def __init__(self, actor, loaders, optimizer, settings, lr_scheduler=None):
"""
args:
actor - The actor for training the network
loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
epoch for each loader.
optimizer - The optimizer used for training, e.g. Adam
settings - Training settings
lr_scheduler - Learning rate scheduler
"""
super().__init__(actor, loaders, optimizer, settings, lr_scheduler)
self._set_default_settings()
# Initialize statistics variables
self.stats = OrderedDict(
{loader.name: None
for loader in self.loaders})
# Initialize tensorboard
tensorboard_writer_dir = os.path.join(
self.settings.env.tensorboard_dir, self.settings.project_path)
self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir,
[l.name for l in loaders])
self.move_data_to_gpu = getattr(settings, 'move_data_to_gpu', True)
self.pin_memory = getattr(settings, 'pin_memory', False)
def __init__(self,
actor,
loaders,
optimizer,
settings,
basic_device,
lr_scheduler=None,
logging_file="log.txt"):
"""
args:
actor - The actor for training the network
loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
epoch for each loader.
optimizer - The optimizer used for training, e.g. Adam
settings - Training settings
lr_scheduler - Learning rate scheduler
logging_file - The file for logging the losses.
"""
super().__init__(actor, loaders, optimizer, settings, basic_device,
lr_scheduler, logging_file)
self._set_default_settings()
# Initialize statistics variables
self.stats = OrderedDict(
{loader.name: None
for loader in self.loaders})
# Initialize tensorboard
tensorboard_writer_dir = os.path.join(
self.settings.env.tensorboard_dir, self.settings.project_path)
self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir,
[l.name for l in loaders])
self.tensorboard_writer_dir = tensorboard_writer_dir
self.eval_writer = SummaryWriter(
os.path.join(self.tensorboard_writer_dir, 'eval_otb'))
self.train_image_writer = SummaryWriter(
os.path.join(self.tensorboard_writer_dir, 'train_vis'))
self.val_image_writer = SummaryWriter(
os.path.join(self.tensorboard_writer_dir, 'val_vis'))
self.train_count = 0
self.val_count = 0
self.logger = logging.getLogger(__name__)
self.logger.setLevel(level=logging.INFO)
handler = logging.FileHandler(logging_file)
formatter = logging.Formatter('%(message)s')
handler.setFormatter(formatter)
self.logger.addHandler(handler)
class LTRTrainer(BaseTrainer):
def __init__(self, actor, loaders, optimizer, settings, lr_scheduler=None):
"""
args:
actor - The actor for training the network
loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
epoch for each loader.
optimizer - The optimizer used for training, e.g. Adam
settings - Training settings
lr_scheduler - Learning rate scheduler
"""
super().__init__(actor, loaders, optimizer, settings, lr_scheduler)
self._set_default_settings()
# Initialize statistics variables
self.stats = OrderedDict(
{loader.name: None
for loader in self.loaders})
# Initialize tensorboard
tensorboard_writer_dir = os.path.join(
self.settings.env.tensorboard_dir, self.settings.project_path)
self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir,
[l.name for l in loaders])
self.move_data_to_gpu = getattr(settings, 'move_data_to_gpu', True)
self.pin_memory = getattr(settings, 'pin_memory', False)
def _set_default_settings(self):
# Dict of all default values
default = {
'print_interval': 10,
'print_stats': None,
'description': ''
}
for param, default_value in default.items():
if getattr(self.settings, param, None) is None:
setattr(self.settings, param, default_value)
def cycle_dataset(self, loader):
"""Do a cycle of training or validation."""
self.actor.train(loader.training)
torch.set_grad_enabled(loader.training)
self._init_timing()
for i, data in enumerate(loader, 1):
if self.pin_memory and self.move_data_to_gpu:
data = {k: v.to(self.device) for k, v in data.items()}
elif self.move_data_to_gpu:
data = data.to(self.device)
data['epoch'] = self.epoch
data['settings'] = self.settings
# forward pass
loss, stats = self.actor(data, self.settings)
# backward pass and update weights
if loader.training:
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# update statistics
batch_size = data['search_images'].shape[loader.stack_dim]
self._update_stats(stats, batch_size, loader)
# print statistics
self._print_stats(i, loader, batch_size)
def train_epoch(self):
"""Do one epoch for each loader."""
for loader in self.loaders:
if self.epoch % loader.epoch_interval == 0:
self.cycle_dataset(loader)
self._stats_new_epoch()
self._write_tensorboard()
def _init_timing(self):
self.num_frames = 0
self.start_time = time.time()
self.prev_time = self.start_time
def _update_stats(self, new_stats: OrderedDict, batch_size, loader):
# Initialize stats if not initialized yet
if loader.name not in self.stats.keys(
) or self.stats[loader.name] is None:
self.stats[loader.name] = OrderedDict(
{name: AverageMeter()
for name in new_stats.keys()})
for name, val in new_stats.items():
if name not in self.stats[loader.name].keys():
self.stats[loader.name][name] = AverageMeter()
self.stats[loader.name][name].update(val, batch_size)
def _print_stats(self, i, loader, batch_size):
self.num_frames += batch_size
current_time = time.time()
batch_fps = batch_size / (current_time - self.prev_time)
average_fps = self.num_frames / (current_time - self.start_time)
self.prev_time = current_time
if i % self.settings.print_interval == 0 or i == loader.__len__():
print_str = '[%s: %d, %d / %d] ' % (loader.name, self.epoch, i,
loader.__len__())
print_str += 'FPS: %.1f (%.1f) , ' % (average_fps, batch_fps)
for name, val in self.stats[loader.name].items():
if (self.settings.print_stats is None or name
in self.settings.print_stats) and hasattr(val, 'avg'):
print_str += '%s: %.5f , ' % (name, val.avg)
print(print_str[:-5])
def _stats_new_epoch(self):
# Record learning rate
for loader in self.loaders:
if loader.training:
lr_list = self.lr_scheduler.get_lr()
for i, lr in enumerate(lr_list):
var_name = 'LearningRate/group{}'.format(i)
if var_name not in self.stats[loader.name].keys():
self.stats[loader.name][var_name] = StatValue()
self.stats[loader.name][var_name].update(lr)
for loader_stats in self.stats.values():
if loader_stats is None:
continue
for stat_value in loader_stats.values():
if hasattr(stat_value, 'new_epoch'):
stat_value.new_epoch()
def _write_tensorboard(self):
if self.epoch == 1:
self.tensorboard_writer.write_info(self.settings.module_name,
self.settings.script_name,
self.settings.description)
self.tensorboard_writer.write_epoch(self.stats, self.epoch)
class LTRTrainer(BaseTrainer):
def __init__(self, actor, loaders, optimizer, settings, lr_scheduler=None):
"""
args:
actor - The actor for training the network
loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
epoch for each loader.
optimizer - The optimizer used for training, e.g. Adam
settings - Training settings
lr_scheduler - Learning rate scheduler
"""
super().__init__(actor, loaders, optimizer, settings, lr_scheduler)
self._set_default_settings()
# Initialize statistics variables
self.stats = OrderedDict(
{loader.name: None
for loader in self.loaders})
# Initialize tensorboard
tensorboard_writer_dir = os.path.join(
self.settings.env.tensorboard_dir, self.settings.project_path)
self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir,
[l.name for l in loaders])
self.move_data_to_gpu = getattr(settings, 'move_data_to_gpu', True)
def _set_default_settings(self):
# Dict of all default values
default = {
'print_interval': 10,
'print_stats': None,
'description': ''
}
for param, default_value in default.items():
if getattr(self.settings, param, None) is None:
setattr(self.settings, param, default_value)
def cycle_dataset(self, loader):
"""Do a cycle of training or validation."""
self.actor.train(loader.training)
torch.set_grad_enabled(loader.training)
self._init_timing()
for i, data in enumerate(loader, 1):
# get inputs
if self.move_data_to_gpu:
data = data.to(self.device)
data['epoch'] = self.epoch
data['settings'] = self.settings
# forward pass
loss, stats = self.actor(data)
# backward pass and update weights
if loader.training:
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# update statistics
batch_size = data['train_images'].shape[loader.stack_dim]
self._update_stats(stats, batch_size, loader)
# print statistics
if self.settings.local_rank == 0:
self._print_stats(i, loader, batch_size)
def train_epoch(self):
"""Do one epoch for each loader."""
for loader in self.loaders:
if self.epoch % loader.epoch_interval == 0:
self.cycle_dataset(loader)
self._stats_new_epoch()
self._write_tensorboard()
def _init_timing(self):
self.num_frames = 0
self.start_time = time.time()
self.prev_time = self.start_time
def _update_stats(self, new_stats: OrderedDict, batch_size, loader):
# Initialize stats if not initialized yet
if loader.name not in self.stats.keys(
) or self.stats[loader.name] is None:
self.stats[loader.name] = OrderedDict(
{name: AverageMeter()
for name in new_stats.keys()})
for name, val in new_stats.items():
if name not in self.stats[loader.name].keys():
self.stats[loader.name][name] = AverageMeter()
self.stats[loader.name][name].update(val, batch_size)
def _print_stats(self, i, loader, batch_size):
self.num_frames += batch_size
current_time = time.time()
batch_fps = batch_size / (current_time - self.prev_time)
average_fps = self.num_frames / (current_time - self.start_time)
self.prev_time = current_time
if i % self.settings.print_interval == 0 or i == loader.__len__():
print_str = '[%s: %d, %d / %d] ' % (loader.name, self.epoch, i,
loader.__len__())
print_str += 'FPS: %.1f (%.1f) , ' % (average_fps, batch_fps)
for name, val in self.stats[loader.name].items():
if (self.settings.print_stats is None or name
in self.settings.print_stats) and hasattr(val, 'avg'):
print_str += '%s: %.5f , ' % (name, val.avg)
print(print_str[:-5])
def _stats_new_epoch(self):
# Record learning rate
for loader in self.loaders:
if loader.training:
lr_list = self.lr_scheduler.get_lr()
for i, lr in enumerate(lr_list):
var_name = 'LearningRate/group{}'.format(i)
if var_name not in self.stats[loader.name].keys():
self.stats[loader.name][var_name] = StatValue()
self.stats[loader.name][var_name].update(lr)
for loader_stats in self.stats.values():
if loader_stats is None:
continue
for stat_value in loader_stats.values():
if hasattr(stat_value, 'new_epoch'):
stat_value.new_epoch()
def _write_tensorboard(self):
if self.epoch == 1:
self.tensorboard_writer.write_info(self.settings.module_name,
self.settings.script_name,
self.settings.description)
self.tensorboard_writer.write_epoch(self.stats, self.epoch)
def load_pretrained(self,
checkpoint=None,
fields=None,
ignore_fields=None,
load_constructor=False):
""" Loads a pre-trained network parameter from a checkpoint file. """
from ltr.admin import loading, multigpu
net = self.actor.net.module if multigpu.is_multi_gpu(
self.actor.net) else self.actor.net
net_type = type(net).__name__
# Load network
print("load from: {}".format(checkpoint))
checkpoint_dict = loading.torch_load_legacy(checkpoint)
assert net_type == checkpoint_dict[
'net_type'], 'Network is not of correct type.'
if fields is None:
fields = checkpoint_dict.keys()
# Load all fields
for key in fields:
if key == 'net':
net.load_state_dict(checkpoint_dict[key])
return True
class LTRTrainer(BaseTrainer):
def __init__(self, actor, loaders, optimizer, settings, lr_scheduler=None):
"""
args:
actor - The actor for training the network
loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
epoch for each loader.
optimizer - The optimizer used for training, e.g. Adam
settings - Training settings
lr_scheduler - Learning rate scheduler
"""
super().__init__(actor, loaders, optimizer, settings, lr_scheduler)
self._set_default_settings()
# Initialize statistics variables
self.stats = OrderedDict(
{loader.name: None
for loader in self.loaders})
# Initialize tensorboard
tensorboard_writer_dir = os.path.join(
self.settings.env.tensorboard_dir, self.settings.project_path)
self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir,
[l.name for l in loaders])
def _set_default_settings(self):
# Dict of all default values
default = {
'print_interval': 10,
'print_stats': None,
'description': ''
}
for param, default_value in default.items():
if getattr(self.settings, param, None) is None:
setattr(self.settings, param, default_value)
def cycle_dataset(self, loader):
"""Do a cycle of training or validation."""
if loader.training:
self.actor.train()
else:
self.actor.eval()
self._init_timing()
for i, data in enumerate(loader, 1):
# get inputs
data = self.to_variable(data)
data['epoch'] = self.epoch
data['settings'] = self.settings
# forward pass
loss, stats = self.actor(data)
# backward pass and update weights
if loader.training:
loss.backward()
apply_collective_grads = getattr(self.actor.net,
"apply_collective_grads",
None)
if callable(apply_collective_grads):
apply_collective_grads()
self.optimizer.minimize(loss)
self.actor.net.clear_gradients()
# update statistics
batch_size = data['train_images'].shape[loader.stack_dim]
self._update_stats(stats, batch_size, loader)
self._print_stats(i, loader, batch_size)
if i % loader.__len__() == 0:
self.save_checkpoint()
self._stats_new_epoch()
self._write_tensorboard()
return
def to_variable(self, data_dict):
keys = data_dict.keys()
for k in keys:
if k != "dataset":
data_dict[k] = dygraph.to_variable(
np.array(data_dict[k]).astype(np.float32))
return data_dict
def to_array(self, data_dict):
keys = data_dict.keys()
for k in keys:
if k != "dataset":
data_dict[k] = data_dict[k].numpy()
return data_dict
def train_epoch(self):
"""Do one epoch for each loader."""
for loader in self.loaders:
if self.epoch % loader.epoch_interval == 0:
self.cycle_dataset(loader)
self._stats_new_epoch()
self._write_tensorboard()
print('{}th epoch train / eval done!'.format(self.epoch))
def _init_timing(self):
self.num_frames = 0
self.start_time = time.time()
self.prev_time = self.start_time
def _update_stats(self, new_stats: OrderedDict, batch_size, loader):
# Initialize stats if not initialized yet
if loader.name not in self.stats.keys(
) or self.stats[loader.name] is None:
self.stats[loader.name] = OrderedDict(
{name: AverageMeter()
for name in new_stats.keys()})
for name, val in new_stats.items():
if name not in self.stats[loader.name].keys():
self.stats[loader.name][name] = AverageMeter()
self.stats[loader.name][name].update(val, batch_size)
def _print_stats(self, i, loader, batch_size):
self.num_frames += batch_size
current_time = time.time()
batch_fps = batch_size / (current_time - self.prev_time)
average_fps = self.num_frames / (current_time - self.start_time)
self.prev_time = current_time
if i % self.settings.print_interval == 0 or i == loader.__len__():
print_str = '[%s: %d, %d / %d] ' % (loader.name, self.epoch, i,
loader.__len__())
print_str += 'FPS: %.1f (%.1f) , ' % (average_fps, batch_fps)
for name, val in self.stats[loader.name].items():
if (self.settings.print_stats is None or name
in self.settings.print_stats) and hasattr(val, 'avg'):
print_str += '%s: %.5f , ' % (name, val.avg)
print_str += '%s: %.5f , ' % ("time", batch_size / batch_fps *
self.settings.print_interval)
print(print_str[:-5])
def _stats_new_epoch(self):
for loader_stats in self.stats.values():
if loader_stats is None:
continue
for stat_value in loader_stats.values():
if hasattr(stat_value, 'new_epoch'):
stat_value.new_epoch()
def _write_tensorboard(self):
if self.epoch == 1:
self.tensorboard_writer.write_info(self.settings.module_name,
self.settings.script_name,
self.settings.description)
self.tensorboard_writer.write_epoch(self.stats, self.epoch)
print('{}/{}'.format(self.settings.module_name,
self.settings.script_name))
class LTRFcotTrainer(BaseTrainer):
def __init__(self,
actor,
loaders,
optimizer,
settings,
basic_device,
lr_scheduler=None,
logging_file="log.txt"):
"""
args:
actor - The actor for training the network
loaders - list of dataset loaders, e.g. [train_loader, val_loader]. In each epoch, the trainer runs one
epoch for each loader.
optimizer - The optimizer used for training, e.g. Adam
settings - Training settings
lr_scheduler - Learning rate scheduler
logging_file - The file for logging the losses.
"""
super().__init__(actor, loaders, optimizer, settings, basic_device,
lr_scheduler, logging_file)
self._set_default_settings()
# Initialize statistics variables
self.stats = OrderedDict(
{loader.name: None
for loader in self.loaders})
# Initialize tensorboard
tensorboard_writer_dir = os.path.join(
self.settings.env.tensorboard_dir, self.settings.project_path)
self.tensorboard_writer = TensorboardWriter(tensorboard_writer_dir,
[l.name for l in loaders])
self.tensorboard_writer_dir = tensorboard_writer_dir
self.eval_writer = SummaryWriter(
os.path.join(self.tensorboard_writer_dir, 'eval_otb'))
self.train_image_writer = SummaryWriter(
os.path.join(self.tensorboard_writer_dir, 'train_vis'))
self.val_image_writer = SummaryWriter(
os.path.join(self.tensorboard_writer_dir, 'val_vis'))
self.train_count = 0
self.val_count = 0
self.logger = logging.getLogger(__name__)
self.logger.setLevel(level=logging.INFO)
handler = logging.FileHandler(logging_file)
formatter = logging.Formatter('%(message)s')
handler.setFormatter(formatter)
self.logger.addHandler(handler)
def _set_default_settings(self):
# Dict of all default values
default = {
'print_interval': 10,
'print_stats': None,
'description': ''
}
for param, default_value in default.items():
if getattr(self.settings, param, None) is None:
setattr(self.settings, param, default_value)
def cycle_dataset(self, loader):
"""Do a cycle of training or validation."""
self.actor.train(loader.training)
torch.set_grad_enabled(loader.training)
self._init_timing()
for i, data in enumerate(loader, 1):
# get inputs
data = data.to(self.device)
data['epoch'] = self.epoch
data['settings'] = self.settings
# forward pass
if i % 100 == 0:
loss, stats, scores_72, test_images, pred_iou_map = self.actor(
data, gen_iou_map=True)
images = make_grid(test_images,
nrow=4,
padding=2,
normalize=True,
scale_each=False,
pad_value=0)
scores_72 = self.tensors_gray2rgb(scores_72.unsqueeze(1))
scores_72 = make_grid(scores_72,
nrow=4,
padding=2,
normalize=True,
scale_each=False,
pad_value=0)
pred_iou_map = self.tensors_gray2rgb(
pred_iou_map.unsqueeze(0).unsqueeze(1))
pred_iou_map = make_grid(pred_iou_map,
nrow=1,
padding=2,
normalize=False,
scale_each=False,
pad_value=0)
print(loader.name)
if loader.name == 'train':
self.train_image_writer.add_image(
'test_images', images, global_step=self.train_count)
self.train_image_writer.add_image(
'scores_72', scores_72, global_step=self.train_count)
self.train_image_writer.add_image(
'pred_iou_map',
pred_iou_map,
global_step=self.train_count)
self.train_count += 1
elif loader.name == 'val':
self.val_image_writer.add_image('test_images',
images,
global_step=self.val_count)
self.val_image_writer.add_image('scores_72',
scores_72,
global_step=self.val_count)
self.val_image_writer.add_image('pred_iou_map',
pred_iou_map,
global_step=self.val_count)
self.val_count += 1
print("Displayed heat maps in tensorboard done.")
else:
loss, stats, scores_72, test_images, pred_iou_map = self.actor(
data, gen_iou_map=False)
# backward pass and update weights
if loader.training:
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# update statistics
batch_size = data['train_images'].shape[loader.stack_dim]
self._update_stats(stats, batch_size, loader)
# print statistics
self._print_stats(i, loader, batch_size)
def train_epoch(self):
"""Do one epoch for each loader."""
for loader in self.loaders:
if self.epoch % loader.epoch_interval == 0:
self.cycle_dataset(loader)
self._stats_new_epoch()
self._write_tensorboard()
def _init_timing(self):
self.num_frames = 0
self.start_time = time.time()
self.prev_time = self.start_time
def _update_stats(self, new_stats: OrderedDict, batch_size, loader):
# Initialize stats if not initialized yet
if loader.name not in self.stats.keys(
) or self.stats[loader.name] is None:
self.stats[loader.name] = OrderedDict(
{name: AverageMeter()
for name in new_stats.keys()})
for name, val in new_stats.items():
if name not in self.stats[loader.name].keys():
self.stats[loader.name][name] = AverageMeter()
self.stats[loader.name][name].update(val, batch_size)
def _print_stats(self, i, loader, batch_size):
self.num_frames += batch_size
current_time = time.time()
batch_fps = batch_size / (current_time - self.prev_time)
average_fps = self.num_frames / (current_time - self.start_time)
self.prev_time = current_time
if i % self.settings.print_interval == 0 or i == loader.__len__():
print_str = '[%s: %d, %d / %d] ' % (loader.name, self.epoch, i,
loader.__len__())
print_str += 'FPS: %.1f (%.1f) , ' % (average_fps, batch_fps)
for name, val in self.stats[loader.name].items():
if (self.settings.print_stats is None or name
in self.settings.print_stats) and hasattr(val, 'avg'):
print_str += '%s: %.5f , ' % (name, val.avg)
print(print_str[:-5])
self.logger.info(print_str[:-5])
def _stats_new_epoch(self):
# Record learning rate
for loader in self.loaders:
if loader.training:
lr_list = self.lr_scheduler.get_lr()
for i, lr in enumerate(lr_list):
var_name = 'LearningRate/group{}'.format(i)
if var_name not in self.stats[loader.name].keys():
self.stats[loader.name][var_name] = StatValue()
self.stats[loader.name][var_name].update(lr)
for loader_stats in self.stats.values():
if loader_stats is None:
continue
for stat_value in loader_stats.values():
if hasattr(stat_value, 'new_epoch'):
stat_value.new_epoch()
def _write_tensorboard(self):
if self.epoch == 1:
self.tensorboard_writer.write_info(self.settings.module_name,
self.settings.script_name,
self.settings.description)
self.tensorboard_writer.write_epoch(self.stats, self.epoch)
def tensors_gray2rgb(self, tensors):
"""Convert to rgb images [tenosrs： (num, 1, h, w)].
:return tensors： (num, 3, h, w)
"""
tmp = os.path.join(self.settings.env.workspace_dir, 'temp.png')
out = []
for tensor in tensors:
image = tensor.clone().squeeze().cpu().detach().numpy() # [h, w]
plt.imsave(tmp, image)
rgb = plt.imread(tmp)[..., 0:3] # [h, w, 3]
rgb = torch.from_numpy(rgb).permute(2, 0, 1)
out.append(rgb)
# print(rgb.shape)
out = torch.stack(out, dim=0).float().to(tensors.device)
return out
def save_tensor_as_image(self,
a: torch.Tensor,
save_file=None,
range=(None, None)):
"""Display a 2D tensor.
args:
fig_num: Figure number.
title: Title of figure.
"""
a_np = a.squeeze()
if a_np.ndim == 3:
a_np = np.transpose(a_np, (1, 2, 0))
plt.imsave(save_file, a_np)
def _read_image(self, image_file: str):
return cv.cvtColor(cv.imread(image_file), cv.COLOR_BGR2RGB)
