def configure_lr_scheduler(args, optimizer):
lr_scheduler = None
with logger.LoggingBlock("Learning Rate Scheduler", emph=True):
logging.info("class: %s" % args.lr_scheduler)
if args.lr_scheduler is not None:
# ----------------------------------------------
# Figure out lr_scheduler arguments
# ----------------------------------------------
kwargs = tools.kwargs_from_args(args, "lr_scheduler")
# -------------------------------------------
# Print arguments
# -------------------------------------------
for param, default in sorted(kwargs.items()):
logging.info("%s: %s" % (param, default))
# -------------------------------------------
# Add optimizer
# -------------------------------------------
kwargs["optimizer"] = optimizer
# -------------------------------------------
# Create lr_scheduler instance
# -------------------------------------------
lr_scheduler = tools.instance_from_kwargs(args.lr_scheduler_class,
kwargs)
return lr_scheduler
def setup_logging_and_parse_arguments(blocktitle):
# ----------------------------------------------------------------------------
# Get parse commandline and default arguments
# ----------------------------------------------------------------------------
args, defaults = _parse_arguments()
# ----------------------------------------------------------------------------
# Setup logbook before everything else
# ----------------------------------------------------------------------------
logger.configure_logging(os.path.join(args.save, 'logbook.txt'))
# ----------------------------------------------------------------------------
# Write arguments to file, as txt
# ----------------------------------------------------------------------------
tools.write_dictionary_to_file(sorted(vars(args).items()),
filename=os.path.join(
args.save, 'args.txt'))
# ----------------------------------------------------------------------------
# Log arguments
# ----------------------------------------------------------------------------
with logger.LoggingBlock(blocktitle, emph=True):
for argument, value in sorted(vars(args).items()):
reset = colorama.Style.RESET_ALL
color = reset if value == defaults[argument] else colorama.Fore.CYAN
logging.info('{}{}: {}{}'.format(color, argument, value, reset))
# ----------------------------------------------------------------------------
# Postprocess
# ----------------------------------------------------------------------------
args = postprocess_args(args)
return args
def _log_statistics(dataset, prefix, name):
with logger.LoggingBlock("%s Dataset: %s" % (prefix, name)):
example_dict = dataset[
0] # get sizes from first dataset example
for key, value in sorted(example_dict.items()):
if key in ["index",
"basename"]: # no need to display these
continue
if isinstance(value, str):
logging.info("{}: {}".format(key, value))
else:
logging.info("%s: %s" % (key, _sizes_to_str(value)))
logging.info("num_examples: %i" % len(dataset))
def configure_random_seed(args):
with logger.LoggingBlock("Random Seeds", emph=True):
# python
seed = args.seed
random.seed(seed)
logging.info("Python seed: %i" % seed)
# numpy
seed += 1
np.random.seed(seed)
logging.info("Numpy seed: %i" % seed)
# torch
seed += 1
torch.manual_seed(seed)
logging.info("Torch CPU seed: %i" % seed)
# torch cuda
seed += 1
torch.cuda.manual_seed(seed)
logging.info("Torch CUDA seed: %i" % seed)
def configure_runtime_augmentations(args):
with logger.LoggingBlock("Runtime Augmentations", emph=True):
training_augmentation = None
validation_augmentation = None
# ----------------------------------------------------
# Training Augmentation
# ----------------------------------------------------
if args.training_augmentation is not None:
kwargs = tools.kwargs_from_args(args, "training_augmentation")
logging.info("training_augmentation: %s" %
args.training_augmentation)
for param, default in sorted(kwargs.items()):
logging.info(" %s: %s" % (param, default))
kwargs["args"] = args
training_augmentation = tools.instance_from_kwargs(
args.training_augmentation_class, kwargs)
if args.cuda:
training_augmentation = training_augmentation.cuda()
else:
logging.info("training_augmentation: None")
# ----------------------------------------------------
# Validation Augmentation
# ----------------------------------------------------
if args.validation_augmentation is not None:
kwargs = tools.kwargs_from_args(args, "validation_augmentation")
logging.info("validation_augmentation: %s" %
args.validation_augmentation)
for param, default in sorted(kwargs.items()):
logging.info(" %s: %s" % (param, default))
kwargs["args"] = args
validation_augmentation = tools.instance_from_kwargs(
args.validation_augmentation_class, kwargs)
if args.cuda:
validation_augmentation = validation_augmentation.cuda()
else:
logging.info("validation_augmentation: None")
return training_augmentation, validation_augmentation
def configure_checkpoint_saver(args, model_and_loss):
with logger.LoggingBlock("Checkpoint", emph=True):
checkpoint_saver = CheckpointSaver()
checkpoint_stats = None
if args.checkpoint is None:
logging.info("No checkpoint given.")
logging.info("Starting from scratch with random initialization.")
elif os.path.isfile(args.checkpoint):
checkpoint_stats, filename = checkpoint_saver.restore(
filename=args.checkpoint,
model_and_loss=model_and_loss,
include_params=args.checkpoint_include_params,
exclude_params=args.checkpoint_exclude_params)
elif os.path.isdir(args.checkpoint):
if args.checkpoint_mode in ["resume_from_best"]:
logging.info("Loading best checkpoint in %s" % args.checkpoint)
checkpoint_stats, filename = checkpoint_saver.restore_best(
directory=args.checkpoint,
model_and_loss=model_and_loss,
include_params=args.checkpoint_include_params,
exclude_params=args.checkpoint_exclude_params)
elif args.checkpoint_mode in ["resume_from_latest"]:
logging.info("Loading latest checkpoint in %s" %
args.checkpoint)
checkpoint_stats, filename = checkpoint_saver.restore_latest(
directory=args.checkpoint,
model_and_loss=model_and_loss,
include_params=args.checkpoint_include_params,
exclude_params=args.checkpoint_exclude_params)
else:
logging.info("Unknown checkpoint_restore '%s' given!" %
args.checkpoint_restore)
quit()
else:
logging.info("Could not find checkpoint file or directory '%s'" %
args.checkpoint)
quit()
return checkpoint_saver, checkpoint_stats
def configure_optimizer(args, model_and_loss):
optimizer = None
with logger.LoggingBlock("Optimizer", emph=True):
if args.optimizer is not None:
if model_and_loss.num_parameters() == 0:
logging.info("No trainable parameters detected.")
logging.info("Setting optimizer to None.")
else:
logging.info(args.optimizer)
# -------------------------------------------
# Figure out all optimizer arguments
# -------------------------------------------
all_kwargs = tools.kwargs_from_args(args, "optimizer")
# -------------------------------------------
# Get the split of param groups
# -------------------------------------------
kwargs_without_groups = {
key: value
for key, value in all_kwargs.items() if key != "group"
}
param_groups = all_kwargs["group"]
# ----------------------------------------------------------------------
# Print arguments (without groups)
# ----------------------------------------------------------------------
for param, default in sorted(kwargs_without_groups.items()):
logging.info("%s: %s" % (param, default))
# ----------------------------------------------------------------------
# Construct actual optimizer params
# ----------------------------------------------------------------------
kwargs = dict(kwargs_without_groups)
if param_groups is None:
# ---------------------------------------------------------
# Add all trainable parameters if there is no param groups
# ---------------------------------------------------------
all_trainable_parameters = _generate_trainable_params(
model_and_loss)
kwargs["params"] = all_trainable_parameters
else:
# -------------------------------------------
# Add list of parameter groups instead
# -------------------------------------------
trainable_parameter_groups = []
dnames, dparams = _param_names_and_trainable_generator(
model_and_loss)
dnames = set(dnames)
dparams = set(list(dparams))
with logger.LoggingBlock("parameter_groups:"):
for group in param_groups:
# log group settings
group_match = group["params"]
group_args = {
key: value
for key, value in group.items()
if key != "params"
}
with logger.LoggingBlock(
"%s: %s" % (group_match, group_args)):
# retrieve parameters by matching name
gnames, gparams = _param_names_and_trainable_generator(
model_and_loss, match=group_match)
# log all names affected
for n in sorted(gnames):
logging.info(n)
# set generator for group
group_args["params"] = gparams
# append parameter group
trainable_parameter_groups.append(group_args)
# update remaining trainable parameters
dnames -= set(gnames)
dparams -= set(list(gparams))
# append default parameter group
trainable_parameter_groups.append(
{"params": list(dparams)})
# and log its parameter names
with logger.LoggingBlock("default:"):
for dname in sorted(dnames):
logging.info(dname)
# set params in optimizer kwargs
kwargs["params"] = trainable_parameter_groups
# -------------------------------------------
# Create optimizer instance
# -------------------------------------------
optimizer = tools.instance_from_kwargs(args.optimizer_class,
kwargs)
return optimizer
def configure_data_loaders(args):
with logger.LoggingBlock("Datasets", emph=True):
def _sizes_to_str(value):
if np.isscalar(value):
return '[1L]'
else:
return ' '.join([str([d for d in value.size()])])
def _log_statistics(dataset, prefix, name):
with logger.LoggingBlock("%s Dataset: %s" % (prefix, name)):
example_dict = dataset[
0] # get sizes from first dataset example
for key, value in sorted(example_dict.items()):
if key in ["index",
"basename"]: # no need to display these
continue
if isinstance(value, str):
logging.info("{}: {}".format(key, value))
else:
logging.info("%s: %s" % (key, _sizes_to_str(value)))
logging.info("num_examples: %i" % len(dataset))
# -----------------------------------------------------------------------------------------
# GPU parameters
# -----------------------------------------------------------------------------------------
gpuargs = {
"num_workers": args.num_workers,
"pin_memory": True
} if args.cuda else {}
train_loader = None
validation_loader = None
inference_loader = None
# -----------------------------------------------------------------------------------------
# Training dataset
# -----------------------------------------------------------------------------------------
if args.training_dataset is not None:
# ----------------------------------------------
# Figure out training_dataset arguments
# ----------------------------------------------
kwargs = tools.kwargs_from_args(args, "training_dataset")
kwargs["is_cropped"] = True
kwargs["args"] = args
# ----------------------------------------------
# Create training dataset
# ----------------------------------------------
train_dataset = tools.instance_from_kwargs(
args.training_dataset_class, kwargs)
# ----------------------------------------------
# Create training loader
# ----------------------------------------------
if args.training_dataset == 'KITTI_Comb_Train' or args.training_dataset == 'KITTI_Comb_Full':
custom_batch_sampler = CustomBatchSampler([
RandomSampler(train_dataset.dataset1),
RandomSampler(train_dataset.dataset2)
])
train_loader = DataLoader(dataset=train_dataset,
batch_sampler=custom_batch_sampler,
**gpuargs)
else:
train_loader = DataLoader(train_dataset,
batch_size=args.batch_size,
shuffle=True,
drop_last=True,
**gpuargs)
_log_statistics(train_dataset,
prefix="Training",
name=args.training_dataset)
# -----------------------------------------------------------------------------------------
# Validation dataset
# -----------------------------------------------------------------------------------------
if args.validation_dataset is not None:
# ----------------------------------------------
# Figure out validation_dataset arguments
# ----------------------------------------------
kwargs = tools.kwargs_from_args(args, "validation_dataset")
kwargs["is_cropped"] = True
kwargs["args"] = args
# ----------------------------------------------
# Create validation dataset
# ----------------------------------------------
validation_dataset = tools.instance_from_kwargs(
args.validation_dataset_class, kwargs)
# ----------------------------------------------
# Create validation loader
# ----------------------------------------------
validation_loader = DataLoader(validation_dataset,
batch_size=args.batch_size_val,
shuffle=False,
drop_last=False,
**gpuargs)
_log_statistics(validation_dataset,
prefix="Validation",
name=args.validation_dataset)
return train_loader, validation_loader, inference_loader
def configure_model_and_loss(args):
# ----------------------------------------------------
# Dynamically load model and loss class with parameters
# passed in via "--model_[param]=[value]" or "--loss_[param]=[value]" arguments
# ----------------------------------------------------
with logger.LoggingBlock("Model and Loss", emph=True):
# ----------------------------------------------------
# Model
# ----------------------------------------------------
kwargs = tools.kwargs_from_args(args, "model")
kwargs["args"] = args
model = tools.instance_from_kwargs(args.model_class, kwargs)
# ----------------------------------------------------
# Training loss
# ----------------------------------------------------
training_loss = None
if args.training_loss is not None:
kwargs = tools.kwargs_from_args(args, "training_loss")
kwargs["args"] = args
training_loss = tools.instance_from_kwargs(
args.training_loss_class, kwargs)
# ----------------------------------------------------
# Validation loss
# ----------------------------------------------------
validation_loss = None
if args.validation_loss is not None:
kwargs = tools.kwargs_from_args(args, "validation_loss")
kwargs["args"] = args
validation_loss = tools.instance_from_kwargs(
args.validation_loss_class, kwargs)
# ----------------------------------------------------
# Model and loss
# ----------------------------------------------------
model_and_loss = ModelAndLoss(args, model, training_loss,
validation_loss)
# -----------------------------------------------------------
# If Cuda, transfer model to Cuda and wrap with DataParallel.
# -----------------------------------------------------------
if args.cuda:
model_and_loss = model_and_loss.cuda()
# ---------------------------------------------------------------
# Report some network statistics
# ---------------------------------------------------------------
logging.info("Batch Size: %i" % args.batch_size)
logging.info("GPGPU: Cuda") if args.cuda else logging.info(
"GPGPU: off")
logging.info("Network: %s" % args.model)
logging.info("Number of parameters: %i" %
tools.x2module(model_and_loss).num_parameters())
if training_loss is not None:
logging.info("Training Key: %s" % args.training_key)
logging.info("Training Loss: %s" % args.training_loss)
if validation_loss is not None:
logging.info("Validation Key: %s" % args.validation_key)
logging.info("Validation Loss: %s" % args.validation_loss)
return model_and_loss
def exec_runtime(args,
checkpoint_saver,
model_and_loss,
optimizer,
lr_scheduler,
train_loader,
validation_loader,
inference_loader,
training_augmentation,
validation_augmentation):
# ----------------------------------------------------------------------------------------------
# Tensorboard writer
# ----------------------------------------------------------------------------------------------
if args.evaluation is False:
tensorBoardWriter = SummaryWriter(args.save + '/writer')
else:
tensorBoardWriter = None
if train_loader is not None:
training_module = TrainingEpoch(
args,
desc=" Train",
loader=train_loader,
augmentation=training_augmentation,
tbwriter=tensorBoardWriter)
if validation_loader is not None:
evaluation_module = EvaluationEpoch(
args,
desc="Validate",
loader=validation_loader,
augmentation=validation_augmentation,
tbwriter=tensorBoardWriter)
# --------------------------------------------------------
# Log some runtime info
# --------------------------------------------------------
with logger.LoggingBlock("Runtime", emph=True):
logging.info("start_epoch: %i" % args.start_epoch)
logging.info("total_epochs: %i" % args.total_epochs)
# ---------------------------------------
# Total progress bar arguments
# ---------------------------------------
progressbar_args = {
"desc": "Progress",
"initial": args.start_epoch - 1,
"invert_iterations": True,
"iterable": range(1, args.total_epochs + 1),
"logging_on_close": True,
"logging_on_update": True,
"postfix": False,
"unit": "ep"
}
# --------------------------------------------------------
# Total progress bar
# --------------------------------------------------------
print(''), logging.logbook('')
total_progress = create_progressbar(**progressbar_args)
print("\n")
# --------------------------------------------------------
# Remember validation loss
# --------------------------------------------------------
best_validation_loss = float("inf") if args.validation_key_minimize else -float("inf")
store_as_best = False
for epoch in range(args.start_epoch, args.total_epochs + 1):
with logger.LoggingBlock("Epoch %i/%i" % (epoch, args.total_epochs), emph=True):
# --------------------------------------------------------
# Always report learning rate
# --------------------------------------------------------
if lr_scheduler is None:
logging.info("lr: %s" % format_learning_rate(args.optimizer_lr))
else:
logging.info("lr: %s" % format_learning_rate(lr_scheduler.get_lr()))
# -------------------------------------------
# Create and run a training epoch
# -------------------------------------------
if train_loader is not None:
avg_loss_dict, _ = training_module.run(model_and_loss=model_and_loss, optimizer=optimizer)
if args.evaluation is False:
tensorBoardWriter.add_scalar('Train/Loss', avg_loss_dict[args.training_key], epoch)
# -------------------------------------------
# Create and run a validation epoch
# -------------------------------------------
if validation_loader is not None:
# ---------------------------------------------------
# Construct holistic recorder for epoch
# ---------------------------------------------------
avg_loss_dict, output_dict = evaluation_module.run(model_and_loss=model_and_loss, epoch=epoch)
# --------------------------------------------------------
# Tensorboard X writing
# --------------------------------------------------------
if args.evaluation is False:
tensorBoardWriter.add_scalar('Val/Metric', avg_loss_dict[args.validation_key], epoch)
# ----------------------------------------------------------------
# Evaluate whether this is the best validation_loss
# ----------------------------------------------------------------
validation_loss = avg_loss_dict[args.validation_key]
if args.validation_key_minimize:
store_as_best = validation_loss < best_validation_loss
else:
store_as_best = validation_loss > best_validation_loss
if store_as_best:
best_validation_loss = validation_loss
# --------------------------------------------------------
# Update standard learning scheduler
# --------------------------------------------------------
if lr_scheduler is not None:
lr_scheduler.step(epoch)
# ----------------------------------------------------------------
# Also show best loss on total_progress
# ----------------------------------------------------------------
total_progress_stats = {
"best_" + args.validation_key + "_avg": "%1.4f" % best_validation_loss
}
total_progress.set_postfix(total_progress_stats)
# # ----------------------------------------------------------------
# # Bump total progress
# # ----------------------------------------------------------------
total_progress.update()
print('')
# ----------------------------------------------------------------
# Store checkpoint
# ----------------------------------------------------------------
if checkpoint_saver is not None:
checkpoint_saver.save_latest(
directory=args.save,
model_and_loss=model_and_loss,
stats_dict=dict(avg_loss_dict, epoch=epoch),
store_as_best=store_as_best)
# ----------------------------------------------------------------
# Vertical space between epochs
# ----------------------------------------------------------------
print(''), logging.logbook('')
# ----------------------------------------------------------------
# Finish
# ----------------------------------------------------------------
if args.evaluation is False:
tensorBoardWriter.close()
total_progress.close()
logging.info("Finished.")
def main():
# Change working directory
os.chdir(os.path.dirname(os.path.realpath(__file__)))
# Parse commandline arguments
args = commandline.setup_logging_and_parse_arguments(
blocktitle="Commandline Arguments")
# Set random seed, possibly on Cuda
config.configure_random_seed(args)
# DataLoader
train_loader, validation_loader, inference_loader = config.configure_data_loaders(
args)
success = any(
loader is not None
for loader in [train_loader, validation_loader, inference_loader])
if not success:
logging.info(
"No dataset could be loaded successfully. Please check dataset paths!"
)
quit()
# Configure data augmentation
training_augmentation, validation_augmentation = config.configure_runtime_augmentations(
args)
# Configure model and loss
model_and_loss = config.configure_model_and_loss(args)
# Resume from checkpoint if available
checkpoint_saver, checkpoint_stats = config.configure_checkpoint_saver(
args, model_and_loss)
if checkpoint_stats is not None:
# Set checkpoint stats
if args.checkpoint_mode in ["resume_from_best", "resume_from_latest"]:
args.start_epoch = checkpoint_stats["epoch"] + 1
# # Multi-GPU automation
# with logger.LoggingBlock("Multi GPU", emph=True):
# if torch.cuda.device_count() > 1:
# logging.info("Let's use %d GPUs!" % torch.cuda.device_count())
# model_and_loss._model = torch.nn.DataParallel(model_and_loss._model)
# else:
# logging.info("Let's use %d GPU!" % torch.cuda.device_count())
# Checkpoint and save directory
with logger.LoggingBlock("Save Directory", emph=True):
logging.info("Save directory: %s" % args.save)
if not os.path.exists(args.save):
os.makedirs(args.save)
# Configure optimizer
optimizer = config.configure_optimizer(args, model_and_loss)
# Configure learning rate
lr_scheduler = config.configure_lr_scheduler(args, optimizer)
# If this is just an evaluation: overwrite savers and epochs
if args.evaluation:
args.start_epoch = 1
args.total_epochs = 1
train_loader = None
checkpoint_saver = None
optimizer = None
lr_scheduler = None
# Cuda optimization
if args.cuda:
torch.backends.cudnn.deterministic = True
torch.backends.cudnn.benchmark = False
# Kickoff training, validation and/or testing
return runtime.exec_runtime(
args,
checkpoint_saver=checkpoint_saver,
model_and_loss=model_and_loss,
optimizer=optimizer,
lr_scheduler=lr_scheduler,
train_loader=train_loader,
validation_loader=validation_loader,
inference_loader=inference_loader,
training_augmentation=training_augmentation,
validation_augmentation=validation_augmentation)