda:0")
if name in ['embedding']:
crop_emb = common_utils.normalize_embedding(
crop_emb.permute(0, 2, 3, 1).contiguous())
crop_emb = crop_emb.permute(0, 3, 1, 2)
else:
continue
if name not in embeddings.keys():
embeddings[name] = torch.FloatTensor(
1, crop_emb.shape[1], pad_image_h,
pad_image_w).zero_().to("cuda:0")
embeddings[name][:, :, sh:eh, sw:ew] += crop_emb
counts[:, :, sh:eh, sw:ew] += 1
for k in embeddings.keys():
embeddings[k] /= counts
# KMeans.
lab_div = config.network.label_divisor
fake_sem_lab = fake_label_batch['semantic_label']
fake_inst_lab = fake_label_batch['instance_label']
clustering_outputs = embedding_model.generate_clusters(
embeddings.get('embedding', None), fake_sem_lab, fake_inst_lab)
embeddings.update(clustering_outputs)
# Generate predictions.
outputs = prediction_model(
embeddings, {
'semantic_memory_prototype': semantic_memory_prototypes,
'semantic_memory_prototype_label':
semantic_memory_prototype_labels
},
with_loss=False,
with_prediction=True)
# Save semantic predictions.
semantic_pred = outputs.get('semantic_prediction', None)
if semantic_pred is not None:
semantic_pred = (semantic_pred.view(
resize_image_h,
resize_image_w).cpu().data.numpy().astype(np.uint8))
semantic_pred = cv2.resize(semantic_pred, (image_w, image_h),
interpolation=cv2.INTER_NEAREST)
semantic_pred_name = os.path.join(semantic_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_name)):
os.makedirs(os.path.dirname(semantic_pred_name))
Image.fromarray(semantic_pred, mode='L').save(semantic_pred_name)
semantic_pred_rgb = color_map[semantic_pred]
semantic_pred_rgb_name = os.path.join(semantic_rgb_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_rgb_name)):
os.makedirs(os.path.dirname(semantic_pred_rgb_name))
Image.fromarray(semantic_pred_rgb,
mode='RGB').save(semantic_pred_rgb_name)
def main():
"""Training for softmax classifier only.
"""
# Retreve experiment configurations.
args = parse_args('Training for softmax classifier only.')
# Retrieve GPU informations.
device_ids = [int(i) for i in config.gpus.split(',')]
gpu_ids = [torch.device('cuda', i) for i in device_ids]
num_gpus = len(gpu_ids)
# Create logger and tensorboard writer.
summary_writer = tensorboardX.SummaryWriter(logdir=args.snapshot_dir)
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
optimizer_path_template = os.path.join(args.snapshot_dir,
'model-{:d}.state.pth')
# Create data loaders.
train_dataset = ListTagClassifierDataset(
data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=config.train.crop_size,
random_crop=config.train.random_crop,
random_scale=config.train.random_scale,
random_mirror=config.train.random_mirror,
random_grayscale=True,
random_blur=True,
training=True)
train_loader = torch.utils.data.DataLoader(
train_dataset,
batch_size=config.train.batch_size,
shuffle=config.train.shuffle,
num_workers=num_gpus * config.num_threads,
drop_last=False,
collate_fn=train_dataset.collate_fn)
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config).cuda()
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
if config.network.prediction_types == 'softmax_classifier':
prediction_model = softmax_classifier(config).cuda()
else:
raise ValueError('Not support ' + config.network.prediction_types)
# Use customized optimizer and pass lr=1 to support different lr for
# different weights.
optimizer = SGD(embedding_model.get_params_lr() +
prediction_model.get_params_lr(),
lr=1,
momentum=config.train.momentum,
weight_decay=config.train.weight_decay)
optimizer.zero_grad()
# Load pre-trained weights.
curr_iter = config.train.begin_iteration
if config.network.pretrained:
print('Loading pre-trained model: {:s}'.format(
config.network.pretrained))
embedding_model.load_state_dict(torch.load(
config.network.pretrained)['embedding_model'],
resume=True)
else:
raise ValueError('Pre-trained model is required.')
# Distribute model weights to multi-gpus.
embedding_model = DataParallel(embedding_model,
device_ids=device_ids,
gather_output=False)
prediction_model = DataParallel(prediction_model,
device_ids=device_ids,
gather_output=False)
embedding_model.eval()
prediction_model.train()
print(embedding_model)
print(prediction_model)
# Create memory bank.
memory_banks = {}
# start training
train_iterator = train_loader.__iter__()
iterator_index = 0
pbar = tqdm(range(curr_iter, config.train.max_iteration))
for curr_iter in pbar:
# Check if the rest of datas is enough to iterate through;
# otherwise, re-initiate the data iterator.
if iterator_index + num_gpus >= len(train_loader):
train_iterator = train_loader.__iter__()
iterator_index = 0
# Feed-forward.
image_batch, label_batch = other_utils.prepare_datas_and_labels_mgpu(
train_iterator, gpu_ids)
iterator_index += num_gpus
# Generate embeddings, clustering and prototypes.
with torch.no_grad():
embeddings = embedding_model(*zip(image_batch, label_batch))
# Compute loss.
outputs = prediction_model(*zip(embeddings, label_batch))
outputs = scatter_gather.gather(outputs, gpu_ids[0])
losses = []
for k in ['sem_ann_loss']:
loss = outputs.get(k, None)
if loss is not None:
outputs[k] = loss.mean()
losses.append(outputs[k])
loss = sum(losses)
acc = outputs['accuracy'].mean()
# Backward propogation.
if config.train.lr_policy == 'step':
lr = train_utils.lr_step(config.train.base_lr, curr_iter,
config.train.decay_iterations,
config.train.warmup_iteration)
else:
lr = train_utils.lr_poly(config.train.base_lr, curr_iter,
config.train.max_iteration,
config.train.warmup_iteration)
optimizer.zero_grad()
loss.backward()
optimizer.step(lr)
# Snapshot the trained model.
if ((curr_iter + 1) % config.train.snapshot_step == 0
or curr_iter == config.train.max_iteration - 1):
model_state_dict = {
'embedding_model': embedding_model.module.state_dict(),
'prediction_model': prediction_model.module.state_dict()
}
torch.save(model_state_dict, model_path_template.format(curr_iter))
torch.save(optimizer.state_dict(),
optimizer_path_template.format(curr_iter))
# Print loss in the progress bar.
line = 'loss = {:.3f}, acc = {:.3f}, lr = {:.6f}'.format(
loss.item(), acc.item(), lr)
pbar.set_description(line)
def main():
"""Inference for semantic segmentation.
"""
# Retreve experiment configurations.
args = parse_args('Inference for semantic segmentation.')
# Create directories to save results.
semantic_dir = os.path.join(args.save_dir, 'semantic_gray')
semantic_rgb_dir = os.path.join(args.save_dir, 'semantic_color')
if not os.path.isdir(semantic_dir):
os.makedirs(semantic_dir)
if not os.path.isdir(semantic_rgb_dir):
os.makedirs(semantic_rgb_dir)
# Create color map.
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
color_map = color_map.numpy()
# Create data loaders.
test_dataset = ListDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=None,
random_crop=False,
random_scale=False,
random_mirror=False,
training=False)
test_image_paths = test_dataset.image_paths
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config).cuda()
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
prediction_model = softmax_classifier(config).cuda()
embedding_model.eval()
prediction_model.eval()
# Load trained weights.
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
save_iter = config.train.max_iteration - 1
embedding_model.load_state_dict(torch.load(
model_path_template.format(save_iter))['embedding_model'],
resume=True)
prediction_model.load_state_dict(
torch.load(model_path_template.format(save_iter))['prediction_model'])
# Define CRF.
postprocessor = DenseCRF(
iter_max=args.crf_iter_max,
pos_xy_std=args.crf_pos_xy_std,
pos_w=args.crf_pos_w,
bi_xy_std=args.crf_bi_xy_std,
bi_rgb_std=args.crf_bi_rgb_std,
bi_w=args.crf_bi_w,
)
# Start inferencing.
for data_index in range(len(test_dataset)):
# Image path.
image_path = test_image_paths[data_index]
base_name = os.path.basename(image_path).replace('.jpg', '.png')
# Image resolution.
image_batch, _, _ = test_dataset[data_index]
image_h, image_w = image_batch['image'].shape[-2:]
# Resize the input image.
if config.test.image_size > 0:
image_batch['image'] = transforms.resize_with_interpolation(
image_batch['image'].transpose(1, 2, 0),
config.test.image_size,
method='bilinear').transpose(2, 0, 1)
resize_image_h, resize_image_w = image_batch['image'].shape[-2:]
# Crop and Pad the input image.
image_batch['image'] = transforms.resize_with_pad(
image_batch['image'].transpose(1, 2, 0),
config.test.crop_size,
image_pad_value=0).transpose(2, 0, 1)
image_batch['image'] = torch.FloatTensor(
image_batch['image'][np.newaxis, ...]).cuda()
pad_image_h, pad_image_w = image_batch['image'].shape[-2:]
# Create the ending index of each patch.
stride_h, stride_w = config.test.stride
crop_h, crop_w = config.test.crop_size
npatches_h = math.ceil(1.0 * (pad_image_h - crop_h) / stride_h) + 1
npatches_w = math.ceil(1.0 * (pad_image_w - crop_w) / stride_w) + 1
patch_ind_h = np.linspace(crop_h,
pad_image_h,
npatches_h,
dtype=np.int32)
patch_ind_w = np.linspace(crop_w,
pad_image_w,
npatches_w,
dtype=np.int32)
# Create place holder for full-resolution embeddings.
outputs = {}
with torch.no_grad():
for ind_h in patch_ind_h:
for ind_w in patch_ind_w:
sh, eh = ind_h - crop_h, ind_h
sw, ew = ind_w - crop_w, ind_w
crop_image_batch = {
k: v[:, :, sh:eh, sw:ew]
for k, v in image_batch.items()
}
# Feed-forward.
crop_embeddings = embedding_model(crop_image_batch,
resize_as_input=True)
crop_outputs = prediction_model(crop_embeddings)
for name, crop_out in crop_outputs.items():
if crop_out is not None:
if name not in outputs.keys():
output_shape = list(crop_out.shape)
output_shape[-2:] = pad_image_h, pad_image_w
outputs[name] = torch.zeros(
output_shape, dtype=crop_out.dtype).cuda()
outputs[name][..., sh:eh, sw:ew] += crop_out
# Save semantic predictions.
semantic_logits = outputs.get('semantic_logit', None)
if semantic_logits is not None:
semantic_prob = F.softmax(semantic_logits, dim=1)
semantic_prob = semantic_prob[
0, :, :resize_image_h, :resize_image_w]
semantic_prob = semantic_prob.data.cpu().numpy().astype(np.float32)
# DenseCRF post-processing.
image = image_batch['image'][0].data.cpu().numpy().astype(
np.float32)
image = image.transpose(1, 2, 0)
image *= np.reshape(config.network.pixel_stds, (1, 1, 3))
image += np.reshape(config.network.pixel_means, (1, 1, 3))
image = image * 255
image = image.astype(np.uint8)
image = image[:resize_image_h, :resize_image_w, :]
semantic_prob = postprocessor(image, semantic_prob)
#semantic_pred = torch.argmax(semantic_logits, 1)
semantic_pred = np.argmax(semantic_prob, axis=0).astype(np.uint8)
#semantic_pred = (semantic_pred.view(pad_image_h, pad_image_w)
# .cpu()
# .data
# .numpy()
# .astype(np.uint8))
#semantic_pred = semantic_pred[:resize_image_h, :resize_image_w]
semantic_pred = cv2.resize(semantic_pred, (image_w, image_h),
interpolation=cv2.INTER_NEAREST)
semantic_pred_name = os.path.join(semantic_dir, base_name)
Image.fromarray(semantic_pred, mode='L').save(semantic_pred_name)
semantic_pred_rgb = color_map[semantic_pred]
semantic_pred_rgb_name = os.path.join(semantic_rgb_dir, base_name)
Image.fromarray(semantic_pred_rgb,
mode='RGB').save(semantic_pred_rgb_name)
# Clean GPU memory cache to save more space.
outputs = {}
crop_embeddings = {}
crop_outputs = {}
torch.cuda.empty_cache()
def main():
"""Inference for semantic segmentation.
"""
# Retreve experiment configurations.
args = parse_args('Inference for semantic segmentation.')
# Create directories to save results.
semantic_dir = os.path.join(args.save_dir, 'semantic_gray')
semantic_rgb_dir = os.path.join(args.save_dir, 'semantic_color')
os.makedirs(semantic_dir, exist_ok=True)
os.makedirs(semantic_rgb_dir, exist_ok=True)
# Create color map.
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
color_map = color_map.numpy()
# Create data loaders.
test_dataset = ListDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=None,
random_crop=False,
random_scale=False,
random_mirror=False,
training=False)
test_image_paths = test_dataset.image_paths
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config).cuda()
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
prediction_model = softmax_classifier(config).cuda()
embedding_model.eval()
prediction_model.eval()
# Load trained weights.
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
save_iter = config.train.max_iteration - 1
embedding_model.load_state_dict(torch.load(
model_path_template.format(save_iter))['embedding_model'],
resume=True)
prediction_model.load_state_dict(
torch.load(model_path_template.format(save_iter))['prediction_model'])
# Start inferencing.
with torch.no_grad():
for data_index in tqdm(range(len(test_dataset))):
# Image path.
image_path = test_image_paths[data_index]
base_name = os.path.basename(image_path).replace('.jpg', '.png')
# Image resolution.
image_batch, label_batch, _ = test_dataset[data_index]
image_h, image_w = image_batch['image'].shape[-2:]
batches = other_utils.create_image_pyramid(
image_batch,
label_batch,
scales=[0.5, 0.75, 1, 1.25, 1.5],
is_flip=True)
semantic_logits = []
for image_batch, label_batch, data_info in batches:
resize_image_h, resize_image_w = image_batch['image'].shape[
-2:]
# Crop and Pad the input image.
image_batch['image'] = transforms.resize_with_pad(
image_batch['image'].transpose(1, 2, 0),
config.test.crop_size,
image_pad_value=0).transpose(2, 0, 1)
image_batch['image'] = torch.FloatTensor(
image_batch['image'][np.newaxis, ...]).cuda()
pad_image_h, pad_image_w = image_batch['image'].shape[-2:]
# Create the ending index of each patch.
stride_h, stride_w = config.test.stride
crop_h, crop_w = config.test.crop_size
npatches_h = math.ceil(1.0 *
(pad_image_h - crop_h) / stride_h) + 1
npatches_w = math.ceil(1.0 *
(pad_image_w - crop_w) / stride_w) + 1
patch_ind_h = np.linspace(crop_h,
pad_image_h,
npatches_h,
dtype=np.int32)
patch_ind_w = np.linspace(crop_w,
pad_image_w,
npatches_w,
dtype=np.int32)
# Create place holder for full-resolution embeddings.
semantic_logit = torch.FloatTensor(
1, config.dataset.num_classes, pad_image_h,
pad_image_w).zero_().to("cuda:0")
counts = torch.FloatTensor(1, 1, pad_image_h,
pad_image_w).zero_().to("cuda:0")
for ind_h in patch_ind_h:
for ind_w in patch_ind_w:
sh, eh = ind_h - crop_h, ind_h
sw, ew = ind_w - crop_w, ind_w
crop_image_batch = {
k: v[:, :, sh:eh, sw:ew]
for k, v in image_batch.items()
}
# Feed-forward.
crop_embeddings = embedding_model(crop_image_batch,
resize_as_input=True)
crop_outputs = prediction_model(crop_embeddings)
semantic_logit[..., sh:eh, sw:ew] += crop_outputs[
'semantic_logit'].to("cuda:0")
counts[..., sh:eh, sw:ew] += 1
semantic_logit /= counts
semantic_logit = semantic_logit[
..., :resize_image_h, :resize_image_w]
semantic_logit = F.interpolate(semantic_logit,
size=(image_h, image_w),
mode='bilinear')
semantic_logit = F.softmax(semantic_logit, dim=1)
semantic_logit = semantic_logit.data.cpu().numpy().astype(
np.float32)
if data_info['is_flip']:
semantic_logit = semantic_logit[..., ::-1]
semantic_logits.append(semantic_logit)
# Save semantic predictions.
semantic_logits = np.concatenate(semantic_logits, axis=0)
semantic_logits = np.sum(semantic_logits, axis=0)
if semantic_logits is not None:
semantic_pred = np.argmax(semantic_logits,
axis=0).astype(np.uint8)
semantic_pred_name = os.path.join(semantic_dir, base_name)
Image.fromarray(semantic_pred,
mode='L').save(semantic_pred_name)
semantic_pred_rgb = color_map[semantic_pred]
semantic_pred_rgb_name = os.path.join(semantic_rgb_dir,
base_name)
Image.fromarray(semantic_pred_rgb,
mode='RGB').save(semantic_pred_rgb_name)
# Clean GPU memory cache to save more space.
outputs = {}
crop_embeddings = {}
crop_outputs = {}
torch.cuda.empty_cache()
def main():
"""Generate pseudo labels by softmax classifier.
"""
# Retreve experiment configurations.
args = parse_args('Generate pseudo labels by softmax classifier.')
# Create directories to save results.
semantic_dir = os.path.join(args.save_dir, 'semantic_gray')
semantic_rgb_dir = os.path.join(args.save_dir, 'semantic_color')
# Create color map.
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
color_map = color_map.numpy()
# Create data loaders.
test_dataset = ListDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=None,
random_crop=False,
random_scale=False,
random_mirror=False,
training=False)
test_image_paths = test_dataset.image_paths
# Define CRF.
postprocessor = DenseCRF(
iter_max=args.crf_iter_max,
pos_xy_std=args.crf_pos_xy_std,
pos_w=args.crf_pos_w,
bi_xy_std=args.crf_bi_xy_std,
bi_rgb_std=args.crf_bi_rgb_std,
bi_w=args.crf_bi_w,
)
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config).cuda()
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
prediction_model = softmax_classifier(config).cuda()
embedding_model.eval()
prediction_model.eval()
# Load trained weights.
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
save_iter = config.train.max_iteration - 1
embedding_model.load_state_dict(torch.load(
model_path_template.format(save_iter))['embedding_model'],
resume=True)
prediction_model.load_state_dict(
torch.load(model_path_template.format(save_iter))['prediction_model'])
# Start inferencing.
with torch.no_grad():
for data_index in tqdm(range(len(test_dataset))):
# Image path.
image_path = test_image_paths[data_index]
base_name = os.path.basename(image_path).replace('.jpg', '.png')
# Image resolution.
original_image_batch, original_label_batch, _ = test_dataset[
data_index]
image_h, image_w = original_image_batch['image'].shape[-2:]
lab_tags = np.unique(original_label_batch['semantic_label'])
lab_tags = lab_tags[lab_tags < config.dataset.num_classes]
label_tags = np.zeros((config.dataset.num_classes, ),
dtype=np.bool)
label_tags[lab_tags] = True
label_tags = torch.from_numpy(label_tags).cuda()
# Image resolution.
batches = other_utils.create_image_pyramid(original_image_batch,
original_label_batch,
scales=[0.75, 1],
is_flip=True)
affs = []
semantic_probs = []
for image_batch, label_batch, data_info in batches:
resize_image_h, resize_image_w = image_batch['image'].shape[
-2:]
# Crop and Pad the input image.
image_batch['image'] = transforms.resize_with_pad(
image_batch['image'].transpose(1, 2, 0),
config.test.crop_size,
image_pad_value=0).transpose(2, 0, 1)
image_batch['image'] = torch.FloatTensor(
image_batch['image'][np.newaxis, ...]).cuda()
pad_image_h, pad_image_w = image_batch['image'].shape[-2:]
embeddings = embedding_model(image_batch, resize_as_input=True)
outputs = prediction_model(embeddings)
embs = embeddings[
'embedding'][:, :, :resize_image_h, :resize_image_w]
semantic_logit = outputs['semantic_logit'][
..., :resize_image_h, :resize_image_w]
if data_info['is_flip']:
embs = torch.flip(embs, dims=[3])
semantic_logit = torch.flip(semantic_logit, dims=[3])
embs = F.interpolate(embs,
size=(image_h // 8, image_w // 8),
mode='bilinear')
embs = embs / torch.norm(embs, dim=1)
embs_flat = embs.view(embs.shape[1], -1)
aff = torch.matmul(embs_flat.t(),
embs_flat).mul_(5).add_(-5).exp_()
affs.append(aff)
semantic_logit = F.interpolate(semantic_logit,
size=(image_h // 8,
image_w // 8),
mode='bilinear')
#semantic_prob = F.softmax(semantic_logit, dim=1)
#semantic_probs.append(semantic_prob)
semantic_probs.append(semantic_logit)
cat_semantic_probs = torch.cat(semantic_probs, dim=0)
#semantic_probs, _ = torch.max(cat_semantic_probs, dim=0)
#semantic_probs[0] = torch.min(cat_semantic_probs[:, 0, :, :], dim=0)[0]
semantic_probs = torch.mean(cat_semantic_probs, dim=0)
semantic_probs = F.softmax(semantic_probs, dim=0)
# normalize cam.
max_prob = torch.max(semantic_probs.view(21, -1), dim=1)[0]
cam_full_arr = semantic_probs / max_prob.view(21, 1, 1)
cam_shape = cam_full_arr.shape[-2:]
label_tags = (~label_tags).view(-1, 1,
1).expand(-1, cam_shape[0],
cam_shape[1])
cam_full_arr = cam_full_arr.masked_fill(label_tags, 0)
if TH is not None:
cam_full_arr[0] = TH
aff = torch.mean(torch.stack(affs, dim=0), dim=0)
# Start random walk.
aff_mat = aff**20
trans_mat = aff_mat / torch.sum(aff_mat, dim=0, keepdim=True)
for _ in range(WALK_STEPS):
trans_mat = torch.matmul(trans_mat, trans_mat)
cam_vec = cam_full_arr.view(21, -1)
cam_rw = torch.matmul(cam_vec, trans_mat)
cam_rw = cam_rw.view(21, cam_shape[0], cam_shape[1])
cam_rw = cam_rw.data.cpu().numpy()
cam_rw = cv2.resize(cam_rw.transpose(1, 2, 0),
dsize=(image_w, image_h),
interpolation=cv2.INTER_LINEAR)
cam_rw_pred = np.argmax(cam_rw, axis=-1).astype(np.uint8)
# CRF
#image = image_batch['image'].data.cpu().numpy().astype(np.float32)
#image = image[0, :, :image_h, :image_w].transpose(1, 2, 0)
#image *= np.reshape(config.network.pixel_stds, (1, 1, 3))
#image += np.reshape(config.network.pixel_means, (1, 1, 3))
#image = image * 255
#image = image.astype(np.uint8)
#cam_rw = postprocessor(image, cam_rw.transpose(2,0,1))
#cam_rw_pred = np.argmax(cam_rw, axis=0).astype(np.uint8)
# Save semantic predictions.
semantic_pred = cam_rw_pred
semantic_pred_name = os.path.join(semantic_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_name)):
os.makedirs(os.path.dirname(semantic_pred_name))
Image.fromarray(semantic_pred, mode='L').save(semantic_pred_name)
semantic_pred_rgb = color_map[semantic_pred]
semantic_pred_rgb_name = os.path.join(semantic_rgb_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_rgb_name)):
os.makedirs(os.path.dirname(semantic_pred_rgb_name))
Image.fromarray(semantic_pred_rgb,
mode='RGB').save(semantic_pred_rgb_name)
def main():
"""Training for pixel-wise embeddings by pixel-segment
contrastive learning loss for DensePose.
"""
# Retreve experiment configurations.
args = parse_args('Training for pixel-wise embeddings for DensePose.')
# Retrieve GPU informations.
device_ids = [int(i) for i in config.gpus.split(',')]
gpu_ids = [torch.device('cuda', i) for i in device_ids]
num_gpus = len(gpu_ids)
# Create logger and tensorboard writer.
summary_writer = tensorboardX.SummaryWriter(logdir=args.snapshot_dir)
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
optimizer_path_template = os.path.join(args.snapshot_dir,
'model-{:d}.state.pth')
# Create data loaders.
train_dataset = DenseposeDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=config.train.crop_size,
random_crop=config.train.random_crop,
random_scale=config.train.random_scale,
random_mirror=config.train.random_mirror,
training=True)
train_loader = torch.utils.data.DataLoader(
train_dataset,
batch_size=config.train.batch_size,
shuffle=config.train.shuffle,
num_workers=num_gpus * config.num_threads,
drop_last=False,
collate_fn=train_dataset.collate_fn)
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
if config.network.prediction_types == 'segsort':
prediction_model = segsort(config).cuda()
else:
raise ValueError('Not support ' + config.network.prediction_types)
# Use synchronize batchnorm.
if config.network.use_syncbn:
embedding_model = convert_model(embedding_model).cuda()
prediction_model = convert_model(prediction_model).cuda()
# Use customized optimizer and pass lr=1 to support different lr for
# different weights.
optimizer = SGD(embedding_model.get_params_lr() +
prediction_model.get_params_lr(),
lr=1,
momentum=config.train.momentum,
weight_decay=config.train.weight_decay)
optimizer.zero_grad()
# Load pre-trained weights.
curr_iter = config.train.begin_iteration
if config.train.resume:
model_path = model_path_template.fromat(curr_iter)
print('Resume training from {:s}'.format(model_path))
embedding_model.load_state_dict(
torch.load(model_path)['embedding_model'], resume=True)
prediction_model.load_state_dict(
torch.load(model_path)['prediction_model'], resume=True)
optimizer.load_state_dict(
torch.load(optimizer_path_template.format(curr_iter)))
elif config.network.pretrained:
print('Loading pre-trained model: {:s}'.format(
config.network.pretrained))
embedding_model.load_state_dict(torch.load(config.network.pretrained))
else:
print('Training from scratch')
# Distribute model weights to multi-gpus.
embedding_model = DataParallel(embedding_model,
device_ids=device_ids,
gather_output=False)
prediction_model = DataParallel(prediction_model,
device_ids=device_ids,
gather_output=False)
if config.network.use_syncbn:
patch_replication_callback(embedding_model)
patch_replication_callback(prediction_model)
for module in embedding_model.modules():
if isinstance(module, _BatchNorm) or isinstance(module, _ConvNd):
print(module.training, module)
print(embedding_model)
print(prediction_model)
# Create memory bank.
memory_banks = {}
# start training
train_iterator = train_loader.__iter__()
iterator_index = 0
pbar = tqdm(range(curr_iter, config.train.max_iteration))
for curr_iter in pbar:
# Check if the rest of datas is enough to iterate through;
# otherwise, re-initiate the data iterator.
if iterator_index + num_gpus >= len(train_loader):
train_iterator = train_loader.__iter__()
iterator_index = 0
# Feed-forward.
image_batch, label_batch = other_utils.prepare_datas_and_labels_mgpu(
train_iterator, gpu_ids)
iterator_index += num_gpus
# Generate embeddings, clustering and prototypes.
embeddings = embedding_model(*zip(image_batch, label_batch))
# Synchronize cluster indices and computer prototypes.
c_inds = [emb['cluster_index'] for emb in embeddings]
cb_inds = [emb['cluster_batch_index'] for emb in embeddings]
cs_labs = [emb['cluster_semantic_label'] for emb in embeddings]
ci_labs = [emb['cluster_instance_label'] for emb in embeddings]
c_embs = [emb['cluster_embedding'] for emb in embeddings]
c_embs_with_loc = [
emb['cluster_embedding_with_loc'] for emb in embeddings
]
(prototypes, prototypes_with_loc, prototype_semantic_labels,
prototype_instance_labels, prototype_batch_indices,
cluster_indices) = (
model_utils.gather_clustering_and_update_prototypes(
c_embs, c_embs_with_loc, c_inds, cb_inds, cs_labs, ci_labs,
'cuda:{:d}'.format(num_gpus - 1)))
for i in range(len(label_batch)):
label_batch[i]['prototype'] = prototypes[i]
label_batch[i]['prototype_with_loc'] = prototypes_with_loc[i]
label_batch[i][
'prototype_semantic_label'] = prototype_semantic_labels[i]
label_batch[i][
'prototype_instance_label'] = prototype_instance_labels[i]
label_batch[i]['prototype_batch_index'] = prototype_batch_indices[
i]
embeddings[i]['cluster_index'] = cluster_indices[i]
#semantic_tags = model_utils.gather_and_update_datas(
# [lab['semantic_tag'] for lab in label_batch],
# 'cuda:{:d}'.format(num_gpus-1))
#for i in range(len(label_batch)):
# label_batch[i]['semantic_tag'] = semantic_tags[i]
# label_batch[i]['prototype_semantic_tag'] = torch.index_select(
# semantic_tags[i],
# 0,
# label_batch[i]['prototype_batch_index'])
# Add memory bank to label batch.
for k in memory_banks.keys():
for i in range(len(label_batch)):
assert (label_batch[i].get(k, None) is None)
label_batch[i][k] = [m.to(gpu_ids[i]) for m in memory_banks[k]]
# Compute loss.
outputs = prediction_model(*zip(embeddings, label_batch))
outputs = scatter_gather.gather(outputs, gpu_ids[0])
losses = []
for k in [
'sem_ann_loss', 'sem_occ_loss', 'img_sim_loss', 'feat_aff_loss'
]:
loss = outputs.get(k, None)
if loss is not None:
outputs[k] = loss.mean()
losses.append(outputs[k])
loss = sum(losses)
acc = outputs['accuracy'].mean()
# Write to tensorboard summary.
writer = (summary_writer if curr_iter %
config.train.tensorboard_step == 0 else None)
if writer is not None:
summary_vis = []
summary_val = {}
# Gather labels to cpu.
cpu_label_batch = scatter_gather.gather(label_batch, -1)
summary_vis.append(
vis_utils.convert_label_to_color(
cpu_label_batch['semantic_label'], color_map))
summary_vis.append(
vis_utils.convert_label_to_color(
cpu_label_batch['instance_label'], color_map))
# Gather outputs to cpu.
vis_names = ['embedding']
cpu_embeddings = scatter_gather.gather(
[{k: emb.get(k, None)
for k in vis_names} for emb in embeddings], -1)
for vis_name in vis_names:
if cpu_embeddings.get(vis_name, None) is not None:
summary_vis.append(
vis_utils.embedding_to_rgb(cpu_embeddings[vis_name],
'pca'))
val_names = [
'sem_ann_loss', 'sem_occ_loss', 'img_sim_loss',
'feat_aff_loss', 'accuracy'
]
for val_name in val_names:
if outputs.get(val_name, None) is not None:
summary_val[val_name] = outputs[val_name].mean().to('cpu')
vis_utils.write_image_to_tensorboard(summary_writer, summary_vis,
summary_vis[-1].shape[-2:],
curr_iter)
vis_utils.write_scalars_to_tensorboard(summary_writer, summary_val,
curr_iter)
# Backward propogation.
if config.train.lr_policy == 'step':
lr = train_utils.lr_step(config.train.base_lr, curr_iter,
config.train.decay_iterations,
config.train.warmup_iteration)
else:
lr = train_utils.lr_poly(config.train.base_lr, curr_iter,
config.train.max_iteration,
config.train.warmup_iteration)
optimizer.zero_grad()
loss.backward()
optimizer.step(lr)
# Update memory banks.
with torch.no_grad():
for k in label_batch[0].keys():
if 'prototype' in k and 'memory' not in k:
memory = label_batch[0][k].clone().detach()
memory_key = 'memory_' + k
if memory_key not in memory_banks.keys():
memory_banks[memory_key] = []
memory_banks[memory_key].append(memory)
if len(memory_banks[memory_key]
) > config.train.memory_bank_size:
memory_banks[memory_key] = memory_banks[memory_key][1:]
# Update batch labels.
for k in ['memory_prototype_batch_index']:
memory_labels = memory_banks.get(k, None)
if memory_labels is not None:
for i, memory_label in enumerate(memory_labels):
memory_labels[i] += config.train.batch_size * num_gpus
# Snapshot the trained model.
if ((curr_iter + 1) % config.train.snapshot_step == 0
or curr_iter == config.train.max_iteration - 1):
model_state_dict = {
'embedding_model': embedding_model.module.state_dict(),
'prediction_model': prediction_model.module.state_dict()
}
torch.save(model_state_dict, model_path_template.format(curr_iter))
torch.save(optimizer.state_dict(),
optimizer_path_template.format(curr_iter))
# Print loss in the progress bar.
line = 'loss = {:.3f}, acc = {:.3f}, lr = {:.6f}'.format(
loss.item(), acc.item(), lr)
pbar.set_description(line)
def main():
"""Generate pseudo labels from CAM by random walk and CRF.
"""
# Retreve experiment configurations.
args = parse_args(
'Generate pseudo labels from CAM by random walk and CRF.')
config.network.kmeans_num_clusters = separate_comma(
args.kmeans_num_clusters)
config.network.label_divisor = args.label_divisor
# Create directories to save results.
semantic_dir = os.path.join(args.save_dir, 'semantic_gray')
semantic_rgb_dir = os.path.join(args.save_dir, 'semantic_color')
# Create color map.
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
color_map = color_map.numpy()
# Create data loaders.
test_dataset = ListDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=None,
random_crop=False,
random_scale=False,
random_mirror=False,
training=False)
test_image_paths = test_dataset.image_paths
# Define CRF.
postprocessor = DenseCRF(
iter_max=args.crf_iter_max,
pos_xy_std=args.crf_pos_xy_std,
pos_w=args.crf_pos_w,
bi_xy_std=args.crf_bi_xy_std,
bi_rgb_std=args.crf_bi_rgb_std,
bi_w=args.crf_bi_w,
)
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config)
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
embedding_model = embedding_model.to("cuda:0")
embedding_model.eval()
# Load trained weights.
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
save_iter = config.train.max_iteration - 1
embedding_model.load_state_dict(torch.load(
model_path_template.format(save_iter))['embedding_model'],
resume=True)
# Start inferencing.
for data_index in tqdm(range(len(test_dataset))):
# Image path.
image_path = test_image_paths[data_index]
base_name = os.path.basename(image_path).replace('.jpg', '.png')
# Image resolution.
image_batch, label_batch, _ = test_dataset[data_index]
image_h, image_w = image_batch['image'].shape[-2:]
# Load cam
sem_labs = np.unique(label_batch['semantic_label'])
#cam = np.load(os.path.join('/home/twke/repos/SEAM/outputs/train+/cam', base_name.replace('.png', '.npy')), allow_pickle=True).item()
cam = np.load(os.path.join(args.cam_dir,
base_name.replace('.png', '.npy')),
allow_pickle=True).item()
cam_full_arr = np.zeros((21, image_h, image_w), np.float32)
for k, v in cam.items():
cam_full_arr[k + 1] = v
cam_full_arr[0] = np.power(
1 - np.max(cam_full_arr[1:], axis=0, keepdims=True), ALPHA)
cam_full_arr = torch.from_numpy(cam_full_arr).cuda()
# Image resolution.
batches = other_utils.create_image_pyramid(image_batch,
label_batch,
scales=[1],
is_flip=True)
affs = []
for image_batch, label_batch, data_info in batches:
resize_image_h, resize_image_w = image_batch['image'].shape[-2:]
# Crop and Pad the input image.
image_batch['image'] = transforms.resize_with_pad(
image_batch['image'].transpose(1, 2, 0),
config.test.crop_size,
image_pad_value=0).transpose(2, 0, 1)
for lab_name in ['semantic_label', 'instance_label']:
label_batch[lab_name] = transforms.resize_with_pad(
label_batch[lab_name],
config.test.crop_size,
image_pad_value=255)
image_batch['image'] = torch.FloatTensor(
image_batch['image'][np.newaxis, ...]).to("cuda:0")
for k, v in label_batch.items():
label_batch[k] = torch.LongTensor(v[np.newaxis,
...]).to("cuda:0")
pad_image_h, pad_image_w = image_batch['image'].shape[-2:]
with torch.no_grad():
embeddings = embedding_model(image_batch,
label_batch,
resize_as_input=True)
embs = embeddings[
'embedding'][:, :, :resize_image_h, :resize_image_w]
if data_info['is_flip']:
embs = torch.flip(embs, dims=[3])
embs = F.interpolate(embs,
size=(image_h // 8, image_w // 8),
mode='bilinear')
embs = embs / torch.norm(embs, dim=1)
embs_flat = embs.view(embs.shape[1], -1)
aff = torch.matmul(embs_flat.t(),
embs_flat).mul_(5).add_(-5).exp_()
affs.append(aff)
aff = torch.mean(torch.stack(affs, dim=0), dim=0)
cam_full_arr = F.interpolate(cam_full_arr.unsqueeze(0),
scale_factor=1 / 8.,
mode='bilinear').squeeze(0)
cam_shape = cam_full_arr.shape[-2:]
# Start random walk.
aff_mat = aff**20
trans_mat = aff_mat / torch.sum(aff_mat, dim=0, keepdim=True)
for _ in range(WALK_STEPS):
trans_mat = torch.matmul(trans_mat, trans_mat)
cam_vec = cam_full_arr.view(21, -1)
cam_rw = torch.matmul(cam_vec, trans_mat)
cam_rw = cam_rw.view(21, cam_shape[0], cam_shape[1])
cam_rw = cam_rw.data.cpu().numpy()
cam_rw = cv2.resize(cam_rw.transpose(1, 2, 0),
dsize=(image_w, image_h),
interpolation=cv2.INTER_LINEAR)
cam_rw_pred = np.argmax(cam_rw, axis=-1).astype(np.uint8)
# CRF
image = image_batch['image'].data.cpu().numpy().astype(np.float32)
image = image[0, :, :image_h, :image_w].transpose(1, 2, 0)
image *= np.reshape(config.network.pixel_stds, (1, 1, 3))
image += np.reshape(config.network.pixel_means, (1, 1, 3))
image = image * 255
image = image.astype(np.uint8)
cam_rw = postprocessor(image, cam_rw.transpose(2, 0, 1))
cam_rw_pred = np.argmax(cam_rw, axis=0).astype(np.uint8)
# Save semantic predictions.
semantic_pred = cam_rw_pred
semantic_pred_name = os.path.join(semantic_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_name)):
os.makedirs(os.path.dirname(semantic_pred_name))
Image.fromarray(semantic_pred, mode='L').save(semantic_pred_name)
semantic_pred_rgb = color_map[semantic_pred]
semantic_pred_rgb_name = os.path.join(semantic_rgb_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_rgb_name)):
os.makedirs(os.path.dirname(semantic_pred_rgb_name))
Image.fromarray(semantic_pred_rgb,
mode='RGB').save(semantic_pred_rgb_name)
def main():
"""Generate pseudo labels by random walk and CRF for DensePose.
"""
# Retreve experiment configurations.
args = parse_args(
'Generate pseudo labels by random walk and CRF for DensePose.')
config.network.kmeans_num_clusters = separate_comma(
args.kmeans_num_clusters)
config.network.label_divisor = args.label_divisor
# Create directories to save results.
semantic_dir = os.path.join(args.save_dir, 'semantic_gray')
semantic_rgb_dir = os.path.join(args.save_dir, 'semantic_color')
# Create color map.
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
color_map = color_map.numpy()
# Create data loaders.
test_dataset = ListDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=None,
random_crop=False,
random_scale=False,
random_mirror=False,
training=False)
test_image_paths = test_dataset.image_paths
# Define CRF.
postprocessor = DenseCRF(
iter_max=args.crf_iter_max,
pos_xy_std=args.crf_pos_xy_std,
pos_w=args.crf_pos_w,
bi_xy_std=args.crf_bi_xy_std,
bi_rgb_std=args.crf_bi_rgb_std,
bi_w=args.crf_bi_w,
)
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config).cuda()
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
embedding_model.eval()
# Load trained weights.
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
save_iter = config.train.max_iteration - 1
embedding_model.load_state_dict(torch.load(
model_path_template.format(save_iter))['embedding_model'],
resume=True)
# Start inferencing.
with torch.no_grad():
for data_index in tqdm(range(len(test_dataset))):
# Image path.
image_path = test_image_paths[data_index]
base_name = os.path.basename(image_path).replace('.jpg', '.png')
# Image resolution.
image_batch, label_batch, _ = test_dataset[data_index]
image_h, image_w = image_batch['image'].shape[-2:]
lab_tags = np.unique(label_batch['semantic_label'])
lab_tags = lab_tags[lab_tags < config.dataset.num_classes]
label_tags = np.zeros((config.dataset.num_classes, ),
dtype=np.bool)
label_tags[lab_tags] = True
label_tags = torch.from_numpy(label_tags).cuda()
# Pad the input image.
image_batch['image'] = transforms.resize_with_pad(
image_batch['image'].transpose(1, 2, 0),
config.test.crop_size,
image_pad_value=0).transpose(2, 0, 1)
image_batch['image'] = torch.FloatTensor(
image_batch['image'][np.newaxis, ...]).cuda()
pad_image_h, pad_image_w = image_batch['image'].shape[-2:]
original_semantic_label = label_batch['semantic_label'].copy()
lab = label_batch['semantic_label']
lab[lab == 255] = config.dataset.num_classes
for lab in label_batch.keys():
label_batch[lab] = torch.LongTensor(
label_batch[lab][np.newaxis, ...]).cuda()
embeddings = embedding_model.generate_embeddings(
image_batch, resize_as_input=True)
embeddings['embedding'] = F.interpolate(embeddings['embedding'],
size=(pad_image_h // 2,
pad_image_w // 2),
mode='bilinear')
embeddings['embedding'] = (
embeddings['embedding'][:, :, :image_h // 2, :image_w // 2])
# Create affinity matrix.
embs = embeddings['embedding']
embs = F.interpolate(embs,
size=(image_h // 8, image_w // 8),
mode='bilinear')
embs = embs / torch.norm(embs, dim=1)
embs_flat = embs.view(embs.shape[1], -1)
aff = torch.matmul(embs_flat.t(),
embs_flat).mul_(5).add_(-5).exp_()
# Assign unknown labels to nearest neighbor.
size = embeddings['embedding'].shape[-2:]
s_lab = common_utils.resize_labels(label_batch['semantic_label'],
size)
i_lab = common_utils.resize_labels(label_batch['instance_label'],
size)
clusterings = embedding_model.generate_clusters(
embeddings['embedding'], s_lab, i_lab)
s_labs, c_inds = segsort_common.prepare_prototype_labels(
clusterings['cluster_semantic_label'],
clusterings['cluster_index'],
clusterings['cluster_semantic_label'].max() + 1)
embs = clusterings['cluster_embedding']
protos = segsort_common.calculate_prototypes_from_labels(
embs, c_inds)
s_tags = model_utils.gather_multiset_labels_per_batch_by_nearest_neighbor(
embs,
protos,
s_labs,
torch.zeros_like(clusterings['cluster_semantic_label']),
torch.zeros_like(s_labs),
num_classes=config.dataset.num_classes,
top_k=1,
threshold=-1,
label_divisor=config.network.label_divisor)
#s_labs = torch.argmax(s_tags, dim=1)
#semantic_pred = torch.gather(s_labs, 0, c_inds)
#semantic_pred = s_labs
s_probs = common_utils.segment_mean(s_tags.float(), c_inds)
s_probs = s_probs / s_probs.sum(dim=1, keepdims=True)
semantic_probs = torch.index_select(s_probs, 0, c_inds)
#semantic_pred = torch.argmax(semantic_probs, dim=1)
#semantic_pred = (semantic_pred.view(image_h, image_w)
# .data.cpu().numpy().astype(np.uint8))
semantic_probs = semantic_probs.view(1, image_h // 2, image_w // 2,
-1)
semantic_probs = semantic_probs.permute(0, 3, 1, 2).contiguous()
semantic_probs = F.interpolate(semantic_probs,
size=(image_h // 8, image_w // 8),
mode='bilinear')
max_prob = torch.max(semantic_probs.view(15, -1), dim=1)[0]
cam_full_arr = semantic_probs / max_prob.view(15, 1, 1)
cam_shape = cam_full_arr.shape[-2:]
label_tags = (~label_tags).view(-1, 1,
1).expand(-1, cam_shape[0],
cam_shape[1])
cam_full_arr = cam_full_arr.masked_fill(label_tags, 0)
if TH is not None:
cam_full_arr[0] = TH
# Start random walk.
aff_mat = aff**20
trans_mat = aff_mat / torch.sum(aff_mat, dim=0, keepdim=True)
for _ in range(WALK_STEPS):
trans_mat = torch.matmul(trans_mat, trans_mat)
cam_vec = cam_full_arr.view(15, -1)
cam_rw = torch.matmul(cam_vec, trans_mat)
cam_rw = cam_rw.view(15, cam_shape[0], cam_shape[1])
cam_rw = cam_rw.data.cpu().numpy()
cam_rw = cv2.resize(cam_rw.transpose(1, 2, 0),
dsize=(image_w, image_h),
interpolation=cv2.INTER_LINEAR)
cam_rw_pred = np.argmax(cam_rw, axis=-1).astype(np.uint8)
# CRF
image = image_batch['image'].data.cpu().numpy().astype(np.float32)
image = image[0, :, :image_h, :image_w].transpose(1, 2, 0)
image *= np.reshape(config.network.pixel_stds, (1, 1, 3))
image += np.reshape(config.network.pixel_means, (1, 1, 3))
image = image * 255
image = image.astype(np.uint8)
cam_rw = postprocessor(image, cam_rw.transpose(2, 0, 1))
cam_rw_pred = np.argmax(cam_rw, axis=0).astype(np.uint8)
# Ignore regions.
ignore_mask = original_semantic_label == 255
cam_rw_pred[ignore_mask] = 255
# Save semantic predictions.
semantic_pred = cam_rw_pred
semantic_pred_name = os.path.join(semantic_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_name)):
os.makedirs(os.path.dirname(semantic_pred_name))
Image.fromarray(semantic_pred, mode='L').save(semantic_pred_name)
semantic_pred_rgb = color_map[semantic_pred]
semantic_pred_rgb_name = os.path.join(semantic_rgb_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_rgb_name)):
os.makedirs(os.path.dirname(semantic_pred_rgb_name))
Image.fromarray(semantic_pred_rgb,
mode='RGB').save(semantic_pred_rgb_name)
def main():
"""Generate pseudo labels by nearest neighbor retrievals.
"""
# Retreve experiment configurations.
args = parse_args('Generate pseudo labels by nearest neighbor retrievals.')
config.network.kmeans_num_clusters = separate_comma(
args.kmeans_num_clusters)
config.network.label_divisor = args.label_divisor
# Create directories to save results.
semantic_dir = os.path.join(args.save_dir, 'semantic_gray')
semantic_rgb_dir = os.path.join(args.save_dir, 'semantic_color')
# Create color map.
color_map = vis_utils.load_color_map(config.dataset.color_map_path)
color_map = color_map.numpy()
# Create data loaders.
test_dataset = ListDataset(data_dir=args.data_dir,
data_list=args.data_list,
img_mean=config.network.pixel_means,
img_std=config.network.pixel_stds,
size=None,
random_crop=False,
random_scale=False,
random_mirror=False,
training=False)
test_image_paths = test_dataset.image_paths
# Create models.
if config.network.backbone_types == 'panoptic_pspnet_101':
embedding_model = resnet_101_pspnet(config).cuda()
elif config.network.backbone_types == 'panoptic_deeplab_101':
embedding_model = resnet_101_deeplab(config).cuda()
else:
raise ValueError('Not support ' + config.network.backbone_types)
if config.network.prediction_types == 'segsort':
prediction_model = segsort(config)
else:
raise ValueError('Not support ' + config.network.prediction_types)
embedding_model = embedding_model.to("cuda:0")
prediction_model = prediction_model.to("cuda:0")
embedding_model.eval()
prediction_model.eval()
# Load trained weights.
model_path_template = os.path.join(args.snapshot_dir, 'model-{:d}.pth')
save_iter = config.train.max_iteration - 1
embedding_model.load_state_dict(torch.load(
model_path_template.format(save_iter))['embedding_model'],
resume=True)
#prediction_model.load_state_dict(
# torch.load(model_path_template.format(save_iter))['prediction_model'])
# Define CRF.
postprocessor = DenseCRF(
iter_max=args.crf_iter_max,
pos_xy_std=args.crf_pos_xy_std,
pos_w=args.crf_pos_w,
bi_xy_std=args.crf_bi_xy_std,
bi_rgb_std=args.crf_bi_rgb_std,
bi_w=args.crf_bi_w,
)
# Load memory prototypes.
semantic_memory_prototypes, semantic_memory_prototype_labels = None, None
if args.semantic_memory_dir is not None:
semantic_memory_prototypes, semantic_memory_prototype_labels = (
segsort_others.load_memory_banks(args.semantic_memory_dir))
semantic_memory_prototypes = semantic_memory_prototypes.to("cuda:0")
semantic_memory_prototype_labels = semantic_memory_prototype_labels.to(
"cuda:0")
# Remove ignore class.
valid_prototypes = torch.ne(
semantic_memory_prototype_labels,
config.dataset.semantic_ignore_index).nonzero()
valid_prototypes = valid_prototypes.view(-1)
semantic_memory_prototypes = torch.index_select(
semantic_memory_prototypes, 0, valid_prototypes)
semantic_memory_prototype_labels = torch.index_select(
semantic_memory_prototype_labels, 0, valid_prototypes)
# Start inferencing.
with torch.no_grad():
for data_index in tqdm(range(len(test_dataset))):
# Image path.
image_path = test_image_paths[data_index]
base_name = os.path.basename(image_path).replace('.jpg', '.png')
# Image resolution.
original_image_batch, original_label_batch, _ = test_dataset[
data_index]
image_h, image_w = original_image_batch['image'].shape[-2:]
batches = other_utils.create_image_pyramid(original_image_batch,
original_label_batch,
scales=[0.5, 1, 1.5, 2],
is_flip=True)
lab_tags = np.unique(original_label_batch['semantic_label'])
lab_tags = lab_tags[lab_tags < config.dataset.num_classes]
label_tags = np.zeros((config.dataset.num_classes, ),
dtype=np.bool)
label_tags[lab_tags] = True
semantic_topks = []
for image_batch, label_batch, data_info in batches:
resize_image_h, resize_image_w = image_batch['image'].shape[
-2:]
# Crop and Pad the input image.
image_batch['image'] = transforms.resize_with_pad(
image_batch['image'].transpose(1, 2, 0),
config.test.crop_size,
image_pad_value=0).transpose(2, 0, 1)
image_batch['image'] = torch.FloatTensor(
image_batch['image'][np.newaxis, ...]).to("cuda:0")
pad_image_h, pad_image_w = image_batch['image'].shape[-2:]
# Create the fake labels where clustering ignores 255.
fake_label_batch = {}
for label_name in ['semantic_label', 'instance_label']:
lab = np.zeros((resize_image_h, resize_image_w),
dtype=np.uint8)
lab = transforms.resize_with_pad(
lab,
config.test.crop_size,
image_pad_value=config.dataset.semantic_ignore_index)
fake_label_batch[label_name] = torch.LongTensor(
lab[np.newaxis, ...]).to("cuda:0")
# Put label batch to gpu 1.
#for k, v in label_batch.items():
# label_batch[k] = torch.LongTensor(v[np.newaxis, ...]).to("cuda:0")
# Create the ending index of each patch.
stride_h, stride_w = config.test.stride
crop_h, crop_w = config.test.crop_size
npatches_h = math.ceil(1.0 *
(pad_image_h - crop_h) / stride_h) + 1
npatches_w = math.ceil(1.0 *
(pad_image_w - crop_w) / stride_w) + 1
patch_ind_h = np.linspace(crop_h,
pad_image_h,
npatches_h,
dtype=np.int32)
patch_ind_w = np.linspace(crop_w,
pad_image_w,
npatches_w,
dtype=np.int32)
# Create place holder for full-resolution embeddings.
embeddings = {}
counts = torch.FloatTensor(1, 1, pad_image_h,
pad_image_w).zero_().to("cuda:0")
for ind_h in patch_ind_h:
for ind_w in patch_ind_w:
sh, eh = ind_h - crop_h, ind_h
sw, ew = ind_w - crop_w, ind_w
crop_image_batch = {
k: v[:, :, sh:eh, sw:ew]
for k, v in image_batch.items()
}
# Feed-forward.
crop_embeddings = embedding_model.generate_embeddings(
crop_image_batch, resize_as_input=True)
# Initialize embedding.
for name in crop_embeddings:
if crop_embeddings[name] is None:
continue
crop_emb = crop_embeddings[name].to("cuda:0")
if name in ['embedding']:
crop_emb = common_utils.normalize_embedding(
crop_emb.permute(0, 2, 3, 1).contiguous())
crop_emb = crop_emb.permute(0, 3, 1, 2)
else:
continue
if name not in embeddings.keys():
embeddings[name] = torch.FloatTensor(
1, crop_emb.shape[1], pad_image_h,
pad_image_w).zero_().to("cuda:0")
embeddings[name][:, :, sh:eh, sw:ew] += crop_emb
counts[:, :, sh:eh, sw:ew] += 1
for k in embeddings.keys():
embeddings[k] /= counts
# KMeans.
lab_div = config.network.label_divisor
fake_sem_lab = fake_label_batch['semantic_label'][
..., :resize_image_h, :resize_image_w]
fake_inst_lab = fake_label_batch['instance_label'][
..., :resize_image_h, :resize_image_w]
embs = embeddings['embedding'][
..., :resize_image_h, :resize_image_w]
clustering_outputs = embedding_model.generate_clusters(
embs, fake_sem_lab, fake_inst_lab)
embeddings.update(clustering_outputs)
# Generate predictions.
outputs = prediction_model(embeddings, {
'semantic_memory_prototype':
semantic_memory_prototypes,
'semantic_memory_prototype_label':
semantic_memory_prototype_labels
},
with_loss=False,
with_prediction=True)
semantic_topk = common_utils.one_hot(
outputs['semantic_score'],
config.dataset.num_classes).float()
semantic_topk = torch.mean(semantic_topk, dim=1)
semantic_topk = semantic_topk.view(resize_image_h,
resize_image_w, -1)
#print(semantic_topk.shape)
semantic_topk = (semantic_topk.data.cpu().numpy().astype(
np.float32))
semantic_topk = cv2.resize(semantic_topk, (image_w, image_h),
interpolation=cv2.INTER_LINEAR)
if data_info['is_flip']:
semantic_topk = semantic_topk[:, ::-1]
semantic_topks.append(semantic_topk)
# Save semantic predictions.
semantic_topks = np.stack(semantic_topks,
axis=0).astype(np.float32)
#print(semantic_topks.shape)
semantic_prob = np.mean(semantic_topks, axis=0)
semantic_prob = semantic_prob.transpose(2, 0, 1)
# Normalize prediction.
C, H, W = semantic_prob.shape
max_prob = np.max(np.reshape(semantic_prob, (C, -1)), axis=1)
max_prob = np.maximum(max_prob, 0.15)
max_prob = np.reshape(max_prob, (C, 1, 1))
max_prob[~label_tags, :, :] = 1
semantic_prob = semantic_prob / max_prob
# DenseCRF post-processing.
image = original_image_batch['image'].astype(np.float32)
image = image.transpose(1, 2, 0)
image *= np.reshape(config.network.pixel_stds, (1, 1, 3))
image += np.reshape(config.network.pixel_means, (1, 1, 3))
image = image * 255
image = image.astype(np.uint8)
semantic_prob = postprocessor(image, semantic_prob)
semantic_pred = np.argmax(semantic_prob, axis=0).astype(np.uint8)
semantic_pred_name = os.path.join(semantic_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_name)):
os.makedirs(os.path.dirname(semantic_pred_name))
Image.fromarray(semantic_pred, mode='L').save(semantic_pred_name)
semantic_pred_rgb = color_map[semantic_pred]
semantic_pred_rgb_name = os.path.join(semantic_rgb_dir, base_name)
if not os.path.isdir(os.path.dirname(semantic_pred_rgb_name)):
os.makedirs(os.path.dirname(semantic_pred_rgb_name))
Image.fromarray(semantic_pred_rgb,
mode='RGB').save(semantic_pred_rgb_name)
