def main(config):
# device
device = torch.device("cuda")
initial_epoch = 0
num_epochs = 100
outdir = '/usr/local/data/raghav/ECSE626_2019/Project/Experiments/' # Full Path to Directory where to store all generated files: Ex. "/usr/local/data/raghav/MSLAQ_experiments/Experiments"
main_path = '/usr/local/data/raghav/ECSE626_2019/Project/data/' # Full Path of Input HDf5 file: Ex. "/usr/local/data/raghav/MSLAQ_loader/MSLAQ.hdf5"
ConfigName = 'Depth' # Configuration Name to Uniquely Identify this Experiment
#########################################################################################################
log_path = join(outdir, ConfigName, 'log')
os.makedirs(log_path, exist_ok=True)
os.makedirs(join(log_path, 'weights'), exist_ok=True)
os.makedirs(join(log_path, 'visualize'), exist_ok=True)
##################################################################################################
#####################################################################################################
model = DeepLab(backbone='resnet',
output_stride=8,
num_classes=[1],
sync_bn=False,
freeze_bn=False)
print("===> Model Defined.")
#############################################################################################
params = ([p for p in model.parameters()])
#############################################################################################
optimizer = optim.SGD(params, lr=0.0025, momentum=0.9, nesterov=True)
lambda2 = lambda epoch: (1 - epoch / num_epochs)**0.9
scheduler = LambdaLR(optimizer, lr_lambda=lambda2)
print("===> Optimizer Initialized")
########################################################################################
if initial_epoch > 0:
print("===> Loading pre-trained weight {}".format(initial_epoch))
weight_path = 'weights/model-{:04d}.pt'.format(initial_epoch)
# model = torch.load(join(log_path, weight_path))
checkpoint = torch.load(join(log_path, weight_path))
model.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
# epoch = checkpoint['epoch']
#print(model)
model = model.to(device)
##################################################################################################
input_transform = transforms.Compose([
transforms.Resize(size=128, interpolation=2),
PIL_To_Tensor(),
NormalizeRange(),
transforms.Normalize(mean=CITYSCAPES_MEAN, std=CITYSCAPES_STD)
])
label_transform = transforms.Compose([
transforms.Resize(size=128, interpolation=0),
PIL_To_Tensor(),
Project(projection=CITYSCAPES_CLASSES_TO_LABELS)
])
depth_transform = transforms.Compose([
transforms.Resize(size=128, interpolation=2),
PIL_To_Tensor(),
DepthConversion()
])
training_data_loader = torch.utils.data.DataLoader(Cityscapes(
root='/usr/local/data/raghav/ECSE626_2019/Project/data/',
split='train',
mode='fine',
target_type=['depth'],
transform=input_transform,
target_transform=[depth_transform]),
batch_size=8,
shuffle=True,
num_workers=4,
drop_last=True)
validation_data_loader = torch.utils.data.DataLoader(Cityscapes(
root='/usr/local/data/raghav/ECSE626_2019/Project/data/',
split='val',
mode='fine',
target_type=['depth'],
transform=input_transform,
target_transform=[depth_transform]),
batch_size=8,
shuffle=True,
num_workers=4,
drop_last=True)
print("===> Training and Validation Data Loaderss Initialized")
##########################################################################################################
my_metric = ["mse", "mae"]
my_loss = ["loss"] #, "loss_seg"]
logger = Logger(mylog_path=log_path,
mylog_name="training.log",
myloss_names=my_loss,
mymetric_names=my_metric)
LP = LossPlotter(mylog_path=log_path,
mylog_name="training.log",
myloss_names=my_loss,
mymetric_names=my_metric)
print("===> Logger and LossPlotter Initialized")
############################################################################################
def checkpoint(epoch):
w_path = 'weights/model-{:04d}.pt'.format(epoch)
torch.save(
{
'epoch': epoch,
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict()
}, join(log_path, w_path))
print("===> Checkpoint saved to {}".format(w_path))
#################################################################################################
def train(epoch):
model.train()
scheduler.step()
epoch_loss = 0
seg_crit = nn.CrossEntropyLoss(reduction='none')
reg_crit = nn.L1Loss(reduction='none')
for iteration, batch in enumerate(tqdm(training_data_loader)):
optimizer.zero_grad()
inp, target = batch[0].to(device), batch[1].to(device)
outp = model(inp)
loss = 0
loss_reg = reg_crit(outp[0], target)
loss_reg = torch.mean(loss_reg)
loss = loss_reg
epoch_loss += loss.item()
loss.backward()
optimizer.step()
# if iteration==10:
# break
print("===> Training Epoch {} Complete: Avg. Loss: {:.4f}".format(
epoch, epoch_loss / len(training_data_loader)))
###################################################################################################
def test():
model.eval()
metric = np.zeros(len(my_metric) + len(my_loss))
seg_crit = nn.CrossEntropyLoss(reduction='none')
reg_crit = nn.L1Loss(reduction='none')
with torch.no_grad():
for iteration, batch in enumerate(training_data_loader):
inp, target = batch[0].to(device), batch[1].to(
device) #batch[1][1].to(device), target,
outp = model(inp)
loss = 0
loss_reg = reg_crit(outp[0], target)
loss_reg = torch.mean(loss_reg)
loss = loss_reg
loss = loss.item()
mean_squared_error = torch.mean((outp[0] - target)**2).item()
mean_absolute_error = torch.mean(torch.abs(outp[0] -
target)).item()
metric += np.array(
[loss, mean_squared_error, mean_absolute_error])
# if iteration==10:
# break
return metric / len(training_data_loader)
# return metric/10
#####################################################################################################
def validate():
model.eval()
metric = np.zeros(len(my_metric) + len(my_loss))
seg_crit = nn.CrossEntropyLoss(reduction='none')
reg_crit = nn.L1Loss(reduction='none')
with torch.no_grad():
for iteration, batch in enumerate(validation_data_loader):
inp, target = batch[0].to(device), batch[1].to(
device) #batch[1][1].to(device), target,
outp = model(inp)
loss = 0
loss_reg = reg_crit(outp[0], target)
loss_reg = torch.mean(loss_reg)
loss = loss_reg
loss = loss.item()
mean_squared_error = torch.mean((outp[0] - target)**2).item()
mean_absolute_error = torch.mean(torch.abs(outp[0] -
target)).item()
metric += np.array(
[loss, mean_squared_error, mean_absolute_error])
# if iteration==10:
# break
return metric / len(validation_data_loader)
# return metric/10
#############################################################################################3
#####################
def visualize(epch):
model.eval()
v_path = join(log_path, 'visualize', '{}'.format(epch))
os.makedirs(v_path, exist_ok=True)
with torch.no_grad():
for iteration, batch in enumerate(validation_data_loader):
inp, target = batch[0].to(device), batch[1].to(
device) #batch[1][1].to(device), target,
outp = model(inp)
target = np.squeeze(
target.data.cpu().numpy().astype('float32'))
outp_reg = np.squeeze(
outp[0].data.cpu().numpy().astype('float32'))
####
for i in range(inp.shape[0]):
result = Image.fromarray(
255 * target[i, ...].squeeze().astype(np.uint8))
result.save(join(v_path, 'depth{}.png'.format(i)))
result = Image.fromarray(
255 * outp_reg[i, ...].squeeze().astype(np.uint8))
result.save(join(v_path, 'outp_depth{}.png'.format(i)))
if iteration == 0:
break
#########################################################################################################
total_params = sum(p.numel() for p in model.parameters())
print("===> Starting Model Training at Epoch: {}".format(initial_epoch))
print("===> Total Model Parameter: ", total_params)
for epch in range(initial_epoch, num_epochs):
start = time.time()
print("\n\n")
print("Epoch:{}".format(epch))
train(epch)
if epch % 2 == 0:
train_metric = test()
print(
"===> Training Epoch {}: Loss - {:.4f}, MSE - {:.4f}, MAE - {:.4f}"
.format(epch, train_metric[0], train_metric[1],
train_metric[2]))
val_metric = validate()
print(
"===> Validation Epoch {}: Loss - {:.4f}, MSE - {:.4f}, MAE - {:.4f}"
.format(epch, val_metric[0], val_metric[1], val_metric[2]))
logger.to_csv(np.concatenate((train_metric, val_metric)), epch)
print("===> Logged All Metrics")
LP.plotter()
print("===> Plotted All Metrics")
visualize(epch)
print("===> Visualized some outputs")
checkpoint(epch)
end = time.time()
print("===> Epoch:{} Completed in {} seconds".format(
epch, end - start))
print("===> Done Training for Total {} Epochs".format(num_epochs))
def main(config):
# device
device = torch.device("cuda")
initial_epoch = 80
num_epochs = 100
outdir = '/usr/local/data/raghav/ECSE626_2019/Project/Experiments/' # Full Path to Directory where to store all generated files: Ex. "/usr/local/data/raghav/MSLAQ_experiments/Experiments"
main_path = '/usr/local/data/raghav/ECSE626_2019/Project/data/' # Full Path of Input HDf5 file: Ex. "/usr/local/data/raghav/MSLAQ_loader/MSLAQ.hdf5"
ConfigName = 'Seg_Depth_MTWL' # Configuration Name to Uniquely Identify this Experiment
#########################################################################################################
log_path = join(outdir, ConfigName, 'log')
os.makedirs(log_path, exist_ok=True)
os.makedirs(join(log_path, 'weights'), exist_ok=True)
os.makedirs(join(log_path, 'visualize'), exist_ok=True)
##################################################################################################
#####################################################################################################
model = DeepLab(backbone='resnet',
output_stride=8,
num_classes=[20, 1],
sync_bn=False,
freeze_bn=False)
print("===> Model Defined.")
#############################################################################################
reg_task_weight = torch.zeros(1, requires_grad=True, device=device)
seg_task_weight = torch.zeros(1, requires_grad=True, device=device)
print("===> Initial Reg Weight and Seg weight: {} {}".format(
torch.exp(-reg_task_weight), torch.exp(-seg_task_weight)))
print("===> Initial Reg Weight and Seg weight Require Grad: {} {}".format(
reg_task_weight.requires_grad, seg_task_weight.requires_grad))
params = ([p for p in model.parameters()] + [reg_task_weight] +
[seg_task_weight])
#############################################################################################
optimizer = optim.SGD(params, lr=0.0025, momentum=0.9, nesterov=True)
lambda2 = lambda epoch: (1 - epoch / num_epochs)**0.9
scheduler = LambdaLR(optimizer, lr_lambda=lambda2)
print("===> Optimizer Initialized")
########################################################################################
if initial_epoch > 0:
print("===> Loading pre-trained weight {}".format(initial_epoch))
weight_path = 'weights/model-{:04d}.pt'.format(initial_epoch)
# model = torch.load(join(log_path, weight_path))
checkpoint = torch.load(join(log_path, weight_path))
model.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
reg_task_weight = checkpoint['reg_task_weight']
seg_task_weight = checkpoint['seg_task_weight']
# epoch = checkpoint['epoch']
#print(model)
model = model.to(device)
##################################################################################################
input_transform = transforms.Compose([
transforms.Resize(size=128, interpolation=2),
PIL_To_Tensor(),
NormalizeRange(),
transforms.Normalize(mean=CITYSCAPES_MEAN, std=CITYSCAPES_STD)
])
label_transform = transforms.Compose([
transforms.Resize(size=128, interpolation=0),
PIL_To_Tensor(),
Project(projection=CITYSCAPES_CLASSES_TO_LABELS)
])
depth_transform = transforms.Compose([
transforms.Resize(size=128, interpolation=2),
PIL_To_Tensor(),
DepthConversion()
])
training_data_loader = torch.utils.data.DataLoader(Cityscapes(
root='/usr/local/data/raghav/ECSE626_2019/Project/data/',
split='train',
mode='fine',
target_type=['semantic', 'depth'],
transform=input_transform,
target_transform=[label_transform, depth_transform]),
batch_size=8,
shuffle=True,
num_workers=4,
drop_last=True)
validation_data_loader = torch.utils.data.DataLoader(Cityscapes(
root='/usr/local/data/raghav/ECSE626_2019/Project/data/',
split='val',
mode='fine',
target_type=['semantic', 'depth'],
transform=input_transform,
target_transform=[label_transform, depth_transform]),
batch_size=8,
shuffle=True,
num_workers=4,
drop_last=True)
print("===> Training and Validation Data Loaderss Initialized")
##########################################################################################################
my_metric = ['meanIoU', "mse", "mae"]
my_loss = [
"loss", "loss_seg", "loss_reg", "reg_weight", "seg_weight",
"reg_precision", "seg_precision"
]
logger = Logger(mylog_path=log_path,
mylog_name="training.log",
myloss_names=my_loss,
mymetric_names=my_metric)
LP = LossPlotter(mylog_path=log_path,
mylog_name="training.log",
myloss_names=my_loss,
mymetric_names=my_metric)
print("===> Logger and LossPlotter Initialized")
############################################################################################
def checkpoint(epoch):
w_path = 'weights/model-{:04d}.pt'.format(epoch)
torch.save(
{
'epoch': epoch,
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'seg_task_weight': seg_task_weight,
'reg_task_weight': reg_task_weight
}, join(log_path, w_path))
print("===> Checkpoint saved to {}".format(w_path))
#################################################################################################
#####################################################################################################
def validate():
model.eval()
metric = np.zeros(len(my_metric) + len(my_loss))
seg_crit = nn.CrossEntropyLoss(reduction='none')
reg_crit = nn.L1Loss(reduction='none')
with torch.no_grad():
for iteration, batch in enumerate(validation_data_loader):
inp, target, seg = batch[0].to(device), batch[1][1].to(
device), batch[1][0].type('torch.LongTensor').squeeze().to(
device)
outp = model(inp)
loss = 0
seg_precision = torch.exp(-seg_task_weight)
loss_seg = seg_crit(outp[0], seg)
loss_seg = torch.mean(loss_seg)
reg_precision = torch.exp(-reg_task_weight)
loss_reg = reg_crit(outp[1], target)
loss_reg = torch.mean(loss_reg)
loss = loss_seg + loss_reg
loss = loss.item()
loss_seg = loss_seg.item()
loss_reg = loss_reg.item()
seg = np.squeeze(seg.data.cpu().numpy().astype('float32'))
outp_seg = torch.argmax(outp[0], dim=1, keepdim=False)
outp_seg = np.squeeze(
outp_seg.data.cpu().numpy().astype('float32'))
mIoU = meanIoU(seg, outp_seg)
mean_squared_error = torch.mean((outp[1] - target)**2).item()
mean_absolute_error = torch.mean(torch.abs(outp[1] -
target)).item()
metric += np.array([
loss, loss_seg, loss_reg,
reg_task_weight.item(),
seg_task_weight.item(),
reg_precision.item(),
seg_precision.item(), mIoU, mean_squared_error,
mean_absolute_error
])
# if iteration==10:
# break
return metric / len(validation_data_loader)
# return metric/10
#########################################################################################################
total_params = sum(p.numel() for p in model.parameters())
val_metric = validate()
print(
"===> Validation Epoch {}: Loss - {:.4f}, Loss_Seg - {:.4f}, Loss_Reg - {:.4f}, mean IoU - {:.4f}, MSE - {:.4f}, MAE - {:.4f}"
.format(initial_epoch, val_metric[0], val_metric[1], val_metric[2],
val_metric[7], val_metric[8], val_metric[9]))