def main(args):
flow.env.init()
flow.enable_eager_execution()
start_t = time.time()
posenet_module = PoseNet()
end_t = time.time()
print("init time : {}".format(end_t - start_t))
start_t = time.time()
pretrain_models = flow.load(args.model_path)
posenet_module.load_state_dict(pretrain_models)
end_t = time.time()
print("load params time : {}".format(end_t - start_t))
posenet_module.eval()
posenet_module.to("cuda")
start_t = time.time()
image = load_image(args.image_path)
image = flow.Tensor(image, device=flow.device("cuda"))
logits = posenet_module(image)
predictions = logits.softmax()
predictions = predictions.numpy()
end_t = time.time()
print("infer time : {}".format(end_t - start_t))
clsidx = np.argmax(predictions)
print("predict prob: %f, class name: %s" %
(np.max(predictions), clsidx_2_labels[clsidx]))
def main():
args = get_args()
print('----- Params for debug: ----------------')
print(args)
print('data = {}'.format(args.data))
print('road = {}'.format(args.road))
print('Train model ...')
# Imagenet normalization in case of pre-trained network
normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406],
std=[0.229, 0.224, 0.225])
# Resize data before using
transform = transforms.Compose([
transforms.Resize(260),
transforms.CenterCrop(250),
transforms.ToTensor(), normalize
])
train_record = None # 'Record001'
train_dataset = Apolloscape(root=args.data,
road=args.road,
transform=transform,
record=train_record,
normalize_poses=True,
pose_format='quat',
train=True,
cache_transform=not args.no_cache_transform,
stereo=args.stereo)
val_record = None # 'Record011'
val_dataset = Apolloscape(root=args.data,
road=args.road,
transform=transform,
record=val_record,
normalize_poses=True,
pose_format='quat',
train=False,
cache_transform=not args.no_cache_transform,
stereo=args.stereo)
# Show datasets
print(train_dataset)
print(val_dataset)
shuffle_data = True
train_dataloader = DataLoader(train_dataset,
batch_size=args.batch_size,
shuffle=shuffle_data) # batch_size = 75
val_dataloader = DataLoader(val_dataset,
batch_size=args.batch_size,
shuffle=shuffle_data) # batch_size = 75
# Get mean and std from dataset
poses_mean = val_dataset.poses_mean
poses_std = val_dataset.poses_std
# Select active device
if torch.cuda.is_available() and args.device == 'cuda':
device = torch.device('cuda')
else:
device = torch.device('cpu')
print('device = {}'.format(device))
# Used as prefix for filenames
time_str = datetime.now().strftime('%Y%m%d_%H%M%S')
# Create pretrained feature extractor
if args.feature_net == 'resnet18':
feature_extractor = models.resnet18(pretrained=args.pretrained)
elif args.feature_net == 'resnet34':
feature_extractor = models.resnet34(pretrained=args.pretrained)
elif args.feature_net == 'resnet50':
feature_extractor = models.resnet50(pretrained=args.pretrained)
# Num features for the last layer before pose regressor
num_features = args.feature_net_features # 2048
experiment_name = get_experiment_name(args)
# Create model
model = PoseNet(feature_extractor, num_features=num_features)
model = model.to(device)
# Criterion
criterion = PoseNetCriterion(stereo=args.stereo,
beta=args.beta,
learn_beta=args.learn_beta)
criterion.to(device)
# Add all params for optimization
param_list = [{'params': model.parameters()}]
if criterion.learn_beta:
param_list.append({'params': criterion.parameters()})
# Create optimizer
optimizer = optim.Adam(params=param_list, lr=args.lr, weight_decay=0.0005)
start_epoch = 0
# Restore from checkpoint is present
if args.checkpoint is not None:
checkpoint_file = args.checkpoint
if os.path.isfile(checkpoint_file):
print('\nLoading from checkpoint: {}'.format(checkpoint_file))
checkpoint = torch.load(checkpoint_file)
model.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optim_state_dict'])
start_epoch = checkpoint['epoch']
if 'criterion_state_dict' in checkpoint:
criterion.load_state_dict(checkpoint['criterion_state_dict'])
print('Loaded criterion params too.')
n_epochs = start_epoch + args.epochs
print('\nTraining ...')
val_freq = args.val_freq
for e in range(start_epoch, n_epochs):
# Train for one epoch
train(train_dataloader,
model,
criterion,
optimizer,
e,
n_epochs,
log_freq=args.log_freq,
poses_mean=train_dataset.poses_mean,
poses_std=train_dataset.poses_std,
device=device,
stereo=args.stereo)
# Run validation loop
if e > 0 and e % val_freq == 0:
end = time.time()
validate(val_dataloader,
model,
criterion,
e,
log_freq=args.log_freq,
device=device,
stereo=args.stereo)
# Make figure
if e > 0 and args.fig_save > 0 and e % args.fig_save == 0:
exp_name = '{}_{}'.format(time_str, experiment_name)
make_figure(model,
train_dataloader,
poses_mean=poses_mean,
poses_std=poses_std,
epoch=e,
experiment_name=exp_name,
device=device,
stereo=args.stereo)
# Make checkpoint
if e > 0 and e % args.checkpoint_save == 0:
make_checkpoint(model,
optimizer,
criterion,
epoch=e,
time_str=time_str,
args=args)
print('\nn_epochs = {}'.format(n_epochs))
print('\n=== Test Training Dataset ======')
pred_poses, gt_poses = model_results_pred_gt(model,
train_dataloader,
poses_mean,
poses_std,
device=device,
stereo=args.stereo)
print('gt_poses = {}'.format(gt_poses.shape))
print('pred_poses = {}'.format(pred_poses.shape))
t_loss = np.asarray([
np.linalg.norm(p - t)
for p, t in zip(pred_poses[:, :3], gt_poses[:, :3])
])
q_loss = np.asarray([
quaternion_angular_error(p, t)
for p, t in zip(pred_poses[:, 3:], gt_poses[:, 3:])
])
print('poses_std = {:.3f}'.format(np.linalg.norm(poses_std)))
print('T: median = {:.3f}, mean = {:.3f}'.format(np.median(t_loss),
np.mean(t_loss)))
print('R: median = {:.3f}, mean = {:.3f}'.format(np.median(q_loss),
np.mean(q_loss)))
# Save for later visualization
pred_poses_train = pred_poses
gt_poses_train = gt_poses
print('\n=== Test Validation Dataset ======')
pred_poses, gt_poses = model_results_pred_gt(model,
val_dataloader,
poses_mean,
poses_std,
device=device,
stereo=args.stereo)
print('gt_poses = {}'.format(gt_poses.shape))
print('pred_poses = {}'.format(pred_poses.shape))
t_loss = np.asarray([
np.linalg.norm(p - t)
for p, t in zip(pred_poses[:, :3], gt_poses[:, :3])
])
q_loss = np.asarray([
quaternion_angular_error(p, t)
for p, t in zip(pred_poses[:, 3:], gt_poses[:, 3:])
])
print('poses_std = {:.3f}'.format(np.linalg.norm(poses_std)))
print('T: median = {:.3f}, mean = {:.3f}'.format(np.median(t_loss),
np.mean(t_loss)))
print('R: median = {:.3f}, mean = {:.3f}'.format(np.median(q_loss),
np.mean(q_loss)))
# Save for later visualization
pred_poses_val = pred_poses
gt_poses_val = gt_poses
# Save checkpoint
print('\nSaving model params ....')
make_checkpoint(model,
optimizer,
criterion,
epoch=n_epochs,
time_str=time_str,
args=args)
def main(args):
flow.enable_eager_execution()
train_data_loader = OFRecordDataLoader(
ofrecord_root=args.ofrecord_path,
mode="train",
# NOTE(Liang Depeng): needs to explictly set the dataset size
dataset_size=7459,
batch_size=args.train_batch_size,
)
val_data_loader = OFRecordDataLoader(
ofrecord_root=args.ofrecord_path,
mode="val",
dataset_size=1990,
batch_size=args.val_batch_size,
)
# oneflow init
start_t = time.time()
posenet_module = PoseNet()
if args.load_checkpoint != "":
posenet_module.load_state_dict(flow.load(args.load_checkpoint))
end_t = time.time()
print("init time : {}".format(end_t - start_t))
of_cross_entropy = flow.nn.CrossEntropyLoss()
posenet_module.to("cuda")
of_cross_entropy.to("cuda")
of_sgd = flow.optim.SGD(posenet_module.parameters(),
lr=args.learning_rate,
momentum=args.mom)
of_losses = []
all_samples = len(val_data_loader) * args.val_batch_size
print_interval = 100
for epoch in range(args.epochs):
posenet_module.train()
for b in range(len(train_data_loader)):
image, label = train_data_loader.get_batch()
# oneflow train
start_t = time.time()
image = image.to("cuda")
label = label.to("cuda")
logits = posenet_module(image)
loss = of_cross_entropy(logits, label)
loss.backward()
of_sgd.step()
of_sgd.zero_grad()
end_t = time.time()
if b % print_interval == 0:
l = loss.numpy()
of_losses.append(l)
print(
"epoch {} train iter {} oneflow loss {}, train time : {}".
format(epoch, b, l, end_t - start_t))
print("epoch %d train done, start validation" % epoch)
posenet_module.eval()
correct_of = 0.0
for b in range(len(val_data_loader)):
image, label = val_data_loader.get_batch()
start_t = time.time()
image = image.to("cuda")
with flow.no_grad():
logits = posenet_module(image)
predictions = logits.softmax()
of_predictions = predictions.numpy()
clsidxs = np.argmax(of_predictions, axis=1)
label_nd = label.numpy()
for i in range(args.val_batch_size):
if clsidxs[i] == label_nd[i]:
correct_of += 1
end_t = time.time()
print("epoch %d, oneflow top1 val acc: %f" %
(epoch, correct_of / all_samples))
flow.save(
posenet_module.state_dict(),
os.path.join(
args.save_checkpoint_path,
"epoch_%d_val_acc_%f" % (epoch, correct_of / all_samples),
),
)
writer = open("of_losses.txt", "w")
for o in of_losses:
writer.write("%f\n" % o)
writer.close()
posenet = PoseNet(opt.nstack,
opt.hourglass_inp_dim,
config.num_layers,
bn=False)
optimizer = optim.SGD(posenet.parameters(),
lr=opt.learning_rate,
momentum=0.9,
weight_decay=1e-4)
if args.resume:
print('\nResuming from checkpoint ...... ')
checkpoint = torch.load(
opt.ckpt_path,
map_location=torch.device('cpu')) # map to cpu to save the gpu memory
posenet.load_state_dict(checkpoint['weights'])
print('\nNetwork weights have been resumed from checkpoint...')
optimizer.load_state_dict(checkpoint['optimizer_weight'])
# We must convert the resumed state data of optimizer to gpu
"""It is because the previous training was done on gpu, so when saving the optimizer.state_dict, the stored
states(tensors) are of cuda version. During resuming, when we load the saved optimizer, load_state_dict()
loads this cuda version to cpu. But in this project, we use map_location to map the state tensors to cpu.
In the training process, we need cuda version of state tensors, so we have to convert them to gpu."""
for state in optimizer.state.values():
for k, v in state.items():
if torch.is_tensor(v):
state[k] = v.cuda()
print('\nOptimizer has been resumed from checkpoint...')
best_loss = checkpoint['train_loss']