def validate(valid_loader, model, optimizer, valid_vars, control_vars, verbose=True):
curr_epoch_iter = 1
for batch_idx, (data, target) in enumerate(valid_loader):
control_vars['batch_idx'] = batch_idx
if batch_idx < control_vars['iter_size']:
print_verbose("\rPerforming first iteration; current mini-batch: " +
str(batch_idx + 1) + "/" + str(control_vars['iter_size']), verbose, n_tabs=0, erase_line=True)
# start time counter
start = time.time()
# get data and targetas cuda variables
target_heatmaps, target_joints, target_joints_z = target
data, target_heatmaps = Variable(data), Variable(target_heatmaps)
if valid_vars['use_cuda']:
data = data.cuda()
target_heatmaps = target_heatmaps.cuda()
# visualize if debugging
# get model output
output = model(data)
# accumulate loss for sub-mini-batch
if valid_vars['cross_entropy']:
loss_func = my_losses.cross_entropy_loss_p_logq
else:
loss_func = my_losses.euclidean_loss
loss = my_losses.calculate_loss_HALNet(loss_func,
output, target_heatmaps, model.joint_ixs, model.WEIGHT_LOSS_INTERMED1,
model.WEIGHT_LOSS_INTERMED2, model.WEIGHT_LOSS_INTERMED3,
model.WEIGHT_LOSS_MAIN, control_vars['iter_size'])
if DEBUG_VISUALLY:
for i in range(control_vars['max_mem_batch']):
filenamebase_idx = (batch_idx * control_vars['max_mem_batch']) + i
filenamebase = valid_loader.dataset.get_filenamebase(filenamebase_idx)
fig = visualize.create_fig()
#visualize.plot_joints_from_heatmaps(output[3][i].data.numpy(), fig=fig,
# title=filenamebase, data=data[i].data.numpy())
#visualize.plot_image_and_heatmap(output[3][i][8].data.numpy(),
# data=data[i].data.numpy(),
# title=filenamebase)
#visualize.savefig('/home/paulo/' + filenamebase.replace('/', '_') + '_heatmap')
labels_colorspace = conv.heatmaps_to_joints_colorspace(output[3][i].data.numpy())
data_crop, crop_coords, labels_heatmaps, labels_colorspace = \
converter.crop_image_get_labels(data[i].data.numpy(), labels_colorspace, range(21))
visualize.plot_image(data_crop, title=filenamebase, fig=fig)
visualize.plot_joints_from_colorspace(labels_colorspace, title=filenamebase, fig=fig, data=data_crop)
#visualize.savefig('/home/paulo/' + filenamebase.replace('/', '_') + '_crop')
visualize.show()
#loss.backward()
valid_vars['total_loss'] += loss
# accumulate pixel dist loss for sub-mini-batch
valid_vars['total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
valid_vars['total_pixel_loss'], output[3], target_heatmaps, control_vars['batch_size'])
if valid_vars['cross_entropy']:
valid_vars['total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
valid_vars['total_pixel_loss_sample'], output[3], target_heatmaps, control_vars['batch_size'])
else:
valid_vars['total_pixel_loss_sample'] = [-1] * len(model.joint_ixs)
# get boolean variable stating whether a mini-batch has been completed
minibatch_completed = (batch_idx+1) % control_vars['iter_size'] == 0
if minibatch_completed:
# append total loss
valid_vars['losses'].append(valid_vars['total_loss'].item())
# erase total loss
total_loss = valid_vars['total_loss'].item()
valid_vars['total_loss'] = 0
# append dist loss
valid_vars['pixel_losses'].append(valid_vars['total_pixel_loss'])
# erase pixel dist loss
valid_vars['total_pixel_loss'] = [0] * len(model.joint_ixs)
# append dist loss of sample from output
valid_vars['pixel_losses_sample'].append(valid_vars['total_pixel_loss_sample'])
# erase dist loss of sample from output
valid_vars['total_pixel_loss_sample'] = [0] * len(model.joint_ixs)
# check if loss is better
if valid_vars['losses'][-1] < valid_vars['best_loss']:
valid_vars['best_loss'] = valid_vars['losses'][-1]
#print_verbose(" This is a best loss found so far: " + str(valid_vars['losses'][-1]), verbose)
# log checkpoint
if control_vars['curr_iter'] % control_vars['log_interval'] == 0:
trainer.print_log_info(model, optimizer, 1, total_loss, valid_vars, control_vars)
model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': valid_vars,
}
trainer.save_checkpoint(model_dict,
filename=valid_vars['checkpoint_filenamebase'] +
str(control_vars['num_iter']) + '.pth.tar')
# print time lapse
prefix = 'Validating (Epoch #' + str(1) + ' ' + str(control_vars['curr_epoch_iter']) + '/' +\
str(control_vars['tot_iter']) + ')' + ', (Batch ' + str(control_vars['batch_idx']+1) +\
'(' + str(control_vars['iter_size']) + ')' + '/' +\
str(control_vars['num_batches']) + ')' + ', (Iter #' + str(control_vars['curr_iter']) +\
'(' + str(control_vars['batch_size']) + ')' +\
' - log every ' + str(control_vars['log_interval']) + ' iter): '
control_vars['tot_toc'] = display_est_time_loop(control_vars['tot_toc'] + time.time() - start,
control_vars['curr_iter'], control_vars['num_iter'],
prefix=prefix)
control_vars['curr_iter'] += 1
control_vars['start_iter'] = control_vars['curr_iter'] + 1
control_vars['curr_epoch_iter'] += 1
return valid_vars, control_vars
def train(train_loader, model, optimizer, train_vars, control_vars, verbose=True):
curr_epoch_iter = 1
for batch_idx, (data, target) in enumerate(train_loader):
control_vars['batch_idx'] = batch_idx
if batch_idx < control_vars['iter_size']:
print_verbose("\rPerforming first iteration; current mini-batch: " +
str(batch_idx+1) + "/" + str(control_vars['iter_size']), verbose, n_tabs=0, erase_line=True)
# check if arrived at iter to start
if control_vars['curr_epoch_iter'] < control_vars['start_iter_mod']:
if batch_idx % control_vars['iter_size'] == 0:
print_verbose("\rGoing through iterations to arrive at last one saved... " +
str(int(control_vars['curr_epoch_iter']*100.0/control_vars['start_iter_mod'])) + "% of " +
str(control_vars['start_iter_mod']) + " iterations (" +
str(control_vars['curr_epoch_iter']) + "/" + str(control_vars['start_iter_mod']) + ")",
verbose, n_tabs=0, erase_line=True)
control_vars['curr_epoch_iter'] += 1
control_vars['curr_iter'] += 1
curr_epoch_iter += 1
continue
# save checkpoint after final iteration
if control_vars['curr_iter'] == control_vars['num_iter']:
print_verbose("\nReached final number of iterations: " + str(control_vars['num_iter']), verbose)
print_verbose("\tSaving final model checkpoint...", verbose)
final_model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': train_vars,
}
trainer.save_checkpoint(final_model_dict,
filename=train_vars['checkpoint_filenamebase'] +
'final' + str(control_vars['num_iter']) + '.pth.tar')
control_vars['done_training'] = True
break
# start time counter
start = time.time()
# get data and targetas cuda variables
target_heatmaps, target_joints, _, target_prior = target
data, target_heatmaps, target_prior = Variable(data), Variable(target_heatmaps), Variable(target_prior)
if train_vars['use_cuda']:
data = data.cuda()
target_heatmaps = target_heatmaps.cuda()
target_prior = target_prior.cuda()
# visualize if debugging
# get model output
output = model(data)
# accumulate loss for sub-mini-batch
if train_vars['cross_entropy']:
loss_func = my_losses.cross_entropy_loss_p_logq
else:
loss_func = my_losses.euclidean_loss
loss, loss_prior = my_losses.calculate_loss_HALNet_prior(loss_func,
output, target_heatmaps, target_prior, model.joint_ixs, model.WEIGHT_LOSS_INTERMED1,
model.WEIGHT_LOSS_INTERMED2, model.WEIGHT_LOSS_INTERMED3,
model.WEIGHT_LOSS_MAIN, control_vars['iter_size'])
loss.backward()
train_vars['total_loss'] += loss
train_vars['total_loss_prior'] += loss_prior
# accumulate pixel dist loss for sub-mini-batch
train_vars['total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
train_vars['total_pixel_loss'], output[3], target_heatmaps, control_vars['batch_size'])
if train_vars['cross_entropy']:
train_vars['total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
train_vars['total_pixel_loss_sample'], output[3], target_heatmaps, control_vars['batch_size'])
else:
train_vars['total_pixel_loss_sample'] = [-1] * len(model.joint_ixs)
# get boolean variable stating whether a mini-batch has been completed
minibatch_completed = (batch_idx+1) % control_vars['iter_size'] == 0
if minibatch_completed:
# optimise for mini-batch
optimizer.step()
# clear optimiser
optimizer.zero_grad()
# append total loss
train_vars['losses'].append(train_vars['total_loss'].data[0])
# erase total loss
total_loss = train_vars['total_loss'].data[0]
train_vars['total_loss'] = 0
# append total loss prior
train_vars['losses_prior'].append(train_vars['total_loss_prior'].data[0])
# erase total loss
total_loss_prior = train_vars['total_loss_prior'].data[0]
train_vars['total_loss_prior'] = 0
# append dist loss
train_vars['pixel_losses'].append(train_vars['total_pixel_loss'])
# erase pixel dist loss
train_vars['total_pixel_loss'] = [0] * len(model.joint_ixs)
# append dist loss of sample from output
train_vars['pixel_losses_sample'].append(train_vars['total_pixel_loss_sample'])
# erase dist loss of sample from output
train_vars['total_pixel_loss_sample'] = [0] * len(model.joint_ixs)
# check if loss is better
if train_vars['losses'][-1] < train_vars['best_loss']:
train_vars['best_loss'] = train_vars['losses'][-1]
print_verbose(" This is a best loss found so far: " + str(train_vars['losses'][-1]), verbose)
train_vars['best_model_dict'] = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': train_vars,
}
if train_vars['losses_prior'][-1] < train_vars['best_loss_prior']:
train_vars['best_loss_prior'] = train_vars['losses_prior'][-1]
# log checkpoint
if control_vars['curr_iter'] % control_vars['log_interval'] == 0:
trainer.print_log_info(model, optimizer, epoch, total_loss, train_vars, control_vars)
msg = ''
msg += print_verbose(
"-------------------------------------------------------------------------------------------",
verbose) + "\n"
msg += print_verbose("Current loss (prior): " + str(total_loss_prior), verbose) + "\n"
msg += print_verbose("Best loss (prior): " + str(train_vars['best_loss_prior']), verbose) + "\n"
msg += print_verbose("Mean total loss (prior): " + str(np.mean(train_vars['losses_prior'])), verbose) + "\n"
msg += print_verbose("Mean loss (prior) for last " + str(control_vars['log_interval']) +
" iterations (average total loss): " + str(
np.mean(train_vars['losses_prior'][-control_vars['log_interval']:])), verbose) + "\n"
msg += print_verbose(
"-------------------------------------------------------------------------------------------",
verbose) + "\n"
if not control_vars['output_filepath'] == '':
with open(control_vars['output_filepath'], 'a') as f:
f.write(msg + '\n')
if control_vars['curr_iter'] % control_vars['log_interval_valid'] == 0:
print_verbose("\nSaving model and checkpoint model for validation", verbose)
checkpoint_model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': train_vars,
}
trainer.save_checkpoint(checkpoint_model_dict,
filename=train_vars['checkpoint_filenamebase'] + 'for_valid_' +
str(control_vars['curr_iter']) + '.pth.tar')
# print time lapse
prefix = 'Training (Epoch #' + str(epoch) + ' ' + str(control_vars['curr_epoch_iter']) + '/' +\
str(control_vars['tot_iter']) + ')' + ', (Batch ' + str(control_vars['batch_idx']+1) +\
'(' + str(control_vars['iter_size']) + ')' + '/' +\
str(control_vars['num_batches']) + ')' + ', (Iter #' + str(control_vars['curr_iter']) +\
'(' + str(control_vars['batch_size']) + ')' +\
' - log every ' + str(control_vars['log_interval']) + ' iter): '
control_vars['tot_toc'] = display_est_time_loop(control_vars['tot_toc'] + time.time() - start,
control_vars['curr_iter'], control_vars['num_iter'],
prefix=prefix)
control_vars['curr_iter'] += 1
control_vars['start_iter'] = control_vars['curr_iter'] + 1
control_vars['curr_epoch_iter'] += 1
return train_vars, control_vars
def train(train_loader, model, optimizer, train_vars):
verbose = train_vars['verbose']
for batch_idx, (data, target) in enumerate(train_loader):
train_vars['batch_idx'] = batch_idx
# print info about performing first iter
if batch_idx < train_vars['iter_size']:
print_verbose(
"\rPerforming first iteration; current mini-batch: " +
str(batch_idx + 1) + "/" + str(train_vars['iter_size']),
verbose,
n_tabs=0,
erase_line=True)
# check if arrived at iter to start
arrived_curr_iter, train_vars = run_until_curr_iter(
batch_idx, train_vars)
if not arrived_curr_iter:
continue
# save checkpoint after final iteration
if train_vars['curr_iter'] - 1 == train_vars['num_iter']:
train_vars = trainer.save_final_checkpoint(train_vars, model,
optimizer)
break
# start time counter
start = time.time()
# get data and target as torch Variables
_, target_joints, target_heatmaps, target_joints_z = target
# make target joints be relative
target_joints = target_joints[:, 3:]
data, target_heatmaps = Variable(data), Variable(target_heatmaps)
if train_vars['use_cuda']:
data = data.cuda()
target_heatmaps = target_heatmaps.cuda()
target_joints = target_joints.cuda()
target_joints_z = target_joints_z.cuda()
# get model output
output = model(data)
# accumulate loss for sub-mini-batch
if train_vars['cross_entropy']:
loss_func = my_losses.cross_entropy_loss_p_logq
else:
loss_func = my_losses.euclidean_loss
weights_heatmaps_loss, weights_joints_loss = get_loss_weights(
train_vars['curr_iter'])
loss, loss_heatmaps, loss_joints = my_losses.calculate_loss_JORNet(
loss_func, output, target_heatmaps, target_joints,
train_vars['joint_ixs'], weights_heatmaps_loss,
weights_joints_loss, train_vars['iter_size'])
loss.backward()
train_vars['total_loss'] += loss.item()
train_vars['total_joints_loss'] += loss_joints.item()
train_vars['total_heatmaps_loss'] += loss_heatmaps.item()
# accumulate pixel dist loss for sub-mini-batch
train_vars[
'total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
train_vars['total_pixel_loss'], output[3], target_heatmaps,
train_vars['batch_size'])
if train_vars['cross_entropy']:
train_vars[
'total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
train_vars['total_pixel_loss_sample'], output[3],
target_heatmaps, train_vars['batch_size'])
else:
train_vars['total_pixel_loss_sample'] = [-1] * len(model.joint_ixs)
'''
For debugging training
for i in range(train_vars['max_mem_batch']):
filenamebase_idx = (batch_idx * train_vars['max_mem_batch']) + i
filenamebase = train_loader.dataset.get_filenamebase(filenamebase_idx)
visualize.plot_joints_from_heatmaps(target_heatmaps[i].data.cpu().numpy(),
title='GT joints: ' + filenamebase, data=data[i].data.cpu().numpy())
visualize.plot_joints_from_heatmaps(output[3][i].data.cpu().numpy(),
title='Pred joints: ' + filenamebase, data=data[i].data.cpu().numpy())
visualize.plot_image_and_heatmap(output[3][i][4].data.numpy(),
data=data[i].data.numpy(),
title='Thumb tib heatmap: ' + filenamebase)
visualize.show()
'''
# get boolean variable stating whether a mini-batch has been completed
minibatch_completed = (batch_idx + 1) % train_vars['iter_size'] == 0
if minibatch_completed:
# visualize
# ax, fig = visualize.plot_3D_joints(target_joints[0])
# visualize.plot_3D_joints(target_joints[1], ax=ax, fig=fig)
if train_vars['curr_iter'] % train_vars['log_interval'] == 0:
fig, ax = visualize.plot_3D_joints(target_joints[0])
visualize.savefig('joints_GT_' + str(train_vars['curr_iter']) +
'.png')
#visualize.plot_3D_joints(target_joints[1], fig=fig, ax=ax, color_root='C7')
#visualize.plot_3D_joints(output[7].data.cpu().numpy()[0], fig=fig, ax=ax, color_root='C7')
visualize.plot_3D_joints(output[7].data.cpu().numpy()[0])
visualize.savefig('joints_model_' +
str(train_vars['curr_iter']) + '.png')
#visualize.show()
#visualize.savefig('joints_' + str(train_vars['curr_iter']) + '.png')
# change learning rate to 0.01 after 45000 iterations
optimizer = change_learning_rate(optimizer, 0.01,
train_vars['curr_iter'])
# optimise for mini-batch
optimizer.step()
# clear optimiser
optimizer.zero_grad()
# append total loss
train_vars['losses'].append(train_vars['total_loss'])
# erase total loss
total_loss = train_vars['total_loss']
train_vars['total_loss'] = 0
# append total joints loss
train_vars['losses_joints'].append(train_vars['total_joints_loss'])
# erase total joints loss
train_vars['total_joints_loss'] = 0
# append total joints loss
train_vars['losses_heatmaps'].append(
train_vars['total_heatmaps_loss'])
# erase total joints loss
train_vars['total_heatmaps_loss'] = 0
# append dist loss
train_vars['pixel_losses'].append(train_vars['total_pixel_loss'])
# erase pixel dist loss
train_vars['total_pixel_loss'] = [0] * len(model.joint_ixs)
# append dist loss of sample from output
train_vars['pixel_losses_sample'].append(
train_vars['total_pixel_loss_sample'])
# erase dist loss of sample from output
train_vars['total_pixel_loss_sample'] = [0] * len(model.joint_ixs)
# check if loss is better
if train_vars['losses'][-1] < train_vars['best_loss']:
train_vars['best_loss'] = train_vars['losses'][-1]
print_verbose(
" This is a best loss found so far: " +
str(train_vars['losses'][-1]), verbose)
train_vars['best_model_dict'] = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'train_vars': train_vars
}
# log checkpoint
if train_vars['curr_iter'] % train_vars['log_interval'] == 0:
trainer.print_log_info(model, optimizer, epoch, total_loss,
train_vars, train_vars)
aa1 = target_joints[0].data.cpu().numpy()
aa2 = output[7][0].data.cpu().numpy()
output_joint_loss = np.sum(np.abs(aa1 - aa2)) / 63
msg = ''
msg += print_verbose(
"-------------------------------------------------------------------------------------------",
verbose) + "\n"
msg += print_verbose(
'\tJoint Coord Avg Loss for first image of current mini-batch: '
+ str(output_joint_loss) + '\n', train_vars['verbose'])
msg += print_verbose(
"-------------------------------------------------------------------------------------------",
verbose) + "\n"
if not train_vars['output_filepath'] == '':
with open(train_vars['output_filepath'], 'a') as f:
f.write(msg + '\n')
if train_vars['curr_iter'] % train_vars['log_interval_valid'] == 0:
print_verbose(
"\nSaving model and checkpoint model for validation",
verbose)
checkpoint_model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'train_vars': train_vars,
}
trainer.save_checkpoint(
checkpoint_model_dict,
filename=train_vars['checkpoint_filenamebase'] +
'for_valid_' + str(train_vars['curr_iter']) + '.pth.tar')
# print time lapse
prefix = 'Training (Epoch #' + str(epoch) + ' ' + str(train_vars['curr_epoch_iter']) + '/' +\
str(train_vars['tot_iter']) + ')' + ', (Batch ' + str(train_vars['batch_idx']+1) +\
'(' + str(train_vars['iter_size']) + ')' + '/' +\
str(train_vars['num_batches']) + ')' + ', (Iter #' + str(train_vars['curr_iter']) +\
'(' + str(train_vars['batch_size']) + ')' +\
' - log every ' + str(train_vars['log_interval']) + ' iter): '
train_vars['tot_toc'] = display_est_time_loop(
train_vars['tot_toc'] + time.time() - start,
train_vars['curr_iter'],
train_vars['num_iter'],
prefix=prefix)
train_vars['curr_iter'] += 1
train_vars['start_iter'] = train_vars['curr_iter'] + 1
train_vars['curr_epoch_iter'] += 1
return train_vars
def validate(valid_loader,
model,
optimizer,
valid_vars,
control_vars,
verbose=True):
curr_epoch_iter = 1
for batch_idx, (data, target) in enumerate(valid_loader):
control_vars['batch_idx'] = batch_idx
if batch_idx < control_vars['iter_size']:
print_verbose(
"\rPerforming first iteration; current mini-batch: " +
str(batch_idx + 1) + "/" + str(control_vars['iter_size']),
verbose,
n_tabs=0,
erase_line=True)
# start time counter
start = time.time()
# get data and targetas cuda variables
target_heatmaps, target_joints, target_handroot = target
# make target joints be relative
target_joints = target_joints[:, 3:]
data, target_heatmaps = Variable(data), Variable(target_heatmaps)
if valid_vars['use_cuda']:
data = data.cuda()
target_joints = target_joints.cuda()
target_heatmaps = target_heatmaps.cuda()
target_handroot = target_handroot.cuda()
# visualize if debugging
# get model output
output = model(data)
# accumulate loss for sub-mini-batch
if model.cross_entropy:
loss_func = my_losses.cross_entropy_loss_p_logq
else:
loss_func = my_losses.euclidean_loss
weights_heatmaps_loss, weights_joints_loss = get_loss_weights(
control_vars['curr_iter'])
loss, loss_heatmaps, loss_joints = my_losses.calculate_loss_JORNet(
loss_func, output, target_heatmaps, target_joints,
valid_vars['joint_ixs'], weights_heatmaps_loss,
weights_joints_loss, control_vars['iter_size'])
valid_vars['total_loss'] += loss
valid_vars['total_joints_loss'] += loss_joints
valid_vars['total_heatmaps_loss'] += loss_heatmaps
# accumulate pixel dist loss for sub-mini-batch
valid_vars[
'total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
valid_vars['total_pixel_loss'], output[3], target_heatmaps,
control_vars['batch_size'])
valid_vars[
'total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
valid_vars['total_pixel_loss_sample'], output[3],
target_heatmaps, control_vars['batch_size'])
# get boolean variable stating whether a mini-batch has been completed
for i in range(control_vars['max_mem_batch']):
filenamebase_idx = (batch_idx * control_vars['max_mem_batch']) + i
filenamebase = valid_loader.dataset.get_filenamebase(
filenamebase_idx)
print('')
print(filenamebase)
visualize.plot_image(data[i].data.numpy())
visualize.show()
output_batch_numpy = output[7][i].data.cpu().numpy()
print('\n-------------------------------')
reshaped_out = output_batch_numpy.reshape((20, 3))
for j in range(20):
print('[{}, {}, {}],'.format(reshaped_out[j, 0],
reshaped_out[j, 1],
reshaped_out[j, 2]))
print('-------------------------------')
fig, ax = visualize.plot_3D_joints(target_joints[i])
visualize.plot_3D_joints(output_batch_numpy,
fig=fig,
ax=ax,
color='C6')
visualize.title(filenamebase)
visualize.show()
temp = np.zeros((21, 3))
output_batch_numpy_abs = output_batch_numpy.reshape((20, 3))
temp[1:, :] = output_batch_numpy_abs
output_batch_numpy_abs = temp
output_joints_colorspace = camera.joints_depth2color(
output_batch_numpy_abs,
depth_intr_matrix=synthhands_handler.DEPTH_INTR_MTX,
handroot=target_handroot[i].data.cpu().numpy())
visualize.plot_3D_joints(output_joints_colorspace)
visualize.show()
aa1 = target_joints[i].data.cpu().numpy().reshape((20, 3))
aa2 = output[7][i].data.cpu().numpy().reshape((20, 3))
print('\n----------------------------------')
print(np.sum(np.abs(aa1 - aa2)) / 60)
print('----------------------------------')
#loss.backward()
valid_vars['total_loss'] += loss
valid_vars['total_joints_loss'] += loss_joints
valid_vars['total_heatmaps_loss'] += loss_heatmaps
# accumulate pixel dist loss for sub-mini-batch
valid_vars[
'total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
valid_vars['total_pixel_loss'], output[3], target_heatmaps,
control_vars['batch_size'])
valid_vars[
'total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
valid_vars['total_pixel_loss_sample'], output[3],
target_heatmaps, control_vars['batch_size'])
# get boolean variable stating whether a mini-batch has been completed
minibatch_completed = (batch_idx + 1) % control_vars['iter_size'] == 0
if minibatch_completed:
# append total loss
valid_vars['losses'].append(valid_vars['total_loss'].data[0])
# erase total loss
total_loss = valid_vars['total_loss'].data[0]
valid_vars['total_loss'] = 0
# append total joints loss
valid_vars['losses_joints'].append(
valid_vars['total_joints_loss'].data[0])
# erase total joints loss
valid_vars['total_joints_loss'] = 0
# append total joints loss
valid_vars['losses_heatmaps'].append(
valid_vars['total_heatmaps_loss'].data[0])
# erase total joints loss
valid_vars['total_heatmaps_loss'] = 0
# append dist loss
valid_vars['pixel_losses'].append(valid_vars['total_pixel_loss'])
# erase pixel dist loss
valid_vars['total_pixel_loss'] = [0] * len(model.joint_ixs)
# append dist loss of sample from output
valid_vars['pixel_losses_sample'].append(
valid_vars['total_pixel_loss_sample'])
# erase dist loss of sample from output
valid_vars['total_pixel_loss_sample'] = [0] * len(model.joint_ixs)
# check if loss is better
#if valid_vars['losses'][-1] < valid_vars['best_loss']:
# valid_vars['best_loss'] = valid_vars['losses'][-1]
# print_verbose(" This is a best loss found so far: " + str(valid_vars['losses'][-1]), verbose)
# log checkpoint
if control_vars['curr_iter'] % control_vars['log_interval'] == 0:
trainer.print_log_info(model, optimizer, 1, total_loss,
valid_vars, control_vars)
model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': valid_vars,
}
trainer.save_checkpoint(
model_dict,
filename=valid_vars['checkpoint_filenamebase'] +
str(control_vars['num_iter']) + '.pth.tar')
# print time lapse
prefix = 'Validating (Epoch #' + str(1) + ' ' + str(control_vars['curr_epoch_iter']) + '/' +\
str(control_vars['tot_iter']) + ')' + ', (Batch ' + str(control_vars['batch_idx']+1) +\
'(' + str(control_vars['iter_size']) + ')' + '/' +\
str(control_vars['num_batches']) + ')' + ', (Iter #' + str(control_vars['curr_iter']) +\
'(' + str(control_vars['batch_size']) + ')' +\
' - log every ' + str(control_vars['log_interval']) + ' iter): '
control_vars['tot_toc'] = display_est_time_loop(
control_vars['tot_toc'] + time.time() - start,
control_vars['curr_iter'],
control_vars['num_iter'],
prefix=prefix)
control_vars['curr_iter'] += 1
control_vars['start_iter'] = control_vars['curr_iter'] + 1
control_vars['curr_epoch_iter'] += 1
return valid_vars, control_vars
def validate(valid_loader,
model,
optimizer,
valid_vars,
control_vars,
verbose=True):
losses_main = []
for batch_idx, (data, target) in enumerate(valid_loader):
control_vars['batch_idx'] = batch_idx
if batch_idx < control_vars['iter_size']:
print_verbose(
"\rPerforming first iteration; current mini-batch: " +
str(batch_idx + 1) + "/" + str(control_vars['iter_size']),
verbose,
n_tabs=0,
erase_line=True)
# start time counter
start = time.time()
# get data and targetas cuda variables
target_heatmaps, target_joints, target_handroot = target
# make target joints be relative
target_joints = target_joints[:, 3:]
data, target_heatmaps = Variable(data), Variable(target_heatmaps)
if valid_vars['use_cuda']:
data = data.cuda()
target_joints = target_joints.cuda()
target_heatmaps = target_heatmaps.cuda()
target_handroot = target_handroot.cuda()
# visualize if debugging
# get model output
output = model(data)
# accumulate loss for sub-mini-batch
if model.cross_entropy:
loss_func = my_losses.cross_entropy_loss_p_logq
else:
loss_func = my_losses.euclidean_loss
weights_heatmaps_loss, weights_joints_loss = get_loss_weights(
control_vars['curr_iter'])
loss, loss_heatmaps, loss_joints, loss_main = my_losses.calculate_loss_JORNet_for_valid(
loss_func, output, target_heatmaps, target_joints,
valid_vars['joint_ixs'], weights_heatmaps_loss,
weights_joints_loss, control_vars['iter_size'])
losses_main.append(loss_main.item() / 63.0)
valid_vars['total_loss'] += loss
valid_vars['total_joints_loss'] += loss_joints
valid_vars['total_heatmaps_loss'] += loss_heatmaps
# accumulate pixel dist loss for sub-mini-batch
valid_vars[
'total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
valid_vars['total_pixel_loss'], output[3], target_heatmaps,
control_vars['batch_size'])
valid_vars[
'total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
valid_vars['total_pixel_loss_sample'], output[3],
target_heatmaps, control_vars['batch_size'])
valid_vars['total_loss'] += loss
valid_vars['total_joints_loss'] += loss_joints
valid_vars['total_heatmaps_loss'] += loss_heatmaps
# accumulate pixel dist loss for sub-mini-batch
valid_vars[
'total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
valid_vars['total_pixel_loss'], output[3], target_heatmaps,
control_vars['batch_size'])
valid_vars[
'total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
valid_vars['total_pixel_loss_sample'], output[3],
target_heatmaps, control_vars['batch_size'])
# get boolean variable stating whether a mini-batch has been completed
minibatch_completed = (batch_idx + 1) % control_vars['iter_size'] == 0
if minibatch_completed:
# append total loss
valid_vars['losses'].append(valid_vars['total_loss'].item())
# erase total loss
total_loss = valid_vars['total_loss'].item()
valid_vars['total_loss'] = 0
# append total joints loss
valid_vars['losses_joints'].append(
valid_vars['total_joints_loss'].item())
# erase total joints loss
valid_vars['total_joints_loss'] = 0
# append total joints loss
valid_vars['losses_heatmaps'].append(
valid_vars['total_heatmaps_loss'].item())
# erase total joints loss
valid_vars['total_heatmaps_loss'] = 0
# append dist loss
valid_vars['pixel_losses'].append(valid_vars['total_pixel_loss'])
# erase pixel dist loss
valid_vars['total_pixel_loss'] = [0] * len(model.joint_ixs)
# append dist loss of sample from output
valid_vars['pixel_losses_sample'].append(
valid_vars['total_pixel_loss_sample'])
# erase dist loss of sample from output
valid_vars['total_pixel_loss_sample'] = [0] * len(model.joint_ixs)
# check if loss is better
#if valid_vars['losses'][-1] < valid_vars['best_loss']:
# valid_vars['best_loss'] = valid_vars['losses'][-1]
# print_verbose(" This is a best loss found so far: " + str(valid_vars['losses'][-1]), verbose)
# log checkpoint
if control_vars['curr_iter'] % control_vars['log_interval'] == 0:
trainer.print_log_info(model,
optimizer,
1,
total_loss,
valid_vars,
control_vars,
save_best=False,
save_a_checkpoint=False)
model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': valid_vars,
}
#trainer.save_checkpoint(model_dict,
# filename=valid_vars['checkpoint_filenamebase'] +
# str(control_vars['num_iter']) + '.pth.tar')
# print time lapse
prefix = 'Validating (Epoch #' + str(1) + ' ' + str(control_vars['curr_epoch_iter']) + '/' +\
str(control_vars['tot_iter']) + ')' + ', (Batch ' + str(control_vars['batch_idx']+1) +\
'(' + str(control_vars['iter_size']) + ')' + '/' +\
str(control_vars['num_batches']) + ')' + ', (Iter #' + str(control_vars['curr_iter']) +\
'(' + str(control_vars['batch_size']) + ')' +\
' - log every ' + str(control_vars['log_interval']) + ' iter): '
control_vars['tot_toc'] = display_est_time_loop(
control_vars['tot_toc'] + time.time() - start,
control_vars['curr_iter'],
control_vars['num_iter'],
prefix=prefix)
control_vars['curr_iter'] += 1
control_vars['start_iter'] = control_vars['curr_iter'] + 1
control_vars['curr_epoch_iter'] += 1
total_avg_loss = np.mean(losses_main)
return valid_vars, control_vars, total_avg_loss
def train(train_loader, model, optimizer, train_vars):
verbose = train_vars['verbose']
for batch_idx, (data, target) in enumerate(train_loader):
train_vars['batch_idx'] = batch_idx
# print info about performing first iter
if batch_idx < train_vars['iter_size']:
print_verbose("\rPerforming first iteration; current mini-batch: " +
str(batch_idx+1) + "/" + str(train_vars['iter_size']), verbose, n_tabs=0, erase_line=True)
# check if arrived at iter to start
arrived_curr_iter, train_vars = run_until_curr_iter(batch_idx, train_vars)
if not arrived_curr_iter:
continue
# save checkpoint after final iteration
if train_vars['curr_iter'] - 1 == train_vars['num_iter']:
train_vars = save_final_checkpoint(train_vars, model, optimizer)
break
# start time counter
start = time.time()
# get data and target as torch Variables
_, target_joints, target_heatmaps, target_joints_z = target
data, target_heatmaps = Variable(data), Variable(target_heatmaps)
if train_vars['use_cuda']:
data = data.cuda()
target_heatmaps = target_heatmaps.cuda()
# get model output
output = model(data)
# accumulate loss for sub-mini-batch
if model.cross_entropy:
loss_func = my_losses.cross_entropy_loss_p_logq
else:
loss_func = my_losses.euclidean_loss
loss = my_losses.calculate_loss_HALNet(loss_func,
output, target_heatmaps, model.joint_ixs, model.WEIGHT_LOSS_INTERMED1,
model.WEIGHT_LOSS_INTERMED2, model.WEIGHT_LOSS_INTERMED3,
model.WEIGHT_LOSS_MAIN, train_vars['iter_size'])
loss.backward()
train_vars['total_loss'] += loss
# accumulate pixel dist loss for sub-mini-batch
train_vars['total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
train_vars['total_pixel_loss'], output[3], target_heatmaps, train_vars['batch_size'])
if train_vars['cross_entropy']:
train_vars['total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
train_vars['total_pixel_loss_sample'], output[3], target_heatmaps, train_vars['batch_size'])
else:
train_vars['total_pixel_loss_sample'] = [-1] * len(model.joint_ixs)
# get boolean variable stating whether a mini-batch has been completed
minibatch_completed = (batch_idx+1) % train_vars['iter_size'] == 0
if minibatch_completed:
# optimise for mini-batch
optimizer.step()
# clear optimiser
optimizer.zero_grad()
# append total loss
train_vars['losses'].append(train_vars['total_loss'].item())
# erase total loss
total_loss = train_vars['total_loss'].item()
train_vars['total_loss'] = 0
# append dist loss
train_vars['pixel_losses'].append(train_vars['total_pixel_loss'])
# erase pixel dist loss
train_vars['total_pixel_loss'] = [0] * len(model.joint_ixs)
# append dist loss of sample from output
train_vars['pixel_losses_sample'].append(train_vars['total_pixel_loss_sample'])
# erase dist loss of sample from output
train_vars['total_pixel_loss_sample'] = [0] * len(model.joint_ixs)
# check if loss is better
if train_vars['losses'][-1] < train_vars['best_loss']:
train_vars['best_loss'] = train_vars['losses'][-1]
print_verbose(" This is a best loss found so far: " + str(train_vars['losses'][-1]), verbose)
train_vars['best_model_dict'] = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'train_vars': train_vars
}
# log checkpoint
if train_vars['curr_iter'] % train_vars['log_interval'] == 0:
trainer.print_log_info(model, optimizer, epoch, total_loss, train_vars, train_vars)
if train_vars['curr_iter'] % train_vars['log_interval_valid'] == 0:
print_verbose("\nSaving model and checkpoint model for validation", verbose)
checkpoint_model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'train_vars': train_vars,
}
trainer.save_checkpoint(checkpoint_model_dict,
filename=train_vars['checkpoint_filenamebase'] + 'for_valid_' +
str(train_vars['curr_iter']) + '.pth.tar')
# print time lapse
prefix = 'Training (Epoch #' + str(epoch) + ' ' + str(train_vars['curr_epoch_iter']) + '/' +\
str(train_vars['tot_iter']) + ')' + ', (Batch ' + str(train_vars['batch_idx']+1) +\
'(' + str(train_vars['iter_size']) + ')' + '/' +\
str(train_vars['num_batches']) + ')' + ', (Iter #' + str(train_vars['curr_iter']) +\
'(' + str(train_vars['batch_size']) + ')' +\
' - log every ' + str(train_vars['log_interval']) + ' iter): '
train_vars['tot_toc'] = display_est_time_loop(train_vars['tot_toc'] + time.time() - start,
train_vars['curr_iter'], train_vars['num_iter'],
prefix=prefix)
train_vars['curr_iter'] += 1
train_vars['start_iter'] = train_vars['curr_iter'] + 1
train_vars['curr_epoch_iter'] += 1
return train_vars
def train(train_loader, model, optimizer, train_vars, control_vars, verbose=True):
curr_epoch_iter = 1
for batch_idx, (data, target) in enumerate(train_loader):
control_vars['batch_idx'] = batch_idx
if batch_idx < control_vars['iter_size']:
print_verbose("\rPerforming first iteration; current mini-batch: " +
str(batch_idx+1) + "/" + str(control_vars['iter_size']), verbose, n_tabs=0, erase_line=True)
# check if arrived at iter to start
if control_vars['curr_epoch_iter'] < control_vars['start_iter_mod']:
control_vars['curr_epoch_iter'] = control_vars['start_iter_mod']
msg = ''
if batch_idx % control_vars['iter_size'] == 0:
msg += print_verbose("\rGoing through iterations to arrive at last one saved... " +
str(int(control_vars['curr_epoch_iter']*100.0/control_vars['start_iter_mod'])) + "% of " +
str(control_vars['start_iter_mod']) + " iterations (" +
str(control_vars['curr_epoch_iter']) + "/" + str(control_vars['start_iter_mod']) + ")",
verbose, n_tabs=0, erase_line=True)
control_vars['curr_epoch_iter'] += 1
control_vars['curr_iter'] += 1
curr_epoch_iter += 1
if not control_vars['output_filepath'] == '':
with open(control_vars['output_filepath'], 'a') as f:
f.write(msg + '\n')
continue
# save checkpoint after final iteration
if control_vars['curr_iter'] == control_vars['num_iter']:
print_verbose("\nReached final number of iterations: " + str(control_vars['num_iter']), verbose)
print_verbose("\tSaving final model checkpoint...", verbose)
final_model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': train_vars,
}
trainer.save_checkpoint(final_model_dict,
filename=train_vars['checkpoint_filenamebase'] +
'final' + str(control_vars['num_iter']) + '.pth.tar')
control_vars['done_training'] = True
break
# start time counter
start = time.time()
# get data and targetas cuda variables
target_heatmaps, target_joints, target_roothand = target
data, target_heatmaps, target_joints, target_roothand = Variable(data), Variable(target_heatmaps),\
Variable(target_joints), Variable(target_roothand)
if train_vars['use_cuda']:
data = data.cuda()
target_heatmaps = target_heatmaps.cuda()
target_joints = target_joints.cuda()
# get model output
output = model(data)
'''
visualize.plot_joints_from_heatmaps(target_heatmaps[0, :, :, :].cpu().data.numpy(),
title='', data=data[0].cpu().data.numpy())
visualize.show()
visualize.plot_image_and_heatmap(target_heatmaps[0][4].cpu().data.numpy(),
data=data[0].cpu().data.numpy(),
title='')
visualize.show()
visualize.plot_image_and_heatmap(output[3][0][4].cpu().data.numpy(),
data=data[0].cpu().data.numpy(),
title='')
visualize.show()
'''
# accumulate loss for sub-mini-batch
if train_vars['cross_entropy']:
loss_func = my_losses.cross_entropy_loss_p_logq
else:
loss_func = my_losses.euclidean_loss
weights_heatmaps_loss, weights_joints_loss = get_loss_weights(control_vars['curr_iter'])
loss, loss_heatmaps, loss_joints = my_losses.calculate_loss_JORNet(
loss_func, output, target_heatmaps, target_joints, train_vars['joint_ixs'],
weights_heatmaps_loss, weights_joints_loss, control_vars['iter_size'])
loss.backward()
train_vars['total_loss'] += loss.data[0]
train_vars['total_joints_loss'] += loss_joints.data[0]
train_vars['total_heatmaps_loss'] += loss_heatmaps.data[0]
# accumulate pixel dist loss for sub-mini-batch
train_vars['total_pixel_loss'] = my_losses.accumulate_pixel_dist_loss_multiple(
train_vars['total_pixel_loss'], output[3], target_heatmaps, control_vars['batch_size'])
train_vars['total_pixel_loss_sample'] = my_losses.accumulate_pixel_dist_loss_from_sample_multiple(
train_vars['total_pixel_loss_sample'], output[3], target_heatmaps, control_vars['batch_size'])
# get boolean variable stating whether a mini-batch has been completed
minibatch_completed = (batch_idx+1) % control_vars['iter_size'] == 0
if minibatch_completed:
# optimise for mini-batch
optimizer.step()
# clear optimiser
optimizer.zero_grad()
# append total loss
train_vars['losses'].append(train_vars['total_loss'])
# erase total loss
total_loss = train_vars['total_loss']
train_vars['total_loss'] = 0
# append total joints loss
train_vars['losses_joints'].append(train_vars['total_joints_loss'])
# erase total joints loss
train_vars['total_joints_loss'] = 0
# append total joints loss
train_vars['losses_heatmaps'].append(train_vars['total_heatmaps_loss'])
# erase total joints loss
train_vars['total_heatmaps_loss'] = 0
# append dist loss
train_vars['pixel_losses'].append(train_vars['total_pixel_loss'])
# erase pixel dist loss
train_vars['total_pixel_loss'] = [0] * len(model.joint_ixs)
# append dist loss of sample from output
train_vars['pixel_losses_sample'].append(train_vars['total_pixel_loss_sample'])
# erase dist loss of sample from output
train_vars['total_pixel_loss_sample'] = [0] * len(model.joint_ixs)
# check if loss is better
if train_vars['losses'][-1] < train_vars['best_loss']:
train_vars['best_loss'] = train_vars['losses'][-1]
print_verbose(" This is a best loss found so far: " + str(train_vars['losses'][-1]), verbose)
train_vars['best_model_dict'] = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': train_vars,
}
if train_vars['losses_joints'][-1] < train_vars['best_loss_joints']:
train_vars['best_loss_joints'] = train_vars['losses_joints'][-1]
if train_vars['losses_heatmaps'][-1] < train_vars['best_loss_heatmaps']:
train_vars['best_loss_heatmaps'] = train_vars['losses_heatmaps'][-1]
# log checkpoint
if control_vars['curr_iter'] % control_vars['log_interval'] == 0:
trainer.print_log_info(model, optimizer, epoch, total_loss, train_vars, control_vars)
aa1 = target_joints[0].data.cpu().numpy()
aa2 = output[7][0].data.cpu().numpy()
output_joint_loss = np.sum(np.abs(aa1 - aa2)) / 63
msg = ''
msg += print_verbose(
"-------------------------------------------------------------------------------------------",
verbose) + "\n"
msg += print_verbose('\tJoint Coord Avg Loss for first image of current mini-batch: ' +
str(output_joint_loss) + '\n', control_vars['verbose'])
msg += print_verbose(
"-------------------------------------------------------------------------------------------",
verbose) + "\n"
if not control_vars['output_filepath'] == '':
with open(control_vars['output_filepath'], 'a') as f:
f.write(msg + '\n')
if control_vars['curr_iter'] % control_vars['log_interval_valid'] == 0:
print_verbose("\nSaving model and checkpoint model for validation", verbose)
checkpoint_model_dict = {
'model_state_dict': model.state_dict(),
'optimizer_state_dict': optimizer.state_dict(),
'control_vars': control_vars,
'train_vars': train_vars,
}
trainer.save_checkpoint(checkpoint_model_dict,
filename=train_vars['checkpoint_filenamebase'] + 'for_valid_' +
str(control_vars['curr_iter']) + '.pth.tar')
# print time lapse
prefix = 'Training (Epoch #' + str(epoch) + ' ' + str(control_vars['curr_epoch_iter']) + '/' +\
str(control_vars['tot_iter']) + ')' + ', (Batch ' + str(control_vars['batch_idx']+1) +\
'(' + str(control_vars['iter_size']) + ')' + '/' +\
str(control_vars['num_batches']) + ')' + ', (Iter #' + str(control_vars['curr_iter']) +\
'(' + str(control_vars['batch_size']) + ')' +\
' - log every ' + str(control_vars['log_interval']) + ' iter): '
control_vars['tot_toc'] = display_est_time_loop(control_vars['tot_toc'] + time.time() - start,
control_vars['curr_iter'], control_vars['num_iter'],
prefix=prefix)
control_vars['curr_iter'] += 1
control_vars['start_iter'] = control_vars['curr_iter'] + 1
control_vars['curr_epoch_iter'] += 1
return train_vars, control_vars