def cityscapes_train(resize_height, resize_width, crop_height, crop_width,
batch_size, num_workers):
"""A loader that loads images and ground truth for segmentation from the
cityscapes training set.
"""
labels = labels_cityscape_seg.getlabels()
num_classes = len(labels_cityscape_seg.gettrainid2label())
transforms = [
tf.RandomHorizontalFlip(),
tf.CreateScaledImage(),
tf.Resize((resize_height, resize_width)),
tf.RandomRescale(1.5),
tf.RandomCrop((crop_height, crop_width)),
tf.ConvertSegmentation(),
tf.CreateColoraug(new_element=True),
tf.ColorJitter(brightness=0.2,
contrast=0.2,
saturation=0.2,
hue=0.1,
gamma=0.0),
tf.RemoveOriginals(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'cityscapes_train_seg'),
tf.AddKeyValue('purposes', ('segmentation', 'domain')),
tf.AddKeyValue('num_classes', num_classes)
]
dataset_name = 'cityscapes'
dataset = StandardDataset(dataset=dataset_name,
trainvaltest_split='train',
video_mode='mono',
stereo_mode='mono',
labels_mode='fromid',
disable_const_items=True,
labels=labels,
keys_to_load=('color', 'segmentation'),
data_transforms=transforms,
video_frames=(0, ))
loader = DataLoader(dataset,
batch_size,
True,
num_workers=num_workers,
pin_memory=True,
drop_last=True)
print(
f" - Can use {len(dataset)} images from the cityscapes train set for segmentation training",
flush=True)
return loader
def cityscapes_validation(resize_height, resize_width, batch_size,
num_workers):
"""A loader that loads images and ground truth for segmentation from the
cityscapes validation set
"""
labels = labels_cityscape_seg.getlabels()
num_classes = len(labels_cityscape_seg.gettrainid2label())
transforms = [
tf.CreateScaledImage(True),
tf.Resize((resize_height, resize_width), image_types=('color', )),
tf.ConvertSegmentation(),
tf.CreateColoraug(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'cityscapes_val_seg'),
tf.AddKeyValue('purposes', ('segmentation', )),
tf.AddKeyValue('num_classes', num_classes)
]
dataset = StandardDataset(dataset='cityscapes',
trainvaltest_split='validation',
video_mode='mono',
stereo_mode='mono',
labels_mode='fromid',
labels=labels,
keys_to_load=['color', 'segmentation'],
data_transforms=transforms,
disable_const_items=True)
loader = DataLoader(dataset,
batch_size,
False,
num_workers=num_workers,
pin_memory=True,
drop_last=False)
print(
f" - Can use {len(dataset)} images from the cityscapes validation set for segmentation validation",
flush=True)
return loader
def kitti_odom09_validation(img_height, img_width, batch_size, num_workers):
"""A loader that loads images and depth ground truth for
depth validation from the kitti validation set.
"""
transforms = [
tf.CreateScaledImage(True),
tf.Resize(
(img_height, img_width),
image_types=('color', )
),
tf.CreateColoraug(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'kitti_odom09_val_pose'),
tf.AddKeyValue('purposes', ('depth', )),
]
dataset = StandardDataset(
dataset='kitti',
split='odom09_split',
trainvaltest_split='test',
video_mode='video',
stereo_mode='mono',
keys_to_load=('color', 'poses'),
keys_to_video=('color', ),
data_transforms=transforms,
video_frames=(0, -1, 1),
disable_const_items=True
)
loader = DataLoader(
dataset, batch_size, False,
num_workers=num_workers, pin_memory=True, drop_last=False
)
print(f" - Can use {len(dataset)} images from the kitti (odom09 split) validation set for pose validation",
flush=True)
return loader
def motsynth_validation(img_height, img_width, batch_size, num_workers):
"""A loader that loads images and depth ground truth for
depth validation from the kitti validation set.
"""
transforms = [
tf.CreateScaledImage(True),
tf.Resize((img_height, img_width), image_types=('color', )),
tf.ConvertDepth(),
tf.CreateColoraug(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'kitti_zhou_val_depth'),
tf.AddKeyValue('validation_mask', 'validation_mask_kitti_zhou'),
tf.AddKeyValue('validation_clamp', 'validation_clamp_kitti'),
tf.AddKeyValue('purposes', ('depth', )),
]
dataset = StandardDataset(dataset='kek',
trainvaltest_split='validation',
video_mode='mono',
stereo_mode='mono',
keys_to_load=('color', 'depth'),
data_transforms=transforms,
video_frames=(0, ),
simple_mode=True,
labels_mode='fromid',
seq_to_load=['001'])
loader = DataLoader(dataset,
batch_size,
False,
num_workers=num_workers,
pin_memory=True,
drop_last=False)
print(
f" - Can use {len(dataset)} images from the motsynth validation set for depth validation",
flush=True)
return loader
def kitti_2015_train(img_height, img_width, batch_size, num_workers):
"""A loader that loads images and depth ground truth for
depth evaluation from the kitti_2015 training set (but for evaluation).
"""
transforms = [
tf.CreateScaledImage(True),
tf.Resize((img_height, img_width), image_types=('color', )),
tf.ConvertDepth(),
tf.CreateColoraug(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'kitti_2015_train_depth'),
tf.AddKeyValue('validation_mask', 'validation_mask_kitti_kitti'),
tf.AddKeyValue('validation_clamp', 'validation_clamp_kitti'),
tf.AddKeyValue('purposes', ('depth', )),
]
dataset = StandardDataset(dataset='kitti_2015',
trainvaltest_split='train',
video_mode='mono',
stereo_mode='mono',
keys_to_load=('color', 'depth'),
data_transforms=transforms,
video_frames=(0, ),
disable_const_items=True)
loader = DataLoader(dataset,
batch_size,
False,
num_workers=num_workers,
pin_memory=True,
drop_last=False)
print(
f" - Can use {len(dataset)} images from the kitti_2015 test set for depth evaluation",
flush=True)
return loader
def __init__(self, options, model=None):
if __name__ == "__main__":
print(" -> Executing script", os.path.basename(__file__))
self.opt = options
self.device = torch.device("cpu" if self.opt.no_cuda else "cuda")
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# LABELS
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
assert self.opt.train_set in {1, 2, 3, 12, 123}, "Invalid train_set!"
assert self.opt.task_to_val in {0, 1, 2, 3, 12, 123}, "Invalid task!"
keys_to_load = ['color', 'segmentation']
# Labels
labels = self._get_labels_cityscapes()
# Train IDs
self.train_ids = set([labels[i].trainId for i in range(len(labels))])
self.train_ids.remove(255)
self.train_ids = sorted(list(self.train_ids))
self.num_classes_model = len(self.train_ids)
# Task handling
if self.opt.task_to_val != 0:
labels_task = self._get_task_labels_cityscapes()
train_ids_task = set(
[labels_task[i].trainId for i in range(len(labels_task))])
train_ids_task.remove(255)
self.task_low = min(train_ids_task)
self.task_high = max(train_ids_task) + 1
labels = labels_task
self.train_ids = sorted(list(train_ids_task))
else:
self.task_low = 0
self.task_high = self.num_classes_model
self.opt.task_to_val = self.opt.train_set
# Number of classes for the SegmentationRunningScore
self.num_classes_score = self.task_high - self.task_low
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# DATASET DEFINITIONS
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# Data augmentation
test_data_transforms = [
mytransforms.CreateScaledImage(),
mytransforms.Resize((self.opt.height, self.opt.width),
image_types=['color']),
mytransforms.ConvertSegmentation(),
mytransforms.CreateColoraug(new_element=True,
scales=self.opt.scales),
mytransforms.RemoveOriginals(),
mytransforms.ToTensor(),
mytransforms.NormalizeZeroMean(),
]
# If hyperparameter search, only load the respective validation set. Else, load the full validation set.
if self.opt.hyperparameter:
trainvaltest_split = 'train'
folders_to_load = CitySet.get_city_set(-1)
else:
trainvaltest_split = 'validation'
folders_to_load = None
test_dataset = CityscapesDataset(dataset='cityscapes',
split=self.opt.dataset_split,
trainvaltest_split=trainvaltest_split,
video_mode='mono',
stereo_mode='mono',
scales=self.opt.scales,
labels_mode='fromid',
labels=labels,
keys_to_load=keys_to_load,
data_transforms=test_data_transforms,
video_frames=self.opt.video_frames,
folders_to_load=folders_to_load)
self.test_loader = DataLoader(dataset=test_dataset,
batch_size=self.opt.batch_size,
shuffle=False,
num_workers=self.opt.num_workers,
pin_memory=True,
drop_last=False)
print(
"++++++++++++++++++++++ INIT VALIDATION ++++++++++++++++++++++++")
print("Using dataset\n ", self.opt.dataset, "with split",
self.opt.dataset_split)
print("There are {:d} validation items\n ".format(len(test_dataset)))
print("Validating classes up to train set\n ", self.opt.train_set)
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# LOGGING OPTIONS
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# If no model is passed, standalone validation is to be carried out. The log_path needs to be set before
# self.load_model() is invoked.
if model is None:
self.opt.validate = False
self.opt.model_name = self.opt.load_model_name
path_getter = GetPath()
log_path = path_getter.get_checkpoint_path()
self.log_path = os.path.join(log_path, 'erfnet', self.opt.model_name)
# All outputs will be saved to save_path
self.save_path = self.log_path
# Create output path for standalone validation
if not self.opt.validate:
save_dir = 'eval_{}'.format(self.opt.dataset)
if self.opt.hyperparameter:
save_dir = save_dir + '_hyper'
save_dir = save_dir + '_task_to_val{}'.format(self.opt.task_to_val)
self.save_path = os.path.join(self.log_path, save_dir)
if not os.path.exists(self.save_path):
os.makedirs(self.save_path)
# Copy this file to save_path
shutil.copy2(__file__, self.save_path)
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# MODEL DEFINITION
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# Standalone validation
if not self.opt.validate:
# Create a conventional ERFNet
self.model = ERFNet(self.num_classes_model, self.opt)
self.load_model()
self.model.to(self.device)
# Validate while training
else:
self.model = model
self.model.eval()
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# LOGGING OPTIONS II
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# self.called is used to decide which file mode shall be used when writing metrics to disk.
self.called = False
self.metric_model = SegmentationRunningScore(self.num_classes_score)
# Metrics are only saved if val_frequency > 0!
if self.opt.val_frequency != 0:
print("Saving metrics to\n ", self.save_path)
# Set up colour output. Coloured images are only output if standalone validation is carried out!
if not self.opt.validate and self.opt.save_pred_to_disk:
# Output path
self.img_path = os.path.join(
self.save_path, 'output_{}'.format(self.opt.weights_epoch))
if self.opt.pred_wout_blend:
self.img_path += '_wout_blend'
if not os.path.exists(self.img_path):
os.makedirs(self.img_path)
print("Saving prediction images to\n ", self.img_path)
print("Save frequency\n ", self.opt.pred_frequency)
# Get the colours from dataset.
colors = [
(label.trainId - self.task_low, label.color)
for label in labels
if label.trainId != 255 and label.trainId in self.train_ids
]
colors.append((255, (0, 0, 0))) # void class
self.id_color = dict(colors)
self.id_color_keys = [key for key in self.id_color.keys()]
self.id_color_vals = [val for val in self.id_color.values()]
# Ongoing index to name the outputs
self.img_idx = 0
# Set up probability output. Probabilities are only output if standalone validation is carried out!
if not self.opt.validate and self.opt.save_probs_to_disk:
# Output path
self.logit_path = os.path.join(
self.save_path,
'probabilities_{}'.format(self.opt.weights_epoch))
if not os.path.exists(self.logit_path):
os.makedirs(self.logit_path)
print("Saving probabilities to\n ", self.logit_path)
print("Save frequency\n ", self.opt.probs_frequency)
# Ongoing index to name the probability outputs
self.probs_idx = 0
print(
"+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
# Save all options to disk and print them to stdout
self._print_options()
self._save_opts(len(test_dataset))
def cityscapes_sequence_train(resize_height, resize_width, crop_height,
crop_width, batch_size, num_workers):
"""A loader that loads images for adaptation from the cityscapes_sequence training set.
This loader returns sequences from the left camera, as well as from the right camera.
"""
transforms_common = [
tf.RandomHorizontalFlip(),
tf.CreateScaledImage(),
tf.Resize((resize_height * 568 // 512, resize_width * 1092 // 1024),
image_types=('color', )),
# crop away the sides and bottom parts of the image
tf.SidesCrop((resize_height * 320 // 512, resize_width * 1024 // 1024),
(resize_height * 32 // 512, resize_width * 33 // 1024)),
tf.CreateColoraug(new_element=True),
tf.ColorJitter(brightness=0.2,
contrast=0.2,
saturation=0.2,
hue=0.1,
gamma=0.0),
tf.RemoveOriginals(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'cityscapes_sequence_adaptation'),
tf.AddKeyValue('purposes', ('adaptation', )),
]
dataset_name = 'cityscapes_sequence'
cfg_common = {
'dataset': dataset_name,
'trainvaltest_split': 'train',
'video_mode': 'mono',
'stereo_mode': 'mono',
}
cfg_left = {'keys_to_load': ('color', ), 'keys_to_video': ('color', )}
cfg_right = {
'keys_to_load': ('color_right', ),
'keys_to_video': ('color_right', )
}
dataset_left = StandardDataset(data_transforms=transforms_common,
**cfg_left,
**cfg_common)
dataset_right = StandardDataset(data_transforms=[tf.ExchangeStereo()] +
transforms_common,
**cfg_right,
**cfg_common)
dataset = ConcatDataset((dataset_left, dataset_right))
loader = DataLoader(dataset,
batch_size,
True,
num_workers=num_workers,
pin_memory=True,
drop_last=True)
print(
f" - Can use {len(dataset)} images from the cityscapes_sequence train set for adaptation",
flush=True)
return loader
def __init__(self, options):
print(" -> Executing script", os.path.basename(__file__))
self.opt = options
self.device = torch.device("cpu" if self.opt.no_cuda else "cuda")
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# LABELS AND CITIES
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
assert self.opt.train_set in {123, 1}, "Invalid train_set!"
keys_to_load = ['color', 'segmentation']
# Labels
if self.opt.train_set == 1:
labels = labels_cityscape_seg_train1.getlabels()
else:
labels = labels_cityscape_seg_train3_eval.getlabels()
# Train IDs
self.train_ids = set([labels[i].trainId for i in range(len(labels))])
self.train_ids.remove(255)
self.num_classes = len(self.train_ids)
# Apply city filter
folders_to_train = CitySet.get_city_set(0)
if self.opt.city:
folders_to_train = CitySet.get_city_set(self.opt.train_set)
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# DATASET DEFINITIONS
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# Data augmentation
train_data_transforms = [
mytransforms.RandomHorizontalFlip(),
mytransforms.CreateScaledImage(),
mytransforms.Resize((self.opt.height, self.opt.width),
image_types=keys_to_load),
mytransforms.RandomRescale(1.5),
mytransforms.RandomCrop(
(self.opt.crop_height, self.opt.crop_width)),
mytransforms.ConvertSegmentation(),
mytransforms.CreateColoraug(new_element=True,
scales=self.opt.scales),
mytransforms.ColorJitter(brightness=0.2,
contrast=0.2,
saturation=0.2,
hue=0.1,
gamma=0.0),
mytransforms.RemoveOriginals(),
mytransforms.ToTensor(),
mytransforms.NormalizeZeroMean(),
]
train_dataset = CityscapesDataset(
dataset="cityscapes",
trainvaltest_split='train',
video_mode='mono',
stereo_mode='mono',
scales=self.opt.scales,
labels_mode='fromid',
labels=labels,
keys_to_load=keys_to_load,
data_transforms=train_data_transforms,
video_frames=self.opt.video_frames,
folders_to_load=folders_to_train,
)
self.train_loader = DataLoader(dataset=train_dataset,
batch_size=self.opt.batch_size,
shuffle=True,
num_workers=self.opt.num_workers,
pin_memory=True,
drop_last=True)
val_data_transforms = [
mytransforms.CreateScaledImage(),
mytransforms.Resize((self.opt.height, self.opt.width),
image_types=keys_to_load),
mytransforms.ConvertSegmentation(),
mytransforms.CreateColoraug(new_element=True,
scales=self.opt.scales),
mytransforms.RemoveOriginals(),
mytransforms.ToTensor(),
mytransforms.NormalizeZeroMean(),
]
val_dataset = CityscapesDataset(
dataset=self.opt.dataset,
trainvaltest_split="train",
video_mode='mono',
stereo_mode='mono',
scales=self.opt.scales,
labels_mode='fromid',
labels=labels,
keys_to_load=keys_to_load,
data_transforms=val_data_transforms,
video_frames=self.opt.video_frames,
folders_to_load=CitySet.get_city_set(-1))
self.val_loader = DataLoader(dataset=val_dataset,
batch_size=self.opt.batch_size,
shuffle=False,
num_workers=self.opt.num_workers,
pin_memory=True,
drop_last=True)
self.val_iter = iter(self.val_loader)
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# LOGGING OPTIONS
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
print(
"++++++++++++++++++++++ INIT TRAINING ++++++++++++++++++++++++++")
print("Using dataset:\n ", self.opt.dataset, "with split",
self.opt.dataset_split)
print(
"There are {:d} training items and {:d} validation items\n".format(
len(train_dataset), len(val_dataset)))
path_getter = GetPath()
log_path = path_getter.get_checkpoint_path()
self.log_path = os.path.join(log_path, 'erfnet', self.opt.model_name)
self.writers = {}
for mode in ["train", "validation"]:
self.writers[mode] = SummaryWriter(
os.path.join(self.log_path, mode))
# Copy this file to log dir
shutil.copy2(__file__, self.log_path)
print("Training model named:\n ", self.opt.model_name)
print("Models and tensorboard events files are saved to:\n ",
self.log_path)
print("Training is using:\n ", self.device)
print("Training takes place on train set:\n ", self.opt.train_set)
print(
"+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# MODEL DEFINITION
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# Instantiate model
self.model = ERFNet(self.num_classes, self.opt)
self.model.to(self.device)
self.parameters_to_train = self.model.parameters()
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# OPTIMIZER SET-UP
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
self.model_optimizer = optim.Adam(params=self.parameters_to_train,
lr=self.opt.learning_rate,
weight_decay=self.opt.weight_decay)
lambda1 = lambda epoch: pow((1 -
((epoch - 1) / self.opt.num_epochs)), 0.9)
self.model_lr_scheduler = optim.lr_scheduler.LambdaLR(
self.model_optimizer, lr_lambda=lambda1)
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# LOSSES
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
self.crossentropy = CrossEntropyLoss(ignore_background=True,
device=self.device)
self.crossentropy.to(self.device)
self.metric_model = SegmentationRunningScore(self.num_classes)
# Save all options to disk and print them to stdout
self.save_opts(len(train_dataset), len(val_dataset))
self._print_options()
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# EVALUATOR DEFINITION
# +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if self.opt.validate:
self.evaluator = Evaluator(self.opt, self.model)
def kitti_zhou_train(resize_height, resize_width, crop_height, crop_width,
batch_size, num_workers):
"""A loader that loads image sequences for depth training from the
kitti training set.
This loader returns sequences from the left camera, as well as from the right camera.
"""
transforms_common = [
tf.RandomHorizontalFlip(),
tf.CreateScaledImage(),
tf.Resize((resize_height, resize_width),
image_types=('color', 'depth', 'camera_intrinsics', 'K')),
tf.ConvertDepth(),
tf.CreateColoraug(new_element=True),
tf.ColorJitter(brightness=0.2,
contrast=0.2,
saturation=0.2,
hue=0.1,
gamma=0.0,
fraction=0.5),
tf.RemoveOriginals(),
tf.ToTensor(),
tf.NormalizeZeroMean(),
tf.AddKeyValue('domain', 'kitti_zhou_train_depth'),
tf.AddKeyValue('purposes', ('depth', 'domain')),
]
dataset_name = 'kitti'
cfg_common = {
'dataset': dataset_name,
'trainvaltest_split': 'train',
'video_mode': 'video',
'stereo_mode': 'mono',
'split': 'zhou_split',
'video_frames': (0, -1, 1),
'disable_const_items': False
}
cfg_left = {'keys_to_load': ('color', ), 'keys_to_video': ('color', )}
cfg_right = {
'keys_to_load': ('color_right', ),
'keys_to_video': ('color_right', )
}
dataset_left = StandardDataset(data_transforms=transforms_common,
**cfg_left,
**cfg_common)
dataset_right = StandardDataset(data_transforms=[tf.ExchangeStereo()] +
transforms_common,
**cfg_right,
**cfg_common)
dataset = ConcatDataset((dataset_left, dataset_right))
loader = DataLoader(dataset,
batch_size,
True,
num_workers=num_workers,
pin_memory=True,
drop_last=True)
print(
f" - Can use {len(dataset)} images from the kitti (zhou_split) train split for depth training",
flush=True)
return loader
mytransforms.RandomTranslate(0),
mytransforms.RandomRescale(scale=1.1, fraction=0.5),
mytransforms.RandomCrop((320, 1088)),
mytransforms.Resize((height, width)),
mytransforms.MultiResize(scales),
mytransforms.CreateColoraug(new_element=True,
scales=scales), # (color_aug, 0, 0)
mytransforms.ColorJitter(brightness=0.2,
contrast=0.2,
saturation=0.2,
hue=0.1,
gamma=0.0),
mytransforms.GaussianBlurr(fraction=0.5),
mytransforms.RemoveOriginals(),
mytransforms.ToTensor(),
mytransforms.NormalizeZeroMean(),
]
print('Loading {} dataset, {} split'.format(dataset, trainvaltest_split))
traindataset = StandardDataset(
dataset,
trainvaltest_split,
keys_to_load=keys_to_load,
stereo_mode='mono',
keys_to_stereo=['color', 'depth', 'segmentation'],
data_transforms=data_transforms)
trainloader = DataLoader(traindataset,
batch_size=1,
shuffle=False,
num_workers=1,
pin_memory=True,
