def _init_model(self, models):
models = [m.to(self.device) for m in models]
if self.cfg.pretrained_model:
self._log.info(
"=> Flow model using pre-trained weights {}.".format(
self.cfg.pretrained_model))
epoch, weights = load_checkpoint(self.cfg.pretrained_model)
models[0].load_state_dict(weights)
else:
self._log.info("=> Train flow model from scratch.")
models[0].init_weights()
if self.cfg.pretrained_model_depth:
self._log.info(
"=> Depth model using pre-trained weights {}.".format(
self.cfg.pretrained_model_depth))
epoch, weights = load_checkpoint(self.cfg.pretrained_model_depth)
models[1].load_state_dict(weights)
else:
self._log.info("=> Train depth model from scratch.")
models[1].init_weights()
models = [
torch.nn.DataParallel(m, device_ids=self.device_ids)
for m in models
]
return models
def _init_model(self, model):
# Load Model to Device
n_gpu_use = self.cfg.train.n_gpu
if self.cfg.mp.enabled:
id = self.id
if n_gpu_use > 0:
torch.cuda.set_device(self.device)
model = model.to(self.device)
else:
model = model.to(self.device)
# Load Weights
if self.cfg.train.pretrained_model:
self._log.info(self.id, "=> using pre-trained weights {}.".format(
self.cfg.train.pretrained_model))
epoch, weights = load_checkpoint(self.cfg.train.pretrained_model)
self.i_epoch = epoch
from collections import OrderedDict
new_weights = OrderedDict()
model_keys = list(model.state_dict().keys())
weight_keys = list(weights.keys())
for a, b in zip(model_keys, weight_keys):
new_weights[a] = weights[b]
weights = new_weights
model.load_state_dict(weights)
else:
self._log.info(self.id, "=> Train from scratch.")
model.init_weights()
# Load Custom
if hasattr(self.cfg.train, 'init_model'):
if self.cfg.train.init_model:
self._log.info(self.id, "=> using init weights {}.".format(
self.cfg.train.init_model))
epoch, weights = load_checkpoint(self.cfg.train.init_model)
from collections import OrderedDict
new_weights = OrderedDict()
model_keys = list(model.state_dict().keys())
weight_keys = list(weights.keys())
for a, b in zip(model_keys, weight_keys):
new_weights[a] = weights[b]
weights = new_weights
model.load_state_dict(weights, strict=False)
# Model Type
if self.cfg.mp.enabled:
if self.cfg.var.bn_avg:
model = torch.nn.SyncBatchNorm.convert_sync_batchnorm(model, 0)
if n_gpu_use > 0:
model = torch.nn.parallel.DistributedDataParallel(model, device_ids=self.device_ids, find_unused_parameters=True)
else:
model = torch.nn.parallel.DistributedDataParallel(model, find_unused_parameters=True)
else:
if n_gpu_use > 0:
model = torch.nn.DataParallel(model, device_ids=self.device_ids)
else:
model = torch.nn.DataParallel(model).to(self.device)
return model
def main(cfg, _log):
init_seed(cfg.seed)
_log.info("=> fetching img pairs.")
train_set, valid_set = get_dataset(cfg)
_log.info('{} samples found, {} train samples and {} test samples '.format(
len(valid_set) + len(train_set), len(train_set), len(valid_set)))
train_loader = torch.utils.data.DataLoader(train_set,
batch_size=cfg.train.batch_size,
num_workers=cfg.train.workers,
pin_memory=True,
shuffle=True)
max_test_batch = 4
if type(valid_set) is torch.utils.data.ConcatDataset:
valid_loader = [
torch.utils.data.DataLoader(s,
batch_size=min(max_test_batch,
cfg.train.batch_size),
num_workers=min(4, cfg.train.workers),
pin_memory=True,
shuffle=False)
for s in valid_set.datasets
]
valid_size = sum([len(l) for l in valid_loader])
else:
valid_loader = torch.utils.data.DataLoader(
valid_set,
batch_size=min(max_test_batch, cfg.train.batch_size),
num_workers=min(4, cfg.train.workers),
pin_memory=True,
shuffle=False)
valid_size = len(valid_loader)
if cfg.train.epoch_size == 0:
cfg.train.epoch_size = len(train_loader)
if cfg.train.valid_size == 0:
cfg.train.valid_size = valid_size
cfg.train.epoch_size = min(cfg.train.epoch_size, len(train_loader))
cfg.train.valid_size = min(cfg.train.valid_size, valid_size)
model = get_model(cfg.model)
loss = get_loss(cfg.loss)
trainer = get_trainer(cfg.trainer)(train_loader, valid_loader, model, loss,
_log, cfg.save_root, cfg.train)
for name, param in model.named_parameters():
if ("pyramid" in name) == False:
param.requires_grad = False
else:
print(name, param.requires_grad)
#parameter.requires_grad = False
epoch, weights = load_checkpoint('checkpoints/Sintel/pwclite_ar.tar')
print("traiiiiiiiiiiiiiiiiiiiiiiiiiiiiin", weights)
trainer.model = model
trainer.train()
def _init_model(self, model):
model = model.to(self.device)
if self.cfg.pretrained_model:
self._log.info("=> using pre-trained weights {}.".format(
self.cfg.pretrained_model))
epoch, weights = load_checkpoint(self.cfg.pretrained_model)
from collections import OrderedDict
new_weights = OrderedDict()
model_keys = list(model.state_dict().keys())
weight_keys = list(weights.keys())
for a, b in zip(model_keys, weight_keys):
new_weights[a] = weights[b]
weights = new_weights
model.load_state_dict(weights)
else:
self._log.info("=> Train from scratch.")
model.init_weights()
model = torch.nn.DataParallel(model, device_ids=self.device_ids)
return model
def main():
# Last layer of convs is 28, maxpool is 30
target_layer = 4
on_conv = True
no_imgs = 10
toy = False
feat = True
label = 3 # 0,1 for feat, 0,6 for actions of qnet, 0,5 for cats
if not feat:
combi = True
# inputsize = 2704
# hiddensize = 512
inputsize = 25088
hiddensize = 1024
outputsize = 7
hidden_rec = 0
else:
combi = False
recurrent = -1
model_type = 'resnet'
with_pos = False
# checkpoint_dir_feat = os.path.abspath('/Users/lisa/Documents/Uni/ThesisDS/local_python/checkpoints/resnet_toy_01')
# checkpoint_dir_feat = os.path.abspath('../checkpoints/res_pos_01')
# checkpoint_filename_feat = os.path.join(checkpoint_dir_feat, 'checkpoint_resnet.pth.tar')
checkpoint_dir_feat = os.path.abspath(
'../checkpoints_from_18_07_18/resnet_cats_01')
checkpoint_filename_feat = os.path.join(
checkpoint_dir_feat, 'warmup_model_{}.pth.tar'.format(model_type))
# checkpoint_filename_feat = os.path.join(checkpoint_dir_feat, 'checkpoint_vgg.pth.tar')
# checkpoint_filename_feat = os.path.join(checkpoint_dir_feat, 'model_best_resnet.pth.tar')
# vgg = models.vgg16(pretrained=True)
# checkpoint_dir_q = os.path.abspath('../checkpoints_from_18_07_18/qnet_simple_05_1')
# checkpoint_filename_q = os.path.join(checkpoint_dir_q, 'model_best_qnet.pth.tar')
# checkpoint_dir_feat = os.path.abspath('../checkpoints_from_18_07_18/resnet_auto_test_adam_1_2')
# checkpoint_filename_feat = os.path.join(checkpoint_dir_feat, 'warmup_model_{}.pth.tar'.format(model_type))
# checkpoint_dir_q = os.path.abspath('../checkpoints_from_18_07_18/qnet_auto_03')
# checkpoint_filename_q = os.path.join(checkpoint_dir_q, 'model_best_qnet.pth.tar')
lr = 0.01
model = get_feature_model(model_type,
model_type,
load_pretrained=False,
opti='optim.Adam',
lr=lr,
mom=None,
checkpoint_pretrained=None,
learn_pos=False,
force_on_cpu=False,
cat=True)
if torch.cuda.is_available():
model.cuda()
print(model)
if not feat:
if model_type == 'auto' or model_type == 'resnet':
model = res.ResNetFeatures(model)
else:
model = m.NetNoDecisionLayer(model)
model = get_q_model(combi=combi,
recurrent=recurrent,
toy=toy,
inputsize=inputsize,
hiddensize=hiddensize,
outputsize=outputsize,
feature_model=model,
hidden_rec=hidden_rec)
print(model)
if torch.cuda.is_available():
model.cuda()
criterion = nn.SmoothL1Loss()
if combi and recurrent <= 0:
if model_type == 'auto' or model_type == 'resnet':
model_params = [{
'params': model.conv1.parameters(),
'lr': lr / 10
}, {
'params': model.bn1.parameters(),
'lr': lr / 10
}, {
'params': model.relu.parameters(),
'lr': lr / 10
}, {
'params': model.maxpool.parameters(),
'lr': lr / 10
}, {
'params': model.layer1.parameters(),
'lr': lr / 10
}, {
'params': model.layer2.parameters(),
'lr': lr / 10
}, {
'params': model.layer3.parameters(),
'lr': lr / 10
}, {
'params': model.layer4.parameters(),
'lr': lr / 10
}, {
'params': model.qnet.parameters()
}]
else:
model_params = [{
'params': model.features.parameters(),
'lr': lr / 10
}, {
'params': model.qnet.parameters()
}]
else:
model_params = model.parameters()
optimizer = get_optimizer(model_params, 'optim.Adam', 0.01, None)
if feat:
to_load = os.path.join(checkpoint_dir_feat, checkpoint_filename_feat)
else:
to_load = os.path.join(checkpoint_dir_q, checkpoint_filename_q)
if os.path.exists(to_load):
model, _, _ = load_checkpoint(model,
optimizer,
filename=to_load,
force_on_cpu=False)
else:
raise ValueError('Checkpoint {} does not exist.'.format(to_load))
val_loader = get_valloader_only(toy=toy,
rsyncing=False,
batch_size=1,
num_workers=0,
cat=True)
# Grad cam
# Target layer doesn't matter for classifier hook
# target_layer = 0
# on_conv = False
grad_cam = GradCam(model,
target_layer=target_layer,
model_type=model_type,
feat=feat)
checkpoint_dir_feat = os.path.join(checkpoint_dir_feat,
'Layer_{}'.format(target_layer))
if not os.path.isdir(checkpoint_dir_feat):
os.makedirs(checkpoint_dir_feat)
# Generate cam mask
for i, batch in enumerate(val_loader):
if len(batch['image_batch']) > 1:
for j in range(len(batch['image_batch'])):
print('---', flush=True)
print('{}_{}, label {}, has lesion {}'.format(
batch['image_id_batch'][j], j, batch['label_batch'][j],
batch['has_lesion_batch'][j]),
flush=True)
print(batch['image_batch'][j].size(), flush=True)
print(batch['image_batch'][j].type(), flush=True)
# cam = grad_cam.generate_cam(torch.unsqueeze(batch['image_batch'][j], 0),
# label=batch['label_batch'][j], on_conv=on_conv, pos=with_pos,
# row=batch['center_row_batch'][j], col=batch['center_col_batch'][j])
# cam = grad_cam.generate_cam(torch.unsqueeze(batch['image_batch'][j], 0),
# label=1, on_conv=on_conv, pos=with_pos,
# row=batch['center_row_batch'][j], col=batch['center_col_batch'][j])
# save_class_activation_on_image(checkpoint_dir_feat, batch['image_batch'][j].numpy(), cam,
# '{}_{}'.format(batch['image_id_batch'][j], j))
cam = grad_cam.generate_cam(torch.unsqueeze(
batch['image_batch'][j], 0),
label=label,
on_conv=on_conv,
pos=with_pos,
row=batch['center_row_batch'][j],
col=batch['center_col_batch'][j])
save_class_activation_on_image(
checkpoint_dir_feat,
tensor_to_numpy(batch['image_batch'][j]), cam,
'{}_{}'.format(batch['image_id_batch'][j], j))
one_img_figure(checkpoint_dir_feat,
batch['image_id_batch'][0],
batch['original_batch'][0],
four_bbs=True)
save_orig_with_bbs(checkpoint_dir_feat, batch['image_id_batch'][0],
batch['original_batch'][0], batch['bbox_batch'])
elif len(batch['image_batch']) == 1:
print('---', flush=True)
print(batch['image_batch'][0].shape, flush=True)
print('{}_{}, label {}, has lesion {}'.format(
batch['image_id_batch'][0], 0, batch['label_batch'][0],
batch['has_lesion_batch'][0]),
flush=True)
# cam = grad_cam.generate_cam(torch.unsqueeze(batch['image_batch'][0], 0), label=batch['label_batch'][0],
# on_conv=on_conv, pos=with_pos, row=batch['center_row_batch'][0],
# col=batch['center_col_batch'][0])
cam = grad_cam.generate_cam(torch.unsqueeze(
batch['image_batch'][0], 0),
label=label,
on_conv=on_conv,
pos=with_pos,
row=batch['center_row_batch'][0],
col=batch['center_col_batch'][0])
save_class_activation_on_image(
checkpoint_dir_feat, tensor_to_numpy(batch['image_batch'][0]),
cam, '{}_{}'.format(batch['image_id_batch'][0], 0))
if i >= no_imgs - 1:
break
print('Grad cam completed', flush=True)
def test(cfg_dict, feat_model_string, rsyncing, toy=False):
# checkpoint_dir, experiment_name = 'qnet', opti = 'optim.RMSprop', lr = 0.001, mom = 0.1, combi = False
checkpoint_dir, log_dir, experiment_name = get_q_save_check_tensorB_expName(
cfg_dict)
opti_feat, lr, mom, _ = get_f_train_opti_lr_mom_epochs(cfg_dict)
inputsize, hiddensize, outputsize = get_q_net_input_hidden_output(cfg_dict)
_, _, _, double, combi, param_noise, recurrent, hidden_rec, _, _, _ = get_q_variants_oneImg_maxNumImgsT_maxNumImgsV_double_combi_paramNoise_recurrent_recSize_distReward_distFactor_hist(
cfg_dict)
_, max_steps, replaysize = get_q_hyper_cloneFreq_maxSteps_replaysize(
cfg_dict)
test_tau = get_q_explo_kappa_epochsEps_targetEps_tau_testTau_tauEpochs(
cfg_dict)[4]
cat = get_f_variants_selectiveS_checkPretrained_cat(cfg_dict)[2]
featnet_checkpoint = get_f_save_check_tensorB_expName(cfg_dict)[0]
print('-------------')
print('feat_model_string', feat_model_string)
print('-------------')
feature_model = get_feature_model(feat_model_string,
feat_model_string,
load_pretrained=True,
opti='optim.Adam',
lr=lr,
mom=mom,
checkpoint_pretrained=featnet_checkpoint,
cat=cat)
if feat_model_string == 'auto' or feat_model_string == 'resnet':
feature_model = res.ResNetFeatures(feature_model)
else:
feature_model = m.NetNoDecisionLayer(feature_model)
if torch.cuda.is_available():
feature_model.cuda()
model = get_q_model(combi,
recurrent,
toy,
inputsize,
hiddensize,
outputsize,
feature_model=feature_model,
hidden_rec=hidden_rec)
# HERE
if torch.cuda.is_available():
model.cuda()
criterion = nn.MSELoss()
if combi and recurrent <= 0:
if feat_model_string == 'auto' or feat_model_string == 'resnet':
model_params = [{
'params': model.conv1.parameters(),
'lr': lr / 10
}, {
'params': model.bn1.parameters(),
'lr': lr / 10
}, {
'params': model.relu.parameters(),
'lr': lr / 10
}, {
'params': model.maxpool.parameters(),
'lr': lr / 10
}, {
'params': model.layer1.parameters(),
'lr': lr / 10
}, {
'params': model.layer2.parameters(),
'lr': lr / 10
}, {
'params': model.layer3.parameters(),
'lr': lr / 10
}, {
'params': model.layer4.parameters(),
'lr': lr / 10
}, {
'params': model.qnet.parameters()
}]
else:
model_params = [{
'params': model.features.parameters(),
'lr': lr / 10
}, {
'params': model.qnet.parameters()
}]
elif combi and recurrent > 0:
if toy:
model_params = [
{
'params': model.features.parameters(),
'lr': lr / 10
},
{
'params': model.ll1.parameters()
},
{
'params': model.ll2.parameters()
},
{
'params': model.ll3.parameters()
},
{
'params': model.relu2.parameters()
},
{
'params': model.lstm.parameters()
},
]
else:
model_params = [
{
'params': model.conv1.parameters(),
'lr': lr / 10
},
{
'params': model.bn1.parameters(),
'lr': lr / 10
},
{
'params': model.relu.parameters(),
'lr': lr / 10
},
{
'params': model.maxpool.parameters(),
'lr': lr / 10
},
{
'params': model.layer1.parameters(),
'lr': lr / 10
},
{
'params': model.layer2.parameters(),
'lr': lr / 10
},
{
'params': model.layer3.parameters(),
'lr': lr / 10
},
{
'params': model.layer4.parameters(),
'lr': lr / 10
},
{
'params': model.ll1.parameters()
},
{
'params': model.ll2.parameters()
},
{
'params': model.ll3.parameters()
},
{
'params': model.relu2.parameters()
},
{
'params': model.lstm.parameters()
},
]
else:
model_params = model.parameters()
optimizer = get_optimizer(model_params, opti_feat, lr, mom)
print(model, flush=True)
# checkpoint_filename = os.path.join(checkpoint_dir, 'checkpoint_{}.pth.tar'.format(experiment_name))
# checkpoint_filename = os.path.join(checkpoint_dir, 'model_best_{}.pth.tar'.format(experiment_name))
checkpoint_filename = os.path.join(
checkpoint_dir, 'warmup_model_{}.pth.tar'.format(experiment_name))
print('Load checkpoint from {}'.format(
os.path.abspath(checkpoint_filename)))
######
# TODO this if else should be before
if os.path.exists(checkpoint_filename):
if not os.path.isdir('{}/trajectories_test'.format(checkpoint_dir)):
os.makedirs('{}/trajectories_test'.format(checkpoint_dir))
# Don't load optimizer, otherwise LR might be too low already (yes? TODO)
model, _, initial_epoch = load_checkpoint(model,
optimizer,
filename=checkpoint_filename)
if combi and recurrent <= 0:
if feat_model_string == 'auto' or feat_model_string == 'resnet':
model_params = [{
'params': model.conv1.parameters(),
'lr': lr / 10
}, {
'params': model.bn1.parameters(),
'lr': lr / 10
}, {
'params': model.relu.parameters(),
'lr': lr / 10
}, {
'params': model.maxpool.parameters(),
'lr': lr / 10
}, {
'params': model.layer1.parameters(),
'lr': lr / 10
}, {
'params': model.layer2.parameters(),
'lr': lr / 10
}, {
'params': model.layer3.parameters(),
'lr': lr / 10
}, {
'params': model.layer4.parameters(),
'lr': lr / 10
}, {
'params': model.qnet.parameters()
}]
else:
model_params = [{
'params': model.features.parameters(),
'lr': lr / 10
}, {
'params': model.qnet.parameters()
}]
else:
model_params = model.parameters()
assert opti_feat in ['optim.Adam', 'optim.SGD', 'optim.RMSprop']
print('Using optimizer {}'.format(opti_feat))
if opti_feat == 'optim.Adam':
optimizer = eval(opti_feat)(model_params, lr=lr)
else:
optimizer = eval(opti_feat)(model_params, lr=lr, momentum=mom)
model_path = 'model_best_{}.pth.tar'.format(experiment_name)
print('Loading model checkpointed at epoch {}'.format(initial_epoch))
print('Get val env', flush=True)
val_env = get_val_env_only(cfg_dict,
feature_model,
rsyncing=rsyncing,
toy=toy,
f_one=True)
# val_env = get_val_env_only(cfg_dict, feature_model, rsyncing=rsyncing, toy=toy,f_one=False)
warmup_trainer = QNetTrainer(cfg_dict,
model,
val_env,
experiment_name=experiment_name,
log_dir='default',
checkpoint_dir=checkpoint_dir,
checkpoint_filename=model_path,
for_testing=True,
tau_schedule=0,
recurrent=recurrent)
warmup_trainer.compile(loss=criterion, optimizer=optimizer)
print('Evaluate', flush=True)
val_metrics_arr, trajectory_all_imgs, triggered_all_imgs, Q_s_all_imgs, all_imgs, all_gt, \
actions_all_imgs = warmup_trainer.evaluate(val_env, 0, save_trajectory=True)
print('Val_metrics_arr', val_metrics_arr)
width = 2
steps_until_detection = []
print('Save', flush=True)
if len(trajectory_all_imgs) > 1:
# print('i:',len(trajectory_all_imgs),flush=True)
for i, img in enumerate(trajectory_all_imgs):
# print('j:',len(trajectory_all_imgs[i]),flush=True)
orig_img = all_imgs[i]
if all_gt[i] is None:
orig_r = 0
orig_c = 0
orig_rn = 0
orig_cn = 0
else:
orig_r, orig_c, orig_rn, orig_cn = get_nums_from_bbox(
all_gt[i])
for j, starts in enumerate(img):
# print('k:',len(trajectory_all_imgs[i][j]),flush=True)
for k, step in enumerate(starts):
r, c, rn, cn = step
# print(triggered_all_imgs)
# print(Q_s_all_imgs)
# print(len(Q_s_all_imgs))
# print(len(Q_s_all_imgs[i]))
# print(len(Q_s_all_imgs[i][j]))
if triggered_all_imgs[i][j] == 1 and k == (
len(starts) - 1):
steps_until_detection.append(k)
if i < 10:
save_image_with_orig_plus_current_bb(
orig_img,
'{}/trajectories_test/{}_{}_{}_trigger.png'
.format(checkpoint_dir, i, j, k),
bbox_flag=True,
r=r,
c=c,
rn=rn,
cn=cn,
ro=orig_r,
co=orig_c,
rno=orig_rn,
cno=orig_cn,
lwidth=width,
Q_s=Q_s_all_imgs[i][j][k],
eps=-1,
action=actions_all_imgs[i][j][k])
else:
if i < 10:
save_image_with_orig_plus_current_bb(
orig_img,
'{}/trajectories_test/{}_{}_{}.png'.format(
checkpoint_dir, i, j, k),
bbox_flag=True,
r=r,
c=c,
rn=rn,
cn=cn,
ro=orig_r,
co=orig_c,
rno=orig_rn,
cno=orig_cn,
lwidth=width,
Q_s=Q_s_all_imgs[i][j][k],
eps=-1,
action=actions_all_imgs[i][j][k])
else:
orig_img = all_imgs[0]
orig_r, orig_c, orig_rn, orig_cn = get_nums_from_bbox(all_gt[0])
for j, starts in enumerate(trajectory_all_imgs[0]):
for k, step in enumerate(starts):
r, c, rn, cn = step
if triggered_all_imgs[0][j] == 1 and k == (len(starts) -
1):
steps_until_detection.append(k)
save_image_with_orig_plus_current_bb(
orig_img,
'{}/trajectories_test/0_{}_{}_trigger.png'.format(
checkpoint_dir, j, k),
bbox_flag=True,
r=r,
c=c,
rn=rn,
cn=cn,
ro=orig_r,
co=orig_c,
rno=orig_rn,
cno=orig_cn,
lwidth=width,
Q_s=Q_s_all_imgs[0][j][k],
action=actions_all_imgs[0][j][k])
else:
save_image_with_orig_plus_current_bb(
orig_img,
'{}/trajectories_test/0_{}_{}_trigger.png'.format(
checkpoint_dir, j, k),
bbox_flag=True,
r=r,
c=c,
rn=rn,
cn=cn,
ro=orig_r,
co=orig_c,
rno=orig_rn,
cno=orig_cn,
lwidth=width,
Q_s=Q_s_all_imgs[0][j][k],
action=actions_all_imgs[0][j][k])
pkl.dump(
steps_until_detection,
open(
'{}/trajectories_test/steps_until_detection.pkl'.format(
checkpoint_dir), 'wb'))
pkl.dump(
val_metrics_arr,
open(
'{}/trajectories_test/val_metrics_arr.pkl'.format(
checkpoint_dir), 'wb'))
else:
print('For testing, checkpoint filename has to exist')
# Decoder
if parameters["decoder"] == "crf":
decoder = CRFDecoder(output_dim,
train_data["vocab"]["tag"],
dropout=parameters["dropout"])
elif parameters["decoder"] == "softmax":
decoder = SoftmaxDecoder(output_dim,
train_data["vocab"]["tag"],
dropout=parameters["dropout"])
# Model
model = EmbedderEncoderDecoder(embedder, encoder, decoder)
model.to(parameters["device"])
# Reload best checkpoint
state = load_checkpoint(parameters["run_dir"] + "ner_best.pth.tar")
model.load_state_dict(state["model"])
# Change Glove Embedder
if "word_embedder" in model.embedder.embedders.keys():
logging.info(
"Changing embedder to OOD data and intersecting with trained embeddings..."
)
### Find words in OOD vocabulary in Train vocabulary
inter_vocab = intersect(train_data["vocab"]["word"][1],
ood_data["vocab"]["word"][1])
### Load trained embeddings values
train_embeddings = model.embedder.embedders[
"word_embedder"].embedder.word_embeddings.weight
def prepare_and_start_training(cfg_dict, feat_model_string, rsyncing, toy=False):
torch.backends.cudnn.enabled = True
torch.backends.cudnn.benchmark = True
# Retrieve params Q
opti, lr, mom, num_epochs, transitions_per_learning = get_q_train_opti_lr_mom_epochs_transPerUp(cfg_dict)
checkpoint_dir, tensorboard_dir, experiment_name = get_q_save_check_tensorB_expName(cfg_dict)
_, _, _, double, combi, param_noise, recurrent, hidden_rec, _, _, _ = get_q_variants_oneImg_maxNumImgsT_maxNumImgsV_double_combi_paramNoise_recurrent_recSize_distReward_distFactor_hist(
cfg_dict)
_, resume, lr_schedule, _ = get_seed_resume_lrSchedule_root(cfg_dict)
inputsize, hiddensize, outputsize = get_q_net_input_hidden_output(cfg_dict)
kappa, decreasing_eps, target_eps, tau, test_tau, tau_schedule_epochs = get_q_explo_kappa_epochsEps_targetEps_tau_testTau_tauEpochs(
cfg_dict)
clone_freq, max_steps, replaysize = get_q_hyper_cloneFreq_maxSteps_replaysize(cfg_dict)
gamma, _, _, _ , clip_val = get_q_rewards_gamma_zeta_eta_iota_clipVal(cfg_dict)
# Retrieve params Feat
feat_checkpoint_dir, _, feat_experiment_name = get_f_save_check_tensorB_expName(cfg_dict)
opti_feat = get_f_train_opti_lr_mom_epochs(cfg_dict)[0]
# Load feature model and get environments #
cat = get_f_variants_selectiveS_checkPretrained_cat(cfg_dict)[2]
feature_model = get_feature_model(feat_model_string, feat_experiment_name, load_pretrained=True, opti='optim.Adam', lr=lr,
mom=mom,
checkpoint_pretrained=feat_checkpoint_dir,cat=cat)
if feat_experiment_name == 'auto' or feat_experiment_name == 'resnet':
feature_model = res.ResNetFeatures(feature_model)
elif feat_experiment_name == 'resnet_pool':
feature_model = res.ResNetFeaturesPool(feature_model)
else:
feature_model = m.NetNoDecisionLayer(feature_model)
if torch.cuda.is_available():
feature_model.cuda()
is_simple =False
with_pool = False
if feat_experiment_name == 'simple':
is_simple= True
elif feat_experiment_name == 'resnet_pool':
with_pool= True
model = get_q_model(combi, recurrent, toy, inputsize, hiddensize, outputsize, feature_model=feature_model, hidden_rec=hidden_rec,cat=cat,simple=is_simple,with_pool=with_pool)
# HERE
if torch.cuda.is_available():
model.cuda()
if clip_val:
criterion = nn.SmoothL1Loss()
else:
criterion = nn.MSELoss()
if combi and recurrent <= 0:
if feat_experiment_name == 'auto' or feat_experiment_name == 'resnet' or feat_experiment_name == 'resnet_pool':
model_params = [
{'params': model.conv1.parameters(), 'lr': lr / 10},
{'params': model.bn1.parameters(), 'lr': lr / 10},
{'params': model.relu.parameters(), 'lr': lr / 10},
{'params': model.maxpool.parameters(), 'lr': lr / 10},
{'params': model.layer1.parameters(), 'lr': lr / 10},
{'params': model.layer2.parameters(), 'lr': lr / 10},
{'params': model.layer3.parameters(), 'lr': lr / 10},
{'params': model.layer4.parameters(), 'lr': lr / 10},
{'params': model.qnet.parameters()}
]
else:
model_params = [
{'params': model.features.parameters(), 'lr': lr / 10},
{'params': model.qnet.parameters()}
]
elif combi and recurrent > 0:
if toy:
model_params = [
{'params': model.features.parameters(), 'lr': lr / 10},
{'params': model.ll1.parameters()},
{'params': model.ll2.parameters()},
{'params': model.ll3.parameters()},
{'params': model.relu2.parameters()},
{'params': model.lstm.parameters()},
]
else:
model_params = [
{'params': model.conv1.parameters(), 'lr': lr / 10},
{'params': model.bn1.parameters(), 'lr': lr / 10},
{'params': model.relu.parameters(), 'lr': lr / 10},
{'params': model.maxpool.parameters(), 'lr': lr / 10},
{'params': model.layer1.parameters(), 'lr': lr / 10},
{'params': model.layer2.parameters(), 'lr': lr / 10},
{'params': model.layer3.parameters(), 'lr': lr / 10},
{'params': model.layer4.parameters(), 'lr': lr / 10},
{'params': model.ll1.parameters()},
{'params': model.ll2.parameters()},
{'params': model.ll3.parameters()},
{'params': model.relu2.parameters()},
{'params': model.lstm.parameters()},
]
else:
model_params = model.parameters()
optimizer = get_optimizer(model_params, opti, lr, mom)
print(model, flush=True)
# checkpoint_filename = os.path.join(checkpoint_dir, 'warmup_model_{}.pth.tar'.format(experiment_name))
checkpoint_filename = os.path.join(checkpoint_dir, 'model_best_{}.pth.tar'.format(experiment_name))
######
if resume and os.path.exists(checkpoint_filename):
print('======',flush=True)
# Don't load optimizer, otherwise LR might be too low already (yes? TODO)
model, _, initial_epoch, replay_mem = load_checkpoint(model, optimizer, filename=checkpoint_filename, load_mem=True, checkpoint_dir=checkpoint_dir,experiment_name=experiment_name)
# TODO better solution?
if clip_val:
criterion = nn.SmoothL1Loss()
else:
criterion = nn.MSELoss()
if combi and recurrent <= 0:
if feat_experiment_name == 'auto' or feat_experiment_name == 'resnet' or feat_experiment_name == 'resnet_pool':
model_params = [
{'params': model.conv1.parameters(), 'lr': lr / 10},
{'params': model.bn1.parameters(), 'lr': lr / 10},
{'params': model.relu.parameters(), 'lr': lr / 10},
{'params': model.maxpool.parameters(), 'lr': lr / 10},
{'params': model.layer1.parameters(), 'lr': lr / 10},
{'params': model.layer2.parameters(), 'lr': lr / 10},
{'params': model.layer3.parameters(), 'lr': lr / 10},
{'params': model.layer4.parameters(), 'lr': lr / 10},
{'params': model.qnet.parameters()}
]
else:
model_params = [
{'params': model.features.parameters(), 'lr': lr / 10},
{'params': model.qnet.parameters()}
]
elif combi and recurrent > 0:
if toy:
model_params = [
{'params': model.features.parameters(), 'lr': lr / 10},
{'params': model.ll1.parameters()},
{'params': model.ll2.parameters()},
{'params': model.ll3.parameters()},
{'params': model.relu2.parameters()},
{'params': model.lstm.parameters()},
]
else:
model_params = [
{'params': model.conv1.parameters(), 'lr': lr / 10},
{'params': model.bn1.parameters(), 'lr': lr / 10},
{'params': model.relu.parameters(), 'lr': lr / 10},
{'params': model.maxpool.parameters(), 'lr': lr / 10},
{'params': model.layer1.parameters(), 'lr': lr / 10},
{'params': model.layer2.parameters(), 'lr': lr / 10},
{'params': model.layer3.parameters(), 'lr': lr / 10},
{'params': model.layer4.parameters(), 'lr': lr / 10},
{'params': model.ll1.parameters()},
{'params': model.ll2.parameters()},
{'params': model.ll3.parameters()},
{'params': model.relu2.parameters()},
{'params': model.lstm.parameters()},
]
else:
model_params = model.parameters()
optimizer = get_optimizer(model_params, opti, lr, mom)
model_path = 'checkpoint_{}.pth.tar'.format(experiment_name)
print('Loading model checkpointed at epoch {}/{}'.format(initial_epoch, num_epochs))
print('======',flush=True)
else:
print('======',flush=True)
print('First things first',flush=True)
model_path = 'checkpoint_{}.pth.tar'.format(experiment_name)
replay_mem = None
initial_epoch = 1
print('======',flush=True)
# Always start training from beginning
# initial_epoch = 1
if combi:
train_env, val_env = get_envs(cfg_dict, model, rsyncing, toy, f_one=True)
else:
train_env, val_env = get_envs(cfg_dict, feature_model, rsyncing, toy, f_one=True)
warmup_trainer = QNetTrainer(cfg_dict,
model, train_env, experiment_name=experiment_name,
log_dir=tensorboard_dir, checkpoint_dir=checkpoint_dir,
checkpoint_filename=model_path,
tau_schedule=tau_schedule_epochs, recurrent=recurrent, replay_mem=replay_mem)
warmup_trainer.compile(loss=criterion, optimizer=optimizer)
# Start Training #
warmup_trainer.train(
val_env=val_env, initial_epoch=initial_epoch, num_epochs=num_epochs, decreasing_eps=decreasing_eps,
target_eps=target_eps, transitions_per_learning=transitions_per_learning,
lr_schedule=lr_schedule)
best_model_path = os.path.join(warmup_trainer.checkpoint_dir, 'model_best_{}.pth.tar'.format(experiment_name))
warmup_model_path = os.path.join(warmup_trainer.checkpoint_dir, 'warmup_model_{}.pth.tar'.format(experiment_name))
shutil.move(best_model_path, warmup_model_path)
def __init__(self):
self.transforms = None
self.index = 0
self.prev_index = -1
self.bridge = CvBridge()
self.prev_seq = None
self.just_started = True
self.mode = rospy.get_param('~mode', 'stereo')
self.plan = rospy.get_param('~plan', 0)
self.return_mode = rospy.get_param('~return_mode', 0)
print(self.mode, self.plan)
params_file = 'real_sensor.json'
# Planner
self.planner = None
if self.plan:
self.planner = Planner(mode="real", params_file=params_file)
# Params
with open(params_file) as f:
self.param = json.load(f)
self.param["d_candi"] = img_utils.powerf(self.param["s_range"],
self.param["e_range"], 64, 1.)
# Gen Model Datum
intrinsics = torch.tensor(self.param["intr_rgb"]).unsqueeze(0) / 4
intrinsics[0, 2, 2] = 1.
intrinsics_up = torch.tensor(self.param["intr_rgb"]).unsqueeze(0)
s_width = self.param["size_rgb"][0] / 4
s_height = self.param["size_rgb"][1] / 4
focal_length = np.mean(
[intrinsics_up[0, 0, 0], intrinsics_up[0, 1, 1]])
h_fov = math.degrees(
math.atan(intrinsics_up[0, 0, 2] / intrinsics_up[0, 0, 0]) * 2)
v_fov = math.degrees(
math.atan(intrinsics_up[0, 1, 2] / intrinsics_up[0, 1, 1]) * 2)
pixel_to_ray_array = View.normalised_pixel_to_ray_array(\
width= int(s_width), height= int(s_height), hfov = h_fov, vfov = v_fov,
normalize_z = True)
pixel_to_ray_array_2dM = np.reshape(
np.transpose(pixel_to_ray_array, axes=[2, 0, 1]), [3, -1])
pixel_to_ray_array_2dM = torch.from_numpy(
pixel_to_ray_array_2dM.astype(np.float32)).unsqueeze(0)
left_2_right = torch.tensor(self.param["left_2_right"])
if self.mode == "stereo" or self.mode == "stereo_lc":
src_cam_poses = torch.cat(
[left_2_right.unsqueeze(0),
torch.eye(4).unsqueeze(0)]).unsqueeze(0)
elif self.mode == "mono" or self.mode == "mono_lc":
src_cam_poses = torch.cat(
[torch.eye(4).unsqueeze(0),
torch.eye(4).unsqueeze(0)]).unsqueeze(0)
self.model_datum = dict()
self.model_datum["intrinsics"] = intrinsics.cuda()
self.model_datum["intrinsics_up"] = intrinsics_up.cuda()
self.model_datum["unit_ray"] = pixel_to_ray_array_2dM.cuda()
self.model_datum["src_cam_poses"] = src_cam_poses.cuda()
self.model_datum["d_candi"] = self.param["d_candi"]
self.model_datum["d_candi_up"] = self.param["d_candi"]
self.model_datum["rgb"] = None
self.model_datum["prev_output"] = None
self.model_datum["prev_lc"] = None
self.rgb_pinned = torch.zeros(
(1, 2, 3, self.param["size_rgb"][1],
self.param["size_rgb"][0])).float().pin_memory()
self.dpv_pinned = torch.zeros(
(1, 64, int(self.param["size_rgb"][1]),
int(self.param["size_rgb"][0]))).float().pin_memory()
self.pred_depth_pinned = torch.zeros(
(int(self.param["size_rgb"][1]),
int(self.param["size_rgb"][0]))).float().pin_memory()
self.true_depth_pinned = torch.zeros(
(int(self.param["size_rgb"][1]),
int(self.param["size_rgb"][0]))).float().pin_memory()
self.unc_pinned = torch.zeros(1, 64, int(
self.param["size_rgb"][0])).float().pin_memory()
__imagenet_stats = {'mean': [0.485, 0.456, 0.406],\
'std': [0.229, 0.224, 0.225]}
self.transformer = transforms.Normalize(**__imagenet_stats)
# Load Model
if self.mode == "stereo":
model_name = 'default_stereo_ilim'
elif self.mode == "mono":
model_name = 'default_ilim'
elif self.mode == "mono_lc":
model_name = 'default_exp7_lc_ilim'
elif self.mode == 'stereo_lc':
model_name = 'default_stereo_exp7_lc_ilim'
cfg_path = 'configs/' + model_name + '.json'
model_path = ''
with open(cfg_path) as f:
self.cfg = EasyDict(json.load(f))
self.model = get_model(self.cfg, 0)
epoch, weights = load_checkpoint('outputs/checkpoints/' + model_name +
'/' + model_name +
'_model_best.pth.tar')
from collections import OrderedDict
new_weights = OrderedDict()
model_keys = list(self.model.state_dict().keys())
weight_keys = list(weights.keys())
for a, b in zip(model_keys, weight_keys):
new_weights[a] = weights[b]
weights = new_weights
self.model.load_state_dict(weights)
self.model = self.model.cuda()
self.model.eval()
print("Model Loaded")
# ROS
self.q_msg = deque([], 1)
lth = ConsumerThread(self.q_msg, self.handle_msg)
lth.setDaemon(True)
lth.start()
self.queue_size = 3
self.sync = functools.partial(ApproximateTimeSynchronizer, slop=0.01)
self.left_camsub = message_filters.Subscriber(
'/left_camera_resized/image_color_rect', sensor_msgs.msg.Image)
self.right_camsub = message_filters.Subscriber(
'right_camera_resized/image_color_rect', sensor_msgs.msg.Image)
self.depth_sub = message_filters.Subscriber(
'/left_camera_resized/depth', sensor_msgs.msg.Image
) # , queue_size=self.queue_size, buff_size=2**24
self.ts = self.sync(
[self.left_camsub, self.right_camsub, self.depth_sub],
self.queue_size)
self.ts.registerCallback(self.callback)
self.prev_left_cammsg = None
self.depth_pub = rospy.Publisher('ros_net/depth',
sensor_msgs.msg.Image,
queue_size=self.queue_size)
self.depth_color_pub = rospy.Publisher('ros_net/depth_color',
sensor_msgs.msg.Image,
queue_size=self.queue_size)
self.depth_lc_pub = rospy.Publisher('ros_net/depth_lc',
sensor_msgs.msg.Image,
queue_size=self.queue_size)
self.dpv_pub = rospy.Publisher('ros_net/dpv_pub',
TensorMsg,
queue_size=self.queue_size)
self.unc_pub = rospy.Publisher('ros_net/unc_pub',
TensorMsg,
queue_size=self.queue_size)
self.debug_pub = rospy.Publisher('ros_net/debug',
sensor_msgs.msg.Image,
queue_size=self.queue_size)
self.debug2_pub = rospy.Publisher('ros_net/debug2',
sensor_msgs.msg.Image,
queue_size=self.queue_size)
self.sensed_pub = rospy.Publisher('ros_net/sensed_pub',
TensorMsg,
queue_size=self.queue_size)
