def evaluate(model, data_loader, device, mAP_list=None):
n_threads = torch.get_num_threads()
# FIXME remove this and make paste_masks_in_image run on the GPU
torch.set_num_threads(1)
cpu_device = torch.device("cpu")
model.eval()
metric_logger = MetricLogger(delimiter=" ")
header = "Test: "
coco = get_coco_api_from_dataset(data_loader.dataset)
iou_types = _get_iou_types(model)
coco_evaluator = CocoEvaluator(coco, iou_types)
for image, targets in metric_logger.log_every(data_loader, 100, header):
image = list(img.to(device) for img in image)
targets = [{k: v.to(device) for k, v in t.items()} for t in targets]
# 当使用CPU时，跳过GPU相关指令
if device != torch.device("cpu"):
torch.cuda.synchronize(device)
model_time = time.time()
outputs = model(image)
outputs = [{k: v.to(cpu_device)
for k, v in t.items()} for t in outputs]
model_time = time.time() - model_time
res = {
target["image_id"].item(): output
for target, output in zip(targets, outputs)
}
evaluator_time = time.time()
coco_evaluator.update(res)
evaluator_time = time.time() - evaluator_time
metric_logger.update(model_time=model_time,
evaluator_time=evaluator_time)
# gather the stats from all processes
metric_logger.synchronize_between_processes()
print("Averaged stats:", metric_logger)
coco_evaluator.synchronize_between_processes()
# accumulate predictions from all images
coco_evaluator.accumulate()
coco_evaluator.summarize()
torch.set_num_threads(n_threads)
print_txt = coco_evaluator.coco_eval[iou_types[0]].stats
coco_mAP = print_txt[0]
voc_mAP = print_txt[1]
if isinstance(mAP_list, list):
mAP_list.append(voc_mAP)
return coco_evaluator
def evaluate(model, data_loader, device):
n_threads = torch.get_num_threads()
# FIXME remove this and make paste_masks_in_image run on the GPU
torch.set_num_threads(1)
cpu_device = torch.device("cpu")
model.eval()
metric_logger = utils.MetricLogger(delimiter=" ")
header = 'Test:'
coco = get_coco_api_from_dataset(data_loader.dataset)
iou_types = _get_iou_types(model)
coco_evaluator = CocoEvaluator(coco, iou_types)
for images, targets in metric_logger.log_every(data_loader, 100, header):
images = list(img.to(device) for img in images)
torch.cuda.synchronize()
model_time = time.time()
outputs = model(images)
outputs = [{k: v.to(cpu_device) for k, v in t.items()} for t in outputs]
model_time = time.time() - model_time
res = {target["image_id"].item(): output for target, output in zip(targets, outputs)}
evaluator_time = time.time()
coco_evaluator.update(res)
evaluator_time = time.time() - evaluator_time
metric_logger.update(model_time=model_time, evaluator_time=evaluator_time)
# gather the stats from all processes
metric_logger.synchronize_between_processes()
print("Averaged stats:", metric_logger)
coco_evaluator.synchronize_between_processes()
# accumulate predictions from all images
coco_evaluator.accumulate()
coco_evaluator.summarize()
torch.set_num_threads(n_threads)
return coco_evaluator
def main(opt, hyp):
# 初始化各进程
init_distributed_mode(opt)
if opt.rank in [-1, 0]:
print(opt)
print(
'Start Tensorboard with "tensorboard --logdir=runs", view at http://localhost:6006/'
)
tb_writer = SummaryWriter(comment=opt.name)
device = torch.device(opt.device)
if "cuda" not in device.type:
raise EnvironmentError("not find GPU device for training.")
# 使用DDP后会对每个device上的gradients取均值，所以需要放大学习率
hyp["lr0"] *= max(1., opt.world_size * opt.batch_size / 64)
wdir = "weights" + os.sep # weights dir
best = wdir + "best.pt"
results_file = "results.txt"
cfg = opt.cfg
data = opt.data
epochs = opt.epochs
batch_size = opt.batch_size
# accumulate n times before optimizer update (bs 64)
accumulate = max(round(64 / (opt.world_size * opt.batch_size)), 1)
weights = opt.weights # initial training weights
imgsz_train = opt.img_size
imgsz_test = opt.img_size # test image sizes
multi_scale = opt.multi_scale
# Image sizes
# 图像要设置成32的倍数
gs = 32 # (pixels) grid size
assert math.fmod(
imgsz_test,
gs) == 0, "--img-size %g must be a %g-multiple" % (imgsz_test, gs)
grid_min, grid_max = imgsz_test // gs, imgsz_test // gs
if multi_scale:
imgsz_min = opt.img_size // 1.5
imgsz_max = opt.img_size // 0.667
# 将给定的最大，最小输入尺寸向下调整到32的整数倍
grid_min, grid_max = imgsz_min // gs, imgsz_max // gs
imgsz_min, imgsz_max = int(grid_min * gs), int(grid_max * gs)
imgsz_train = imgsz_max # initialize with max size
if opt.rank in [-1, 0]: # 只在第一个进程中显示打印信息
print("Using multi_scale training, image range[{}, {}]".format(
imgsz_min, imgsz_max))
# configure run
random.seed(0) # 设置随机种子
data_dict = parse_data_cfg(data)
train_path = data_dict["train"]
test_path = data_dict["valid"]
nc = 1 if opt.single_cls else int(
data_dict["classes"]) # number of classes
hyp["cls"] *= nc / 80 # update coco-tuned hyp['cls'] to current dataset
hyp["obj"] *= imgsz_test / 320
if opt.rank in [-1, 0]:
# Remove previous results
for f in glob.glob(results_file) + glob.glob("tmp.pk"):
os.remove(f)
# Initialize model
model = Darknet(cfg).to(device)
start_epoch = 0
best_map = 0.0
# 如果指定了预训练权重，则载入预训练权重
if weights.endswith(".pt"):
ckpt = torch.load(weights, map_location=device)
# load model
try:
ckpt["model"] = {
k: v
for k, v in ckpt["model"].items()
if model.state_dict()[k].numel() == v.numel()
}
model.load_state_dict(ckpt["model"], strict=False)
except KeyError as e:
s = "%s is not compatible with %s. Specify --weights '' or specify a --cfg compatible with %s. " \
"See https://github.com/ultralytics/yolov3/issues/657" % (opt.weights, opt.cfg, opt.weights)
raise KeyError(s) from e
if opt.rank in [-1, 0]:
# load results
if ckpt.get("training_results") is not None:
with open(results_file, "w") as file:
file.write(ckpt["training_results"]) # write results.txt
# epochs
start_epoch = ckpt["epoch"] + 1
if epochs < start_epoch:
print(
'%s has been trained for %g epochs. Fine-tuning for %g additional epochs.'
% (opt.weights, ckpt['epoch'], epochs))
epochs += ckpt['epoch'] # finetune additional epochs
del ckpt
# 是否冻结权重，只训练predictor的权重
if opt.freeze_layers:
# 索引减一对应的是predictor的索引，YOLOLayer并不是predictor
output_layer_indices = [
idx - 1 for idx, module in enumerate(model.module_list)
if isinstance(module, YOLOLayer)
]
# 冻结除predictor和YOLOLayer外的所有层
freeze_layer_indeces = [
x for x in range(len(model.module_list))
if (x not in output_layer_indices) and (
x - 1 not in output_layer_indices)
]
# Freeze non-output layers
# 总共训练3x2=6个parameters
for idx in freeze_layer_indeces:
for parameter in model.module_list[idx].parameters():
parameter.requires_grad_(False)
else:
# 如果freeze_layer为False，默认仅训练除darknet53之后的部分
# 若要训练全部权重，删除以下代码
darknet_end_layer = 74 # only yolov3spp cfg
# Freeze darknet53 layers
# 总共训练21x3+3x2=69个parameters
for idx in range(darknet_end_layer + 1): # [0, 74]
for parameter in model.module_list[idx].parameters():
parameter.requires_grad_(False)
# SyncBatchNorm
# 如果只训练最后的predictor(其中不含bn层)，SyncBatchNorm没有作用
if opt.freeze_layers is False:
model = torch.nn.SyncBatchNorm.convert_sync_batchnorm(model).to(device)
model = torch.nn.parallel.DistributedDataParallel(model,
device_ids=[opt.gpu])
model.yolo_layers = model.module.yolo_layers # move yolo layer indices to top level
# optimizer
pg = [p for p in model.parameters() if p.requires_grad]
optimizer = optim.SGD(pg,
lr=hyp["lr0"],
momentum=hyp["momentum"],
weight_decay=hyp["weight_decay"],
nesterov=True)
# Scheduler https://arxiv.org/pdf/1812.01187.pdf
lf = lambda x: ((1 + math.cos(x * math.pi / epochs)) / 2) * (1 - hyp[
"lrf"]) + hyp["lrf"] # cosine
scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lf)
scheduler.last_epoch = start_epoch # 指定从哪个epoch开始
# dataset
# 训练集的图像尺寸指定为multi_scale_range中最大的尺寸
# Make sure only the first process in DDP process the dataset first, and the following others can use the cache.
with torch_distributed_zero_first(opt.rank):
train_dataset = LoadImagesAndLabels(
train_path,
imgsz_train,
batch_size,
augment=True,
hyp=hyp, # augmentation hyperparameters
rect=opt.rect, # rectangular training
cache_images=opt.cache_images,
single_cls=opt.single_cls,
rank=opt.rank)
# 验证集的图像尺寸指定为img_size(512)
val_dataset = LoadImagesAndLabels(test_path,
imgsz_test,
batch_size,
hyp=hyp,
cache_images=opt.cache_images,
single_cls=opt.single_cls,
rank=opt.rank)
# 给每个rank对应的进程分配训练的样本索引
train_sampler = torch.utils.data.distributed.DistributedSampler(
train_dataset)
val_sampler = torch.utils.data.distributed.DistributedSampler(val_dataset)
# 将样本索引每batch_size个元素组成一个list
train_batch_sampler = torch.utils.data.BatchSampler(train_sampler,
batch_size,
drop_last=True)
# dataloader
nw = min([os.cpu_count(), batch_size if batch_size > 1 else 0,
8]) # number of workers
if opt.rank in [-1, 0]:
print('Using %g dataloader workers' % nw)
train_data_loader = torch.utils.data.DataLoader(
train_dataset,
batch_sampler=train_batch_sampler,
num_workers=nw,
pin_memory=True,
collate_fn=train_dataset.collate_fn)
val_data_loader = torch.utils.data.DataLoader(
val_dataset,
batch_size=batch_size,
sampler=val_sampler,
num_workers=nw,
pin_memory=True,
collate_fn=val_dataset.collate_fn)
# Model parameters
model.nc = nc # attach number of classes to model
model.hyp = hyp # attach hyperparameters to model
model.gr = 1.0 # giou loss ratio (obj_loss = 1.0 or giou)
# start training
# caching val_data when you have plenty of memory(RAM)
with torch_distributed_zero_first(opt.rank):
if os.path.exists("tmp.pk") is False:
coco = get_coco_api_from_dataset(val_dataset)
with open("tmp.pk", "wb") as f:
pickle.dump(coco, f)
else:
with open("tmp.pk", "rb") as f:
coco = pickle.load(f)
if opt.rank in [-1, 0]:
print("starting traning for %g epochs..." % epochs)
print('Using %g dataloader workers' % nw)
start_time = time.time()
for epoch in range(start_epoch, epochs):
train_sampler.set_epoch(epoch)
mloss, lr = train_util.train_one_epoch(
model,
optimizer,
train_data_loader,
device,
epoch,
accumulate=accumulate, # 迭代多少batch才训练完64张图片
img_size=imgsz_train, # 输入图像的大小
multi_scale=multi_scale,
grid_min=grid_min, # grid的最小尺寸
grid_max=grid_max, # grid的最大尺寸
gs=gs, # grid step: 32
print_freq=50, # 每训练多少个step打印一次信息
warmup=True)
# update scheduler
scheduler.step()
if opt.notest is False or epoch == epochs - 1:
# evaluate on the test dataset
result_info = train_util.evaluate(model,
val_data_loader,
coco=coco,
device=device)
# only first process in DDP process to record info and save weights
if opt.rank in [-1, 0]:
coco_mAP = result_info[0]
voc_mAP = result_info[1]
coco_mAR = result_info[8]
# write into tensorboard
if tb_writer:
tags = [
'train/giou_loss', 'train/obj_loss', 'train/cls_loss',
'train/loss', "learning_rate", "mAP@[IoU=0.50:0.95]",
"mAP@[IoU=0.5]", "mAR@[IoU=0.50:0.95]"
]
for x, tag in zip(
mloss.tolist() + [lr, coco_mAP, voc_mAP, coco_mAR],
tags):
tb_writer.add_scalar(tag, x, epoch)
# write into txt
with open(results_file, "a") as f:
result_info = [str(round(i, 4)) for i in result_info]
txt = "epoch:{} {}".format(epoch, ' '.join(result_info))
f.write(txt + "\n")
# update best mAP(IoU=0.50:0.95)
if coco_mAP > best_map:
best_map = coco_mAP
if opt.savebest is False:
# save weights every epoch
with open(results_file, 'r') as f:
save_files = {
'model': model.module.state_dict(),
'optimizer': optimizer.state_dict(),
'training_results': f.read(),
'epoch': epoch,
'best_map': best_map
}
torch.save(save_files,
"./weights/yolov3spp-{}.pt".format(epoch))
else:
# only save best weights
if best_map == coco_mAP:
with open(results_file, 'r') as f:
save_files = {
'model': model.module.state_dict(),
'optimizer': optimizer.state_dict(),
'training_results': f.read(),
'epoch': epoch,
'best_map': best_map
}
torch.save(save_files, best.format(epoch))
total_time = time.time() - start_time
total_time_str = str(datetime.timedelta(seconds=int(total_time)))
if opt.rank in [-1, 0]:
print('Training time {}'.format(total_time_str))
def evaluate(model, data_loader, device, data_set=None, mAP_list=None):
n_threads = torch.get_num_threads()
# FIXME remove this and make paste_masks_in_image run on the GPU
torch.set_num_threads(1)
cpu_device = torch.device("cpu")
model.eval()
metric_logger = utils.MetricLogger(delimiter=" ")
header = "Test: "
if data_set is None:
data_set = get_coco_api_from_dataset(data_loader.dataset)
iou_types = _get_iou_types(model)
coco_evaluator = CocoEvaluator(data_set, iou_types)
for images, targets in metric_logger.log_every(data_loader, 100, header):
images = torch.stack(images, dim=0)
targets = [{k: v.to(device) for k, v in t.items()} for t in targets]
images = images.to(device)
# targets = {k: v.to(device) for k, v in targets.items()}
if device != torch.device("cpu"):
torch.cuda.synchronize(device)
model_time = time.time()
# list((bboxes_out, labels_out, scores_out), ...)
results = model(images, targets)
outputs = []
for index, (bboxes_out, labels_out, scores_out) in enumerate(results):
# 将box的相对坐标信息（0-1）转为绝对值坐标(xmin, ymin, xmax, ymax)
height_width = targets[index]["height_width"]
# height_width = [300, 300]
bboxes_out[:, [0, 2]] = bboxes_out[:, [0, 2]] * height_width[1]
bboxes_out[:, [1, 3]] = bboxes_out[:, [1, 3]] * height_width[0]
info = {"boxes": bboxes_out.to(cpu_device),
"labels": labels_out.to(cpu_device),
"scores": scores_out.to(cpu_device)}
outputs.append(info)
# outputs = [{k: v.to(cpu_device) for k, v in t.items()} for t in outputs]
model_time = time.time() - model_time
res = dict()
for index in range(len(outputs)):
info = {targets[index]["image_id"].item(): outputs[index]}
res.update(info)
# res = {target["image_id"].item(): output for target, output in zip(targets, outputs)}
evaluator_time = time.time()
coco_evaluator.update(res)
evaluator_time = time.time() - evaluator_time
metric_logger.update(model_time=model_time, evaluator_time=evaluator_time)
# gather the stats from all processes
metric_logger.synchronize_between_processes()
print("Averaged stats:", metric_logger)
coco_evaluator.synchronize_between_processes()
# accumulate predictions from all images
coco_evaluator.accumulate()
coco_evaluator.summarize()
torch.set_num_threads(n_threads)
print_txt = coco_evaluator.coco_eval[iou_types[0]].stats
coco_mAP = print_txt[0]
voc_mAP = print_txt[1]
if isinstance(mAP_list, list):
mAP_list.append(voc_mAP)
def train(hyp):
device = torch.device(opt.device if torch.cuda.is_available() else "cpu")
print("Using {} device training.".format(device.type))
wdir = "weights" + os.sep # weights dir
best = wdir + "best.pt"
results_file = "results.txt"
cfg = opt.cfg
data = opt.data
epochs = opt.epochs
batch_size = opt.batch_size
accumulate = max(round(64 / batch_size), 1) # accumulate n times before optimizer update (bs 64)
weights = opt.weights # initial training weights
imgsz_train = opt.img_size
imgsz_test = opt.img_size # test image sizes
multi_scale = opt.multi_scale
# Image sizes
# 图像要设置成32的倍数
gs = 32 # (pixels) grid size
assert math.fmod(imgsz_test, gs) == 0, "--img-size %g must be a %g-multiple" % (imgsz_test, gs)
grid_min, grid_max = imgsz_test // gs, imgsz_test // gs
if multi_scale:
imgsz_min = opt.img_size // 1.5
imgsz_max = opt.img_size // 0.667
# 将给定的最大，最小输入尺寸向下调整到32的整数倍
grid_min, grid_max = imgsz_min // gs, imgsz_max // gs
imgsz_min, imgsz_max = int(grid_min * gs), int(grid_max * gs)
imgsz_train = imgsz_max # initialize with max size
print("Using multi_scale training, image range[{}, {}]".format(imgsz_min, imgsz_max))
# configure run
# init_seeds() # 初始化随机种子，保证结果可复现
data_dict = parse_data_cfg(data)
train_path = data_dict["train"]
test_path = data_dict["valid"]
nc = 1 if opt.single_cls else int(data_dict["classes"]) # number of classes
hyp["cls"] *= nc / 80 # update coco-tuned hyp['cls'] to current dataset
hyp["obj"] *= imgsz_test / 320
# Remove previous results
for f in glob.glob(results_file):
os.remove(f)
# Initialize model
model = Darknet(cfg).to(device)
# 是否冻结权重，只训练predictor的权重
if opt.freeze_layers:
# 索引减一对应的是predictor的索引，YOLOLayer并不是predictor
output_layer_indices = [idx - 1 for idx, module in enumerate(model.module_list) if
isinstance(module, YOLOLayer)]
# 冻结除predictor和YOLOLayer外的所有层
freeze_layer_indeces = [x for x in range(len(model.module_list)) if
(x not in output_layer_indices) and
(x - 1 not in output_layer_indices)]
# Freeze non-output layers
# 总共训练3x2=6个parameters
for idx in freeze_layer_indeces:
for parameter in model.module_list[idx].parameters():
parameter.requires_grad_(False)
else:
# 如果freeze_layer为False，默认仅训练除darknet53之后的部分
# 若要训练全部权重，删除以下代码
darknet_end_layer = 74 # only yolov3spp cfg
# Freeze darknet53 layers
# 总共训练21x3+3x2=69个parameters
for idx in range(darknet_end_layer + 1): # [0, 74]
for parameter in model.module_list[idx].parameters():
parameter.requires_grad_(False)
# optimizer
pg = [p for p in model.parameters() if p.requires_grad]
optimizer = optim.SGD(pg, lr=hyp["lr0"], momentum=hyp["momentum"],
weight_decay=hyp["weight_decay"], nesterov=True)
start_epoch = 0
best_map = 0.0
if weights.endswith(".pt") or weights.endswith(".pth"):
ckpt = torch.load(weights, map_location=device)
# load model
try:
ckpt["model"] = {k: v for k, v in ckpt["model"].items() if model.state_dict()[k].numel() == v.numel()}
model.load_state_dict(ckpt["model"], strict=False)
except KeyError as e:
s = "%s is not compatible with %s. Specify --weights '' or specify a --cfg compatible with %s. " \
"See https://github.com/ultralytics/yolov3/issues/657" % (opt.weights, opt.cfg, opt.weights)
raise KeyError(s) from e
# load optimizer
if ckpt["optimizer"] is not None:
optimizer.load_state_dict(ckpt["optimizer"])
if "best_map" in ckpt.keys():
best_map = ckpt["best_map"]
# load results
if ckpt.get("training_results") is not None:
with open(results_file, "w") as file:
file.write(ckpt["training_results"]) # write results.txt
# epochs
start_epoch = ckpt["epoch"] + 1
if epochs < start_epoch:
print('%s has been trained for %g epochs. Fine-tuning for %g additional epochs.' %
(opt.weights, ckpt['epoch'], epochs))
epochs += ckpt['epoch'] # finetune additional epochs
del ckpt
# Scheduler https://arxiv.org/pdf/1812.01187.pdf
lf = lambda x: ((1 + math.cos(x * math.pi / epochs)) / 2) * (1 - hyp["lrf"]) + hyp["lrf"] # cosine
scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lf)
scheduler.last_epoch = start_epoch # 指定从哪个epoch开始
# Plot lr schedule
# y = []
# for _ in range(epochs):
# scheduler.step()
# y.append(optimizer.param_groups[0]['lr'])
# plt.plot(y, '.-', label='LambdaLR')
# plt.xlabel('epoch')
# plt.ylabel('LR')
# plt.tight_layout()
# plt.savefig('LR.png', dpi=300)
# model.yolo_layers = model.module.yolo_layers
# dataset
# 训练集的图像尺寸指定为multi_scale_range中最大的尺寸
train_dataset = LoadImageAndLabels(train_path, imgsz_train, batch_size,
augment=True,
hyp=hyp, # augmentation hyperparameters
rect=opt.rect, # rectangular training
cache_images=opt.cache_images,
single_cls=opt.single_cls)
# 验证集的图像尺寸指定为img_size(512)
val_dataset = LoadImageAndLabels(test_path, imgsz_test, batch_size,
hyp=hyp,
rect=True, # 将每个batch的图像调整到合适大小，可减少运算量(并不是512x512标准尺寸)
cache_images=opt.cache_images,
single_cls=opt.single_cls)
# dataloader
nw = min([os.cpu_count(), batch_size if batch_size > 1 else 0, 8]) # number of workers
train_dataloader = torch.utils.data.DataLoader(train_dataset,
batch_size=batch_size,
num_workers=nw,
# Shuffle=True unless rectangular training is used
shuffle=not opt.rect,
pin_memory=True,
collate_fn=train_dataset.collate_fn)
val_datasetloader = torch.utils.data.DataLoader(val_dataset,
batch_size=batch_size,
num_workers=nw,
pin_memory=True,
collate_fn=val_dataset.collate_fn)
# Model parameters
model.nc = nc # attach number of classes to model
model.hyp = hyp # attach hyperparameters to model
model.gr = 1.0 # giou loss ratio (obj_loss = 1.0 or giou)
# 计算每个类别的目标个数，并计算每个类别的比重
# model.class_weights = labels_to_class_weights(train_dataset.labels, nc).to(device) # attach class weights
# start training
# caching val_data when you have plenty of memory(RAM)
# coco = None
coco = get_coco_api_from_dataset(val_dataset)
print("starting traning for %g epochs..." % epochs)
print('Using %g dataloader workers' % nw)
for epoch in range(start_epoch, epochs):
mloss, lr = train_util.train_one_epoch(model, optimizer, train_dataloader,
device, epoch,
accumulate=accumulate, # 迭代多少batch才训练完64张图片
img_size=imgsz_train, # 输入图像的大小
multi_scale=multi_scale,
grid_min=grid_min, # grid的最小尺寸
grid_max=grid_max, # grid的最大尺寸
gs=gs, # grid step: 32
print_freq=50, # 每训练多少个step打印一次信息
warmup=True)
# update scheduler
scheduler.step()
if opt.notest is False or epoch == epochs - 1:
# evaluate on the test dataset
result_info = train_util.evaluate(model, val_datasetloader,
coco=coco, device=device)
coco_mAP = result_info[0]
voc_mAP = result_info[1]
coco_mAR = result_info[8]
# write into tensorboard
if tb_writer:
tags = ['train/giou_loss', 'train/obj_loss', 'train/cls_loss', 'train/loss', "learning_rate",
"mAP@[IoU=0.50:0.95]", "mAP@[IoU=0.5]", "mAR@[IoU=0.50:0.95]"]
for x, tag in zip(mloss.tolist() + [lr, coco_mAP, voc_mAP, coco_mAR], tags):
tb_writer.add_scalar(tag, x, epoch)
# write into txt
with open(results_file, "a") as f:
result_info = [str(round(i, 4)) for i in result_info]
txt = "epoch:{} {}".format(epoch, ' '.join(result_info))
f.write(txt + "\n")
# update best mAP(IoU=0.50:0.95)
if coco_mAP > best_map:
best_map = coco_mAP
if opt.savebest is False:
# save weights every epoch
with open(results_file, 'r') as f:
save_files = {
'model': model.state_dict(),
'optimizer': optimizer.state_dict(),
'training_results': f.read(),
'epoch': epoch,
'best_map': best_map}
torch.save(save_files, "./weights/yolov3spp-{}.pt".format(epoch))
else:
# only save best weights
if best_map == coco_mAP:
with open(results_file, 'r') as f:
save_files = {
'model': model.state_dict(),
'optimizer': optimizer.state_dict(),
'training_results': f.read(),
'epoch': epoch,
'best_map': best_map}
torch.save(save_files, best.format(epoch))
def train(hyp):
device = torch.device(opt.device if torch.cuda.is_available() else "cpu")
cfg = opt.cfg
data = opt.data
epochs = opt.epochs
batch_size = opt.batch_size
accumulate = max(round(64 / batch_size),
1) # accumulate n times before optimizer update (bs 64)
weights = opt.weights # initial training weights
imgsz_train = opt.img_size
imgsz_test = opt.img_size # test image sizes
multi_scale = opt.multi_scale
# Image sizes
# 图像要设置成32的倍数
gs = 32 # (pixels) grid size
assert math.fmod(
imgsz_test,
gs) == 0, "--img-size %g must be a %g-multiple" % (imgsz_test, gs)
grid_min, grid_max = imgsz_test // gs, imgsz_test // gs
if multi_scale:
imgsz_min = opt.img_size // 1.5
imgsz_max = opt.img_size // 0.667
# 将给定的最大，最小输入尺寸向下调整到32的整数倍
grid_min, grid_max = imgsz_min // gs, imgsz_max // gs
imgsz_min, imgsz_max = int(grid_min * gs), int(grid_max * gs)
imgsz_train = imgsz_max # initialize with max size
print("Using multi_scale training, image range[{}, {}]".format(
imgsz_min, imgsz_max))
# configure run
# init_seeds() # 初始化随机种子，保证结果可复现
data_dict = parse_data_cfg(data)
train_path = data_dict["train"]
test_path = data_dict["valid"]
nc = 1 if opt.single_cls else int(
data_dict["classes"]) # number of classes
hyp["cls"] *= nc / 80 # update coco-tuned hyp['cls'] to current dataset
# remove previous results
for f in glob.glob("*_batch*.jpg") + glob.glob(results_file):
os.remove(f)
# Initialize model
model = Darknet(cfg).to(device)
# optimizer
pg0, pg1, pg2 = [], [], [] # optimizer parameter groups
for k, v in dict(model.named_parameters()).items():
if ".bias" in k:
pg2 += [v] # biases (bn biases and conv2d biases)
elif "Conv2d.weight" in k:
pg1 += [v] # apply weight_decay
else:
pg0 += [v] # all else, (bn weight)
if opt.adam:
optimizer = optim.Adam(pg0, lr=hyp["lr0"])
else:
optimizer = optim.SGD(pg0,
lr=hyp["lr0"],
momentum=hyp["momentum"],
nesterov=True)
optimizer.add_param_group({
"params": pg1,
"weight_decay": hyp["weight_decay"]
}) # add pg1 with weight_decay
optimizer.add_param_group({"params": pg2}) # add pg2 (biases)
print('Optimizer groups: %g .bias, %g Conv2d.weight, %g other' %
(len(pg2), len(pg1), len(pg0)))
del pg0, pg1, pg2
start_epoch = 0
best_fitness = 0.0
if weights.endswith(".pt"):
ckpt = torch.load(weights, map_location=device)
# load model
try:
ckpt["model"] = {
k: v
for k, v in ckpt["model"].items()
if model.state_dict()[k].numel() == v.numel()
}
model.load_state_dict(ckpt["model"], strict=False)
except KeyError as e:
s = "%s is not compatible with %s. Specify --weights '' or specify a --cfg compatible with %s. " \
"See https://github.com/ultralytics/yolov3/issues/657" % (opt.weights, opt.cfg, opt.weights)
raise KeyError(s) from e
# load optimizer
if ckpt["optimizer"] is not None:
optimizer.load_state_dict(ckpt["optimizer"])
best_fitness = ckpt["best_fitness"]
# load results
if ckpt.get("training_results") is not None:
with open(results_file, "w") as file:
file.write(ckpt["training_results"]) # write results.txt
# epochs
start_epoch = ckpt["epoch"] + 1
if epochs < start_epoch:
print(
'%s has been trained for %g epochs. Fine-tuning for %g additional epochs.'
% (opt.weights, ckpt['epoch'], epochs))
epochs += ckpt['epoch'] # finetune additional epochs
del ckpt
if opt.freeze_layers:
# 索引减一对应的是predictor的索引，YOLOLayer并不是predictor
output_layer_indices = [
idx - 1 for idx, module in enumerate(model.module_list)
if isinstance(module, YOLOLayer)
]
# 冻结除predictor和YOLOLayer外的所有层
freeze_layer_indeces = [
x for x in range(len(model.module_list))
if (x not in output_layer_indices) and (
x - 1 not in output_layer_indices)
]
# Freeze non-output layers
for idx in freeze_layer_indeces:
for parameter in model.module_list[idx].parameters():
parameter.requires_grad_(False)
# Scheduler https://arxiv.org/pdf/1812.01187.pdf
lf = lambda x: (
(1 + math.cos(x * math.pi / epochs)) / 2) * 0.99 + 0.01 # cosine
scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lf)
scheduler.last_epoch = start_epoch # 指定从哪个epoch开始
# Plot lr schedule
# y = []
# for _ in range(epochs+20):
# scheduler.step()
# y.append(optimizer.param_groups[0]['lr'])
# plt.plot(y, '.-', label='LambdaLR')
# plt.xlabel('epoch')
# plt.ylabel('LR')
# plt.tight_layout()
# plt.savefig('LR.png', dpi=300)
# model.yolo_layers = model.module.yolo_layers
# dataset
# 训练集的图像尺寸指定为multi_scale_range中最大的尺寸
train_dataset = LoadImageAndLabels(
train_path,
imgsz_train,
batch_size,
augment=True,
hyp=hyp, # augmentation hyperparameters
rect=opt.rect, # rectangular training
cache_images=opt.cache_images,
single_cls=opt.single_cls)
# 验证集的图像尺寸指定为img_size(512)
val_dataset = LoadImageAndLabels(
test_path,
imgsz_test,
batch_size,
hyp=hyp,
rect=True, # 将每个batch的图像调整到合适大小，可减少运算量(并不是512x512标准尺寸)
cache_images=opt.cache_images,
single_cls=opt.single_cls)
# dataloader
nw = min([os.cpu_count(), batch_size if batch_size > 1 else 0,
8]) # number of workers
train_dataloader = torch.utils.data.DataLoader(
train_dataset,
batch_size=batch_size,
num_workers=nw,
# Shuffle=True unless rectangular training is used
shuffle=not opt.rect,
pin_memory=True,
collate_fn=train_dataset.collate_fn)
val_datasetloader = torch.utils.data.DataLoader(
val_dataset,
batch_size=batch_size,
num_workers=nw,
pin_memory=True,
collate_fn=val_dataset.collate_fn)
# Model parameters
model.nc = nc # attach number of classes to model
model.hyp = hyp # attach hyperparameters to model
model.gr = 1.0 # giou loss ratio (obj_loss = 1.0 or giou)
# 计算每个类别的目标个数，并计算每个类别的比重
model.class_weights = labels_to_class_weights(train_dataset.labels, nc).to(
device) # attach class weights
# start training
nb = len(train_dataloader) # number of batches
n_burn = max(3 * nb,
500) # burn-in iterations, max(3 epochs, 500 iterations)
# caching val_data when you have plenty of memory(RAM)
print("caching val_data for evaluation.")
coco = get_coco_api_from_dataset(val_dataset)
print("starting traning for %g epochs..." % epochs)
print('Using %g dataloader workers' % nw)
for epoch in range(start_epoch, epochs):
mloss, lr = train_util.train_one_epoch(
model,
optimizer,
train_dataloader,
device,
epoch,
accumulate=accumulate, # 迭代多少batch才训练完64张图片
img_size=imgsz_train, # 输入图像的大小
batch_size=batch_size,
multi_scale=multi_scale,
grid_min=grid_min, # grid的最小尺寸
grid_max=grid_max, # grid的最大尺寸
gs=gs, # grid step: 32
print_freq=50, # 每训练多少个step打印一次信息
warmup=True)
# update scheduler
scheduler.step()
# evaluate on the test dataset
result_info = train_util.evaluate(model,
val_datasetloader,
coco=coco,
device=device)
# write into tensorboard
if tb_writer:
tags = [
'train/giou_loss', 'train/obj_loss', 'train/cls_loss',
'train/loss', "learning_rate", "mAP@[IoU=0.50:0.95]",
"mAP@[IoU=0.5]", "mAR@[IoU=0.50:0.95]"
]
coco_mAP = result_info[0]
voc_mAP = result_info[1]
coco_mAR = result_info[8]
for x, tag in zip(
mloss.tolist() + [lr, coco_mAP, voc_mAP, coco_mAR], tags):
tb_writer.add_scalar(tag, x, epoch)
# save weights
save_files = {
'model': model.state_dict(),
'optimizer': optimizer.state_dict(),
'epoch': epoch
}
torch.save(save_files, "./weights/yolov3spp-{}.pth".format(epoch))
def main(parser_data):
device = torch.device(parser_data.device if torch.cuda.is_available() else "cpu")
print("Using {} device training.".format(device.type))
if not os.path.exists("save_weights"):
os.mkdir("save_weights")
results_file = "results{}.txt".format(datetime.datetime.now().strftime("%Y%m%d-%H%M%S"))
data_transform = {
"train": transform.Compose([transform.SSDCropping(),
transform.Resize(),
transform.ColorJitter(),
transform.ToTensor(),
transform.RandomHorizontalFlip(),
transform.Normalization(),
transform.AssignGTtoDefaultBox()]),
"val": transform.Compose([transform.Resize(),
transform.ToTensor(),
transform.Normalization()])
}
VOC_root = parser_data.data_path
# check voc root
if os.path.exists(os.path.join(VOC_root, "VOCdevkit")) is False:
raise FileNotFoundError("VOCdevkit dose not in path:'{}'.".format(VOC_root))
train_dataset = VOC2012DataSet(VOC_root, data_transform['train'], train_set='train.txt')
# 注意训练时，batch_size必须大于1
batch_size = parser_data.batch_size
assert batch_size > 1, "batch size must be greater than 1"
# 防止最后一个batch_size=1，如果最后一个batch_size=1就舍去
drop_last = True if len(train_dataset) % batch_size == 1 else False
nw = min([os.cpu_count(), batch_size if batch_size > 1 else 0, 8]) # number of workers
print('Using %g dataloader workers' % nw)
train_data_loader = torch.utils.data.DataLoader(train_dataset,
batch_size=batch_size,
shuffle=True,
num_workers=nw,
collate_fn=train_dataset.collate_fn,
drop_last=drop_last)
val_dataset = VOC2012DataSet(VOC_root, data_transform['val'], train_set='val.txt')
val_data_loader = torch.utils.data.DataLoader(val_dataset,
batch_size=batch_size,
shuffle=False,
num_workers=nw,
collate_fn=train_dataset.collate_fn)
model = create_model(num_classes=21, device=device)
model.to(device)
# define optimizer
params = [p for p in model.parameters() if p.requires_grad]
optimizer = torch.optim.SGD(params, lr=0.0005,
momentum=0.9, weight_decay=0.0005)
# learning rate scheduler
lr_scheduler = torch.optim.lr_scheduler.StepLR(optimizer,
step_size=5,
gamma=0.3)
# 如果指定了上次训练保存的权重文件地址，则接着上次结果接着训练
if parser_data.resume != "":
checkpoint = torch.load(parser_data.resume)
model.load_state_dict(checkpoint['model'])
optimizer.load_state_dict(checkpoint['optimizer'])
lr_scheduler.load_state_dict(checkpoint['lr_scheduler'])
parser_data.start_epoch = checkpoint['epoch'] + 1
print("the training process from epoch{}...".format(parser_data.start_epoch))
train_loss = []
learning_rate = []
val_map = []
# 提前加载验证集数据，以免每次验证时都要重新加载一次数据，节省时间
val_data = get_coco_api_from_dataset(val_data_loader.dataset)
for epoch in range(parser_data.start_epoch, parser_data.epochs):
mean_loss, lr = utils.train_one_epoch(model=model, optimizer=optimizer,
data_loader=train_data_loader,
device=device, epoch=epoch,
print_freq=50)
train_loss.append(mean_loss.item())
learning_rate.append(lr)
# update learning rate
lr_scheduler.step()
coco_info = utils.evaluate(model=model, data_loader=val_data_loader,
device=device, data_set=val_data)
# write into txt
with open(results_file, "a") as f:
result_info = [str(round(i, 4)) for i in coco_info + [mean_loss.item(), lr]]
txt = "epoch:{} {}".format(epoch, ' '.join(result_info))
f.write(txt + "\n")
val_map.append(coco_info[1]) # pascal mAP
# save weights
save_files = {
'model': model.state_dict(),
'optimizer': optimizer.state_dict(),
'lr_scheduler': lr_scheduler.state_dict(),
'epoch': epoch}
torch.save(save_files, "./save_weights/ssd300-{}.pth".format(epoch))
# plot loss and lr curve
if len(train_loss) != 0 and len(learning_rate) != 0:
from plot_curve import plot_loss_and_lr
plot_loss_and_lr(train_loss, learning_rate)
# plot mAP curve
if len(val_map) != 0:
from plot_curve import plot_map
plot_map(val_map)
def main(parser_data):
device = torch.device(
parser_data.device if torch.cuda.is_available() else "cpu")
print("Using {} device training.".format(device.type))
data_transform = {"val": transforms.Compose([transforms.ToTensor()])}
# read class_indict
label_json_path = './pascal_voc_classes.json'
assert os.path.exists(
label_json_path), "json file {} dose not exist.".format(
label_json_path)
json_file = open(label_json_path, 'r')
class_dict = json.load(json_file)
category_index = {v: k for k, v in class_dict.items()}
VOC_root = parser_data.data_path
# check voc root
if os.path.exists(os.path.join(VOC_root, "VOCdevkit")) is False:
raise FileNotFoundError(
"VOCdevkit dose not in path:'{}'.".format(VOC_root))
# 注意这里的collate_fn是自定义的，因为读取的数据包括image和targets，不能直接使用默认的方法合成batch
batch_size = parser_data.batch_size
nw = min([os.cpu_count(), batch_size if batch_size > 1 else 0,
8]) # number of workers
print('Using %g dataloader workers' % nw)
# load validation data set
val_data_set = VOC2007DataSet(VOC_root, data_transform["val"], "val.txt")
val_data_set_loader = torch.utils.data.DataLoader(
val_data_set,
batch_size=batch_size,
shuffle=False,
num_workers=nw,
collate_fn=val_data_set.collate_fn)
# create model num_classes equal background + 20 classes
backbone = resnet50_fpn_backbone()
model = FasterRCNN(backbone=backbone,
num_classes=parser_data.num_classes + 1)
# 载入你自己训练好的模型权重
weights_path = parser_data.weights
assert os.path.exists(weights_path), "not found {} file.".format(
weights_path)
weights_dict = torch.load(weights_path, map_location=device)
model.load_state_dict(weights_dict['model'])
# print(model)
model.to(device)
# evaluate on the test dataset
coco = get_coco_api_from_dataset(val_data_set)
iou_types = ["bbox"]
coco_evaluator = CocoEvaluator(coco, iou_types)
cpu_device = torch.device("cpu")
model.eval()
with torch.no_grad():
for image, targets in tqdm(val_data_set_loader, desc="validation..."):
# 将图片传入指定设备device
image = list(img.to(device) for img in image)
# inference
outputs = model(image)
outputs = [{k: v.to(cpu_device)
for k, v in t.items()} for t in outputs]
res = {
target["image_id"].item(): output
for target, output in zip(targets, outputs)
}
coco_evaluator.update(res)
coco_evaluator.synchronize_between_processes()
# accumulate predictions from all images
coco_evaluator.accumulate()
coco_evaluator.summarize()
coco_eval = coco_evaluator.coco_eval["bbox"]
# calculate COCO info for all classes
coco_stats, print_coco = summarize(coco_eval)
# calculate voc info for every classes(IoU=0.5)
voc_map_info_list = []
for i in range(len(category_index)):
stats, _ = summarize(coco_eval, catId=i)
voc_map_info_list.append(" {:15}: {}".format(category_index[i + 1],
stats[1]))
print_voc = "\n".join(voc_map_info_list)
print(print_voc)
# 将验证结果保存至txt文件中
with open("record_mAP.txt", "w") as f:
record_lines = [
"COCO results:", print_coco, "", "mAP(IoU=0.5) for each category:",
print_voc
]
f.write("\n".join(record_lines))
def evaluate(model, data_loader, coco=None, device=None):
n_threads = torch.get_num_threads()
# FIXME remove this and make paste_masks_in_image run on the GPU
torch.set_num_threads(1)
cpu_device = torch.device("cpu")
model.eval()
metric_logger = utils.MetricLogger(delimiter=" ")
header = "Test: "
if coco is None:
coco = get_coco_api_from_dataset(data_loader.dataset)
iou_types = _get_iou_types(model)
coco_evaluator = CocoEvaluator(coco, iou_types)
for imgs, targets, paths, _, img_index in metric_logger.log_every(data_loader, 100, header):
imgs = imgs.to(device).float() / 255.0 # uint8 to float32, 0 - 255 to 0.0 - 1.0
# targets = targets.to(device)
# 当使用CPU时，跳过GPU相关指令
if device != torch.device("cpu"):
torch.cuda.synchronize(device)
model_time = time.time()
pred = model(imgs)[0] # only get inference result
pred = non_max_suppression(pred, conf_thres=0.001, iou_thres=0.6, multi_label=False)
outputs = []
for index, p in enumerate(pred):
if p is None:
p = torch.empty((0, 6), device=cpu_device)
boxes = torch.empty((0, 4), device=cpu_device)
else:
# xmin, ymin, xmax, ymax
boxes = p[:, :4]
# 注意这里传入的boxes格式必须是xmin, ymin, xmax, ymax，且为绝对坐标
info = {"boxes": boxes.to(cpu_device),
"labels": p[:, 5].to(device=cpu_device, dtype=torch.int64),
"scores": p[:, 4].to(cpu_device)}
outputs.append(info)
model_time = time.time() - model_time
res = {img_id: output for img_id, output in zip(img_index, outputs)}
evaluator_time = time.time()
coco_evaluator.update(res)
evaluator_time = time.time() - evaluator_time
metric_logger.update(model_time=model_time, evaluator_time=evaluator_time)
# gather the stats from all processes
metric_logger.synchronize_between_processes()
print("Averaged stats:", metric_logger)
coco_evaluator.synchronize_between_processes()
# accumulate predictions from all images
coco_evaluator.accumulate()
coco_evaluator.summarize()
torch.set_num_threads(n_threads)
result_info = coco_evaluator.coco_eval[iou_types[0]].stats
return result_info
def evaluate(self, data_loader, coco=None, device=None):
n_threads = torch.get_num_threads()
# FIXME remove this and make paste_masks_in_image run on the GPU
torch.set_num_threads(1)
if not device:
device = torch.device("cpu")
self.model.eval()
metric_logger = utils.MetricLogger(delimiter=" ")
header = "Test: "
if coco is None:
coco = get_coco_api_from_dataset(data_loader.dataset)
iou_types = _get_iou_types(self.model)
coco_evaluator = CocoEvaluator(coco, iou_types)
log_every = metric_logger.log_every(data_loader, 100, header)
for images, targets, paths, shapes, img_index in log_every:
images = images.to(device).float(
) / 255.0 # uint8 to float32, 0 - 255 to 0.0 - 1.0
# 当使用CPU时，跳过GPU相关指令
if device != torch.device("cpu"):
torch.cuda.synchronize(device)
model_time = time.time()
pred = self.model(images)[0] # only get inference result
pred = non_max_suppression(pred,
conf_thres=0.001,
iou_thres=0.6,
multi_label=False)
outputs = []
for index, pred_i in enumerate(pred):
if pred_i is None:
pred_i = torch.empty((0, 6), device=device)
boxes = torch.empty((0, 4), device=device)
else:
boxes = pred_i[:, :4] # l, t, r, b
# shapes: (h0, w0), ((h / h0, w / w0), pad)
# 将boxes信息还原回原图尺度，这样计算的mAP才是准确的
boxes = scale_coordinates(boxes, images[index].shape[1:],
shapes[index]).round()
image = images[index]
self.img_show(image, boxes)
# 注意这里传入的boxes格式必须是 l_abs, t_abs, r_abs, b_abs，且为绝对坐标
info = {
"boxes": boxes.to(device),
"labels": pred_i[:, 5].to(device=device,
dtype=torch.int64),
"scores": pred_i[:, 4].to(device)
}
outputs.append(info)
model_time = time.time() - model_time
res = {
img_id: output
for img_id, output in zip(img_index, outputs)
}
evaluator_time = time.time()
coco_evaluator.update(res)
evaluator_time = time.time() - evaluator_time
metric_logger.update(model_time=model_time,
evaluator_time=evaluator_time)
# gather the stats from all processes
metric_logger.synchronize_between_processes()
print("Averaged stats:", metric_logger)
coco_evaluator.synchronize_between_processes()
# accumulate predictions from all images
coco_evaluator.accumulate()
coco_evaluator.summarize()
torch.set_num_threads(n_threads)
result_info = coco_evaluator.coco_eval[
iou_types[0]].stats.tolist() # numpy to list
return result_info
