def main_worker(gpu, ngpus_per_node, args):
args.gpu = gpu
if args.gpu is not None:
print("Use GPU: {} for training".format(args.gpu))
if args.distributed:
if args.dist_url == "env://" and args.rank == -1:
args.rank = int(os.environ["RANK"])
if args.multiprocessing_distributed:
args.rank = args.rank * ngpus_per_node + gpu
dist.init_process_group(backend=args.dist_backend,
init_method=args.dist_url,
world_size=args.world_size,
rank=args.rank)
# Create model
model = BtsModel(args)
model.train()
model.decoder.apply(weights_init_xavier)
set_misc(model)
num_params = sum([np.prod(p.size()) for p in model.parameters()])
print("Total number of parameters: {}".format(num_params))
num_params_update = sum(
[np.prod(p.shape) for p in model.parameters() if p.requires_grad])
print("Total number of learning parameters: {}".format(num_params_update))
if args.distributed:
if args.gpu is not None:
torch.cuda.set_device(args.gpu)
model.cuda(args.gpu)
args.batch_size = int(args.batch_size / ngpus_per_node)
model = torch.nn.parallel.DistributedDataParallel(
model, device_ids=[args.gpu], find_unused_parameters=True)
else:
model.cuda()
model = torch.nn.parallel.DistributedDataParallel(
model, find_unused_parameters=True)
else:
model = torch.nn.DataParallel(model)
model.cuda()
if args.distributed:
print("Model Initialized on GPU: {}".format(args.gpu))
else:
print("Model Initialized")
global_step = 0
best_eval_measures_lower_better = torch.zeros(6).cpu() + 1e3
best_eval_measures_higher_better = torch.zeros(3).cpu()
best_eval_steps = np.zeros(9, dtype=np.int32)
# Training parameters
optimizer = torch.optim.AdamW([{
'params': model.module.encoder.parameters(),
'weight_decay': args.weight_decay
}, {
'params': model.module.decoder.parameters(),
'weight_decay': 0
}],
lr=args.learning_rate,
eps=args.adam_eps)
model_just_loaded = False
if args.checkpoint_path != '':
if os.path.isfile(args.checkpoint_path):
print("Loading checkpoint '{}'".format(args.checkpoint_path))
if args.gpu is None:
checkpoint = torch.load(args.checkpoint_path)
else:
loc = 'cuda:{}'.format(args.gpu)
checkpoint = torch.load(args.checkpoint_path, map_location=loc)
global_step = checkpoint['global_step']
model.load_state_dict(checkpoint['model'])
optimizer.load_state_dict(checkpoint['optimizer'])
try:
best_eval_measures_higher_better = checkpoint[
'best_eval_measures_higher_better'].cpu()
best_eval_measures_lower_better = checkpoint[
'best_eval_measures_lower_better'].cpu()
best_eval_steps = checkpoint['best_eval_steps']
except KeyError:
print("Could not load values for online evaluation")
print("Loaded checkpoint '{}' (global_step {})".format(
args.checkpoint_path, checkpoint['global_step']))
else:
print("No checkpoint found at '{}'".format(args.checkpoint_path))
model_just_loaded = True
if args.retrain:
global_step = 0
cudnn.benchmark = True
dataloader = BtsDataLoader(args)
dataloader_eval = BtsDataLoader(args)
# Logging
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
writer = SummaryWriter(os.path.join(args.log_directory,
args.model_name, 'summaries'),
flush_secs=30)
if args.do_online_eval:
if args.eval_summary_directory != '':
eval_summary_path = os.path.join(args.eval_summary_directory,
args.model_name)
else:
eval_summary_path = os.path.join(args.log_directory, 'eval')
eval_summary_writer = SummaryWriter(eval_summary_path,
flush_secs=30)
silog_criterion = silog_loss(variance_focus=args.variance_focus)
start_time = time.time()
duration = 0
num_log_images = args.batch_size
end_learning_rate = args.end_learning_rate if args.end_learning_rate != -1 else 0.1 * args.learning_rate
var_sum = [var.sum() for var in model.parameters() if var.requires_grad]
var_cnt = len(var_sum)
var_sum = np.sum(var_sum)
print("Initial variables' sum: {:.3f}, avg: {:.3f}".format(
var_sum, var_sum / var_cnt))
steps_per_epoch = len(dataloader.data)
num_total_steps = args.num_epochs * steps_per_epoch
epoch = global_step // steps_per_epoch
while epoch < args.num_epochs:
if args.distributed:
dataloader.train_sampler.set_epoch(epoch)
for step, sample_batched in enumerate(dataloader.data):
optimizer.zero_grad()
before_op_time = time.time()
mask = torch.autograd.Variable(sample_batched['mask'].cuda(
args.gpu, non_blocking=True))
image = torch.autograd.Variable(sample_batched['image'].cuda(
args.gpu, non_blocking=True))
focal = torch.autograd.Variable(sample_batched['focal'].cuda(
args.gpu, non_blocking=True))
depth_gt = torch.autograd.Variable(sample_batched['depth'].cuda(
args.gpu, non_blocking=True))
lpg8x8, lpg4x4, lpg2x2, reduc1x1, depth_est = model(image, focal)
if args.dataset == 'nyu':
mask = depth_gt > 0.1
elif args.dataset == 'kitti':
mask = depth_gt > 1.0
loss = silog_criterion.forward(depth_est, depth_gt,
mask.to('cuda:0'))
loss.backward()
for param_group in optimizer.param_groups:
current_lr = (args.learning_rate - end_learning_rate) * (
1 - global_step / num_total_steps)**0.9 + end_learning_rate
param_group['lr'] = current_lr
optimizer.step()
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
print(
'[epoch][s/s_per_e/gs]: [{}][{}/{}/{}], lr: {:.12f}, loss: {:.12f}'
.format(epoch, step, steps_per_epoch, global_step,
current_lr, loss))
if np.isnan(loss.cpu().item()):
print('NaN in loss occurred. Aborting training.')
return -1
duration += time.time() - before_op_time
if global_step and global_step % args.log_freq == 0 and not model_just_loaded:
var_sum = [
var.sum() for var in model.parameters()
if var.requires_grad
]
var_cnt = len(var_sum)
var_sum = np.sum(var_sum)
examples_per_sec = args.batch_size / duration * args.log_freq
duration = 0
time_sofar = (time.time() - start_time) / 3600
training_time_left = (num_total_steps / global_step -
1.0) * time_sofar
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
print("{}".format(args.model_name))
print_string = 'GPU: {} | examples/s: {:4.2f} | loss: {:.5f} | var sum: {:.3f} avg: {:.3f} | time elapsed: {:.2f}h | time left: {:.2f}h'
print(
print_string.format(args.gpu, examples_per_sec, loss,
var_sum.item(),
var_sum.item() / var_cnt, time_sofar,
training_time_left))
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
writer.add_scalar('silog_loss', loss, global_step)
writer.add_scalar('learning_rate', current_lr, global_step)
writer.add_scalar('var average',
var_sum.item() / var_cnt, global_step)
depth_gt = torch.where(depth_gt < 1e-3, depth_gt * 0 + 1e3,
depth_gt)
for i in range(num_log_images):
writer.add_image(
'depth_gt/image/{}'.format(i),
normalize_result(1 / depth_gt[i, :, :, :].data),
global_step)
writer.add_image(
'depth_est/image/{}'.format(i),
normalize_result(1 / depth_est[i, :, :, :].data),
global_step)
writer.add_image(
'reduc1x1/image/{}'.format(i),
normalize_result(1 / reduc1x1[i, :, :, :].data),
global_step)
writer.add_image(
'lpg2x2/image/{}'.format(i),
normalize_result(1 / lpg2x2[i, :, :, :].data),
global_step)
writer.add_image(
'lpg4x4/image/{}'.format(i),
normalize_result(1 / lpg4x4[i, :, :, :].data),
global_step)
writer.add_image(
'lpg8x8/image/{}'.format(i),
normalize_result(1 / lpg8x8[i, :, :, :].data),
global_step)
writer.add_image('image/image/{}'.format(i),
inv_normalize(image[i, :, :, :]).data,
global_step)
writer.flush()
if not args.do_online_eval and global_step and global_step % args.save_freq == 0:
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
checkpoint = {
'global_step': global_step,
'model': model.state_dict(),
'optimizer': optimizer.state_dict()
}
torch.save(
checkpoint, args.log_directory + '/' +
args.model_name + '/model-{}'.format(global_step))
if args.do_online_eval and global_step and global_step % args.eval_freq == 0 and not model_just_loaded:
time.sleep(0.1)
model.eval()
eval_measures = online_eval(model, dataloader_eval, gpu,
ngpus_per_node)
if eval_measures is not None:
for i in range(9):
eval_summary_writer.add_scalar(eval_metrics[i],
eval_measures[i].cpu(),
int(global_step))
measure = eval_measures[i]
is_best = False
if i < 6 and measure < best_eval_measures_lower_better[
i]:
old_best = best_eval_measures_lower_better[i].item(
)
best_eval_measures_lower_better[i] = measure.item()
is_best = True
elif i >= 6 and measure > best_eval_measures_higher_better[
i - 6]:
old_best = best_eval_measures_higher_better[
i - 6].item()
best_eval_measures_higher_better[
i - 6] = measure.item()
is_best = True
if is_best:
old_best_step = best_eval_steps[i]
old_best_name = '/model-{}-best_{}_{:.5f}'.format(
old_best_step, eval_metrics[i], old_best)
model_path = args.log_directory + '/' + args.model_name + old_best_name
if os.path.exists(model_path):
command = 'rm {}'.format(model_path)
os.system(command)
best_eval_steps[i] = global_step
model_save_name = '/model-{}-best_{}_{:.5f}'.format(
global_step, eval_metrics[i], measure)
print('New best for {}. Saving model: {}'.format(
eval_metrics[i], model_save_name))
checkpoint = {
'global_step': global_step,
'model': model.state_dict(),
'optimizer': optimizer.state_dict(),
'best_eval_measures_higher_better':
best_eval_measures_higher_better,
'best_eval_measures_lower_better':
best_eval_measures_lower_better,
'best_eval_steps': best_eval_steps
}
torch.save(
checkpoint, args.log_directory + '/' +
args.model_name + model_save_name)
eval_summary_writer.flush()
model.train()
block_print()
set_misc(model)
enable_print()
model_just_loaded = False
global_step += 1
epoch += 1
image_root = '/home/jeff/Desktop/AR_SLAM_FINAL_DATASET/C0_test/camera/images/' #root folder directory_list = get_image_id(image_root) #return all the str of json files #print(directory_list) #fy param for ISMAR focal = 491.55953 #Param for NYU #focal = 518.8579 image = tf.placeholder(tf.float32, [1, input_height, input_width, 3]) focals = tf.constant([focal]) model = BtsModel(params, 'test', image, None, focal=focals, bn_training=False) # SESSION config = tf.ConfigProto(allow_soft_placement=True) sess = tf.Session(config=config) # INIT sess.run(tf.global_variables_initializer()) sess.run(tf.local_variables_initializer()) coordinator = tf.train.Coordinator() threads = tf.train.start_queue_runners(sess=sess, coord=coordinator) # SAVER train_saver = tf.train.Saver()
def test_images(params):
"""Test function."""
model = BtsModel(params=args)
model = torch.nn.DataParallel(model)
checkpoint = torch.load(args.checkpoint_path)
model.load_state_dict(checkpoint['model'])
model.eval()
model.cuda()
# apply transformations
loader_transforms = transforms.Compose([
transforms.ToTensor(),
transforms.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])
])
pred_depths = []
save_name = args.save_name
if not os.path.exists(save_name + 'raw'):
os.mkdir(save_name + 'raw')
with torch.no_grad():
gt_file = open(args.media_path, "r")
num_test_samples = len(gt_file.readlines())
print(num_test_samples)
max_distance_list = [10, 25, 50, 100, 150, 200]
for max_dist in max_distance_list:
globals()['silog_%s' % max_dist] = np.zeros(
num_test_samples, np.float32)
globals()['log10_%s' % max_dist] = np.zeros(
num_test_samples, np.float32)
globals()['rms_%s' % max_dist] = np.zeros(num_test_samples,
np.float32)
globals()['log_rms_%s' % max_dist] = np.zeros(
num_test_samples, np.float32)
globals()['abs_rel_%s' % max_dist] = np.zeros(
num_test_samples, np.float32)
globals()['sq_rel_%s' % max_dist] = np.zeros(
num_test_samples, np.float32)
globals()['d1_%s' % max_dist] = np.zeros(num_test_samples,
np.float32)
globals()['d2_%s' % max_dist] = np.zeros(num_test_samples,
np.float32)
globals()['d3_%s' % max_dist] = np.zeros(num_test_samples,
np.float32)
i = 0
gt_file = open(args.media_path, "r")
for x in gt_file:
output = x.split()
file_sub_path = output[0]
focal = output[2]
print(file_sub_path, focal)
media_path = os.path.join("../train_val_split/val/rgb/",
file_sub_path)
save_dir = os.path.join(args.save_name, "raw",
os.path.dirname(file_sub_path))
if not os.path.exists(save_dir):
os.makedirs(save_dir)
image = cv2.imread(media_path)
height, width, _ = image.shape
#check divisibility be 32
adjusted_height = lambda height: 32 * (math.ceil(
height / 32)) if height % 32 != 0 else height
adjusted_width = lambda height: 32 * (math.ceil(
width / 32)) if width % 32 != 0 else width
image_original = cv2.resize(
image, (adjusted_width(width), adjusted_height(height)),
interpolation=cv2.INTER_LANCZOS4)
image = loader_transforms(image_original).float().cuda()
image = image.unsqueeze(0)
_, _, _, _, depth_est = model(image, focal)
depth_est = depth_est.cpu().numpy().squeeze()
depth_est_scaled = cv2.resize(depth_est, (1920, 1200),
interpolation=cv2.INTER_LANCZOS4)
filename_pred_png = os.path.join(
save_dir,
os.path.splitext(os.path.basename(media_path))[0] + ".png")
pred_depth_scaled = depth_est_scaled * 256.0
pred_depth_scaled = pred_depth_scaled.astype(np.uint16)
cv2.imwrite(filename_pred_png, pred_depth_scaled,
[cv2.IMWRITE_PNG_COMPRESSION, 0])
gt_depth_path = os.path.join("../train_val_split/val/depth/",
file_sub_path)
depth = cv2.imread(gt_depth_path, -1)
if depth is None:
print('Missing: %s ' % gt_depth_path)
missing_ids.add(i)
continue
gt_depth = depth.astype(np.float32) / 256.0
gt_depth_copy = np.copy(gt_depth)
gt_depth[gt_depth > 0] = 1 #mask
pred_depth_maskd = np.where(gt_depth, depth_est_scaled, 0)
for max_dist in max_distance_list:
pred_depth_maskd[pred_depth_maskd <
args.min_depth_eval] = args.min_depth_eval
pred_depth_maskd[pred_depth_maskd > max_dist] = max_dist
pred_depth_maskd[np.isinf(pred_depth_maskd)] = max_dist
gt_depth_copy[np.isinf(gt_depth_copy)] = 0
gt_depth_copy[np.isnan(gt_depth_copy)] = 0
valid_mask = np.logical_and(
gt_depth_copy > args.min_depth_eval,
gt_depth_copy < max_dist)
if max_dist == 10:
silog_10[i], log10_10[i], abs_rel_10[i], sq_rel_10[
i], rms_10[i], log_rms_10[i], d1_10[i], d2_10[
i], d3_10[i] = compute_errors(
gt_depth_copy[valid_mask],
pred_depth_maskd[valid_mask])
elif max_dist == 25:
silog_25[i], log10_25[i], abs_rel_25[i], sq_rel_25[
i], rms_25[i], log_rms_25[i], d1_25[i], d2_25[
i], d3_25[i] = compute_errors(
gt_depth_copy[valid_mask],
pred_depth_maskd[valid_mask])
elif max_dist == 50:
silog_50[i], log10_50[i], abs_rel_50[i], sq_rel_50[
i], rms_50[i], log_rms_50[i], d1_50[i], d2_50[
i], d3_50[i] = compute_errors(
gt_depth_copy[valid_mask],
pred_depth_maskd[valid_mask])
elif max_dist == 100:
silog_100[i], log10_100[i], abs_rel_100[i], sq_rel_100[
i], rms_100[i], log_rms_100[i], d1_100[i], d2_100[
i], d3_100[i] = compute_errors(
gt_depth_copy[valid_mask],
pred_depth_maskd[valid_mask])
elif max_dist == 150:
silog_150[i], log10_150[i], abs_rel_150[i], sq_rel_150[
i], rms_150[i], log_rms_150[i], d1_150[i], d2_150[
i], d3_150[i] = compute_errors(
gt_depth_copy[valid_mask],
pred_depth_maskd[valid_mask])
elif max_dist == 200:
silog_200[i], log10_200[i], abs_rel_200[i], sq_rel_200[
i], rms_200[i], log_rms_200[i], d1_200[i], d2_200[
i], d3_200[i] = compute_errors(
gt_depth_copy[valid_mask],
pred_depth_maskd[valid_mask])
print(silog_200[i], log10_200[i], abs_rel_200[i],
sq_rel_200[i], rms_200[i], log_rms_200[i], d1_200[i],
d2_200[i], d3_200[i])
i += 1
eval_dump_dist = {}
eval_dump_dist[max_distance_list[0]] = {
'd1': float(d1_10.mean()),
'd2': float(d2_10.mean()),
'd3': float(d3_10.mean()),
'abs_rel': float(abs_rel_10.mean()),
'sq_rel': float(sq_rel_10.mean()),
'rms': float(rms_10.mean()),
'log_rms': float(log_rms_10.mean()),
'silog': float(silog_10.mean()),
'log10': float(log10_10.mean())
}
eval_dump_dist[max_distance_list[1]] = {
'd1': float(d1_25.mean()),
'd2': float(d2_25.mean()),
'd3': float(d3_25.mean()),
'abs_rel': float(abs_rel_25.mean()),
'sq_rel': float(sq_rel_25.mean()),
'rms': float(rms_25.mean()),
'log_rms': float(log_rms_25.mean()),
'silog': float(silog_25.mean()),
'log10': float(log10_25.mean())
}
eval_dump_dist[max_distance_list[2]] = {
'd1': float(d1_50.mean()),
'd2': float(d2_50.mean()),
'd3': float(d3_50.mean()),
'abs_rel': float(abs_rel_50.mean()),
'sq_rel': float(sq_rel_50.mean()),
'rms': float(rms_50.mean()),
'log_rms': float(log_rms_50.mean()),
'silog': float(silog_50.mean()),
'log10': float(log10_50.mean())
}
eval_dump_dist[max_distance_list[3]] = {
'd1': float(d1_100.mean()),
'd2': float(d2_100.mean()),
'd3': float(d3_100.mean()),
'abs_rel': float(abs_rel_100.mean()),
'sq_rel': float(sq_rel_100.mean()),
'rms': float(rms_100.mean()),
'log_rms': float(log_rms_100.mean()),
'silog': float(silog_100.mean()),
'log10': float(log10_100.mean())
}
eval_dump_dist[max_distance_list[4]] = {
'd1': float(d1_150.mean()),
'd2': float(d2_150.mean()),
'd3': float(d3_150.mean()),
'abs_rel': float(abs_rel_150.mean()),
'sq_rel': float(sq_rel_150.mean()),
'rms': float(rms_150.mean()),
'log_rms': float(log_rms_150.mean()),
'silog': float(silog_150.mean()),
'log10': float(log10_150.mean())
}
eval_dump_dist[max_distance_list[5]] = {
'd1': float(d1_200.mean()),
'd2': float(d2_200.mean()),
'd3': float(d3_200.mean()),
'abs_rel': float(abs_rel_200.mean()),
'sq_rel': float(sq_rel_200.mean()),
'rms': float(rms_200.mean()),
'log_rms': float(log_rms_200.mean()),
'silog': float(silog_200.mean()),
'log10': float(log10_200.mean())
}
return eval_dump_dist
def test(params):
"""Test function."""
args.mode = 'test'
dataloader = BtsDataLoader(args, 'test')
model = BtsModel(params=args)
model = torch.nn.DataParallel(model)
checkpoint = torch.load(args.checkpoint_path)
model.load_state_dict(checkpoint['model'])
model.eval()
model.cuda()
num_test_samples = get_num_lines(args.filenames_file)
with open(args.filenames_file) as f:
lines = f.readlines()
import glob
lines = glob.glob("/home/pebert/dataset/wireframe/train/*_label.npz")
#lines.sort()
print('now testing {} files with {}'.format(num_test_samples,
args.checkpoint_path))
pred_depths = []
pred_8x8s = []
pred_4x4s = []
pred_2x2s = []
pred_1x1s = []
start_time = time.time()
with torch.no_grad():
for _, sample in enumerate(tqdm(dataloader.data)):
#if _ > 300:
# break
image = Variable(sample['image'].cuda())
focal = [] #Variable(sample['focal'].cuda())
# Predict
lpg8x8, lpg4x4, lpg2x2, reduc1x1, depth_est = model(image, focal)
pred_depths.append(depth_est.cpu().numpy().squeeze())
pred_8x8s.append(lpg8x8[0].cpu().numpy().squeeze())
pred_4x4s.append(lpg4x4[0].cpu().numpy().squeeze())
pred_2x2s.append(lpg2x2[0].cpu().numpy().squeeze())
pred_1x1s.append(reduc1x1[0].cpu().numpy().squeeze())
elapsed_time = time.time() - start_time
print('Elapesed time: %s' % str(elapsed_time))
print('Done.')
save_name = 'result_' + args.model_name
print('Saving result pngs..')
if not os.path.exists(os.path.dirname(save_name)):
try:
os.mkdir(save_name)
os.mkdir(save_name + '/raw')
os.mkdir(save_name + '/cmap')
os.mkdir(save_name + '/rgb')
os.mkdir(save_name + '/gt')
except OSError as e:
if e.errno != errno.EEXIST:
raise
for s in tqdm(range(len(lines))):
if args.dataset == 'kitti':
date_drive = lines[s].split('/')[1]
filename_pred_png = save_name + '/raw/' + date_drive + '_' + lines[
s].split()[0].split('/')[-1].replace('.jpg', '.png')
filename_cmap_png = save_name + '/cmap/' + date_drive + '_' + lines[
s].split()[0].split('/')[-1].replace('.jpg', '.png')
filename_image_png = save_name + '/rgb/' + date_drive + '_' + lines[
s].split()[0].split('/')[-1]
elif args.dataset == 'kitti_benchmark':
filename_pred_png = save_name + '/raw/' + lines[s].split(
)[0].split('/')[-1].replace('.jpg', '.png')
filename_cmap_png = save_name + '/cmap/' + lines[s].split(
)[0].split('/')[-1].replace('.jpg', '.png')
filename_image_png = save_name + '/rgb/' + lines[s].split(
)[0].split('/')[-1]
else:
scene_name = lines[s].split('/')[-1].split('_label')[
0] #lines[s].split()[0].split('/')[0]
filename_pred_png = save_name + '/raw/' + scene_name + '_' + 'depth.png'
filename_cmap_png = save_name + '/cmap/' + scene_name + '_' + 'depth.png'
filename_gt_png = save_name + '/gt/' + scene_name + '_' + 'depth.png'
filename_image_png = save_name + '/rgb/' + scene_name + '_' + 'depth'
rgb_path = os.path.join(
lines[s][:-10].replace("_a0", "").replace("_a1", "") +
".png") #os.path.join(args.data_path, './' + lines[s].split()[0])
image = cv2.imread(rgb_path)
#if args.dataset == 'nyu':
# gt_path = os.path.join(args.data_path, './' + lines[s].split()[1])
# gt = cv2.imread(gt_path, -1).astype(np.float32) #/ 1000.0 # Visualization purpose only
# gt[gt == 0] = np.amax(gt)
pred_depth = pred_depths[s]
pred_8x8 = pred_8x8s[s]
pred_4x4 = pred_4x4s[s]
pred_2x2 = pred_2x2s[s]
pred_1x1 = pred_1x1s[s]
#if args.dataset == 'kitti' or args.dataset == 'kitti_benchmark':
# pred_depth_scaled = pred_depth * 256.0
#else:
pred_depth_scaled = pred_depth / pred_depth.max() * 300.0
pred_depth_scaled[pred_depth_scaled < 1e-3] = 1e-3
pred_depth_scaled[pred_depth_scaled > 300] = 300
pred_depth_scaled[np.isinf(pred_depth_scaled)] = 300
pred_depth_scaled[np.isnan(pred_depth_scaled)] = 1e-3
pred_depth_scaled = pred_depth_scaled.astype(np.float32)
cv2.imwrite(filename_pred_png, pred_depth_scaled,
[cv2.IMWRITE_PNG_COMPRESSION, 0])
#'/home/pebert/bts/tmp2.png'
if args.save_lpg:
cv2.imwrite(filename_image_png, image[10:-1 - 9, 10:-1 - 9, :])
if args.dataset == 'nyu':
plt.imsave(filename_gt_png,
np.log10(gt[10:-1 - 9, 10:-1 - 9]),
cmap='Greys')
pred_depth_cropped = pred_depth[10:-1 - 9, 10:-1 - 9]
plt.imsave(filename_cmap_png,
np.log10(pred_depth_cropped),
cmap='Greys')
pred_8x8_cropped = pred_8x8[10:-1 - 9, 10:-1 - 9]
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_8x8.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_8x8_cropped),
cmap='Greys')
pred_4x4_cropped = pred_4x4[10:-1 - 9, 10:-1 - 9]
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_4x4.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_4x4_cropped),
cmap='Greys')
pred_2x2_cropped = pred_2x2[10:-1 - 9, 10:-1 - 9]
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_2x2.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_2x2_cropped),
cmap='Greys')
pred_1x1_cropped = pred_1x1[10:-1 - 9, 10:-1 - 9]
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_1x1.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_1x1_cropped),
cmap='Greys')
else:
plt.imsave(filename_cmap_png,
np.log10(pred_depth),
cmap='Greys')
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_8x8.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_8x8),
cmap='Greys')
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_4x4.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_4x4),
cmap='Greys')
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_2x2.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_2x2),
cmap='Greys')
filename_lpg_cmap_png = filename_cmap_png.replace(
'.png', '_1x1.png')
plt.imsave(filename_lpg_cmap_png,
np.log10(pred_1x1),
cmap='Greys')
return
def main_worker(gpu, ngpus_per_node, args):
args.gpu = gpu
if args.gpu is not None:
print("Use GPU: {} for training".format(args.gpu))
if args.distributed:
if args.dist_url == "env://" and args.rank == -1:
args.rank = int(os.environ["RANK"])
if args.multiprocessing_distributed:
args.rank = args.rank * ngpus_per_node + gpu
dist.init_process_group(backend=args.dist_backend,
init_method=args.dist_url,
world_size=args.world_size,
rank=args.rank)
# Create model
model = BtsModel(args)
model.train()
model.decoder.apply(weights_init_xavier)
if args.bn_no_track_stats:
print("Disabling tracking running stats in batch norm layers")
model.apply(bn_init_as_tf)
if args.fix_first_conv_blocks:
if 'resne' in args.encoder:
fixing_layers = [
'base_model.conv1', 'base_model.layer1.0',
'base_model.layer1.1', '.bn'
]
else:
fixing_layers = [
'conv0', 'denseblock1.denselayer1', 'denseblock1.denselayer2',
'norm'
]
print("Fixing first two conv blocks")
elif args.fix_first_conv_block:
if 'resne' in args.encoder:
fixing_layers = ['base_model.conv1', 'base_model.layer1.0', '.bn']
else:
fixing_layers = ['conv0', 'denseblock1.denselayer1', 'norm']
print("Fixing first conv block")
else:
if 'resne' in args.encoder:
fixing_layers = ['base_model.conv1', '.bn']
else:
fixing_layers = ['conv0', 'norm']
print("Fixing first conv layer")
for name, child in model.named_children():
if not 'encoder' in name:
continue
for name2, parameters in child.named_parameters():
# print(name, name2)
if any(x in name2 for x in fixing_layers):
parameters.requires_grad = False
num_params = sum([np.prod(p.size()) for p in model.parameters()])
print("Total number of parameters: {}".format(num_params))
num_params_update = sum(
[np.prod(p.shape) for p in model.parameters() if p.requires_grad])
print("Total number of learning parameters: {}".format(num_params_update))
if args.distributed:
if args.gpu is not None:
torch.cuda.set_device(args.gpu)
model.cuda(args.gpu)
args.batch_size = int(args.batch_size / ngpus_per_node)
model = torch.nn.parallel.DistributedDataParallel(
model, device_ids=[args.gpu], find_unused_parameters=True)
else:
model.cuda()
model = torch.nn.parallel.DistributedDataParallel(
model, find_unused_parameters=True)
else:
model = torch.nn.DataParallel(model)
model.cuda()
if args.distributed:
print("Model Initialized on GPU: {}".format(args.gpu))
else:
print("Model Initialized")
global_step = 0
# Training parameters
optimizer = torch.optim.AdamW([{
'params': model.module.encoder.parameters(),
'weight_decay': args.weight_decay
}, {
'params': model.module.decoder.parameters(),
'weight_decay': 0
}],
lr=args.learning_rate,
eps=1e-6)
# optimizer = torch.optim.AdamW(model.parameters(), weight_decay=args.weight_decay, lr=args.learning_rate, eps=1e-3)
if args.checkpoint_path != '':
if os.path.isfile(args.checkpoint_path):
print("Loading checkpoint '{}'".format(args.checkpoint_path))
if args.gpu is None:
checkpoint = torch.load(args.checkpoint_path)
else:
loc = 'cuda:{}'.format(args.gpu)
checkpoint = torch.load(args.checkpoint_path, map_location=loc)
global_step = checkpoint['global_step']
model.load_state_dict(checkpoint['model'])
optimizer.load_state_dict(checkpoint['optimizer'])
print("Loaded checkpoint '{}' (global_step {})".format(
args.checkpoint_path, checkpoint['global_step']))
else:
print("No checkpoint found at '{}'".format(args.checkpoint_path))
if args.retrain:
global_step = 0
cudnn.benchmark = True
dataloader = BtsDataLoader(args)
# Logging
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
writer = SummaryWriter(args.log_directory + '/' + args.model_name +
'/summaries',
flush_secs=30)
silog_criterion = silog_loss(variance_focus=args.variance_focus)
start_time = time.time()
duration = 0
log_freq = 100
save_freq = 500
num_log_images = args.batch_size
end_learning_rate = args.end_learning_rate if args.end_learning_rate != -1 else 0.1 * args.learning_rate
var_sum = [var.sum() for var in model.parameters() if var.requires_grad]
var_cnt = len(var_sum)
var_sum = np.sum(var_sum)
print("Initial variables' sum: {:.3f}, avg: {:.3f}".format(
var_sum, var_sum / var_cnt))
steps_per_epoch = len(dataloader.data)
num_total_steps = args.num_epochs * steps_per_epoch
epoch = global_step // steps_per_epoch
while epoch < args.num_epochs:
if args.distributed:
dataloader.train_sampler.set_epoch(epoch)
for step, sample_batched in enumerate(dataloader.data):
optimizer.zero_grad()
before_op_time = time.time()
image = torch.autograd.Variable(sample_batched['image'].cuda(
args.gpu, non_blocking=True))
focal = torch.autograd.Variable(sample_batched['focal'].cuda(
args.gpu, non_blocking=True))
depth_gt = torch.autograd.Variable(sample_batched['depth'].cuda(
args.gpu, non_blocking=True))
lpg8x8, lpg4x4, lpg2x2, reduc1x1, depth_est = model(image, focal)
if args.dataset == 'nyu':
mask = depth_gt > 0.1
else:
mask = depth_gt > 1.0
loss = silog_criterion.forward(depth_est, depth_gt,
mask.to(torch.bool))
loss.backward()
for param_group in optimizer.param_groups:
current_lr = (args.learning_rate - end_learning_rate) * (
1 - global_step / num_total_steps)**0.9 + end_learning_rate
param_group['lr'] = current_lr
optimizer.step()
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
print(
'[epoch][s/s_per_e/gs]: [{}][{}/{}/{}], lr: {:.12f}, loss: {:.12f}'
.format(epoch, step, steps_per_epoch, global_step,
current_lr, loss))
duration += time.time() - before_op_time
if global_step and global_step % log_freq == 0:
var_sum = [
var.sum() for var in model.parameters()
if var.requires_grad
]
var_cnt = len(var_sum)
var_sum = np.sum(var_sum)
examples_per_sec = args.batch_size / duration * log_freq
duration = 0
time_sofar = (time.time() - start_time) / 3600
training_time_left = (num_total_steps / global_step -
1.0) * time_sofar
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
print("{}".format(args.model_name))
print_string = 'GPU: {} | examples/s: {:4.2f} | loss: {:.5f} | var sum: {:.3f} avg: {:.3f} | time elapsed: {:.2f}h | time left: {:.2f}h'
print(
print_string.format(args.gpu, examples_per_sec, loss,
var_sum.item(),
var_sum.item() / var_cnt, time_sofar,
training_time_left))
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
writer.add_scalar('silog_loss', loss, global_step)
writer.add_scalar('learning_rate', current_lr, global_step)
writer.add_scalar('var average',
var_sum.item() / var_cnt, global_step)
depth_gt = torch.where(depth_gt < 1e-3, depth_gt * 0 + 1e3,
depth_gt)
for i in range(num_log_images):
writer.add_image(
'depth_gt/image/{}'.format(i),
normalize_result(1 / depth_gt[i, :, :, :].data),
global_step)
writer.add_image(
'depth_est/image/{}'.format(i),
normalize_result(1 / depth_est[i, :, :, :].data),
global_step)
writer.add_image(
'reduc1x1/image/{}'.format(i),
normalize_result(1 / reduc1x1[i, :, :, :].data),
global_step)
writer.add_image(
'lpg2x2/image/{}'.format(i),
normalize_result(1 / lpg2x2[i, :, :, :].data),
global_step)
writer.add_image(
'lpg4x4/image/{}'.format(i),
normalize_result(1 / lpg4x4[i, :, :, :].data),
global_step)
writer.add_image(
'lpg8x8/image/{}'.format(i),
normalize_result(1 / lpg8x8[i, :, :, :].data),
global_step)
writer.add_image('image/image/{}'.format(i),
inv_normalize(image[i, :, :, :]).data,
global_step)
writer.flush()
if global_step and global_step % save_freq == 0:
if not args.multiprocessing_distributed or (
args.multiprocessing_distributed
and args.rank % ngpus_per_node == 0):
checkpoint = {
'global_step': global_step,
'model': model.state_dict(),
'optimizer': optimizer.state_dict()
}
torch.save(
checkpoint, args.log_directory + '/' +
args.model_name + '/model-{}'.format(global_step))
global_step += 1
epoch += 1