def start_train(cfg):
logger = logging.getLogger('SSD.trainer')
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
optimizer = torch.optim.SGD(
model.parameters(),
lr=cfg.SOLVER.LR,
momentum=cfg.SOLVER.MOMENTUM,
weight_decay=cfg.SOLVER.WEIGHT_DECAY
)
arguments = {"iteration": 0}
save_to_disk = True
checkpointer = CheckPointer(
model, optimizer, cfg.OUTPUT_DIR, save_to_disk, logger,
)
extra_checkpoint_data = checkpointer.load()
arguments.update(extra_checkpoint_data)
max_iter = cfg.SOLVER.MAX_ITER
train_loader = make_data_loader(cfg, is_train=True, max_iter=max_iter, start_iter=arguments['iteration'])
model = do_train(
cfg, model, train_loader, optimizer,
checkpointer, arguments)
return model
def start_train(cfg):
logger = logging.getLogger('SSD.trainer')
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
optimizer = torch.optim.SGD(
filter(lambda p: p.requires_grad, model.parameters()),
lr=cfg.SOLVER.LR,
momentum=cfg.SOLVER.MOMENTUM,
weight_decay=cfg.SOLVER.WEIGHT_DECAY,
nesterov=True,
)
scheduler = torch.optim.lr_scheduler.CosineAnnealingLR(
optimizer, T_max=int(cfg.SOLVER.MAX_ITER / 1000), eta_min=0)
arguments = {"iteration": 0}
save_to_disk = True
checkpointer = CheckPointer(
model,
optimizer,
cfg.OUTPUT_DIR,
save_to_disk,
logger,
)
extra_checkpoint_data = checkpointer.load()
arguments.update(extra_checkpoint_data)
max_iter = cfg.SOLVER.MAX_ITER
train_loader = make_data_loader(cfg,
is_train=True,
max_iter=max_iter,
start_iter=arguments['iteration'])
model = do_train(cfg, model, train_loader, optimizer, checkpointer,
arguments, scheduler)
return model
def run_demo(cfg,
ckpt,
score_threshold,
images_dir: pathlib.Path,
output_dir: pathlib.Path,
dataset_type,
num_images=None):
if dataset_type == "voc":
class_names = VOCDataset.class_names
elif dataset_type == 'coco':
class_names = COCODataset.class_names
elif dataset_type == "mnist":
class_names = MNISTDetection.class_names
elif dataset_type == "tdt4265":
class_names = TDT4265Dataset.class_names
elif dataset_type == "waymo":
class_names = WaymoDataset.class_names
else:
raise NotImplementedError('Not implemented now.')
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
checkpointer = CheckPointer(model, save_dir=cfg.OUTPUT_DIR)
checkpointer.load(ckpt, use_latest=ckpt is None)
weight_file = ckpt if ckpt else checkpointer.get_checkpoint_file()
print('Loaded weights from {}'.format(weight_file))
image_paths = list(images_dir.glob("*.png")) + list(
images_dir.glob("*.jpg"))
output_dir.mkdir(exist_ok=True, parents=True)
transforms = build_transforms(cfg, is_train=False)
model.eval()
drawn_images = []
for i, image_path in enumerate(
tqdm.tqdm(image_paths[:num_images], desc="Predicting on images")):
image_name = image_path.stem
image = np.array(Image.open(image_path).convert("RGB"))
height, width = image.shape[:2]
images = transforms(image)[0].unsqueeze(0)
result = model(torch_utils.to_cuda(images))[0]
result = result.resize((width, height)).cpu().numpy()
boxes, labels, scores = result['boxes'], result['labels'], result[
'scores']
indices = scores > score_threshold
boxes = boxes[indices]
labels = labels[indices]
scores = scores[indices]
drawn_image = draw_boxes(image, boxes, labels, scores,
class_names).astype(np.uint8)
drawn_images.append(drawn_image)
im = Image.fromarray(drawn_image)
output_path = output_dir.joinpath(f"{image_name}.png")
im.save(output_path)
return drawn_images
def run_demo(cfg, ckpt, score_threshold, images_dir: pathlib.Path,
output_dir: pathlib.Path, dataset_type):
if dataset_type == "voc":
class_names = VOCDataset.class_names
elif dataset_type == 'coco':
class_names = COCODataset.class_names
elif dataset_type == "mnist":
class_names = MNISTDetection.class_names
else:
raise NotImplementedError('Not implemented now.')
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
checkpointer = CheckPointer(model, save_dir=cfg.OUTPUT_DIR)
checkpointer.load(ckpt, use_latest=ckpt is None)
weight_file = ckpt if ckpt else checkpointer.get_checkpoint_file()
print('Loaded weights from {}'.format(weight_file))
image_paths = list(images_dir.glob("*.png")) + list(
images_dir.glob("*.jpg"))
output_dir.mkdir(exist_ok=True, parents=True)
transforms = build_transforms(cfg, is_train=False)
model.eval()
drawn_images = []
for i, image_path in enumerate(image_paths):
start = time.time()
image_name = image_path.name
image = np.array(Image.open(image_path).convert("RGB"))
height, width = image.shape[:2]
images = transforms(image)[0].unsqueeze(0)
load_time = time.time() - start
start = time.time()
result = model(torch_utils.to_cuda(images))[0]
inference_time = time.time() - start
result = result.resize((width, height)).cpu().numpy()
boxes, labels, scores = result['boxes'], result['labels'], result[
'scores']
indices = scores > score_threshold
boxes = boxes[indices]
labels = labels[indices]
scores = scores[indices]
meters = "|".join([
'objects {:02d}'.format(len(boxes)),
'load {:03d}ms'.format(round(load_time * 1000)),
'inference {:03d}ms'.format(round(inference_time * 1000)),
'FPS {}'.format(round(1.0 / inference_time))
])
image_name = image_path.name
drawn_image = draw_boxes(image, boxes, labels, scores,
class_names).astype(np.uint8)
drawn_images.append(drawn_image)
return drawn_images
def start_train(cfg, visualize_example=False):
logger = logging.getLogger('SSD.trainer')
model = SSDDetector(cfg)
print(model)
model = torch_utils.to_cuda(model)
optimizer = torch.optim.SGD(model.parameters(),
lr=cfg.SOLVER.LR,
momentum=cfg.SOLVER.MOMENTUM,
weight_decay=cfg.SOLVER.WEIGHT_DECAY)
"""
optimizer = torch.optim.Adam(
model.parameters(),
lr=cfg.SOLVER.LR,
weight_decay=cfg.SOLVER.WEIGHT_DECAY
)
"""
"""
lr_scheduler = torch.optim.lr_scheduler.CyclicLR(
optimizer= optimizer,
base_lr= cfg.SOLVER.LR /10,
max_lr=0.05,
step_size_up=8000,
mode='triangular2'
)
"""
arguments = {"iteration": 0}
save_to_disk = True
checkpointer = CheckPointer(
model,
optimizer,
cfg.OUTPUT_DIR,
save_to_disk,
logger,
)
extra_checkpoint_data = checkpointer.load()
arguments.update(extra_checkpoint_data)
max_iter = cfg.SOLVER.MAX_ITER
train_loader = make_data_loader(cfg,
is_train=True,
max_iter=max_iter,
start_iter=arguments['iteration'])
model = do_train(cfg,
model,
train_loader,
optimizer,
checkpointer,
arguments,
visualize_example,
lr_scheduler=None)
return model
def get_detections(cfg, ckpt):
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
checkpointer = CheckPointer(cfg, model, save_dir=cfg.OUTPUT_DIR)
checkpointer.load(ckpt, use_latest=ckpt is None)
weight_file = ckpt if ckpt else checkpointer.get_checkpoint_file()
print('Loaded weights from {}'.format(weight_file))
dataset_path = DatasetCatalog.DATASETS["tdt4265_test"]["data_dir"]
dataset_path = pathlib.Path(cfg.DATASET_DIR, dataset_path)
image_dir = pathlib.Path(dataset_path, "images")
image_paths = list(image_dir.glob("*.jpg"))
transforms = build_transforms(cfg, is_train=False)
model.eval()
detections = []
labels = read_labels(
image_dir.parent.parent.joinpath("train", "labels.json"))
check_all_images_exists(labels, image_paths)
# Filter labels on if they are test and only take the 7th frame
labels = [label for label in labels if label["is_test"]]
labels = [label for label in labels if label["image_id"] % 7 == 0]
for i, label in enumerate(tqdm.tqdm(labels, desc="Inference on images")):
image_id = label["image_id"]
image_path = image_dir.joinpath(f"{image_id}.jpg")
image_detections = {"image_id": int(image_id), "bounding_boxes": []}
image = np.array(Image.open(image_path).convert("RGB"))
height, width = image.shape[:2]
images = transforms(image)[0].unsqueeze(0)
result = model(torch_utils.to_cuda(images))[0]
result = result.resize((width, height)).cpu().numpy()
boxes, labels, scores = result['boxes'], result['labels'], result[
'scores']
for idx in range(len(boxes)):
box = boxes[idx]
label_id = labels[idx]
label = TDT4265Dataset.class_names[label_id]
assert label != "__background__"
score = float(scores[idx])
assert box.shape == (4, )
json_box = {
"xmin": float(box[0]),
"ymin": float(box[1]),
"xmax": float(box[2]),
"ymax": float(box[3]),
"label": str(label),
"label_id": int(label_id),
"confidence": float(score)
}
image_detections["bounding_boxes"].append(json_box)
detections.append(image_detections)
return detections
def start_train(cfg):
logger = logging.getLogger('SSD.trainer')
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
if cfg.SOLVER.TYPE == "adam":
optimizer = torch.optim.Adam(
model.parameters(),
lr=cfg.SOLVER.LR,
weight_decay=cfg.SOLVER.WEIGHT_DECAY,
)
elif cfg.SOLVER.TYPE == "sgd":
optimizer = torch.optim.SGD(model.parameters(),
lr=cfg.SOLVER.LR,
weight_decay=cfg.SOLVER.WEIGHT_DECAY,
momentum=cfg.SOLVER.MOMENTUM)
else:
# Default to Adam if incorrect solver
print("WARNING: Incorrect solver type, defaulting to Adam")
optimizer = torch.optim.Adam(
model.parameters(),
lr=cfg.SOLVER.LR,
weight_decay=cfg.SOLVER.WEIGHT_DECAY,
)
scheduler = LinearMultiStepWarmUp(cfg, optimizer)
arguments = {"iteration": 0}
save_to_disk = True
checkpointer = CheckPointer(
model,
optimizer,
cfg.OUTPUT_DIR,
save_to_disk,
logger,
)
extra_checkpoint_data = checkpointer.load()
arguments.update(extra_checkpoint_data)
max_iter = cfg.SOLVER.MAX_ITER
train_loader = make_data_loader(cfg,
is_train=True,
max_iter=max_iter,
start_iter=arguments['iteration'])
model = do_train(cfg, model, train_loader, optimizer, checkpointer,
arguments, scheduler)
return model
def start_train(cfg):
logger = logging.getLogger('SSD.trainer')
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
lr = cfg.SOLVER.LR
optimizer = make_optimizer(cfg, model, lr)
milestones = [step for step in cfg.SOLVER.LR_STEPS]
scheduler = make_lr_scheduler(cfg, optimizer, milestones)
arguments = {"iteration": 0}
save_to_disk = True
checkpointer = CheckPointer(cfg, model, optimizer, scheduler,
cfg.OUTPUT_DIR, save_to_disk, logger)
extra_checkpoint_data = checkpointer.load()
arguments.update(extra_checkpoint_data)
max_iter = cfg.SOLVER.MAX_ITER
train_loader = make_data_loader(cfg,
is_train=True,
max_iter=max_iter,
start_iter=arguments['iteration'])
model = do_train(cfg, model, train_loader, optimizer, scheduler,
checkpointer, arguments)
return model
def evaluation(cfg, ckpt):
logger = logging.getLogger("SSD.inference")
model = SSDDetector(cfg)
checkpointer = CheckPointer(model, save_dir=cfg.OUTPUT_DIR, logger=logger)
model = torch_utils.to_cuda(model)
checkpointer.load(ckpt, use_latest=ckpt is None)
do_evaluation(cfg, model)
def start_train(cfg):
logger = logging.getLogger('SSD.trainer')
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
# SGD
# optimizer = torch.optim.SGD(
# model.parameters(),
# lr=cfg.SOLVER.LR,
# momentum=cfg.SOLVER.MOMENTUM,
# weight_decay=cfg.SOLVER.WEIGHT_DECAY
# )
# Adam
optimizer = torch.optim.Adam(model.parameters(),
lr=cfg.SOLVER.LR,
weight_decay=cfg.SOLVER.WEIGHT_DECAY)
scheduler = torch.optim.lr_scheduler.MultiStepLR(optimizer=optimizer,
milestones=[6000, 10000],
gamma=cfg.SOLVER.GAMMA)
arguments = {"iteration": 0}
save_to_disk = True
checkpointer = CheckPointer(
model,
optimizer,
cfg.OUTPUT_DIR,
save_to_disk,
logger,
)
extra_checkpoint_data = checkpointer.load()
arguments.update(extra_checkpoint_data)
max_iter = cfg.SOLVER.MAX_ITER
train_loader = make_data_loader(cfg,
is_train=True,
max_iter=max_iter,
start_iter=arguments['iteration'])
model = do_train(cfg, model, train_loader, optimizer, checkpointer,
arguments, scheduler)
return model
def get_detections(cfg, ckpt):
model = SSDDetector(cfg)
model = torch_utils.to_cuda(model)
checkpointer = CheckPointer(model, save_dir=cfg.OUTPUT_DIR)
checkpointer.load(ckpt, use_latest=ckpt is None)
weight_file = ckpt if ckpt else checkpointer.get_checkpoint_file()
print('Loaded weights from {}'.format(weight_file))
dataset_path = DatasetCatalog.DATASETS["tdt4265_test"]["data_dir"]
dataset_path = pathlib.Path(cfg.DATASET_DIR, dataset_path)
image_dir = pathlib.Path(dataset_path)
image_paths = list(image_dir.glob("*.jpg"))
transforms = build_transforms(cfg, is_train=False)
model.eval()
detections = []
for image_path in tqdm.tqdm(image_paths, desc="Inference on images"):
image = np.array(Image.open(image_path).convert("RGB"))
height, width = image.shape[:2]
images = transforms(image)[0].unsqueeze(0)
result = model(torch_utils.to_cuda(images))[0]
result = result.resize((width, height)).cpu().numpy()
boxes, labels, scores = result['boxes'], result['labels'], result[
'scores']
for idx in range(len(boxes)):
box = boxes[idx]
label_id = labels[idx]
label = TDT4265Dataset.class_names[label_id]
assert label != "__background__"
score = float(scores[idx])
assert box.shape == (4, )
xmin, ymin, xmax, ymax = box
width = xmax - xmin
height = ymax - ymin
detections.append({
"image_id": image_path.stem,
"category_id": LABEL_MAP[label],
"score": score,
"bbox": [xmin, ymin, width, height]
})
return detections
def evaluation(cfg, ckpt, N_images: int):
model = SSDDetector(cfg)
logger = logging.getLogger("SSD.inference")
checkpointer = CheckPointer(model, save_dir=cfg.OUTPUT_DIR, logger=logger)
model = torch_utils.to_cuda(model)
checkpointer.load(ckpt, use_latest=ckpt is None)
model.eval()
data_loaders_val = make_data_loader(cfg, is_train=False)
for data_loader in data_loaders_val:
batch = next(iter(data_loader))
images, targets, image_ids = batch
images = torch_utils.to_cuda(images)
imshape = list(images.shape[2:])
# warmup
print("Checking runtime for image shape:", imshape)
for i in range(10):
model(images)
start_time = time.time()
for i in range(N_images):
outputs = model(images)
total_time = time.time() - start_time
print("Runtime for image shape:", imshape)
print("Total runtime:", total_time)
print("FPS:", N_images / total_time)
def do_train(
cfg: CfgNode,
model: SSDDetector,
data_loader: DataLoader,
optimizer: SGD,
scheduler: MultiStepLR,
checkpointer,
device: device,
arguments,
args: Namespace,
output_dir: Path,
model_manager: Dict[str, Any],
) -> SSDDetector:
logger = logging.getLogger("SSD.trainer")
logger.info("Start training ...")
meters = MetricLogger()
model.train()
save_to_disk = dist_util.get_rank() == 0
if args.use_tensorboard and save_to_disk:
import tensorboardX
summary_writer = tensorboardX.SummaryWriter(logdir=output_dir / "logs")
else:
summary_writer = None
max_iter = len(data_loader)
start_iter = arguments["iteration"]
start_training_time = time.time()
end = time.time()
logger.info("MAX_ITER: {}".format(max_iter))
# GB: 2019-09-08:
# For rescaling tests, do an eval before fine-tuning-training, so we know what
# the eval results are before any weights are updated:
# do_evaluation(
# cfg,
# model,
# distributed=args.distributed,
# iteration=0,
# )
# model.train() # *IMPORTANT*: change to train mode after eval.
for iteration, (images, targets, _) in enumerate(data_loader, start_iter):
# TODO: Print learning rate:
iteration = iteration + 1
arguments["iteration"] = iteration
scheduler.step()
images = images.to(device)
targets = targets.to(device)
loss_dict = model(images, targets=targets)
loss = sum(loss for loss in loss_dict.values())
# reduce losses over all GPUs for logging purposes
loss_dict_reduced = reduce_loss_dict(loss_dict)
losses_reduced = sum(loss for loss in loss_dict_reduced.values())
loss = sum(loss for loss in loss_dict.values())
meters.update(total_loss=losses_reduced, **loss_dict_reduced)
optimizer.zero_grad()
loss.backward()
optimizer.step()
batch_time = time.time() - end
end = time.time()
meters.update(time=batch_time)
if iteration % args.log_step == 0:
eta_seconds = meters.time.global_avg * (max_iter - iteration)
eta_string = str(datetime.timedelta(seconds=int(eta_seconds)))
logger.info(
meters.delimiter.join([
"iter: {iter:06d}",
"lr: {lr:.5f}",
"{meters}",
"eta: {eta}",
"mem: {mem}M",
]).format(
iter=iteration,
lr=optimizer.param_groups[0]["lr"],
meters=str(meters),
eta=eta_string,
mem=round(torch.cuda.max_memory_allocated() / 1024.0 /
1024.0),
))
if summary_writer:
global_step = iteration
summary_writer.add_scalar("losses/total_loss",
losses_reduced,
global_step=global_step)
for loss_name, loss_item in loss_dict_reduced.items():
summary_writer.add_scalar(
"losses/{}".format(loss_name),
loss_item,
global_step=global_step,
)
summary_writer.add_scalar("lr",
optimizer.param_groups[0]["lr"],
global_step=global_step)
# This project doesn't use epochs, it does something with batch samplers
# instead, so there is only a concept of "iteration". For now hardcode epoch as
# zero to put into file name:
epoch = 0
save_name = f"ssd{cfg.INPUT.IMAGE_SIZE}-vgg_{cfg.DATASETS.TRAIN[0]}_0_{epoch}_{iteration:06d}"
model_path = Path(output_dir) / f"{save_name}.pth"
# Above if block would be replaced by this:
if iteration % args.save_step == 0:
checkpointer.save(save_name, **arguments)
# Do eval when training, to trace the mAP changes and see performance improved
# whether or nor
if (args.eval_step > 0 and iteration % args.eval_step == 0
and not iteration == max_iter):
eval_results = do_evaluation(
cfg,
model,
distributed=args.distributed,
iteration=iteration,
)
do_best_model_checkpointing(cfg, model_path, eval_results,
model_manager, logger)
if dist_util.get_rank() == 0 and summary_writer:
for eval_result, dataset in zip(eval_results,
cfg.DATASETS.TEST):
write_metric(
eval_result["metrics"],
"metrics/" + dataset,
summary_writer,
iteration,
)
model.train() # *IMPORTANT*: change to train mode after eval.
if iteration % args.save_step == 0:
remove_extra_checkpoints(output_dir, [model_path], logger)
checkpointer.save("model_final", **arguments)
# compute training time
total_training_time = int(time.time() - start_training_time)
total_time_str = str(datetime.timedelta(seconds=total_training_time))
logger.info("Total training time: {} ({:.4f} s / it)".format(
total_time_str, total_training_time / max_iter))
return model
from ssd.config.defaults import cfg
from ssd.data.build import make_data_loader
from ssd.modeling.detector import SSDDetector
# config
cfg.MODEL.BACKBONE.NAME = 'resnet34'
cfg.INPUT.IMAGE_SIZE = 300
# cfg.MODEL.BACKBONE.OUT_CHANNELS = (256,512,256,256,128,64) # wip34
cfg.MODEL.BACKBONE.OUT_CHANNELS = (128,256,512,256,256,128) # resnet34
cfg.MODEL.PRIORS.FEATURE_MAPS = [38, 19, 10, 5, 3, 1]
cfg.SOLVER.BATCH_SIZE = 2
cfg.DATASET_DIR = "datasets"
cfg.DATASETS.TRAIN = ("waymo_train",)
# cfg.DATASETS.TEST = ("waymo_val",)
model = SSDDetector(cfg)
for level, bank in enumerate(model.backbone.feature_extractor):
bank_n = level+1
print("Bank %d:" % bank_n, bank)
data_loader = make_data_loader(cfg, is_train=True, max_iter=cfg.SOLVER.MAX_ITER)
images, targets, _ = next(iter(data_loader)) # 1 batch
outputs = model(images, targets=targets)
