def run_batch(sample, model, loss_func=None, optimizer=None, phase=None):
"""
Run a batch for phase = {train, valid, test}
"""
if phase == 'Train':
model.train()
else:
model.eval() # test model，close dropout...
x = to_var(sample['sentence'])
label_pre = model(x) # [bs, 6]
if phase == 'Train':
label_gt = to_var(sample['label']) # [bs, 6]
loss = loss_func(label_pre, label_gt)
optimizer.zero_grad() # clear gradients for this training step
loss.backward() # bp, compute gradients
optimizer.step() # apply gradients
return loss.data[0], label_pre.data
elif phase == 'Valid':
label_gt = to_var(sample['label']) # [bs, 6]
loss = loss_func(label_pre, label_gt)
return loss.data[0], label_pre.data
else:
return label_pre.data
def run_batch(sample, model, loss_func, optimizer=None, phase=None):
if phase == 'Train':
model.train()
else:
model.eval()
img = to_var(sample['img']) # [bs, 6, H, W]
label_pre = model(img)
if phase == 'Train' or phase == 'Valid':
label = to_var(sample['label']) # [bs, 6]
loss1 = loss_func(label_pre[:, :3], label[:, :3])
loss2 = loss_func(label_pre[:, 3:], label[:, 3:])
loss = loss1 + args.beta * loss2
loss_x = loss_func(label_pre[:, 0], label[:, 0])
loss_y = loss_func(label_pre[:, 1], label[:, 1])
loss_z = loss_func(label_pre[:, 2], label[:, 2])
loss_tx = loss_func(label_pre[:, 3], label[:, 3])
loss_ty = loss_func(label_pre[:, 4], label[:, 4])
loss_tz = loss_func(label_pre[:, 5], label[:, 5])
if phase == 'Train':
optimizer.zero_grad() # clear gradients for this training step
loss.backward() # bp, compute gradients
optimizer.step() # apply gradients
return loss.data[0], loss1.data[0], loss2.data[0], label_pre.data, \
loss_x.data[0], loss_y.data[0], loss_z.data[0], loss_tx.data[0], loss_ty.data[0], loss_tz.data[0]
else:
return label_pre.data
def run_batch_2(sample, model, loss_func=None, optimizer=None):
"""
cnn-lstm 不同time_step一起训练
"""
model.train()
loss_mean = []
loss1_mean = []
loss2_mean = []
for sample_batch in sample:
img1 = to_var(
sample_batch['img1']
) # as for cnn: [bs, 6, H, W], as for cnn-lstm: [N, T, 6, H, W]
img2 = to_var(sample_batch['img2'])
label_pre = model(img1, img2) # [32, 6]
label = to_var(sample_batch['label']) # [bs, 6]
label = label.view(-1, 6)
loss1 = loss_func(label_pre[:, :3], label[:, :3])
loss2 = loss_func(label_pre[:, 3:], label[:, 3:])
loss = loss1 + args.beta * loss2
loss1_mean.append(loss1.data[0])
loss2_mean.append(loss2.data[0])
loss_mean.append(loss.data[0])
optimizer.zero_grad() # clear gradients for this training step
loss.backward() # bp, compute gradients
optimizer.step() # apply gradients
loss1_mean = np.mean(loss1_mean)
loss2_mean = np.mean(loss2_mean)
loss_mean = np.mean(loss_mean)
return loss1_mean.data[0], loss2_mean.data[0], loss_mean.data[0]
def run_batch(sample, model, optimizer, loss_func, phase='Train'):
if phase == 'Train':
model.train()
else:
model.eval()
source = to_var(sample['source'].transpose(0, 1)) # T x B
target = to_var(sample['target'].transpose(0, 1)) # T x B
loss = 0 # Added onto for each word
time_step, _ = tuple(target.size())
# Run words through encoder
# TODO: notice that must use model.module to call class method in nn.DataParallel
encoder_hidden = model.module.init_hidden(args.batch_size)
encoder_outputs, encoder_hidden = model.module.encoder(
source, encoder_hidden)
decoder_context = to_var(torch.zeros(args.batch_size, args.hidden_size))
decoder_hidden = encoder_hidden # Use last hidden state from encoder to start decoder
# Choose whether to use teacher forcing
# use_teacher_forcing = random.random() < args.tf_ratio
use_teacher_forcing = True
count = 0
if use_teacher_forcing:
# Teacher forcing: Use the ground-truth target as the next input
for i in range(time_step - 1):
decoder_output, decoder_context, decoder_hidden, decoder_attention = model(
target[i, :], decoder_context, decoder_hidden, encoder_outputs)
# decoder_output: B x Vocab, target: B x T
loss += loss_func(decoder_output, target[i + 1, :])
count += 1
# if target[i+1] == args.EOS_ID:
# break
else:
# Without teacher forcing: use network's own prediction as the next input
decoder_input = target[0] # SOS_ID
for i in range(time_step - 1):
decoder_output, decoder_context, decoder_hidden, decoder_attention = model(
decoder_input, decoder_context, decoder_hidden,
encoder_outputs)
loss += loss_func(decoder_output[0], target[i])
_, top_id = decoder_output.data.topk(1)
ni = top_id[0][0]
decoder_input = to_var(torch.LongTensor(
[[ni]])) # Chosen word is next input
count += 1
if ni == args.EOS_ID:
break
# BP
optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm(model.parameters(), args.clip)
optimizer.step()
return loss.data[0] / count
def encoder_sentence(self, words_input):
"""
:param words_input: T x B
:return:
que_output: T x B x N
hidden: layer*direction x B x N
"""
embedded = self.embedding(words_input)
h_0 = to_var(torch.zeros(self.layer_num, self.batch_size, self.hidden_size))
c_0 = to_var(torch.zeros(self.layer_num, self.batch_size, self.hidden_size))
output, hidden = self.lstm_encoder(embedded, (h_0, c_0))
return hidden
def run_batch(sample, model, loss_func=None, optimizer=None, phase=None):
"""
训练、验证：
run_batch(sample, model, loss_func, optimizer, phase='Train')
run_batch(sample, model, loss_func, phase='Valid')
返回估计位姿以及loss
测试：
run_batch(sample, model, phase='Test')
返回估计位姿
"""
if phase == 'Train':
model.train()
else:
model.eval() # 启用测试模式，关闭dropout
img1 = to_var(
sample['img1']
) # as for cnn: [bs, 6, H, W], as for cnn-lstm: [N, T, 6, H, W]
img2 = to_var(sample['img2'])
label_pre = model(img1, img2) # [32, 6]
# conv_out = x_conv.data.cpu().numpy()
# lstm_out = x_lstm.data.cpu().numpy()
# print('Conv >>> min: {:.5f}, max: {:.5f}'.format(np.min(conv_out), np.max(conv_out)))
# print('LSTM >>> min: {:.5f}, max: {:.5f}'.format(np.min(lstm_out), np.max(lstm_out)))
if phase == 'Train' or phase == 'Valid':
label = to_var(sample['label']) # [bs, 6]
label = label.view(-1, 6)
loss1 = loss_func(label_pre[:, :3], label[:, :3])
loss2 = loss_func(label_pre[:, 3:], label[:, 3:])
loss = loss1 + args.beta * loss2
# loss_x = loss_func(label_pre[:, 0], label[:, 0])
# loss_y = loss_func(label_pre[:, 1], label[:, 1])
# loss_z = loss_func(label_pre[:, 2], label[:, 2])
# loss_tx = loss_func(label_pre[:, 3], label[:, 3])
# loss_ty = loss_func(label_pre[:, 4], label[:, 4])
# loss_tz = loss_func(label_pre[:, 5], label[:, 5])
if phase == 'Train':
optimizer.zero_grad() # clear gradients for this training step
loss.backward() # bp, compute gradients
optimizer.step() # apply gradients
return loss.data[0], loss1.data[0], loss2.data[0], label_pre.data
# return loss.data[0], loss1.data[0], loss2.data[0], label_pre.data, \
# loss_x.data[0], loss_y.data[0], loss_z.data[0], loss_tx.data[0], loss_ty.data[0], loss_tz.data[0]
else:
return label_pre.data
def run_batch(sample, model, optimizer, loss_func, args, phase='Train'):
if phase == 'Train':
model.train()
else:
model.eval()
query = to_var(sample['query'])
answer = to_var(sample['answer'])
label = to_var(sample['label'])
logits = model(query, answer)
loss = loss_func(logits, label)
# BP
optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm(model.parameters(), args.clip)
optimizer.step()
return loss.data[0]
def run_batch(sample, model, loss_func=None, optimizer=None):
model.train()
count = 0
loss_mean = 0
for sample_batch in sample:
img_1 = to_var(sample_batch['img_1'])
img_2 = to_var(sample_batch['img_2'])
label_pre = model(img_1, img_2)
loss = loss_func(label_pre,
sample_batch['label'].reshape(-1, 6).to(device))
loss_mean += loss.item()
count += 1
optimizer.zero_grad()
loss.backward()
optimizer.step()
loss_mean /= count
return loss_mean
def forward(self, hidden, outputs):
"""
input:
hidden: output of decoder just one time step > B x N
encoder_outputs: outputs of encoder > T_encoder x B x N
return:
weights: T x B
"""
ts, bs, _ = tuple(outputs.size())
# Create variable to store attention energies
attn_energies = to_var(torch.zeros(bs, ts))
# Calculate energies for each encoder output
for i in range(ts):
for j in range(bs): # 整个batch下hidden与encoder前面所有时刻的输出计算分数
attn_energies[j, i] = self.score(hidden[j, :], outputs[i, j, :])
# Normalize energies to weights in range 0 to 1, resize to B x 1 x T
return F.softmax(attn_energies, dim=1).unsqueeze(1)
def run_test(model, seq, dir_model=None, epoch=None, dir_time=None):
"""
训练阶段对一段完整的轨迹进行测试，或者测试阶段直接用于测试
训练过程中测试：
1. 计算一段完整场景中所有相对姿态的预测值
cnn-lstm:
手动写读图的代码，从而可以处理场景末尾图片序列长度不足一个batch的情况
cnn:
采用DataLoader读取，较为方便
2. 计算绝对姿态，并画出轨迹
训练阶段保存轨迹图
测试阶保存轨迹图、相对位姿、绝对位姿
"""
print('\nTest sequence {:02d} >>>'.format(seq))
if args.net_architecture == 'cnn-lstm':
model.eval()
img_list = glob(dir_data + '/{:02d}/image_2/*.png'.format(seq))
img_list.sort()
ip = args.img_pairs
iter_1 = int(math.floor((len(img_list) - 1) / ip))
iter_2 = int(math.ceil((len(img_list) - 1) / ip))
pose_ret = []
for i in tqdm(np.arange(iter_1)):
img_seq = []
for img_path in img_list[i * ip:(i + 1) * ip + 1]:
img = read_image(img_path)
img_seq.append(img)
x1 = np.stack(img_seq[:-1], 0)
x1 = np.transpose(x1, [0, 3, 1, 2]) # [10, C, H, W]
x1 = x1[np.newaxis, :, :, :, :] # [1, 10, C, H, W]
x1 = to_var(torch.from_numpy(x1))
x2 = np.stack(img_seq[1:], 0)
x2 = np.transpose(x2, [0, 3, 1, 2]) # [10, C, H, W]
x2 = x2[np.newaxis, :, :, :, :] # [1, 10, C, H, W]
x2 = to_var(torch.from_numpy(x2))
pose_out = model(x1, x2)
pose_ret.extend(pose_out.data.cpu().numpy())
ns = iter_1 * ip
if iter_1 != iter_2:
print('Process for the last {:d} images...'.format(
len(img_list) - ns))
img_seq = []
for img_path in img_list[ns:]:
img = read_image(img_path)
img_seq.append(img)
x1 = np.stack(img_seq[:-1], 0)
x1 = np.transpose(x1, [0, 3, 1, 2]) # [10, C, H, W]
x1 = x1[np.newaxis, :, :, :, :] # [1, 10, C, H, W]
x1 = to_var(torch.from_numpy(x1))
x2 = np.stack(img_seq[1:], 0)
x2 = np.transpose(x2, [0, 3, 1, 2]) # [10, C, H, W]
x2 = x2[np.newaxis, :, :, :, :] # [1, 10, C, H, W]
x2 = to_var(torch.from_numpy(x2))
pose_out = model(x1, x2)
pose_ret.extend(pose_out.data.cpu().numpy())
else:
data_set = KITTIDataSet(dir_data=dir_data,
dir_label=dir_label,
phase='Test',
seq=seq)
loader = DataLoader(data_set,
batch_size=args.batch_size,
shuffle=False,
num_workers=args.workers)
pose_ret = []
for _, sample_batch in enumerate(tqdm(loader)):
pose_pre = run_batch(sample=sample_batch,
model=model,
phase='Test')
pose_ret.extend(pose_pre.cpu().numpy())
pose_abs = cal_absolute_from_relative(pose_ret)
if args.phase == 'Test':
np.savetxt(dir_time + '/pose_{:d}.txt'.format(seq), pose_ret)
np.savetxt((dir_time + '/{:02d}.txt'.format(seq)), pose_abs)
plot_from_pose(seq=seq,
dir_save=dir_time,
pose_abs=pose_abs,
args=args)
print('Save pose and trajectory in {:s}'.format(dir_time))
else:
plot_from_pose(seq=seq,
dir_save=dir_model,
pose_abs=pose_abs,
epoch=epoch,
args=args)
print('Save trajectory in {:s}'.format(dir_model))
def init_hidden(self, batch_size):
hidden = to_var(torch.zeros(self.layer_num, batch_size, self.hidden_size))
return hidden
Return:
output: all time step > T x B x N
hidden: last time step state > layer*direction x B x N
"""
word_embedded = self.embedding(words_input).contiguous()
hidden = hidden.contiguous()
output, hidden = self.gru_encoder(word_embedded, hidden)
return output, hidden
def init_hidden(self, batch_size):
hidden = to_var(torch.zeros(self.layer_num, batch_size, self.hidden_size))
return hidden
if __name__ == '__main__':
torch.set_default_tensor_type('torch.FloatTensor')
model = Seq2Seq(attn_model='general',
vocab_size=25003,
input_size=256,
hidden_size=256,
layer_num=2)
print(model)
if torch.cuda.is_available():
model = nn.DataParallel(model.cuda(), device_ids=[0, 1])
encoder_hidden = model.module.init_hidden(128)
source = to_var(torch.from_numpy(np.arange(128*30).reshape(30, 128)))
encoder_outputs, encoder_hidden = model.module.encoder(source, encoder_hidden)
print(encoder_outputs.size(), encoder_hidden.size())
def encoder_context(self, vec_input):
h_0 = to_var(torch.zeros(self.layer_num, self.batch_size, self.hidden_size))
c_0 = to_var(torch.zeros(self.layer_num, self.batch_size, self.hidden_size))
output, hidden = self.lstm_encoder(vec_input, (h_0, c_0))
return hidden
:param query: T1 x B
:param answer: T2 x B
:return:
logits: B x Class
"""
que_hidden = self.encoder_sentence(query)
ans_hidden = self.encoder_sentence(answer)
que_hidden = torch.unsqueeze(que_hidden[-1][0], dim=0)
ans_hidden = torch.unsqueeze(ans_hidden[-1][0], dim=0)
context_input = torch.cat((que_hidden, ans_hidden), dim=0) # 2 x B x N
con_hidden = self.encoder_context(context_input)
out_hidden = con_hidden[-1][1] # B x N
logits = self.sigmoid(out_hidden) # B x C
return logits
if __name__ == '__main__':
# TODO 准备数据：1. query [None, 30], 2. answer [None, 32], 3. label [None, 1]
model = HierarchicalEncoder(vocab_size=1000,
batch_size=8,
input_size=256,
hidden_size=256,
layer_num=2)
model.cuda()
que_batch = to_var(torch.from_numpy(np.arange(8 * 30).reshape(30, 8)))
ans_batch = to_var(torch.from_numpy(np.arange(8 * 30).reshape(30, 8)))
label_batch = to_var(torch.IntTensor([0, 1, 1, 1, 0, 0, 0, 1]))
logits = model(que_batch, ans_batch)
print(logits.size())
