batch_size = joint_batch.shape[0]
self.joints[self.idx:self.idx + batch_size] = joint_batch
self.idx += batch_size
def get_result(self):
return self.joints
print('Test on test dataset ..')
def save_predictions(filename, predictions):
# Reshape one sample keypoints into one line
predictions = predictions.reshape(predictions.shape[0], -1)
np.savetxt(filename, predictions, fmt='%0.6f')
dataset = HANDS2017Dataset(args.data_dir, args.centers_path, transform, 100)
data_loader = torch.utils.data.DataLoader(dataset,
batch_size=batch_size,
shuffle=False,
num_workers=2)
result_collector = BatchResultCollector(len(dataset), transform_output)
test_epoch(net, data_loader, result_collector, device, dtype)
predictions = result_collector.get_result()
save_predictions('./test_res.txt', predictions)
print('All done ..')
keypoints = keypoints.reshape(keypoints.shape[0], -1)
np.savetxt(filename, keypoints, fmt='%0.4f')
test_set = ITOPDataset(root=data_dir,
center_dir=center_dir,
db=db,
mode='test',
transform=transform_test)
test_loader = torch.utils.data.DataLoader(test_set,
batch_size=batch_size,
shuffle=False,
num_workers=6)
test_res_collector = BatchResultCollector(len(test_set), transform_output)
test_epoch(net, test_loader, test_res_collector, device, dtype)
keypoints_test = test_res_collector.get_result()
print("save test result")
save_keypoints('./experiments/itop_experiment/test_side_res.txt',
keypoints_test)
# print('Fit on train dataset ..')
# fit_set = ITOPDataset(root=data_dir, center_dir=center_dir, db=db, mode='train', transform=transform_test)
# fit_loader = torch.utils.data.DataLoader(fit_set, batch_size=batch_size, shuffle=False, num_workers=6)
# fit_res_collector = BatchResultCollector(len(fit_set), transform_output)
# test_epoch(net, fit_loader, fit_res_collector, device, dtype)
# keypoints_fit = fit_res_collector.get_result()
# save_keypoints('./experiments/itop_experiment/fit_res.txt', keypoints_fit)
print('All done ..')
def main():
#######################################################################################
## Configurations
#print('Warning: disable cudnn for batchnorm first, or just use only cuda instead!')
np.random.seed(1)
torch.manual_seed(1)
torch.cuda.manual_seed(1)
args = parse_args()
device = torch.device('cuda:%d' % args.device_id) if torch.cuda.is_available() \
else torch.device('cpu')
dtype = torch.float
resume_train = args.resume >= 0
resume_after_epoch = args.resume
save_checkpoint = True
checkpoint_dir = r'checkpoint'
# FROZEN_STATE
# True => Don't do training just load model from checkpoint and test out
# False resume, don't resume etc.
FROZEN_STATE = (args.checkpoint is not None)
EPOCHS_PER_CHECKPOINT = 5 # 5
START_EPOCH = 0
NUM_EPOCHS = args.epochs #3#1#2#1
# Data
DATA_DIR = r'datasets/MSRA15'
CENTER_DIR = r'datasets/MSRA15_CenterofMassPts'
NUM_KEYPOINTS = 21
TEST_SUBJ_ID = args.test_subj_id #3 ##changed for now
PCA_COMP = 30
IMGSZ_PX = 128
CROPSZ_MM = 200
DEBUG_MODE = False
AUG_MODES = [AugType.AUG_ROT, AugType.AUG_TRANS,
AugType.AUG_NONE] #, AugType.AUG_SC, AugType.AUG_TRANS
PCA_AUG_MODES = [AugType.AUG_ROT, AugType.AUG_TRANS, AugType.AUG_NONE] #
### if refined_com: TODO: save/load pca with different name!s
if args.reduced_dataset: print("Info: Using reduced dataset for training.")
if not args.refined_com:
print("Info: Using GT CoM references for training.")
print("Info: AUG_MODES: ", [aug.name for aug in AUG_MODES])
print("Info: PCA_AUG_MODES: ", [aug.name for aug in PCA_AUG_MODES])
print("Info: TEST_SUBJ_ID: ", TEST_SUBJ_ID)
### common kwargs for MSRADataset
MSRA_KWARGS = {
'reduce': args.reduced_dataset,
'use_refined_com': args.refined_com
}
### fix for linux filesystem
torch.multiprocessing.set_sharing_strategy('file_system')
######################################################################################
## Transforms
# use default crop sizes 200mm
# use overwrite_cache = True when you want to force learn a new PCA matrix
# by default we've been using device cpu, actually for PCA cpu device is ok
# also we need a lot more mem for svd ~100GB or so! Thus, cpu is fine.
transform_pca = PCATransform(n_components=PCA_COMP,
use_cache=True,
overwrite_cache=args.force_pca)
transform_train = DeepPriorXYTransform(depthmap_px=IMGSZ_PX,
crop_len_mm=CROPSZ_MM,
aug_mode_lst=AUG_MODES,
debug_mode=DEBUG_MODE)
# its equivalent as train transformer except for augmentation
transform_val = DeepPriorXYTransform(depthmap_px=IMGSZ_PX,
crop_len_mm=CROPSZ_MM,
aug_mode_lst=[AugType.AUG_NONE])
#Must Ensure NO Augmentation for test as inverter can't handle that.
transform_test = DeepPriorXYTestTransform(depthmap_px=IMGSZ_PX,
crop_len_mm=CROPSZ_MM,
aug_mode_lst=[AugType.AUG_NONE])
# used for pca_calc
# New: Now we can augment data even for PCA_calc
# Ensure to supply PCA_AUG_MODES not AUG_MODES
transform_y = DeepPriorYTransform(depthmap_px=IMGSZ_PX,
crop_len_mm=CROPSZ_MM,
aug_mode_lst=PCA_AUG_MODES)
## used at test time
transform_output = DeepPriorYTestInverseTransform(crop_len_mm=CROPSZ_MM)
#######################################################################################
## PCA
# if pca_data wasn't cached we must load all y_data and call fit function
if transform_pca.transform_matrix_np is None:
# each sample is 1x21x3 so we use cat to make it 3997x21x3
# id we use stack it intriduces a new dim so 3997x1x21x3
# load all y_sample sin tprch array
# note only train subjects are loaded!
y_set = MARAHandDataset(DATA_DIR, CENTER_DIR, 'train', TEST_SUBJ_ID,
transform_y, **MSRA_KWARGS)
y_pca_len = int(2e5)
y_idx_pca = np.random.choice(len(y_set), y_pca_len, replace=True)
#print(y_idx_pca, y_idx_pca.shape)
#y_loader = torch.utils.data.DataLoader(y_set, batch_size=1, shuffle=True, num_workers=0)
print('==> Collating %d y_samples for PCA ..' % y_pca_len)
fullYList = []
for (i, item) in enumerate(y_idx_pca): #y_loader
fullYList.append(y_set[item])
progress_bar(i, y_pca_len) #y_loader
y_train_samples = torch.from_numpy(
np.stack(fullYList)) #tuple(y_loader) #torch.cat()
#print(fullList)
print("\nY_GT_STD SHAPE: ", y_train_samples.shape, "Max: ",
np.max(y_train_samples.numpy()), "Min: ",
np.min(y_train_samples.numpy()), "\n")
# in future just use fit command, fit_transform is just for testing
print('==> fitting PCA ..')
zz = transform_pca.fit_transform(y_train_samples)
print("PCA_Y_SHAPE: ", zz.shape, "MAX: ", zz.max(), "MIN: ", zz.min(),
"\n")
print('==> PCA fitted ..')
del y_train_samples
del fullYList
#del y_loader
del y_set
# print("PCA Matrix, Vector: \t",
# transform_pca.transform_matrix_np.shape,
# "\t",transform_pca.mean_vect_np.shape)
## note if we transpose this matrix its a U matrix so
## unitary i.e. inverse is transpose so we can then invert the transformation
## so to supply as last layer we will supply transform_matx.T
#' bias will be supplied as is but may need reshaping.
#######################################################################################
## Data, transform, dataset and loader
print('==> Preparing data ..')
## dataset returns np array samples ; dataloader returns torch samples and also shuffled
train_set = MARAHandDataset(
DATA_DIR, CENTER_DIR, 'train', TEST_SUBJ_ID,
transforms.Compose([transform_train, transform_pca]), **MSRA_KWARGS)
## set here collate_fn as convert to pca
## there is some problem here basically we can't parallelize the transformers so
## if u use num_workers=4 it just gives NaN results
## if its 0 then all its fine.
## i think somehow transformers can't exist in each thread or something
## must be to do with pca function,
## shuld we try composing transformers? -- doesnt help
## essentially num workers must be 0 -- lets just keep this as is for now
## we have fixed this now by using shared_mem types from multiprocessing model
## now we run at 100% cpu while training X_X
# batch size 1 ---> 128
# 128 -- is from deep_prior_pp
train_loader = torch.utils.data.DataLoader(train_set,
batch_size=128,
shuffle=True,
num_workers=4)
# No separate validation dataset, just use test dataset instead
# here we are using test_subj_id for val, this is data-snooping
# so if we do any hyperparam search using valset it will be bad to
# report test error using same set
# we'll fix this afterwards...
# for validation batch size doesn't matter as we don't train, only calc error
val_set = MARAHandDataset(
DATA_DIR, CENTER_DIR, 'test', TEST_SUBJ_ID,
transforms.Compose([transform_val, transform_pca]), **MSRA_KWARGS)
val_loader = torch.utils.data.DataLoader(val_set,
batch_size=512,
shuffle=False,
num_workers=4) #6
# print("ValSetSz: ", len(val_set))
### debugging
# xTmp, yTmp = train_set[0]
# xTmp, yTmp = train_set[1]
# xTmp, yTmp = train_set[2]
# quit()
#print("Y_TMP", yTmp.shape)
#print(yTmp)
#quit()
# we see a time differ of 11s vs 14s for 4 workers vs 0 worker
# import time
# t = time.time()
# a = []
# for batch_idx, (inputs, targets) in enumerate(train_loader):
# a.append(targets.clone())
# c = torch.cat(a)
# print("\n\ntook: ", time.time()-t, "s newsamples SHAPE: ", c.shape, "Max: ", np.max(c.numpy()), "Min: ", np.min(c.numpy()))
# quit()
#######################################################################################
## Model, criterion and optimizer
#Weight matx is transform_matx.Transpose as its inverse transform
print('==> Constructing model ..')
net = DeepPriorPPModel(input_channels=1,
num_joints=NUM_KEYPOINTS,
num_dims=3,
pca_components=PCA_COMP,
dropout_prob=0.3,
train_mode=True,
weight_matx_np=transform_pca.transform_matrix_np.T,
bias_matx_np=transform_pca.mean_vect_np)
net = net.to(device, dtype)
if device == torch.device('cuda'):
torch.backends.cudnn.enabled = True
cudnn.benchmark = True
print('cudnn.enabled: ', torch.backends.cudnn.enabled)
## make this better like huber loss etc?
## deep-prior-pp in code just uses MSELoss
criterion = nn.MSELoss()
## params from deep-prior-pp
optimizer = optim.Adam(net.parameters(), lr=0.001, weight_decay=0)
#optimizer = optim.RMSprop(net.parameters(), lr=2.5e-4)
#######################################################################################
## Resume / FROZEN_STATE
if FROZEN_STATE:
# if frozen state is being loaded, don't do training!
checkpoint_file = args.checkpoint # load directly from cmd_line
print('==> Loading frozen state from checkpoint file {} ..'.format(
os.path.basename(checkpoint_file)))
checkpoint = torch.load(checkpoint_file)
net.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
else:
if resume_train:
# Load checkpoint
epoch = resume_after_epoch
checkpoint_file = os.path.join(checkpoint_dir,
'epoch' + str(epoch) + '.pth')
print('==> Resuming from checkpoint after epoch id {} ..'.format(
epoch))
assert os.path.isdir(
checkpoint_dir), 'Error: no checkpoint directory found!'
assert os.path.isfile(
checkpoint_file
), 'Error: no checkpoint file of epoch {}'.format(epoch)
checkpoint = torch.load(
os.path.join(checkpoint_dir, 'epoch' + str(epoch) + '.pth'))
net.load_state_dict(checkpoint['model_state_dict'])
optimizer.load_state_dict(checkpoint['optimizer_state_dict'])
START_EPOCH = checkpoint['epoch'] + 1
#######################################################################################
## Train and Validate
print('==> Training ..')
train_time = time.time()
# changed training_procedure so that if loaded epoch_id+1 = NUM_EPOCHS then don't train at all
# i.e. if we are to train 1 epoch and epoch_0 was loaded, no need to train further
for epoch in range(START_EPOCH, NUM_EPOCHS):
print('Epoch: {}'.format(epoch))
train_epoch(net,
criterion,
optimizer,
train_loader,
device=device,
dtype=dtype)
val_epoch(net, criterion, val_loader, device=device, dtype=dtype)
# if ep_per_chkpt = 5, save as ep_id: 4, 9, 14, 19, 24, 29
if save_checkpoint and (epoch + 1) % (EPOCHS_PER_CHECKPOINT) == 0:
if not os.path.exists(checkpoint_dir): os.mkdir(checkpoint_dir)
checkpoint_file = os.path.join(checkpoint_dir,
'epoch' + str(epoch) + '.pth')
checkpoint = {
'model_state_dict': net.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'epoch': epoch
}
torch.save(checkpoint, checkpoint_file)
print("Training took: ", format_time(time.time() - train_time), '\n')
#######################################################################################
## Test
print('==> Testing ..')
# currently our test_set === val_set !! TODO: change this
# print('Test on test dataset ..')
test_set = MARAHandDataset(DATA_DIR,
CENTER_DIR,
'test',
TEST_SUBJ_ID,
transform=transform_test,
**MSRA_KWARGS)
## increaase batch size and workers for fastr (parallel) calc in future
## forget batch~_size for now as addition of com_Batch doesnt work properly#
## its (500,21,3) + (500,3)
## need to use np.repeat to make com (500,3) -> (500,21,3)
## ensure error is same regardless of batch size!! --> correct upto 1e-6
dropout = False
if dropout:
test_loader = \
torch.utils.data.DataLoader(test_set, batch_size=1, shuffle=False, num_workers=4)
else:
test_loader = \
torch.utils.data.DataLoader(test_set, batch_size=512, shuffle=False, num_workers=4)
test_res_collector = DeepPriorBatchResultCollector(test_loader,
transform_output,
len(test_set))
if not dropout:
test_epoch(net, test_loader, test_res_collector, device, dtype)
else:
test_epoch_dropout(net, test_loader, test_res_collector, device, dtype)
#keypoints_test = test_res_collector.get_result()
# save_keypoints('./test_res.txt', keypoints_test)
# print('Fit on train dataset ..')
# fit_set = MARAHandDataset(DATA_DIR, CENTER_DIR, 'train', TEST_SUBJ_ID, transform_test)
# fit_loader = torch.utils.data.DataLoader(fit_set, batch_size=1, shuffle=False, num_workers=1)
# fit_res_collector = BatchResultCollector(fit_loader, transform_output)
# test_epoch(net, fit_loader, fit_res_collector, device, dtype)
# keypoints_fit = fit_res_collector.get_result()
# save_keypoints('./fit_res.txt', keypoints_fit)
print("\nFINAL_AVG_3D_ERROR: %0.4fmm" %
test_res_collector.calc_avg_3D_error())
print("With Config:", "{GT_CoM: %s, Aug: %s, PCA_Aug: %s,\nFull_Dataset: %s, PCA_SZ: %d}" % \
(not args.refined_com, [aug.name for aug in AUG_MODES],
[aug.name for aug in PCA_AUG_MODES], not args.reduced_dataset, y_pca_len))
if args.save_eval and not args.refined_com:
### new saving results and plots ###
print('\n==> Saving ..')
pred_fname = 'eval/MSRA15/eval_test_%d_ahpe_gt_com.txt' % TEST_SUBJ_ID
plot_fname = 'eval/MSRA15/msra_test_%d_joints_acc_gt_com.png' % TEST_SUBJ_ID
#test_res_collector.get_ahpe_result('eval/MSRA15/msra_test_list.txt', TEST_SUBJ_ID, DATA_DIR)
saveKeypoints(pred_fname, test_res_collector.get_result())
print("Keypoints saved to %s..." % pred_fname)
names = ['joint_' + str(i + 1) for i in range(NUM_KEYPOINTS)]
dist, acc = test_res_collector.compute_dist_acc_wrapper(max_dist=100,
num=100)
fig, ax = plt.subplots()
plot_acc(ax, dist, acc, names)
ax.grid(which='both')
fig.savefig(plot_fname)
#plt.show()
print("Plot saved to %s..." % plot_fname)
elif args.save_eval:
print(
"Warning: Cannot save file as its incompatible with AHPE when using refine_com"
)
print('\nAll done ..')