def get_model(model_path, num_classes):
model = params.model(3, num_classes)
model = nn.DataParallel(model, device_ids=params.device_ids).cuda()
state = torch.load(str(model_path))['model']
model.load_state_dict(state)
return model
def main(fold):
# check cuda available
assert torch.cuda.is_available() == True
# when the input dimension doesnot change, add this flag to speed up
cudnn.benchmark = True
num_classes = config.problem_class[params.problem_type]
# input are RGB images in size 3 * h * w
# output are binary
model = params.model(in_channels=3, num_classes=num_classes)
# data parallel
model = nn.DataParallel(model, device_ids=params.device_ids).cuda()
# loss function
if num_classes == 2:
loss = LossBinary(jaccard_weight=params.jaccard_weight)
valid_metric = validation_binary
else:
loss = LossMulti(num_classes=num_classes, jaccard_weight=params.jaccard_weight)
valid_metric = validation_multi
# trainset transform
train_transform = Compose([
Resize(height=params.train_height, width=params.train_width, p=1),
Normalize(p=1)
], p=1)
# validset transform
valid_transform = Compose([
Resize(height=params.valid_height, width=params.valid_width, p=1),
Normalize(p=1)
], p=1)
# train/valid filenmaes
train_filenames, valid_filenames = trainval_split(fold)
print('num of train / validation files = {} / {}'.format(len(train_filenames), len(valid_filenames)))
# train dataloader
train_loader = DataLoader(
dataset=RobotSegDataset(train_filenames, transform=train_transform),
shuffle=True,
num_workers=params.num_workers,
batch_size=params.batch_size,
pin_memory=True
)
# valid dataloader
valid_loader = DataLoader(
dataset=RobotSegDataset(valid_filenames, transform=valid_transform),
shuffle=True,
num_workers=params.num_workers,
batch_size=len(params.device_ids), # in valid time use one img for each dataset
pin_memory=True
)
train(
model=model,
loss_func=loss,
train_loader=train_loader,
valid_loader=valid_loader,
valid_metric=valid_metric,
fold=fold,
num_classes=num_classes
)
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
transforms = torchvision.transforms.Compose([
torchvision.transforms.ToTensor()
])
test_dataset = params.test_dset(os.path.join(params.data_directory,'valid'), transform=transforms, return_restart=True)
train_dataset = params.train_dset(os.path.join(params.data_directory,'train'), transform=transforms)
dataloader = torch.utils.data.DataLoader(
test_dataset,
shuffle = False,
batch_size=1)
if 'stereo' in inspect.getargspec(params.model)[0]:
Model = params.model(stereo=params.stereo,dropout_conv=params.dropout_conv,dropout_fc=params.dropout_fc).to(device)
else:
Model = params.model(dropout_conv=params.dropout_conv,dropout_fc=params.dropout_fc).to(device)
Model.load_state_dict(torch.load(params.kalman_model_path))
print(f'Time started: {time}')
print(f'Number of network parameters: {len(torch.nn.utils.parameters_to_vector(Model.parameters()))}')
logs = {'mae_kalman':[],'rmse_kalman':[],'whiteness_kalman':[],'mae_no_kalman':[],'rmse_no_kalman':[],'whiteness_no_kalman':[],'kalman_prediction':[],'no_kalman_prediction':[],'gt':[],'sigma':[]}
Model.eval() # Set model to evaluate mode
previous_output = 0
previous_mut = train_dataset.steering_mean
m = train_dataset.steering_mean
def main(fold):
# check cuda available
assert torch.cuda.is_available() == True
# when the input dimension doesnot change, add this flag to speed up
cudnn.benchmark = True
num_classes = config.problem_class[params.problem_type]
# input are RGB images in size 3 * h * w
# output are binary
model = params.model(in_channels=3, num_classes=num_classes)
# data parallel
model = nn.DataParallel(model, device_ids=params.device_ids).cuda()
# loss function
if num_classes == 2:
loss = LossBinary(jaccard_weight=params.jaccard_weight)
valid_metric = validation_binary
else:
loss = LossMulti(num_classes=num_classes,
jaccard_weight=params.jaccard_weight)
valid_metric = validation_multi
# trainset transform
train_transform = Compose([
Resize(height=params.train_height, width=params.train_width, p=1),
Normalize(p=1),
PadIfNeeded(
min_height=params.train_height, min_width=params.train_width, p=1),
],
p=1)
# validset transform
valid_transform = Compose([
PadIfNeeded(
min_height=params.valid_height, min_width=params.valid_width, p=1),
Resize(height=params.train_height, width=params.train_width, p=1),
Normalize(p=1)
],
p=1)
# train/valid filenmaes
train_filenames, valid_filenames = trainval_split(fold)
print('fold {}, {} train / {} validation files'.format(
fold, len(train_filenames), len(valid_filenames)))
# train dataloader
train_loader = DataLoader(
dataset=RobotSegDataset(train_filenames, transform=train_transform, \
schedule="ordered", batch_size=params.batch_size, problem_type=params.problem_type, semi_percentage=params.semi_percentage),
shuffle=False, # set to false to disable pytorch dataset shuffle
num_workers=params.num_workers,
batch_size=params.batch_size,
pin_memory=True
)
# valid dataloader
valid_loader = DataLoader(
dataset=RobotSegDataset(valid_filenames,
transform=valid_transform,
problem_type=params.problem_type,
mode='valid'),
shuffle=False, # set to false to disable pytorch dataset shuffle
num_workers=0, # params.num_workers,
batch_size=1, # in valid time. have to use one image by one
pin_memory=True)
train(model=model,
loss_func=loss,
train_loader=train_loader,
valid_loader=valid_loader,
valid_metric=valid_metric,
fold=fold,
num_classes=num_classes)
