def train(epoch, model, optimizer, batch):
writer = SummaryWriter()
model.train()
mydataset = MyDataset('/notebooks/EuRoC_modify/', 'V1_01_easy')
#criterion = nn.MSELoss()
criterion = nn.L1Loss(size_average=False)
start = 5
end = len(mydataset) - batch
batch_num = (end - start) #/ batch
startT = time.time()
with tools.TimerBlock("Start training") as block:
for k in range(epoch):
for i in range(start, end): #len(mydataset)-1):
data, data_imu, target, target2 = mydataset.load_img_bat(
i, batch)
data, data_imu, target, target2 = data.cuda(), data_imu.cuda(
), target.cuda(), target2.cuda()
optimizer.zero_grad()
output = model(data, data_imu)
loss = criterion(output, target) + criterion(output, target2)
loss.backward()
optimizer.step()
avgTime = block.avg()
remainingTime = int(
(batch_num * epoch - (i + batch_num * k)) * avgTime)
rTime_str = "{:02d}:{:02d}:{:02d}".format(
int(remainingTime / 60 // 60),
int(remainingTime // 60 % 60), int(remainingTime % 60))
block.log(
'Train Epoch: {}\t[{}/{} ({:.0f}%)]\tLoss: {:.6f}, TimeAvg: {:.4f}, Remaining: {}'
.format(k, i, batch_num,
100. * (i + batch_num * k) / (batch_num * epoch),
loss.data[0], avgTime, rTime_str))
writer.add_scalar('loss', loss.data[0], k * batch_num + i)
check_str = 'checkpoint_{}.pt'.format(k)
torch.save(model.state_dict(), check_str)
#torch.save(model, 'vinet_v1_01.pt')
#model.save_state_dict('vinet_v1_01.pt')
torch.save(model.state_dict(), 'vinet_v1_01.pt')
writer.export_scalars_to_json("./all_scalars.json")
writer.close()
def train(epoch, model, optimizer, batch):
model.train()
mydataset = MyDataset('/notebooks/data/euroc/', 'V1_01_easy')
criterion = nn.MSELoss()
start = 5
end = len(mydataset) - batch
batch_num = (end - start) / batch
startT = time.time()
with tools.TimerBlock("Start training") as block:
for i in range(start, end, batch): #len(mydataset)-1):
data, target = mydataset.load_img_bat(i, batch)
data, target = data.cuda(), target.cuda()
optimizer.zero_grad()
output = model(data)
#print('output', output.shape)
#print('target', target.shape)
loss = criterion(output, target)
loss.backward()
optimizer.step()
if i % 1 == 0:
avgTime = block.avg()
remainingTime = int((batch_num - (i / batch)) * avgTime)
rTime_str = "{:02d}:{:02d}:{:02d}".format(
remainingTime / 60 // 60, remainingTime // 60 % 60,
remainingTime % 60)
#rTime_str = str(remainingTime/60//60) + ':' + str(remainingTime//60%60) + ':' + str(remainingTime%60)
#print('Train Epoch: {} [{}/{} ({:.0f}%)]\tLoss: {:.6f}, Time remaining: {:.4f}'.format(
# i/batch, i/batch , batch_num,
# 100. * i/batch / batch_num, loss.data[0], avgTime))
block.log(
'Train Epoch: {}\t[{}/{} ({:.0f}%)]\tLoss: {:.6f}, TimeAvg: {:.4f}, Remaining: {}'
.format(i / batch, i / batch, batch_num,
100. * i / batch / batch_num, loss.data[0],
avgTime, rTime_str))
if i % 500 == 0 and i != 0:
check_str = 'checkpoint_{}.pt'.format(i / batch)
#torch.save(model, check_str)
#model.save_state_dict(check_str)
torch.save(model.state_dict(), check_str)
#torch.save(model, 'vinet_v1_01.pt')
#model.save_state_dict('vinet_v1_01.pt')
torch.save(model.state_dict(), 'vinet_v1_01.pt')
tools.add_arguments_for_module(parser,
datasets,
argument_for_class='inference_dataset',
default='MpiSintelClean',
skip_params=['is_cropped'],
parameter_defaults={
'root': './MPI-Sintel/flow/training',
'replicates': 1
})
main_dir = os.path.dirname(os.path.realpath(__file__))
os.chdir(main_dir)
# Parse the official arguments
with tools.TimerBlock("Parsing Arguments") as block:
args = parser.parse_args()
# Get argument defaults (hastag #thisisahack)
parser.add_argument('--IGNORE', action='store_true')
defaults = vars(parser.parse_args(['--IGNORE']))
# Print all arguments, color the non-defaults
for argument, value in sorted(vars(args).items()):
reset = colorama.Style.RESET_ALL
color = reset if value == defaults[
argument] else colorama.Fore.MAGENTA
block.log('{}{}: {}{}'.format(color, argument, value, reset))
args.model_class = tools.module_to_dict(models)[args.model]
args.optimizer_class = tools.module_to_dict(
parser.add_argument('--resume', default='', type=str, metavar='PATH', help='path to latest checkpoint (default: none)')
parser.add_argument('--log_frequency', '--summ_iter', type=int, default=1, help="Log every n batches")
tools.add_arguments_for_module(parser, models, argument_for_class='model', default='FlowNet2')
tools.add_arguments_for_module(parser, datasets, argument_for_class='inference_dataset', default='Google',
skip_params=['is_cropped'],
parameter_defaults={'root': './Google/train',
'replicates': 1})
main_dir = os.path.dirname(os.path.realpath(__file__))
os.chdir(main_dir)
# Parse the official arguments
with tools.TimerBlock("Parsing Arguments") as block:
args = parser.parse_args()
if args.number_gpus < 0 : args.number_gpus = torch.cuda.device_count()
# Get argument defaults (hastag #thisisahack)
parser.add_argument('--IGNORE', action='store_true')
defaults = vars(parser.parse_args(['--IGNORE']))
# Print all arguments, color the non-defaults
for argument, value in sorted(vars(args).items()):
reset = colorama.Style.RESET_ALL
color = reset if value == defaults[argument] else colorama.Fore.MAGENTA
block.log('{}{}: {}{}'.format(color, argument, value, reset))
args.model_class = tools.module_to_dict(models)[args.model]
def train():
epoch = 10
batch = 1
model = Vinet()
optimizer = optim.SGD(model.parameters(), lr=0.001, momentum=0.9)
#optimizer = optim.Adam(model.parameters(), lr = 0.001)
writer = SummaryWriter()
model.train()
mydataset = MyDataset('/notebooks/EuRoC_modify/', 'V1_01_easy')
#criterion = nn.MSELoss()
criterion = nn.L1Loss(size_average=False)
start = 5
end = len(mydataset) - batch
batch_num = (end - start) #/ batch
startT = time.time()
abs_traj = None
with tools.TimerBlock("Start training") as block:
for k in range(epoch):
for i in range(start, end): #len(mydataset)-1):
data, data_imu, target_f2f, target_global = mydataset.load_img_bat(
i, batch)
data, data_imu, target_f2f, target_global = \
data.cuda(), data_imu.cuda(), target_f2f.cuda(), target_global.cuda()
optimizer.zero_grad()
if i == start:
## load first SE3 pose xyzQuaternion
abs_traj = mydataset.getTrajectoryAbs(start)
abs_traj_input = np.expand_dims(abs_traj, axis=0)
abs_traj_input = np.expand_dims(abs_traj_input, axis=0)
abs_traj_input = Variable(
torch.from_numpy(abs_traj_input).type(
torch.FloatTensor).cuda())
## Forward
output = model(data, data_imu, abs_traj_input)
## Accumulate pose
numarr = output.data.cpu().numpy()
abs_traj = se3qua.accu(abs_traj, numarr)
abs_traj_input = np.expand_dims(abs_traj, axis=0)
abs_traj_input = np.expand_dims(abs_traj_input, axis=0)
abs_traj_input = Variable(
torch.from_numpy(abs_traj_input).type(
torch.FloatTensor).cuda())
## (F2F loss) + (Global pose loss)
## Global pose: Full concatenated pose relative to the start of the sequence
loss = criterion(output, target_f2f) + criterion(
abs_traj_input, target_global)
loss.backward()
optimizer.step()
avgTime = block.avg()
remainingTime = int(
(batch_num * epoch - (i + batch_num * k)) * avgTime)
rTime_str = "{:02d}:{:02d}:{:02d}".format(
int(remainingTime / 60 // 60),
int(remainingTime // 60 % 60), int(remainingTime % 60))
block.log(
'Train Epoch: {}\t[{}/{} ({:.0f}%)]\tLoss: {:.6f}, TimeAvg: {:.4f}, Remaining: {}'
.format(k, i, batch_num,
100. * (i + batch_num * k) / (batch_num * epoch),
loss.data[0], avgTime, rTime_str))
writer.add_scalar('loss', loss.data[0], k * batch_num + i)
check_str = 'checkpoint_{}.pt'.format(k)
torch.save(model.state_dict(), check_str)
#torch.save(model, 'vinet_v1_01.pt')
#model.save_state_dict('vinet_v1_01.pt')
torch.save(model.state_dict(), 'vinet_v1_01.pt')
writer.export_scalars_to_json("./all_scalars.json")
writer.close()
def train():
epoch = 5
batch = 4
timesteps = 4 # 2
imu_seq_len = 3
#mydataset = MyDataset('/notebooks/EuRoC_modify/', 'V1_01_easy', batch, timesteps, imu_seq_len)
mydataset = MyDataset('/notebooks/data/Total_Data/', '00', batch,
timesteps, imu_seq_len)
start = 5
end = len(mydataset) - (timesteps * batch)
step = timesteps - 1
model = Vinet()
model.train()
#optimizer = optim.SGD(model.parameters(), lr=0.001, momentum=0.9)
#optimizer = optim.Adam(model.parameters(), lr = 0.001, weight_decay=0.1)
optimizer = optim.Adam(model.parameters(), lr=0.01, weight_decay=0.1)
#criterion = nn.MSELoss(size_average=False)
criterion = nn.MSELoss()
writer = SummaryWriter()
startT = time.time()
init_SE3 = None
total_i = 0
with tools.TimerBlock("Start training") as block:
for k in range(1, epoch + 1):
for i in range(start, end, step):
#print(k, " ", i, " -> ", i+timesteps-1, end=" ")
img, imu, init_SE3, target_f2f, target_global = mydataset.load_img_bat(
i)
img, imu, init_SE3, target_f2f, target_global = img.cuda(
), imu.cuda(), init_SE3.cuda(), target_f2f.cuda(
), target_global.cuda()
optimizer.zero_grad()
## LSTM part Forward
se3, composed_SE3 = model(img, imu, init_SE3) # (batch, 6)
## (F2F loss) + (Global pose loss)
## Global pose: Full concatenated pose relative to the start of the sequence
## (batch, timesteps, 6, 1) // (batch, timesteps, 7, 1)
#loss_se3 =
#lossSE3 =
loss = criterion(se3.cpu(), target_f2f.cpu()) + criterion(
composed_SE3.cpu(), target_global.cpu())
loss.backward()
optimizer.step()
#avgTime = block.avg()
#remainingTime = int((batch_num*epoch - (i + batch_num*k)) * avgTime)
#remainingTime = int((epoch*len(mydataset)*avgTime) - (k*total_i*avgTime))
#rTime_str = "{:02d}:{:02d}:{:02d}".format(int(remainingTime/60//60),
# int(remainingTime//60%60),
# int(remainingTime%60))
#block.log('Train Epoch: {} iter: {}/{} \t Loss: {:.6f}, TimeAvg: {:.4f}, Remaining: {}'.format(k, start+i, end, loss.data[0], avgTime, rTime_str))
now = time.localtime()
print("Train Epoch: {} iter: {}/{} \t Loss: {:.6f}".format(
k, start + i, end, loss.data[0]),
end=" ")
print("\t Time: %02d-%02d %02d:%02d:%02d" %
(now.tm_mon, now.tm_mday, now.tm_hour, now.tm_min,
now.tm_sec))
if (i % 100 == 0):
check_str = "checkpoint_%02d.pt" % (k)
torch.save(model.state_dict(), check_str)
total_i = total_i + len(mydataset) - 1 - start
#torch.save(model, 'vinet_v1_01.pt')
#model.save_state_dict('vinet_v1_01.pt')
#torch.save(model.state_dict(), 'vinet_v1_01.pt')
#writer.export_scalars_to_json("./all_scalars.json")
writer.close()
def load_model(self):
self.gpuargs = {'num_workers': self.args.number_workers, 'pin_memory': True} if self.args.cuda else {}
with tools.TimerBlock("Building {} model".format(self.args.model)) as block:
class ModelAndLoss(nn.Module):
def __init__(self, args):
super(ModelAndLoss, self).__init__()
kwargs = tools.kwargs_from_args(args, 'model')
self.model = args.model_class(args, **kwargs)
kwargs = tools.kwargs_from_args(args, 'loss')
self.loss = args.loss_class(args, **kwargs)
def forward(self, data, target, inference=False):
output = self.model(data)
loss_values = self.loss(output, target)
if not inference:
return loss_values
else:
return loss_values, output
self.model_and_loss = ModelAndLoss(self.args)
# block.log('Effective Batch Size: {}'.format(self.args.effective_batch_size))
block.log('Number of parameters: {}'.format(
sum([p.data.nelement() if p.requires_grad else 0 for p in self.model_and_loss.parameters()])))
## # assing to cuda or wrap with dataparallel, model and loss
if self.args.cuda and (self.args.number_gpus > 0) and self.args.fp16:
block.log('Parallelizing')
model_and_loss = nn.parallel.DataParallel(self.model_and_loss, device_ids=list(range(self.args.number_gpus)))
block.log('Initializing CUDA')
model_and_loss = model_and_loss.cuda().half()
torch.cuda.manual_seed(self.args.seed)
param_copy = [param.clone().type(torch.cuda.FloatTensor).detach() for param in
model_and_loss.parameters()]
elif self.args.cuda and self.args.number_gpus > 0:
block.log('Initializing CUDA')
model_and_loss = self.model_and_loss.cuda()
block.log('Parallelizing')
model_and_loss = nn.parallel.DataParallel(model_and_loss, device_ids=list(range(self.args.number_gpus)))
torch.cuda.manual_seed(self.args.seed)
else:
block.log('CUDA not being used')
torch.manual_seed(self.args.seed)
cwd = os.getcwd()
print(cwd)
# Load weights if needed, otherwise randomly initialize
if self.args.resume and os.path.isfile(self.args.resume):
block.log("Loading checkpoint '{}'".format(self.args.resume))
checkpoint = torch.load(self.args.resume)
# if (not args.inference) and (not args.test):
# args.start_epoch = checkpoint['epoch']
# best_err = checkpoint['best_EPE']
model_and_loss.module.model.load_state_dict(checkpoint['state_dict'])
block.log("Loaded checkpoint '{}' (at epoch {})".format(self.args.resume, checkpoint['epoch']))
elif self.args.resume:
block.log("No checkpoint found at '{}'".format(self.args.resume))
quit()
else:
block.log("Random initialization")
block.log("Initializing save directory: {}".format(self.args.save))
if not os.path.exists(self.args.save):
os.makedirs(self.args.save)
self.warping_model = FlowWarping()
print("Warping Model initialized")
def initialize_args():
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--start_epoch', type=int, default=1)
parser.add_argument('--total_epochs', type=int, default=10000)
parser.add_argument('--batch_size',
'-b',
type=int,
default=8,
help="Batch size")
parser.add_argument(
'--train_n_batches',
type=int,
default=-1,
help=
'Number of min-batches per epoch. If < 0, it will be determined by training_dataloader'
)
parser.add_argument(
'--crop_size',
type=int,
nargs='+',
default=[256, 256],
help="Spatial dimension to crop training samples for training")
parser.add_argument('--gradient_clip', type=float, default=None)
parser.add_argument('--schedule_lr_frequency',
type=int,
default=0,
help='in number of iterations (0 for no schedule)')
parser.add_argument('--schedule_lr_fraction', type=float, default=10)
parser.add_argument("--rgb_max", type=float, default=255.)
parser.add_argument('--number_workers',
'-nw',
'--num_workers',
type=int,
default=8)
parser.add_argument('--number_gpus',
'-ng',
type=int,
default=-1,
help='number of GPUs to use')
parser.add_argument('--no_cuda', action='store_true')
parser.add_argument('--seed', type=int, default=1)
parser.add_argument('--name',
default='run',
type=str,
help='a name to append to the save directory')
parser.add_argument('--save',
'-s',
default='./work',
type=str,
help='directory for saving')
parser.add_argument('--validation_frequency',
type=int,
default=5,
help='validate every n epochs')
parser.add_argument('--validation_n_batches', type=int, default=-1)
parser.add_argument(
'--render_validation',
action='store_true',
help=
'run inference (save flows to file) and every validation_frequency epoch'
)
parser.add_argument('--inference', action='store_true')
parser.add_argument(
'--inference_size',
type=int,
nargs='+',
default=[-1, -1],
help=
'spatial size divisible by 64. default (-1,-1) - largest possible valid size would be used'
)
parser.add_argument('--inference_batch_size', type=int, default=1)
parser.add_argument('--inference_n_batches', type=int, default=-1)
parser.add_argument('--save_flow',
action='store_true',
help='save predicted flows to file')
parser.add_argument('--resume',
default='',
type=str,
metavar='PATH',
help='path to latest checkpoint (default: none)')
parser.add_argument('--log_frequency',
'--summ_iter',
type=int,
default=1,
help="Log every n batches")
parser.add_argument('--skip_training', action='store_true')
parser.add_argument('--skip_validation', action='store_true')
parser.add_argument(
'--fp16',
action='store_true',
help='Run model in pseudo-fp16 mode (fp16 storage fp32 math).')
parser.add_argument(
'--fp16_scale',
type=float,
default=1024.,
help=
'Loss scaling, positive power of 2 values can improve fp16 convergence.'
)
tools.add_arguments_for_module(parser,
models,
argument_for_class='model',
default='FlowNet2')
tools.add_arguments_for_module(parser,
losses,
argument_for_class='loss',
default='L1Loss')
tools.add_arguments_for_module(parser,
torch.optim,
argument_for_class='optimizer',
default='Adam',
skip_params=['params'])
tools.add_arguments_for_module(
parser,
datasets,
argument_for_class='training_dataset',
default='MpiSintelFinal',
skip_params=['is_cropped'],
parameter_defaults={'root': './MPI-Sintel/flow/training'})
tools.add_arguments_for_module(parser,
datasets,
argument_for_class='validation_dataset',
default='MpiSintelClean',
skip_params=['is_cropped'],
parameter_defaults={
'root':
'./MPI-Sintel/flow/training',
'replicates': 1
})
tools.add_arguments_for_module(parser,
datasets,
argument_for_class='inference_dataset',
default='MpiSintelClean',
skip_params=['is_cropped'],
parameter_defaults={
'root':
'./MPI-Sintel/flow/training',
'replicates': 1
})
main_dir = os.path.dirname(os.path.realpath(__file__))
os.chdir(main_dir)
# Parse the official arguments
with tools.TimerBlock("Parsing Arguments") as block:
args = parser.parse_args()
if args.number_gpus < 0:
args.number_gpus = torch.cuda.device_count()
# Get argument defaults (hastag #thisisahack)
parser.add_argument('--IGNORE', action='store_true')
defaults = vars(parser.parse_args(['--IGNORE']))
# Print all arguments, color the non-defaults
for argument, value in sorted(vars(args).items()):
reset = colorama.Style.RESET_ALL
color = reset if value == defaults[
argument] else colorama.Fore.MAGENTA
block.log('{}{}: {}{}'.format(color, argument, value, reset))
args.model_class = tools.module_to_dict(models)[args.model]
args.optimizer_class = tools.module_to_dict(
torch.optim)[args.optimizer]
args.loss_class = tools.module_to_dict(losses)[args.loss]
args.training_dataset_class = tools.module_to_dict(datasets)[
args.training_dataset]
args.validation_dataset_class = tools.module_to_dict(datasets)[
args.validation_dataset]
args.inference_dataset_class = tools.module_to_dict(datasets)[
args.inference_dataset]
args.cuda = not args.no_cuda and torch.cuda.is_available()
args.current_hash = subprocess.check_output(
["git", "rev-parse", "HEAD"]).rstrip()
args.log_file = join(args.save, 'args.txt')
# dict to collect activation gradients (for training debug purpose)
args.grads = {}
if args.inference:
args.skip_validation = True
args.skip_training = True
args.total_epochs = 1
args.inference_dir = "{}/inference".format(args.save)
print('Source Code')
print((' Current Git Hash: {}\n'.format(args.current_hash)))
# Change the title for `top` and `pkill` commands
setproctitle.setproctitle(args.save)
# Dynamically load the dataset class with parameters passed in via "--argument_[param]=[value]" arguments
with tools.TimerBlock("Initializing Datasets") as block:
args.effective_batch_size = args.batch_size * args.number_gpus
args.effective_inference_batch_size = args.inference_batch_size * args.number_gpus
args.effective_number_workers = args.number_workers * args.number_gpus
gpuargs = {
'num_workers': args.effective_number_workers,
'pin_memory': True,
'drop_last': True
} if args.cuda else {}
inf_gpuargs = gpuargs.copy()
inf_gpuargs['num_workers'] = args.number_workers
if exists(args.training_dataset_root):
train_dataset = args.training_dataset_class(
args, True,
**tools.kwargs_from_args(args, 'training_dataset'))
block.log('Training Dataset: {}'.format(args.training_dataset))
block.log('Training Input: {}'.format(' '.join([
str([d for d in x.size()]) for x in train_dataset[0][0]
])))
block.log('Training Targets: {}'.format(' '.join([
str([d for d in x.size()]) for x in train_dataset[0][1]
])))
train_loader = DataLoader(train_dataset,
batch_size=args.effective_batch_size,
shuffle=True,
**gpuargs)
if exists(args.validation_dataset_root):
validation_dataset = args.validation_dataset_class(
args, True,
**tools.kwargs_from_args(args, 'validation_dataset'))
block.log('Validation Dataset: {}'.format(
args.validation_dataset))
block.log('Validation Input: {}'.format(' '.join([
str([d for d in x.size()])
for x in validation_dataset[0][0]
])))
block.log('Validation Targets: {}'.format(' '.join([
str([d for d in x.size()])
for x in validation_dataset[0][1]
])))
validation_loader = DataLoader(
validation_dataset,
batch_size=args.effective_batch_size,
shuffle=False,
**gpuargs)
if exists(args.inference_dataset_root):
inference_dataset = args.inference_dataset_class(
args, False,
**tools.kwargs_from_args(args, 'inference_dataset'))
block.log('Inference Dataset: {}'.format(
args.inference_dataset))
block.log('Inference Input: {}'.format(' '.join([
str([d for d in x.size()]) for x in inference_dataset[0][0]
])))
block.log('Inference Targets: {}'.format(' '.join([
str([d for d in x.size()]) for x in inference_dataset[0][1]
])))
inference_loader = DataLoader(
inference_dataset,
batch_size=args.effective_inference_batch_size,
shuffle=False,
**inf_gpuargs)
# Dynamically load model and loss class with parameters passed in via "--model_[param]=[value]" or "--loss_[param]=[value]" arguments
with tools.TimerBlock("Building {} model".format(args.model)) as block:
class ModelAndLoss(nn.Module):
def __init__(self, args):
super(ModelAndLoss, self).__init__()
kwargs = tools.kwargs_from_args(args, 'model')
self.model = args.model_class(args, **kwargs)
kwargs = tools.kwargs_from_args(args, 'loss')
self.loss = args.loss_class(args, **kwargs)
def forward(self, data, target, inference=False):
output = self.model(data)
loss_values = self.loss(output, target)
if not inference:
return loss_values
else:
return loss_values, output
model_and_loss = ModelAndLoss(args)
block.log('Effective Batch Size: {}'.format(
args.effective_batch_size))
block.log('Number of parameters: {}'.format(
sum([
p.data.nelement() if p.requires_grad else 0
for p in model_and_loss.parameters()
])))
# assing to cuda or wrap with dataparallel, model and loss
if args.cuda and (args.number_gpus > 0) and args.fp16:
block.log('Parallelizing')
model_and_loss = nn.parallel.DataParallel(
model_and_loss, device_ids=list(range(args.number_gpus)))
block.log('Initializing CUDA')
model_and_loss = model_and_loss.cuda().half()
torch.cuda.manual_seed(args.seed)
param_copy = [
param.clone().type(torch.cuda.FloatTensor).detach()
for param in model_and_loss.parameters()
]
elif args.cuda and args.number_gpus > 0:
block.log('Initializing CUDA')
model_and_loss = model_and_loss.cuda()
block.log('Parallelizing')
model_and_loss = nn.parallel.DataParallel(
model_and_loss, device_ids=list(range(args.number_gpus)))
torch.cuda.manual_seed(args.seed)
else:
block.log('CUDA not being used')
torch.manual_seed(args.seed)
# Load weights if needed, otherwise randomly initialize
if args.resume and os.path.isfile(args.resume):
block.log("Loading checkpoint '{}'".format(args.resume))
checkpoint = torch.load(args.resume)
if not args.inference:
args.start_epoch = checkpoint['epoch']
best_err = checkpoint['best_EPE']
model_and_loss.module.model.load_state_dict(
checkpoint['state_dict'])
block.log("Loaded checkpoint '{}' (at epoch {})".format(
args.resume, checkpoint['epoch']))
elif args.resume and args.inference:
block.log("No checkpoint found at '{}'".format(args.resume))
quit()
else:
block.log("Random initialization")
block.log("Initializing save directory: {}".format(args.save))
if not os.path.exists(args.save):
os.makedirs(args.save)
train_logger = SummaryWriter(log_dir=os.path.join(
args.save, 'train'),
comment='training')
validation_logger = SummaryWriter(log_dir=os.path.join(
args.save, 'validation'),
comment='validation')
# Dynamically load the optimizer with parameters passed in via "--optimizer_[param]=[value]" arguments
with tools.TimerBlock("Initializing {} Optimizer".format(
args.optimizer)) as block:
kwargs = tools.kwargs_from_args(args, 'optimizer')
if args.fp16:
optimizer = args.optimizer_class(
[p for p in param_copy if p.requires_grad], **kwargs)
else:
optimizer = args.optimizer_class([
p for p in model_and_loss.parameters() if p.requires_grad
], **kwargs)
for param, default in list(kwargs.items()):
block.log("{} = {} ({})".format(param, default, type(default)))
# Log all arguments to file
for argument, value in sorted(vars(args).items()):
block.log2file(args.log_file, '{}: {}'.format(argument, value))
return args
def infer_flownet(in_path, out_path, reverse, downscale_factor=1):
args = SimpleNamespace(model="FlowNet2",
reverse=reverse,
downscale_factor=downscale_factor,
start_epoch=1,
total_epochs=10000,
batch_size=8,
train_n_batches=-1,
crop_size=[256, 256],
gradient_clip=None,
schedule_lr_frequency=0,
schedule_lr_fraction=10,
rgb_max=255.,
number_workers=8,
number_gpus=-1,
no_cuda=False,
seed=1,
name='run',
in_path=in_path,
save=out_path,
validation_frequency=5,
validation_n_batches=-1,
render_validation=False,
inference=True,
inference_visualize=True,
inference_size=[-1, -1],
inference_batch_size=1,
inference_n_batches=-1,
save_flow=True,
resume='./FlowNet2_checkpoint.pth.tar',
log_frequency=1,
skip_training=False,
skip_validation=False,
fp16=False,
fp16_scale=1024.,
loss='L1Loss',
optimizer='Adam',
training_dataset='MpiSintelFinal',
root='./MPI-Sintel/flow/training',
validation_dataset='MpiSintelClean',
inference_dataset='MpiSintelClean',
IGNORE=False)
print(args.in_path)
main_dir = os.path.dirname(os.path.realpath(__file__))
os.chdir(main_dir)
# Parse the official arguments
with tools.TimerBlock("Parsing Arguments") as block:
if args.number_gpus < 0: args.number_gpus = torch.cuda.device_count()
args.model_class = tools.module_to_dict(models)[args.model]
args.optimizer_class = tools.module_to_dict(
torch.optim)[args.optimizer]
args.loss_class = tools.module_to_dict(losses)[args.loss]
args.cuda = not args.no_cuda and torch.cuda.is_available()
args.current_hash = subprocess.check_output(
["git", "rev-parse", "HEAD"]).rstrip()
# dict to collect activation gradients (for training debug purpose)
args.grads = {}
if args.inference:
args.skip_validation = True
args.skip_training = True
args.total_epochs = 1
args.inference_dir = "{}/inference".format(args.save)
print('Source Code')
print((' Current Git Hash: {}\n'.format(args.current_hash)))
# Change the title for `top` and `pkill` commands
setproctitle.setproctitle(args.save)
# Dynamically load the dataset class with parameters passed in via "--argument_[param]=[value]" arguments
with tools.TimerBlock("Initializing Datasets") as block:
args.effective_batch_size = args.batch_size * args.number_gpus
args.effective_inference_batch_size = args.inference_batch_size * args.number_gpus
args.effective_number_workers = args.number_workers * args.number_gpus
gpuargs = {
'num_workers': args.effective_number_workers,
'pin_memory': True,
'drop_last': True
} if args.cuda else {}
inf_gpuargs = gpuargs.copy()
inf_gpuargs['num_workers'] = args.number_workers
inference_dataset = datasets.ImagesFromFolder(args,
is_cropped=False,
is_reversed=args.reverse,
root=args.in_path)
block.log('Inference Input: {}'.format(' '.join(
[str([d for d in x.size()]) for x in inference_dataset[0][0]])))
block.log('Inference Targets: {}'.format(' '.join(
[str([d for d in x.size()]) for x in inference_dataset[0][1]])))
inference_loader = DataLoader(
inference_dataset,
batch_size=args.effective_inference_batch_size,
shuffle=False,
**inf_gpuargs)
# Dynamically load model and loss class with parameters passed in via "--model_[param]=[value]" or "--loss_[param]=[value]" arguments
with tools.TimerBlock("Building {} model".format(args.model)) as block:
class ModelAndLoss(nn.Module):
def __init__(self, args):
super(ModelAndLoss, self).__init__()
kwargs = tools.kwargs_from_args(args, 'model')
self.model = args.model_class(args, **kwargs)
kwargs = tools.kwargs_from_args(args, 'loss')
self.loss = args.loss_class(args, **kwargs)
def forward(self, data, target, inference=False):
output = self.model(data)
loss_values = self.loss(output, target)
if not inference:
return loss_values
else:
return loss_values, output
model_and_loss = ModelAndLoss(args)
# assing to cuda or wrap with dataparallel, model and loss
if args.cuda and (args.number_gpus > 0) and args.fp16:
model_and_loss = nn.parallel.DataParallel(
model_and_loss, device_ids=list(range(args.number_gpus)))
model_and_loss = model_and_loss.cuda().half()
torch.cuda.manual_seed(args.seed)
elif args.cuda and args.number_gpus > 0:
model_and_loss = model_and_loss.cuda()
model_and_loss = nn.parallel.DataParallel(
model_and_loss, device_ids=list(range(args.number_gpus)))
torch.cuda.manual_seed(args.seed)
else:
block.log('CUDA not being used')
torch.manual_seed(args.seed)
# Load weights if needed, otherwise randomly initialize
if args.resume and os.path.isfile(args.resume):
checkpoint = torch.load(args.resume)
if not args.inference:
args.start_epoch = checkpoint['epoch']
model_and_loss.module.model.load_state_dict(
checkpoint['state_dict'])
elif args.resume and args.inference:
block.log("No checkpoint found at '{}'".format(args.resume))
quit()
else:
block.log("Random initialization")
if not os.path.exists(args.save):
os.makedirs(args.save)
# Reusable function for inference
def inference(args, data_loader, model, offset=0):
model.eval()
if args.save_flow or args.render_validation:
flow_folder = out_path # "./output/flo_rev" if args.reverse else "./output/flo"
if not os.path.exists(flow_folder):
os.makedirs(flow_folder)
# visualization folder
if args.inference_visualize:
flow_vis_folder = out_path + "/" + "png/"
if not os.path.exists(flow_vis_folder):
os.makedirs(flow_vis_folder)
args.inference_n_batches = np.inf if args.inference_n_batches < 0 else args.inference_n_batches
progress = tqdm(data_loader,
ncols=100,
total=np.minimum(len(data_loader),
args.inference_n_batches),
desc='Inferencing ',
leave=True,
position=offset)
statistics = []
total_loss = 0
ph, pw = inference_dataset.ph, inference_dataset.pw
for batch_idx, (data, target) in enumerate(progress):
if args.cuda:
data, target = [d.cuda(non_blocking=True) for d in data
], [t.cuda(non_blocking=True) for t in target]
data, target = [Variable(d)
for d in data], [Variable(t) for t in target]
# when ground-truth flows are not available for inference_dataset,
# the targets are set to all zeros. thus, losses are actually L1 or L2 norms of compute optical flows,
# depending on the type of loss norm passed in
with torch.no_grad():
losses, output = model(data[0], target[0], inference=True)
losses = [torch.mean(loss_value) for loss_value in losses]
loss_val = losses[0] # Collect first loss for weight update
total_loss += loss_val.item()
loss_values = [v.item() for v in losses]
statistics.append(loss_values)
# import IPython; IPython.embed()
if args.save_flow or args.render_validation:
for i in range(args.inference_batch_size):
_pflow = output[i].data.cpu().numpy().transpose(1, 2, 0)
if ph != 0:
_pflow = _pflow[ph:-ph, :, :]
if pw != 0:
_pflow = _pflow[:, pw:-pw, :]
flow_utils.writeFlow(
join(
flow_folder, '%06d.flo' %
(batch_idx * args.inference_batch_size + i)),
_pflow)
# You can comment out the plt block in visulize_flow_file() for real-time visualization
if args.inference_visualize:
flow_utils.visulize_flow_file(
join(
flow_folder, '%06d.flo' %
(batch_idx * args.inference_batch_size + i)),
flow_vis_folder)
progress.update(1)
if batch_idx == (args.inference_n_batches - 1):
break
progress.close()
return
progress = tqdm(list(range(args.start_epoch, args.total_epochs + 1)),
miniters=1,
ncols=100,
desc='Overall Progress',
leave=True,
position=0)
offset = 1
for _ in progress:
inference(args=args,
data_loader=inference_loader,
model=model_and_loss,
offset=offset)
offset += 1
print("\n")
tools.add_arguments_for_module(parser,
datasets,
argument_for_class='inference_dataset',
default='MpiSintelClean',
skip_params=['is_cropped'],
parameter_defaults={
'root': './MPI-Sintel/flow/training',
'replicates': 1
})
main_dir = os.path.dirname(os.path.realpath(__file__))
os.chdir(main_dir)
# Parse the official arguments
with tools.TimerBlock("Parsing Arguments") as block:
args = parser.parse_args()
if args.number_gpus < 0: args.number_gpus = torch.cuda.device_count()
# Get argument defaults (hastag #thisisahack)
parser.add_argument('--IGNORE', action='store_true')
defaults = vars(parser.parse_args(['--IGNORE']))
# Print all arguments, color the non-defaults
for argument, value in sorted(vars(args).items()):
reset = colorama.Style.RESET_ALL
color = reset if value == defaults[
argument] else colorama.Fore.MAGENTA
block.log('{}{}: {}{}'.format(color, argument, value, reset))
args.model_class = tools.module_to_dict(models)[args.model]
