def _test_gather(self, output_device):
inputs = (
torch.randn(2,
4,
device='cuda:0',
requires_grad=True,
dtype=torch.double),
torch.randn(2,
4,
device='cuda:1',
requires_grad=True,
dtype=torch.double),
)
result = dp.gather(inputs, output_device)
self.assertEqual(result.size(), torch.Size([4, 4]))
self.assertEqual(result[:2], inputs[0])
self.assertEqual(result[2:], inputs[1])
if output_device != -1:
self.assertEqual(result.get_device(), output_device)
else:
self.assertFalse(result.is_cuda)
grad = torch.randn((4, 4), dtype=torch.double)
if output_device != -1:
grad = grad.cuda(output_device)
result.backward(grad)
self.assertEqual(inputs[0].grad.data, grad[:2])
self.assertEqual(inputs[1].grad.data, grad[2:])
_assertGradAndGradgradChecks(
self, lambda x, y: dp.gather((x, y), output_device), inputs)
# test scalar inputs, should stack into a vector in this case
inputs = (
torch.randn((),
device='cuda:0',
requires_grad=True,
dtype=torch.double),
torch.randn((),
device='cuda:1',
requires_grad=True,
dtype=torch.double),
)
result = dp.gather(inputs, output_device)
self.assertEqual(result.size(), torch.Size([2]))
self.assertEqual(result[0], inputs[0])
self.assertEqual(result[1], inputs[1])
if output_device != -1:
self.assertEqual(result.get_device(), output_device)
else:
self.assertFalse(result.is_cuda)
grad = torch.randn(2, dtype=torch.double)
if output_device != -1:
grad = grad.cuda(output_device)
result.backward(grad)
self.assertEqual(inputs[0].grad, grad[0])
self.assertEqual(inputs[1].grad, grad[1])
_assertGradAndGradgradChecks(
self, lambda x, y: dp.gather((x, y), output_device), inputs)
def calc_distill_loss(self):
losses = []
for i, netA in enumerate(self.netAs):
assert isinstance(netA, SuperConv2d)
n = self.mapping_layers[i]
netA_replicas = replicate(netA, self.gpu_ids)
kwargs = tuple([{
'config': {
'channel': netA.out_channels
}
} for idx in self.gpu_ids])
Sacts = parallel_apply(
netA_replicas,
tuple([
self.Sacts[key] for key in sorted(self.Sacts.keys())
if n in key
]), kwargs)
Tacts = [
self.Tacts[key] for key in sorted(self.Tacts.keys())
if n in key
]
loss = [F.mse_loss(Sact, Tact) for Sact, Tact in zip(Sacts, Tacts)]
loss = gather(loss, self.gpu_ids[0]).sum()
setattr(self, 'loss_G_distill%d' % i, loss)
losses.append(loss)
return sum(losses)
def train_epoch(model, dataloader, optimizer, args):
model.train()
epoch_loss = 0
for idx, (data, target) in tqdm(enumerate(dataloader)):
data, target = data.to(args.device, non_blocking = args.non_blocking), \
target.to(args.device, non_blocking = args.non_blocking)
output = model(data)
loss = args.loss(output, target)
optimizer.zero_grad()
if args.multi_gpu:
with torch.no_grad():
loss_resized = [x.unsqueeze(0) for x in loss]
gathered_loss = gather(loss_resized, args.device)
total_loss = torch.mean(gathered_loss)
epoch_loss += total_loss.item()
for item in loss:
item.backward()
else:
epoch_loss += loss.item()
loss.backward()
optimizer.step()
return epoch_loss/(idx+1)
def data_parallel(f, input, params, stats, mode, device_ids, output_device=None):
if output_device is None:
output_device = device_ids[0]
if len(device_ids) == 1: # only 1 device
return f(input, params, stats, mode)
# function inside data_parallel
def replicate(param_dict, g):
replicas = [{} for d in device_ids] # replicas, list of n_devices dict
for k,v in param_dict.iteritems(): # v is parameter
for i,u in enumerate(g(v)):
replicas[i][k] = u
return replicas
# broadcast parameters
params_replicas = replicate(params, lambda x: Broadcast(device_ids)(x))
# broadcast stats
stats_replicas = replicate(stats, lambda x: comm.broadcast(x, device_ids))
replicas = [lambda x,p=p,s=s,mode=mode: f(x,p,s,mode)
for i,(p,s) in enumerate(zip(params_replicas, stats_replicas))]
inputs = scatter(input, device_ids)
outputs = parallel_apply(replicas, inputs)
return gather(outputs, output_device)
def data_parallel(f,
input,
params,
stats,
mode,
device_ids,
output_device=None):
assert isinstance(device_ids, list)
if output_device is None:
output_device = device_ids[0]
if len(device_ids) == 1:
return f(input, params, stats, mode)
params_all = Broadcast.apply(device_ids, *params.values())
params_replicas = [{
k: params_all[i + j * len(params)]
for i, k in enumerate(params.keys())
} for j in range(len(device_ids))]
stats_replicas = [
dict(zip(stats.keys(), p))
for p in comm.broadcast_coalesced(list(stats.values()), device_ids)
]
replicas = [
partial(f, params=p, stats=s, mode=mode)
for p, s in zip(params_replicas, stats_replicas)
]
inputs = scatter([input], device_ids)
outputs = parallel_apply(replicas, inputs)
return gather(outputs, output_device)
def data_parallel(f,
input,
params,
stats,
mode,
device_ids,
output_device=None):
if output_device is None:
output_device = device_ids[0]
if len(device_ids) == 1:
return f(input, params, stats, mode)
def replicate(param_dict, g):
replicas = [{} for d in device_ids]
for k, v in param_dict.iteritems():
for i, u in enumerate(g(v)):
replicas[i][k] = u
return replicas
params_replicas = replicate(params, lambda x: Broadcast(device_ids)(x))
stats_replicas = replicate(stats, lambda x: comm.broadcast(x, device_ids))
replicas = [
lambda x, p=p, s=s, mode=mode: f(x, p, s, mode)
for i, (p, s) in enumerate(zip(params_replicas, stats_replicas))
]
inputs = scatter(input, device_ids)
outputs = parallel_apply(replicas, inputs)
return gather(outputs, output_device)
def allen_data_parallel(batch_group: List[TensorDict], model: Model,
cuda_devices: List) -> Dict[str, torch.Tensor]:
"""
Performs a forward pass using multiple GPUs. This is a simplification
of torch.nn.parallel.data_parallel to support the allennlp model
interface.
"""
assert len(batch_group) <= len(cuda_devices)
moved = [
move_to_device(batch, device)
for batch, device in zip(batch_group, cuda_devices)
]
used_device_ids = cuda_devices[:len(moved)]
# Counterintuitively, it appears replicate expects the source device id to be the first element
# in the device id list. See torch.cuda.comm.broadcast_coalesced, which is called indirectly.
replicas = nnP.replicate(model, used_device_ids)
# We pass all our arguments as kwargs. Create a list of empty tuples of the
# correct shape to serve as (non-existent) positional arguments.
inputs = [()] * len(batch_group)
outputs = nnP.parallel_apply(replicas, inputs, moved, used_device_ids)
# Only the 'loss' is needed.
# a (num_gpu, ) tensor with loss on each GPU
if LOSS_KEY in outputs[0]:
result = {
LOSS_KEY:
nnP.gather([output[LOSS_KEY].unsqueeze(0) for output in outputs],
target_device=used_device_ids[0],
dim=0).mean()
}
else:
result = {}
for key in outputs[0]:
if key == 'tags':
result[key] = list(chain([output[key] for output in outputs]))
elif key != LOSS_KEY:
result[key] = [
nnP.gather([output[key]],
target_device=used_device_ids[0],
dim=0) for output in outputs
]
return result
def val_seg_latency(model,
dataset_loader,
criterion=None,
num_classes=21,
device='cuda'):
model.eval()
inter_meter = AverageMeter()
union_meter = AverageMeter()
batch_time = AverageMeter()
end = time.time()
total_batches = 100
miou_class = MIOU(num_classes=num_classes)
if criterion:
losses = AverageMeter()
with torch.no_grad():
for i, (inputs, target) in enumerate(dataset_loader):
inputs = inputs.to(device=device)
target = target.to(device=device)
end = time.time()
outputs = model(inputs)
batch_time.update(time.time() - end)
if criterion:
if device == 'cuda':
loss = criterion(outputs, target).mean()
if isinstance(outputs, (list, tuple)):
target_dev = outputs[0].device
outputs = gather(outputs, target_device=target_dev)
else:
loss = criterion(outputs, target)
losses.update(loss.item(), inputs.size(0))
inter, union = miou_class.get_iou(outputs, target)
inter_meter.update(inter)
union_meter.update(union)
# measure elapsed time
if i % 10 == 0: # print after every 100 batches
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
loss_ = losses.avg if criterion is not None else 0
print_log_message(
"[%d/%d]\t\tBatch Time:%.4f\t\tLoss:%.4f\t\tmiou:%.4f" %
(i, len(dataset_loader), batch_time.avg, loss_, miou))
if i >= total_batches:
break
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
print_info_message('Mean IoU: {0:.2f}'.format(miou))
if criterion:
return miou, losses.avg
else:
return miou, 0
def test_gather_different_len_dicts(self):
inputs = ({
'a': torch.randn(1, 2, requires_grad=True, device="cuda:0")
}, {
'b': torch.randn(1, 2, requires_grad=True, device="cuda:1"),
'a': torch.randn(1, 2, requires_grad=True, device="cuda:1"),
})
with self.assertRaises(ValueError):
_ = dp.gather(inputs, target_device=0)
def train_seg(model,
dataset_loader,
optimizer,
criterion,
num_classes,
epoch,
device='cuda'):
losses = AverageMeter()
batch_time = AverageMeter()
inter_meter = AverageMeter()
union_meter = AverageMeter()
end = time.time()
model.train()
miou_class = MIOU(num_classes=num_classes)
for i, (inputs, target) in enumerate(dataset_loader):
inputs = inputs.to(device=device)
target = target.to(device=device)
outputs = model(inputs)
if device == 'cuda':
loss = criterion(outputs, target).mean()
if isinstance(outputs, (list, tuple)):
target_dev = outputs[0].device
outputs = gather(outputs, target_device=target_dev)
else:
loss = criterion(outputs, target)
inter, union = miou_class.get_iou(outputs, target)
inter_meter.update(inter)
union_meter.update(union)
losses.update(loss.item(), inputs.size(0))
optimizer.zero_grad()
loss.backward()
optimizer.step()
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
if i % 10 == 0: # print after every 100 batches
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
print_log_message(
"Epoch: %d[%d/%d]\t\tBatch Time:%.4f\t\tLoss:%.4f\t\tmiou:%.4f"
% (epoch, i, len(dataset_loader), batch_time.avg, losses.avg,
miou))
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
return miou, losses.avg
def gather(self, outputs, output_device):
outputs = zip(*outputs)
for idx, data in enumerate(outputs):
if idx == 0:
# gather the first return item
outputs[idx] = gather(outputs[idx],
output_device,
dim=self.dim)
else:
# for the other items, return the items on GPU:0 (do not gather)
outputs[idx] = outputs[idx][0]
return outputs
def _test_gather(self, output_device):
if not TEST_MULTIGPU:
raise unittest.SkipTest("Only one GPU detected")
inputs = (Variable(torch.randn(2, 4).cuda(0)),
Variable(torch.randn(2, 4).cuda(1)))
result = dp.gather(inputs, output_device)
self.assertEqual(result.size(), torch.Size([4, 4]))
self.assertEqual(result[:2], inputs[0])
self.assertEqual(result[2:], inputs[1])
if output_device != -1:
self.assertEqual(result.get_device(), output_device)
else:
self.assertFalse(result.is_cuda)
def data_parallel(f, input, params, mode, device_ids, output_device=None):
assert isinstance(device_ids, list)
if output_device is None:
output_device = device_ids[0]
if len(device_ids) == 1:
return f(input, params, mode)
params_all = Broadcast.apply(device_ids, *params.values())
params_replicas = [{k: params_all[i + j*len(params)] for i, k in enumerate(params.keys())}
for j in range(len(device_ids))]
replicas = [partial(f, params=p, mode=mode)
for p in params_replicas]
inputs = scatter([input], device_ids)
outputs = parallel_apply(replicas, inputs)
return gather(outputs, output_device)
def data_parallel(f, input, params, mode, device_ids, output_device=None):
device_ids = list(device_ids)
if output_device is None:
output_device = device_ids[0]
if len(device_ids) == 1:
return f(input, params, mode)
params_all = Broadcast.apply(device_ids, *params.values())
params_replicas = [{
k: params_all[i + j * len(params)]
for i, k in enumerate(params.keys())
} for j in range(len(device_ids))]
replicas = [partial(f, params=p, mode=mode) for p in params_replicas]
inputs = scatter([input], device_ids)
outputs = parallel_apply(replicas, inputs)
return gather(outputs, output_device)
def parallel_chain_loss(model, inputs, den_graph):
"""
inputs: list of input tuple ((mfcc, inputs), supervision) on different gpus
"""
from torch.nn.parallel import replicate, parallel_apply, gather
model = ForwardParallelChain(model, den_graph, args)
device_ids = list(range(torch.cuda.device_count()))
assert len(inputs) == len(device_ids)
output_device = device_ids[0]
used_device_ids = device_ids[:len(inputs)]
replicas = replicate(model, used_device_ids)
model_kwargs = None
outputs = parallel_apply(replicas, inputs, model_kwargs, used_device_ids)
dim = 0
ret = gather(outputs, output_device, dim)
loss = ret[:, 0]
weights = ret[:, -1]
nummerator = loss * weights
results = ChainResults()
results.data = ret[:, 1:].sum(dim=0)
return numerator.sum() / weights.sum(), results
def test_epoch(model, dataloader, args):
model.eval()
with torch.no_grad():
len_pred = len(dataloader) * (dataloader.batch_size)
out_pred = torch.FloatTensor(len_pred, args.output_size).fill_(0).to(args.device)
loss_val = 0
for idx, (data,target) in enumerate(dataloader):
data, target = data.to(args.device, non_blocking=args.non_blocking), \
target.to(args.device, non_blocking=args.non_blocking)
output = model(data)
loss = args.loss(output, target)
###
if args.multi_gpu:
loss_resized = [x.unsqueeze(0) for x in loss]
gathered_loss = gather(loss_resized, args.device)
loss = torch.mean(gathered_loss)
###
loss_val += loss.item()
#out_pred[output.size(0)*idx:output.size(0)*(1+idx)] = output.data
loss_mean = loss_val/(idx+1)
return loss_mean
def forward(self, x, label, **kwargs):
if self.gpus is None:
# cpu mode, normal fc layer
x = classify(x, self.weight, label, simple_output=True, **kwargs)
with torch.no_grad():
acc = accuracy(x, label)
x = F.log_softmax(x, dim=1)
label = label.unsqueeze(-1)
loss = torch.gather(x, 1, label)
loss = -loss.mean()
return loss, acc
else:
weight_scattered = (w.to(i)
for w, i in zip(self.weights, self.gpus))
feat_copies = [x.to(i) for i in self.gpus]
labels_scattered = []
for i in range(len(self.weights)):
labels_new = label.clone()
labels_new[(labels_new >= self.weight_idx[i + 1]) |
(labels_new < self.weight_idx[i])] = -1
labels_new = labels_new - self.weight_idx[i]
labels_scattered.append(labels_new)
kwargs_scattered = scatter(kwargs, self.gpus)
input_scattered = list(
zip(feat_copies, weight_scattered, labels_scattered))
modules = [classify] * len(self.weights)
results_scattered = parallel_apply(modules, input_scattered,
kwargs_scattered, self.gpus)
logits = [i[0] for i in results_scattered]
xexps = [i[1] for i in results_scattered]
sums = [i[2] for i in results_scattered]
argmaxs = [i[3] for i in results_scattered]
maxs = [i[4] for i in results_scattered]
sums = gather(sums, 0, dim=1)
sums = sums.sum(dim=1, keepdim=True)
sums_scattered = [sums.to(i) for i in self.gpus]
loss_input_scattered = list(
zip(logits, xexps, labels_scattered, sums_scattered))
loss_results_scattered = parallel_apply(
[nllDistributed] * len(self.gpus), loss_input_scattered, None,
self.gpus)
loss_results_scattered = [i.sum() for i in loss_results_scattered]
loss_results_scattered = [i.to(0) for i in loss_results_scattered]
loss = sum(loss_results_scattered)
loss = loss / x.shape[0]
for i in range(len(argmaxs)):
argmaxs[i] = argmaxs[i] + self.weight_idx[i]
maxs = [i.to(0) for i in maxs]
maxs = torch.stack(maxs, dim=1)
_, max_split = torch.max(maxs, dim=1)
idx = torch.arange(0, maxs.size(0), dtype=torch.long)
argmaxs = [i.to(0) for i in argmaxs]
argmaxs = torch.stack(argmaxs, dim=1)
predicted = argmaxs[idx, max_split]
total = label.size(0)
predicted = predicted.cpu()
label = label.cpu()
correct = (predicted == label).sum().item()
acc = correct / total
return loss, acc
def val_seg_ue(model,
dataset_loader,
criterion=None,
num_classes=21,
device='cuda',
use_depth=False,
add_criterion=None,
greenhouse_use_trav=False):
model.eval()
inter_meter = AverageMeter()
union_meter = AverageMeter()
batch_time = AverageMeter()
end = time.time()
miou_class = MIOU(num_classes=num_classes - 1)
if criterion:
losses = AverageMeter()
with torch.no_grad():
for i, batch in enumerate(dataset_loader):
inputs = batch[0].to(device=device)
target = batch[1].to(device=device)
if use_depth:
depth = batch[2].to(device=device)
outputs = model(inputs, depth)
else:
outputs = model(inputs)
if isinstance(outputs, OrderedDict):
out_aux = outputs['aux']
outputs = outputs['out']
else:
out_aux = outputs[1]
outputs = outputs[0]
outputs = outputs + 0.5 * out_aux
if criterion:
if device == 'cuda':
loss = criterion(outputs, target).mean()
if add_criterion is not None:
loss += add_criterion(inputs, outputs)
if isinstance(outputs, (list, tuple)):
target_dev = outputs[0].device
outputs = gather(outputs, target_device=target_dev)
else:
loss = criterion(outputs, target)
if add_criterion is not None:
loss += add_criterion(inputs, outputs)
losses.update(loss.item(), inputs.size(0))
inter, union = miou_class.get_iou(outputs, target)
inter_meter.update(inter)
union_meter.update(union)
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
if i % 10 == 0: # print after every 100 batches
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
loss_ = losses.avg if criterion is not None else 0
print_log_message(
"[%d/%d]\t\tBatch Time:%.4f\t\tLoss:%.4f\t\tmiou:%.4f" %
(i, len(dataset_loader), batch_time.avg, loss_, miou))
iou = inter_meter.sum / (union_meter.sum + 1e-10)
if greenhouse_use_trav:
miou = iou.mean() * 100
else:
# miou = np.array(iou)[1, 2, 3].mean() * 100
miou = iou[[1, 2, 3]].mean() * 100
# miou = iou.mean() * 100
print_info_message('Mean IoU: {0:.2f}'.format(miou))
if criterion:
return iou, losses.avg
else:
return iou, 0
def main(args):
def log_string(str):
logger.info(str)
print(str)
'''HYPER PARAMETER'''
os.environ["CUDA_VISIBLE_DEVICES"] = args.gpu
'''CREATE DIR'''
timestr = str(datetime.datetime.now().strftime('%Y-%m-%d_%H-%M'))
experiment_dir = Path('./log/')
experiment_dir.mkdir(exist_ok=True)
experiment_dir = experiment_dir.joinpath('part_seg')
experiment_dir.mkdir(exist_ok=True)
if args.log_dir is None:
experiment_dir = experiment_dir.joinpath(timestr)
else:
experiment_dir = experiment_dir.joinpath(args.log_dir)
experiment_dir.mkdir(exist_ok=True)
checkpoints_dir = experiment_dir.joinpath('checkpoints/')
checkpoints_dir.mkdir(exist_ok=True)
log_dir = experiment_dir.joinpath('logs/')
log_dir.mkdir(exist_ok=True)
'''LOG'''
args = parse_args()
logger = logging.getLogger("Model")
logger.setLevel(logging.INFO)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
file_handler = logging.FileHandler('%s/%s.txt' % (log_dir, args.model))
file_handler.setLevel(logging.INFO)
file_handler.setFormatter(formatter)
logger.addHandler(file_handler)
log_string('PARAMETER ...')
log_string(args)
root = '/media/feihu/Storage/kitti_point_cloud/semantic_kitti/'
file_list = '/media/feihu/Storage/kitti_point_cloud/semantic_kitti/train2.list'
val_list = '/media/feihu/Storage/kitti_point_cloud/semantic_kitti/val2.list'
TRAIN_DATASET = KittiDataset(root=root,
file_list=file_list,
npoints=args.npoint,
training=True,
augment=True)
trainDataLoader = torch.utils.data.DataLoader(TRAIN_DATASET,
batch_size=args.batch_size,
shuffle=True,
drop_last=True,
num_workers=2)
TEST_DATASET = KittiDataset(root=root,
file_list=val_list,
npoints=args.npoint,
training=False,
augment=False)
testDataLoader = torch.utils.data.DataLoader(TEST_DATASET,
batch_size=args.batch_size,
shuffle=False,
drop_last=True,
num_workers=2)
log_string("The number of training data is: %d" % len(TRAIN_DATASET))
log_string("The number of test data is: %d" % len(TEST_DATASET))
# num_classes = 16
'''MODEL LOADING'''
shutil.copy('models/%s.py' % args.model, str(experiment_dir))
shutil.copy('models/pointnet_util.py', str(experiment_dir))
num_devices = args.num_gpus #torch.cuda.device_count()
# assert num_devices > 1, "Cannot detect more than 1 GPU."
# print(num_devices)
devices = list(range(num_devices))
target_device = devices[0]
# MODEL = importlib.import_module(args.model)
net = FusionNet(args.npoint, 4, 20, nPlanes)
# net = MODEL.get_model(num_classes, normal_channel=args.normal)
net = net.to(target_device)
def weights_init(m):
classname = m.__class__.__name__
if classname.find('Conv2d') != -1:
if m.weight is not None:
torch.nn.init.xavier_normal_(m.weight.data)
if m.bias is not None:
torch.nn.init.constant_(m.bias.data, 0.0)
elif classname.find('Linear') != -1:
if m.weight is not None:
torch.nn.init.xavier_normal_(m.weight.data)
if m.bias is not None:
torch.nn.init.constant_(m.bias.data, 0.0)
try:
checkpoint = torch.load(
str(experiment_dir) + '/checkpoints/best_model.pth')
start_epoch = checkpoint['epoch']
net.load_state_dict(checkpoint['model_state_dict'])
log_string('Use pretrain model')
except:
log_string('No existing model, starting training from scratch...')
start_epoch = 0
net = net.apply(weights_init)
if args.optimizer == 'Adam':
optimizer = torch.optim.Adam(net.parameters(),
lr=args.learning_rate,
betas=(0.9, 0.999),
eps=1e-08,
weight_decay=args.decay_rate)
else:
optimizer = torch.optim.SGD(net.parameters(),
lr=1e-1,
momentum=0.9,
weight_decay=1e-4,
nesterov=True)
# optimizer = torch.optim.SGD(net.parameters(), lr=args.learning_rate, momentum=0.9)
def bn_momentum_adjust(m, momentum):
if isinstance(m, torch.nn.BatchNorm2d) or isinstance(
m, torch.nn.BatchNorm1d):
m.momentum = momentum
LEARNING_RATE_CLIP = 1e-5
MOMENTUM_ORIGINAL = 0.1
MOMENTUM_DECCAY = 0.5
MOMENTUM_DECCAY_STEP = 20 / 2 # args.step_size
best_acc = 0
global_epoch = 0
best_class_avg_iou = 0
best_inctance_avg_iou = 0
# criterion = MODEL.get_loss()
criterion = nn.CrossEntropyLoss()
criterions = parallel.replicate(criterion, devices)
# The raw version of the parallel_apply
# replicas = parallel.replicate(net, devices)
# input_coding = scn.InputLayer(dimension, torch.LongTensor(spatialSize), mode=4)
for epoch in range(start_epoch, args.epoch):
log_string('Epoch %d (%d/%s):' %
(global_epoch + 1, epoch + 1, args.epoch))
'''Adjust learning rate and BN momentum'''
# lr = max(args.learning_rate * (args.lr_decay ** (epoch // args.step_size)), LEARNING_RATE_CLIP)
# lr = args.learning_rate * \
# math.exp((1 - epoch) * args.lr_decay)
# log_string('Learning rate:%f' % lr)
# for param_group in optimizer.param_groups:
# param_group['lr'] = lr
# for param_group in optimizer.param_groups:
# param_group['lr'] = lr
mean_correct = []
if 1:
momentum = MOMENTUM_ORIGINAL * (MOMENTUM_DECCAY
**(epoch // MOMENTUM_DECCAY_STEP))
if momentum < 0.01:
momentum = 0.01
print('BN momentum updated to: %f' % momentum)
net = net.apply(lambda x: bn_momentum_adjust(x, momentum))
'''learning one epoch'''
net.train()
# for iteration, data in tqdm(enumerate(trainDataLoader), total=len(trainDataLoader), smoothing=0.9):
for iteration, data in enumerate(trainDataLoader):
#adjust learing rate.
if (iteration) % 320 == 0:
lr_count = epoch * 6 + (iteration) / 320
lr = args.learning_rate * math.exp(
(1 - lr_count) * args.lr_decay)
for param_group in optimizer.param_groups:
param_group['lr'] = lr
log_string('Learning rate:%f' % lr)
optimizer.zero_grad()
if iteration > 1920:
break
points, target, ins, mask = data
# print(torch.max(points[:, :, :3], 1)[0])
# print(torch.min(points[:, :, :3], 1)[0])
valid = mask > 0
total_points = valid.sum()
orgs = points
points = points.data.numpy()
# print(total_points)
inputs, targets, masks = [], [], []
coords = []
for i in range(num_devices):
start = int(i * (args.batch_size / num_devices))
end = int((i + 1) * (args.batch_size / num_devices))
batch = provider.transform_for_sparse(
points[start:end, :, :3], points[start:end, :, 3:],
target[start:end, :].data.numpy(),
mask[start:end, :].data.numpy(), scale, spatialSize)
batch['x'][1] = batch['x'][1].type(torch.FloatTensor)
batch['x'][0] = batch['x'][0].type(torch.IntTensor)
batch['y'] = batch['y'].type(torch.LongTensor)
org_xyz = orgs[start:end, :, :3].transpose(1, 2).contiguous()
org_feas = orgs[start:end, :, 3:].transpose(1, 2).contiguous()
label = Variable(batch['y'], requires_grad=False)
maski = batch['mask'].type(torch.IntTensor)
# print(torch.max(batch['x'][0], 0)[0])
# print(torch.min(batch['x'][0], 0)[0])
# locs, feas = input_layer(batch['x'][0].to(devices[i]), batch['x'][1].to(devices[i]))
locs, feas = input_layer(batch['x'][0].cuda(),
batch['x'][1].cuda())
# print(locs.size(), feas.size(), batch['x'][0].size())
# print(inputi.size(), batch['x'][1].size())
with torch.cuda.device(devices[i]):
org_coords = batch['x'][0].to(devices[i])
inputi = ME.SparseTensor(feas.cpu(), locs).to(
devices[i]) #input_coding(batch['x'])
org_xyz = org_xyz.to(devices[i])
org_feas = org_feas.to(devices[i])
maski = maski.to(devices[i])
inputs.append(
[inputi, org_coords, org_xyz, org_feas, maski])
targets.append(label.to(devices[i]))
# masks.append(maski.contiguous().to(devices[i]))
replicas = parallel.replicate(net, devices)
predictions = parallel.parallel_apply(replicas,
inputs,
devices=devices)
count = 0
# print("end ...")
results = []
labels = []
match = 0
for i in range(num_devices):
# temp = predictions[i]['output1'].F#.view(-1, num_classes)
temp = predictions[i]
# temp = output_layer(locs, predictions[i]['output1'].F, coords[i])
temp = temp[targets[i] > 0, :]
results.append(temp)
temp = targets[i]
temp = temp[targets[i] > 0]
labels.append(temp)
# print(prediction2[i].size(), prediction1[i].size(), targets[i].size())
outputi = results[
i] #prediction2[i].contiguous().view(-1, num_classes)
num_points = labels[i].size(0)
count += num_points
_, pred_choice = outputi.data.max(1) #[1]
# print(pred_choice)
correct = pred_choice.eq(labels[i].data).cpu().sum()
match += correct.item()
mean_correct.append(correct.item() / num_points)
# print(prediction2, labels)
losses = parallel.parallel_apply(criterions,
tuple(zip(results, labels)),
devices=devices)
loss = parallel.gather(losses, target_device, dim=0).mean()
loss.backward()
optimizer.step()
# assert(count1 == count2 and total_points == count1)
log_string(
"===> Epoch[{}]({}/{}) Valid points:{}/{} Loss: {:.4f} Accuracy: {:.4f}"
.format(epoch, iteration, len(trainDataLoader), count,
total_points, loss.item(), match / count))
# sys.stdout.flush()
train_instance_acc = np.mean(mean_correct)
log_string('Train accuracy is: %.5f' % train_instance_acc)
# continue
with torch.no_grad():
net.eval()
evaluator = iouEval(num_classes, ignore)
evaluator.reset()
for iteration, (points, target, ins,
mask) in tqdm(enumerate(testDataLoader),
total=len(testDataLoader),
smoothing=0.9):
cur_batch_size, NUM_POINT, _ = points.size()
# points, label, target, mask = points.float().cuda(), label.long().cuda(), target.long().cuda(), mask.float().cuda()
if iteration > 192:
break
if 0:
points = points.data.numpy()
points[:, :, 0:3], norm = provider.pc_normalize(
points[:, :, :3], mask.data.numpy())
points = torch.Tensor(points)
orgs = points
points = points.data.numpy()
inputs, targets, masks = [], [], []
coords = []
for i in range(num_devices):
start = int(i * (cur_batch_size / num_devices))
end = int((i + 1) * (cur_batch_size / num_devices))
batch = provider.transform_for_test(
points[start:end, :, :3], points[start:end, :, 3:],
target[start:end, :].data.numpy(),
mask[start:end, :].data.numpy(), scale, spatialSize)
batch['x'][1] = batch['x'][1].type(torch.FloatTensor)
batch['x'][0] = batch['x'][0].type(torch.IntTensor)
batch['y'] = batch['y'].type(torch.LongTensor)
org_xyz = orgs[start:end, :, :3].transpose(1,
2).contiguous()
org_feas = orgs[start:end, :,
3:].transpose(1, 2).contiguous()
label = Variable(batch['y'], requires_grad=False)
maski = batch['mask'].type(torch.IntTensor)
locs, feas = input_layer(batch['x'][0].cuda(),
batch['x'][1].cuda())
# print(locs.size(), feas.size(), batch['x'][0].size())
# print(inputi.size(), batch['x'][1].size())
with torch.cuda.device(devices[i]):
org_coords = batch['x'][0].to(devices[i])
inputi = ME.SparseTensor(feas.cpu(), locs).to(
devices[i]) #input_coding(batch['x'])
org_xyz = org_xyz.to(devices[i])
org_feas = org_feas.to(devices[i])
maski = maski.to(devices[i])
inputs.append(
[inputi, org_coords, org_xyz, org_feas, maski])
targets.append(label.to(devices[i]))
# masks.append(maski.contiguous().to(devices[i]))
replicas = parallel.replicate(net, devices)
outputs = parallel.parallel_apply(replicas,
inputs,
devices=devices)
# net = net.eval()
# seg_pred = classifier(points, to_categorical(label, num_classes))
seg_pred = outputs[0].cpu()
# mask = masks[0].cpu()
target = targets[0].cpu()
loc = locs[0].cpu()
for i in range(1, num_devices):
seg_pred = torch.cat((seg_pred, outputs[i].cpu()), 0)
# mask = torch.cat((mask, masks[i].cpu()), 0)
target = torch.cat((target, targets[i].cpu()), 0)
seg_pred = seg_pred[target > 0, :]
target = target[target > 0]
_, seg_pred = seg_pred.data.max(1) #[1]
target = target.data.numpy()
evaluator.addBatch(seg_pred, target)
# when I am done, print the evaluation
m_accuracy = evaluator.getacc()
m_jaccard, class_jaccard = evaluator.getIoU()
log_string('Validation set:\n'
'Acc avg {m_accuracy:.3f}\n'
'IoU avg {m_jaccard:.3f}'.format(m_accuracy=m_accuracy,
m_jaccard=m_jaccard))
# print also classwise
for i, jacc in enumerate(class_jaccard):
if i not in ignore:
log_string(
'IoU class {i:} [{class_str:}] = {jacc:.3f}'.format(
i=i,
class_str=class_strings[class_inv_remap[i]],
jacc=jacc))
log_string('Epoch %d test Accuracy: %f mean avg mIOU: %f' %
(epoch + 1, m_accuracy, m_jaccard))
if (m_jaccard >= best_class_avg_iou):
# logger.info('Save model...')
log_string('Saveing model...')
savepath = str(checkpoints_dir) + '/best_model.pth'
log_string('Saving at %s' % savepath)
state = {
'epoch': epoch,
'train_acc': train_instance_acc,
'test_acc': m_accuracy,
'class_avg_iou': m_jaccard,
'model_state_dict': net.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
}
torch.save(state, savepath)
# log_string('Saving model....')
if m_accuracy > best_acc:
best_acc = m_accuracy
if m_jaccard > best_class_avg_iou:
best_class_avg_iou = m_jaccard
log_string('Best accuracy is: %.5f' % best_acc)
log_string('Best class avg mIOU is: %.5f' % best_class_avg_iou)
global_epoch += 1
def val_seg_cls(model, dataset_loader, criterion_seg=None, criterion_cls=None, num_classes=21, cls_loss_weight=1.0, device='cuda', use_depth=False):
model.eval()
inter_meter = AverageMeter()
union_meter = AverageMeter()
batch_time = AverageMeter()
end = time.time()
miou_class = MIOU(num_classes=num_classes)
if criterion_seg:
losses = AverageMeter()
cls_losses = AverageMeter()
seg_losses = AverageMeter()
with torch.no_grad():
for i, batch in enumerate(dataset_loader):
inputs = batch[0].to(device=device)
target = batch[1].to(device=device)
if use_depth:
depth = batch[2].to(device=device)
outputs_seg, outputs_cls = model(inputs, depth)
else:
outputs_seg, outputs_cls = model(inputs)
cls_ids = batch[3].to(device=device)
if criterion_seg and criterion_cls:
if device == 'cuda':
loss_seg = criterion_seg(outputs_seg, target).mean()
loss_cls = criterion_cls(outputs_cls, cls_ids).mean()
loss = loss_seg + cls_loss_weight * loss_cls
if isinstance(outputs_seg, (list, tuple)):
target_dev = outputs[0].device
outputs_seg = gather(outputs_seg, target_device=target_dev)
else:
loss_seg = criterion_seg(outputs_seg, target)
loss_cls = criterion_cls(outputs_cls, cls_ids)
loss = loss_seg + cls_loss_weight * loss_cls
losses.update(loss.item(), inputs.size(0))
seg_losses.update(loss_seg.item(), inputs.size(0))
cls_losses.update(loss_cls.item(), inputs.size(0))
inter, union = miou_class.get_iou(outputs_seg, target)
inter_meter.update(inter)
union_meter.update(union)
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
if i % 10 == 0: # print after every 100 batches
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
loss_ = losses.avg if criterion_seg is not None else 0
print_log_message("[%d/%d]\t\tBatch Time:%.4f\t\tLoss:%.4f\t\tmiou:%.4f" %
(i, len(dataset_loader), batch_time.avg, loss_, miou))
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
print_info_message('Mean IoU: {0:.2f}'.format(miou))
if criterion_seg and criterion_cls:
return miou, losses.avg, seg_losses.avg, cls_losses.avg
else:
return miou, 0, 0, 0
def train(pipeline_model, data_loader, val_data_loader, config):
# Set up the train flag for batch normalization
pipeline_model.train()
num_devices = torch.cuda.device_count()
num_devices = min(config.max_ngpu, num_devices)
devices = list(range(num_devices))
target_device = devices[0]
pipeline_model.to(target_device)
if num_devices > 1:
pipeline_model = ME.MinkowskiSyncBatchNorm.convert_sync_batchnorm(
pipeline_model, devices)
# Configuration
writer = SummaryWriter(logdir=config.log_dir)
data_timer, iter_timer = Timer(), Timer()
data_time_avg, iter_time_avg = AverageMeter(), AverageMeter()
meters = collections.defaultdict(AverageMeter)
hists = pipeline_model.initialize_hists()
optimizer = pipeline_model.initialize_optimizer(config)
scheduler = pipeline_model.initialize_scheduler(optimizer, config)
writer = SummaryWriter(logdir=config.log_dir)
# Train the network
logging.info('===> Start training')
best_val, best_val_iter, curr_iter, epoch, is_training = 0, 0, 1, 1, True
if config.resume:
if osp.isfile(config.resume):
logging.info("=> loading checkpoint '{}'".format(config.resume))
state = torch.load(config.resume)
curr_iter = state['iteration'] + 1
epoch = state['epoch']
pipeline_model.load_state_dict(state['state_dict'])
if config.resume_optimizer:
curr_iter = state['iteration'] + 1
scheduler = pipeline_model.initialize_scheduler(
optimizer, config, last_step=curr_iter)
pipeline_model.load_optimizer(optimizer, state['optimizer'])
if 'best_val' in state:
best_val = state['best_val']
best_val_iter = state['best_val_iter']
logging.info("=> loaded checkpoint '{}' (epoch {})".format(
config.resume, state['epoch']))
else:
logging.info("=> no checkpoint found at '{}'".format(
config.resume))
data_iter = data_loader.__iter__()
while is_training:
for iteration in range(len(data_loader)):
pipeline_model.reset_gradient(optimizer)
iter_timer.tic()
pipelines = parallel.replicate(pipeline_model, devices)
# Get training data
data_timer.tic()
inputs = []
for pipeline, device in zip(pipelines, devices):
with torch.cuda.device(device):
while True:
datum = pipeline.load_datum(data_iter, has_gt=True)
num_boxes = sum(box.shape[0]
for box in datum['bboxes_coords'])
if config.skip_empty_boxes and num_boxes == 0:
continue
break
inputs.append(datum)
data_time_avg.update(data_timer.toc(False))
outputs = parallel.parallel_apply(pipelines,
[(x, True) for x in inputs],
devices=devices)
losses = parallel.parallel_apply(
[pipeline.loss for pipeline in pipelines],
tuple(zip(inputs, outputs)),
devices=devices)
losses = parallel.gather(losses, target_device)
losses = dict([(k, v.mean()) for k, v in losses.items()])
meters, hists = pipeline_model.update_meters(meters, hists, losses)
# Compute and accumulate gradient
losses['loss'].backward()
# Update number of steps
pipeline_model.step_optimizer(losses, optimizer, scheduler,
iteration)
iter_time_avg.update(iter_timer.toc(False))
if curr_iter >= config.max_iter:
is_training = False
break
if curr_iter % config.stat_freq == 0 or curr_iter == 1:
lrs = ', '.join([
'{:.3e}'.format(x) for x in scheduler['default'].get_lr()
])
debug_str = "===> Epoch[{}]({}/{}): LR: {}\n".format(
epoch, curr_iter, len(data_loader), lrs)
debug_str += log_meters(meters, log_perclass_meters=False)
debug_str += f"\n data time: {data_time_avg.avg:.3f}"
debug_str += f" iter time: {iter_time_avg.avg:.3f}"
logging.info(debug_str)
# Reset timers
data_time_avg.reset()
iter_time_avg.reset()
# Write logs
update_writer(writer, meters, curr_iter, 'training')
writer.add_scalar('training/learning_rate',
scheduler['default'].get_lr()[0], curr_iter)
# Reset meters
reset_meters(meters, hists)
# Save current status, save before val to prevent occational mem overflow
if curr_iter % config.save_freq == 0:
checkpoint(pipeline_model, optimizer, epoch, curr_iter, config,
best_val, best_val_iter)
if config.heldout_save_freq > 0 and curr_iter % config.heldout_save_freq == 0:
checkpoint(pipeline_model,
optimizer,
epoch,
curr_iter,
config,
best_val,
best_val_iter,
heldout_save=True)
# Validation
if curr_iter % config.val_freq == 0:
if num_devices > 1:
unconvert_sync_batchnorm(pipeline_model)
best_val, best_val_iter = validate(pipeline_model,
val_data_loader, config,
writer, curr_iter, best_val,
best_val_iter, optimizer,
epoch)
if num_devices > 1:
pipeline_model = ME.MinkowskiSyncBatchNorm.convert_sync_batchnorm(
pipeline_model, devices)
if curr_iter % config.empty_cache_freq == 0:
# Clear cache
torch.cuda.empty_cache()
# End of iteration
curr_iter += 1
epoch += 1
# Explicit memory cleanup
if hasattr(data_iter, 'cleanup'):
data_iter.cleanup()
# Save the final model
if num_devices > 1:
unconvert_sync_batchnorm(pipeline_model)
validate(pipeline_model, val_data_loader, config, writer, curr_iter,
best_val, best_val_iter, optimizer, epoch)
if num_devices > 1:
pipeline_model = ME.MinkowskiSyncBatchNorm.convert_sync_batchnorm(
pipeline_model, devices)
checkpoint(pipeline_model, optimizer, epoch, curr_iter, config, best_val,
best_val_iter)
def gather(self, outputs, output_device):
return gather(outputs, output_device, dim=self.gather_dim)
# Get new data
inputs, all_labels = [], []
for i in range(num_devices):
coordinates, features, labels = generate_input(config.file_name,
voxel_size=0.05)
with torch.cuda.device(devices[i]):
inputs.append(
ME.SparseTensor(features - 0.5,
coords=coordinates).to(devices[i]))
all_labels.append(labels.long().to(devices[i]))
# The raw version of the parallel_apply
st = time()
replicas = parallel.replicate(net, devices)
outputs = parallel.parallel_apply(replicas, inputs, devices=devices)
# Extract features from the sparse tensors to use a pytorch criterion
out_features = [output.F for output in outputs]
losses = parallel.parallel_apply(criterions,
tuple(zip(out_features, all_labels)),
devices=devices)
loss = parallel.gather(losses, target_device, dim=0).mean()
t = time() - st
min_time = min(t, min_time)
print('Iteration: ', iteration, ', Loss: ', loss.item(), ', Time: ', t,
', Min time: ', min_time)
# Gradient
loss.backward()
optimizer.step()
def train_seg_cls(model, dataset_loader, optimizer, criterion_seg, num_classes, epoch, criterion_cls, cls_loss_weight=1.0, device='cuda', use_depth=False):
losses = AverageMeter()
cls_losses = AverageMeter()
seg_losses = AverageMeter()
batch_time = AverageMeter()
inter_meter = AverageMeter()
union_meter = AverageMeter()
end = time.time()
model.train()
miou_class = MIOU(num_classes=num_classes)
for i, batch in enumerate(dataset_loader):
inputs = batch[0].to(device=device)
target = batch[1].to(device=device)
if use_depth:
depth = batch[2].to(device=device)
outputs_seg, outputs_cls = model(inputs, depth)
else:
outputs_seg, outputs_cls = model(inputs)
cls_ids = batch[3].to(device=device)
if device == 'cuda':
loss_seg = criterion_seg(outputs_seg, target).mean()
loss_cls = criterion_cls(outputs_cls, cls_ids).mean()
loss = loss_seg + cls_loss_weight * loss_cls
if isinstance(outputs_seg, (list, tuple)):
target_dev = outputs[0].device
outputs_seg = gather(outputs_seg, target_device=target_dev)
else:
loss_seg = criterion_seg(outputs_seg, target)
loss_cls = criterion_cls(outputs_cls, cls_ids)
loss = loss_seg + cls_loss_weight * loss_cls
inter, union = miou_class.get_iou(outputs_seg, target)
inter_meter.update(inter)
union_meter.update(union)
losses.update(loss.item(), inputs.size(0))
seg_losses.update(loss_seg.item(), inputs.size(0))
cls_losses.update(loss_cls.item(), inputs.size(0))
optimizer.zero_grad()
loss.backward()
optimizer.step()
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
if i % 10 == 0: # print after every 100 batches
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
print_log_message("Epoch: %d[%d/%d]\t\tBatch Time:%.4f\t\tLoss:%.4f\t\tmiou:%.4f" %
(epoch, i, len(dataset_loader), batch_time.avg, losses.avg, miou))
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
return miou, losses.avg, seg_losses.avg, cls_losses.avg
def train_seg_ue(model,
dataset_loader,
optimizer,
criterion,
num_classes,
epoch,
device='cuda',
use_depth=False,
add_criterion=None,
weight=1.0,
greenhouse_use_trav=False):
losses = AverageMeter()
ce_losses = AverageMeter()
nid_losses = AverageMeter()
batch_time = AverageMeter()
inter_meter = AverageMeter()
union_meter = AverageMeter()
end = time.time()
model.train()
miou_class = MIOU(num_classes=num_classes - 1)
kld_layer = PixelwiseKLD()
print("train_seg_ue()")
b = 0.015
for i, batch in enumerate(dataset_loader):
inputs = batch[0].to(device=device)
target = batch[1].to(device=device)
if use_depth:
depth = batch[2].to(device=device)
outputs = model(inputs, depth)
else:
outputs = model(inputs)
if isinstance(outputs, OrderedDict):
out_aux = outputs['aux']
outputs = outputs['out']
else:
out_aux = outputs[1]
outputs = outputs[0]
kld = kld_layer(outputs, out_aux)
outputs = outputs + 0.5 * out_aux
if device == 'cuda':
# print("Target size {}".format(target.size()))
#
loss = criterion(outputs, target).mean() # + kld.mean()
if add_criterion is not None:
loss2 = add_criterion(inputs, outputs.to(device)) * weight
loss += loss2
if isinstance(outputs, (list, tuple)):
target_dev = outputs[0].device
outputs = gather(outputs, target_device=target_dev)
else:
loss = criterion(outputs, target) # + kld.mean()
if add_criterion is not None:
loss2 = add_criterion(inputs, outputs) * weight
loss += loss2
inter, union = miou_class.get_iou(outputs, target)
inter_meter.update(inter)
union_meter.update(union)
loss = (loss - b).abs() + b
losses.update(loss.item(), inputs.size(0))
if add_criterion is not None:
nid_losses.update(loss2.item(), 1)
optimizer.zero_grad()
loss.backward()
optimizer.step()
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
if i % 10 == 0: # print after every 100 batches
iou = inter_meter.sum / (union_meter.sum + 1e-10)
miou = iou.mean() * 100
print_log_message(
"Epoch: %d[%d/%d]\t\tBatch Time:%.4f\t\tLoss:%.4f\t\tmiou:%.4f\t\tNID loss:%.4f"
% (epoch, i, len(dataset_loader), batch_time.avg, losses.avg,
miou, nid_losses.avg))
iou = inter_meter.sum / (union_meter.sum + 1e-10)
if greenhouse_use_trav:
miou = iou.mean() * 100
else:
miou = iou[[1, 2, 3]].mean() * 100
# miou = iou.mean() * 100
return iou, losses.avg
def parallel_tensor_dict(
tensor_dicts: List[Mapping],
model: Model,
device_ids: List,
loss_key='loss',
atom_types=(str, )) -> Dict[str, torch.Tensor]:
"""
Performs a forward pass using multiple GPUs. This is a simplification
of torch.nn.parallel.data_parallel to support the allennlp model
interface.
"""
if len(tensor_dicts) > len(device_ids):
raise ValueError(
"the number of tensor dicts must be the same as the number of device ids"
)
# region 1 - copy data and model to multiple GPUS
# NOTE, there can be fewer tensor dicts,
# and in this case the number of used device ids might be less than the number of provided device ids
moved = [
move_tensor_dict_to_device(tensor_dict, device_id)
for tensor_dict, device_id in zip(tensor_dicts, device_ids)
]
used_device_ids = device_ids[:len(moved)]
# must replicate the model to the GPUs every time, because its parameters have been updated
replicas = nnP.replicate(model, used_device_ids)
# endregion
# region 2 - get the outputs
# the outputs must be a dictionary of results returned by each GPU
outputs = nnP.parallel_apply(
replicas,
[()] * len(tensor_dicts), # no positional argument
moved, # the tensor dict as named arguments
used_device_ids)
# endregion
# region 3 - gather the results on the first GPU
result = {}
for k, v in outputs[0].items():
if k == loss_key: # special treatment for the loss key
result[k] = nnP.gather(
[output[k].unsqueeze(0) for output in outputs],
target_device=used_device_ids[0],
dim=0).mean()
else:
if isinstance(v, torch.Tensor):
result[k] = [
nnP.gather([output[k]],
target_device=used_device_ids[0],
dim=0) for output in outputs
]
elif gx.iterable__(v, atom_types=atom_types):
result[k] = tuple(chain([output[k] for output in outputs]))
else:
result[k] = tuple(output[k] for output in outputs)
# endregion
return result
def train(
self,
train_dataset,
*,
progress_bar=True,
resume=False,
device=None,
):
"""
A simplified training loop::
for epoch in range(1, ...):
for example in train_iterator:
model_out = self.model(example)
review = self.model.review(example, model_out)
review = maybe_add_loss_from_losses(review)
review['loss'].backward()
self.optimizer.step()
add_review_to_tensorboardX(review)
The remaining code takes care about calling validation and save the
result to tensorboard (if a validation_hook is registered), save
checkpoints, cleanup checkpoints that are stale (not best according
to metric and not last) and display a progessbar.
The code is designed that many aspects can be customized.
(e.g. see test_runtime_tests.py DictTrainer for multi model trainer)
Args:
train_iterator:
The train_iterator is python iterable (e.g. tuple, list, ...)
that can consumed multiple times (i.e. not generator).
Usually it will be paderbox.database.BaseIterator that is
returned from a database in paderbox.database.
progress_bar: flag whether to show a progress bar or not.
resume:
Whether to resume a training or start a fresh one.
device:
Defines the device which shall be used ('cpu', 0, 1, ...).
If None, it selects device 0 if CUDA is available and 'cpu'
if CUDA is not available.
"""
if torch.cuda.is_available():
if device is None:
device = 0
else:
if device is None:
warnings.warn(
'CUDA is not available in this environment! The training '
'will run on the CPU! This might be caused by a damaged '
'installation or a version mismatch between PyTorch and '
'your CUDA installation.')
device = 'cpu'
elif device != 'cpu':
raise RuntimeError(
'CUDA is not available in this environment, but you set '
'device to use a GPU! This might be caused by a damaged '
'installation or a version mismatch between PyTorch and '
'your CUDA installation.')
if resume:
assert resume is True, resume
self.load_checkpoint()
else:
assert not self.checkpoint_dir.exists(),\
f'A checkpoint directory already exists. If you want to ' \
f'restart the training set resume to True.'
self.iteration = 0
self.epoch = 0
torch.backends.cudnn.enabled = True
torch.backends.cudnn.benchmark = False
# Change model to train mode (e.g. activate dropout)
self.model.train()
if isinstance(device, (tuple, list)):
assert all([isinstance(d, int) for d in device]), device
# multiple devises e.g. [0, 1], [0, 1, 2, 3], ...
# torch.nn.parallel.DataParallel moves everything to the first gpu.
# We do then the same thing.
self.to(device[0])
device = list(device)
else:
self.to(device)
device = [device]
# Reset all gradients
self.optimizer_zero_grad()
self.writer = self.writer_cls(str(self.storage_dir))
hooks = [*self.hooks]
if progress_bar:
try:
max_it_len = len(train_dataset)
except TypeError:
# TypeError: object of type '...' has no len()
max_it_len = None
hooks.append(ProgressBarHook(self._stop_trigger, max_it_len))
hooks = sorted(hooks, key=lambda h: h.priority, reverse=True)
if len(device) >= 2:
import textwrap
print(
'WARNING: You called padertorch.Trainer.train with multiple\n'
+ textwrap.indent(
'devices. With this the trainer will use data parallel to\n'
'utilize the multiple GPUs to speedup your training.\n'
'We observed some problems with some versions of pytorch.\n'
'In 1.4 the performance on a NN was quite bad and accoring to\n'
'https://github.com/pytorch/pytorch/issues/33552\n'
'this was because the RNNs get no gradients.\n'
'In 1.5 the training got stuck, the reason is unclear in the'
'moment.\n'
'With Pytorch <= 1.3 we have not tested the code.\n'
f'Your pytorch version is: {torch.__version__}', ' ' *
len('WARNING: ')))
assert self.virtual_minibatch_size % len(device) == 0, (
self.virtual_minibatch_size, device)
assert len(device) > 0, (self.virtual_minibatch_size, device)
# ================ MAIN TRAINING LOOP! ===================
try:
train_iterable = None
while True:
new_epoch = False
if train_iterable is None:
new_epoch = True
# Call pre_step between the epochs.
# We call it here, so it is done, before the iteration
# over the train_dataset starts.
for hook in hooks:
hook.pre_step(self)
train_iterable = iter(train_dataset)
optimize = True
with self.train_timer['time_per_iteration'] as timer:
for minibatch_index in range(self.virtual_minibatch_size //
len(device)):
with self.train_timer['time_per_data_loading']:
example = list(
itertools.islice(train_iterable, len(device)))
if len(example) == 0:
train_iterable = None
self.epoch += 1
if minibatch_index == 0:
optimize = False
break # end minibatch loop
if new_epoch:
new_epoch = False
elif minibatch_index == 0:
# Call pre_step after getting the next example,
# to correctly detect the next epoch
with timer.pause():
for hook in hooks:
hook.pre_step(self)
if len(device) == 1:
assert len(example) == 1, (len(example), example)
example = example[0]
loss, example, model_output, review = \
self.train_step(self.model, example, device[0])
with timer.pause():
for hook in hooks:
hook.post_step(self, example, model_output,
review)
# Release pytorch object to reduce memory footprint
del example
del model_output
del review
with self.train_timer['time_per_backward']:
loss.backward(retain_graph=False)
del loss
else:
# The data parallel idea here follows the idea from
# torch.nn.parallel.DataParallel.
# We also use the same functions
# (i.e. replicate, parallel_apply and gather).
#
# The difference is, that we need no scatter,
# because we simply use multiple examples and
# the gather must only be applied on the loss.
# Move copies of the model to each GPU
with self.train_timer['time_per_replicate']:
replicas = replicate(self.model,
device[:len(example)])
# Use threads to call train_step. Each thread
# processes one example on one GPU.
with self.train_timer['time_per_parallel_apply']:
outputs = parallel_apply(
[self.train_step] * len(example),
list(
zip(
replicas,
example,
device[:len(example)],
)),
)
del replicas
# Take the sum of all losses. Since they are on
# different GPUs, use gather.
with self.train_timer['time_per_gather']:
loss = gather([
loss.view(1) for loss, _, _, _ in outputs
], device[0]).sum()
with timer.pause():
for _, example, model_output, review in outputs:
for hook in hooks:
hook.post_step(self, example,
model_output, review)
# Release pytorch object to reduce memory footprint
del example
del model_output
del review
with self.train_timer['time_per_backward']:
loss.backward(retain_graph=False)
del loss
# Only the summary hook will use optimizer_review
if optimize:
with self.train_timer['time_per_optimize']:
optimizer_summary = self.optimizer_step()
for hook in hooks:
hook.post_optimize(self, optimizer_summary)
del optimizer_summary
self.iteration += 1
except StopTraining:
pass
finally:
try:
for hook in hooks:
hook.close(self)
except Exception:
print('Exception in finally. May hide actual exception!!!\n'
'You may comment this finally block for debugging.')
raise
self.writer.close()
self.writer = None