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424 lines
15 KiB
424 lines
15 KiB
import os
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import sys
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import time
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import logging
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from collections import namedtuple
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import yaml
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from nets import Model
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from dataset import BlenderDataset, CREStereoDataset, CTDDataset
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import torch
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import torch.nn as nn
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import torch.nn.functional as F
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import torch.optim as optim
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from torch.utils.data import DataLoader
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from pytorch_lightning import LightningDataModule, LightningModule, Trainer
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from pytorch_lightning import Trainer, seed_everything
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from pytorch_lightning.callbacks.early_stopping import EarlyStopping
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from pytorch_lightning.callbacks import LearningRateMonitor
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from pytorch_lightning.callbacks import ModelCheckpoint
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from pytorch_lightning.loggers import WandbLogger
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from pytorch_lightning.strategies import DDPSpawnStrategy
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seed_everything(42, workers=True)
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import wandb
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import numpy as np
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import cv2
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def normalize_and_colormap(img):
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ret = (img - img.min()) / (img.max() - img.min()) * 255.0
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if isinstance(ret, torch.Tensor):
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ret = ret.cpu().detach().numpy()
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ret = ret.astype("uint8")
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ret = cv2.applyColorMap(ret, cv2.COLORMAP_INFERNO)
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return ret
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def log_images(left, right, pred_disp, gt_disp):
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log = {}
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batch_idx = 0
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if isinstance(pred_disp, list):
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pred_disp = pred_disp[-1]
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pred_disp = torch.squeeze(pred_disp[:, 0, :, :])
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gt_disp = torch.squeeze(gt_disp[:, 0, :, :])
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left = torch.squeeze(left[:, 0, :, :])
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right = torch.squeeze(right[:, 0, :, :])
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disp = pred_disp
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disp_error = gt_disp - disp
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input_left = left[batch_idx].cpu().detach().numpy()# .transpose(1,2,0)
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input_right = right[batch_idx].cpu().detach().numpy()# .transpose(1,2,0)
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wandb_log = dict(
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key='samples',
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images=[
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normalize_and_colormap(pred_disp[batch_idx]),
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normalize_and_colormap(abs(disp_error[batch_idx])),
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normalize_and_colormap(gt_disp[batch_idx]),
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input_left,
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input_right,
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],
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caption=[
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f"Disparity \n{pred_disp[batch_idx].min():.{2}f}/{pred_disp[batch_idx].max():.{2}f}",
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f"Disp. Error\n{disp_error[batch_idx].min():.{2}f}/{disp_error[batch_idx].max():.{2}f}\n{abs(disp_error[batch_idx]).mean():.{2}f}",
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f"GT Disp Vis \n{gt_disp[batch_idx].min():.{2}f}/{gt_disp[batch_idx].max():.{2}f}",
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"Input Left",
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"Input Right"
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],
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)
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return wandb_log
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def parse_yaml(file_path: str) -> namedtuple:
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"""Parse yaml configuration file and return the object in `namedtuple`."""
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with open(file_path, "rb") as f:
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cfg: dict = yaml.safe_load(f)
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args = namedtuple("train_args", cfg.keys())(*cfg.values())
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return args
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def format_time(elapse):
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elapse = int(elapse)
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hour = elapse // 3600
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minute = elapse % 3600 // 60
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seconds = elapse % 60
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return "{:02d}:{:02d}:{:02d}".format(hour, minute, seconds)
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def outlier_fraction(estimate, target, mask=None, threshold=0):
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def _process_inputs(estimate, target, mask):
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if estimate.shape != target.shape:
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raise Exception(f'estimate and target have to be same shape (expected {estimate.shape} == {target.shape})')
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if mask is None:
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mask = np.ones(estimate.shape, dtype=np.bool)
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else:
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mask = mask != 0
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if estimate.shape != mask.shape:
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raise Exception(f'estimate and mask have to be same shape (expected {estimate.shape} == {mask.shape})')
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return estimate, target, mask
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estimate = torch.squeeze(estimate[:, 0, :, :])
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target = torch.squeeze(target[:, 0, :, :])
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estimate, target, mask = _process_inputs(estimate, target, mask)
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mask = mask.cpu().detach().numpy()
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estimate = estimate.cpu().detach().numpy()
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target = target.cpu().detach().numpy()
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diff = np.abs(estimate[mask] - target[mask])
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m = (diff > threshold).sum() / mask.sum()
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return m
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def ensure_dir(path):
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if not os.path.exists(path):
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os.makedirs(path, exist_ok=True)
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def sequence_loss(flow_preds, flow_gt, valid, gamma=0.8, test=False):
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'''
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valid: (2, 384, 512) (B, H, W) -> (B, 1, H, W)
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flow_preds[0]: (B, 2, H, W)
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flow_gt: (B, 2, H, W)
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'''
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"""
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if test:
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# print('sequence loss')
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if valid.shape != (2, 480, 640):
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valid = torch.stack([valid, valid])#.transpose(0,1)#.transpose(1,2)
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# print(valid.shape)
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#valid = torch.stack([valid, valid])
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# print(valid.shape)
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if valid.shape != (2, 480, 640):
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valid = valid.transpose(0,1)
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# print(valid.shape)
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"""
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# print(valid.shape)
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# print(flow_preds[0].shape)
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# print(flow_gt.shape)
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n_predictions = len(flow_preds)
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flow_loss = 0.0
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# TEST
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# flow_gt = torch.squeeze(flow_gt, dim=-1)
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for i in range(n_predictions):
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i_weight = gamma ** (n_predictions - i - 1)
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i_loss = torch.abs(flow_preds[i] - flow_gt)
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flow_loss += i_weight * (valid.unsqueeze(1) * i_loss).mean()
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return flow_loss
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class CREStereoLightning(LightningModule):
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def __init__(self, args, logger=None, pattern_path='', data_path=''):
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super().__init__()
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self.batch_size = args.batch_size
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self.wandb_logger = logger
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self.data_type = 'blender' if 'blender' in data_path else 'ctd'
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self.lr = args.base_lr
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print(f'lr = {self.lr}')
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self.T_max = args.t_max if args.t_max else None
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self.pattern_attention = args.pattern_attention
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self.pattern_path = pattern_path
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self.data_path = data_path
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self.model = Model(
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max_disp=args.max_disp, mixed_precision=args.mixed_precision, test_mode=False
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)
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# so I can access it in adjust learn rate more easily
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self.n_total_epoch = args.n_total_epoch
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self.base_lr = args.base_lr
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self.automatic_optimization = False
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def train_dataloader(self):
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if self.data_type == 'blender':
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dataset = BlenderDataset(
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root=self.data_path,
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pattern_path=self.pattern_path,
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use_lightning=True,
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)
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elif self.data_type == 'ctd':
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dataset = CTDDataset(
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root=self.data_path,
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pattern_path=self.pattern_path,
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use_lightning=True,
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)
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dataloader = DataLoader(
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dataset,
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self.batch_size,
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shuffle=True,
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num_workers=4,
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drop_last=True,
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persistent_workers=True,
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pin_memory=True,
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)
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# num_workers=0, drop_last=True, persistent_workers=False, pin_memory=True)
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return dataloader
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def val_dataloader(self):
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if self.data_type == 'blender':
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test_dataset = BlenderDataset(
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root=self.data_path,
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pattern_path=self.pattern_path,
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test_set=True,
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use_lightning=True,
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)
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elif self.data_type == 'ctd':
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test_dataset = CTDDataset(
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root=self.data_path,
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pattern_path=self.pattern_path,
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test_set=True,
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use_lightning=True,
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)
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test_dataloader = DataLoader(
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test_dataset,
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self.batch_size,
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shuffle=False,
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num_workers=4,
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drop_last=False,
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persistent_workers=True,
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pin_memory=True
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)
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# num_workers=0, drop_last=True, persistent_workers=False, pin_memory=True)
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return test_dataloader
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def test_dataloader(self):
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# TODO change this to use IRL data?
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if self.data_type == 'blender':
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test_dataset = CTDDataset(
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root=self.data_path,
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pattern_path=self.pattern_path,
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test_set=True,
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use_lightning=True,
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)
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elif self.data_type == 'ctd':
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test_dataset = BlenderDataset(
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root=self.data_path,
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pattern_path=self.pattern_path,
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test_set=True,
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use_lightning=True,
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)
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test_dataloader = DataLoader(
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test_dataset,
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self.batch_size,
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shuffle=False,
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num_workers=4,
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drop_last=False,
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persistent_workers=True,
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pin_memory=True
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)
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return test_dataloader
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def forward(
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self,
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image1,
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image2,
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flow_init=None,
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iters=10,
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upsample=True,
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test_mode=False,
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):
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return self.model(image1, image2, flow_init, iters, upsample, test_mode, self.pattern_attention)
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def training_step(self, batch, batch_idx):
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left, right, gt_disp, valid_mask = batch
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flow_predictions = self.forward(left, right)
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gt_disp = torch.unsqueeze(gt_disp, dim=1) # [2, 384, 512] -> [2, 1, 384, 512]
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gt_flow = torch.cat([gt_disp, gt_disp * 0], dim=1) # [2, 2, 384, 512]
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loss = sequence_loss(
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flow_predictions, gt_flow, valid_mask, gamma=0.8
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)
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if batch_idx % 128 == 0:
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image_log = log_images(left, right, flow_predictions, gt_disp)
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image_log['key'] = 'debug_train'
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self.wandb_logger.log_image(**image_log)
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self.log("train_loss", loss)
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# update learn rate every N epochs
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if self.trainer.is_last_batch:
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self.adjust_learning_rate()
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return loss
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def validation_step(self, batch, batch_idx):
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left, right, gt_disp, valid_mask = batch
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flow_predictions = self.forward(left, right, test_mode=True)
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gt_disp = torch.unsqueeze(gt_disp, dim=1) # [2, 384, 512] -> [2, 1, 384, 512]
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gt_flow = torch.cat([gt_disp, gt_disp * 0], dim=1) # [2, 2, 384, 512]
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val_loss = sequence_loss(
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flow_predictions, gt_flow, valid_mask, gamma=0.8
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)
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self.log("val_loss", val_loss)
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of = {}
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for threshold in [0.1, 0.5, 1, 2, 5]:
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of[threshold] = outlier_fraction(flow_predictions[0], gt_flow, valid_mask, threshold)
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self.log("outlier_fraction", of)
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# print(', '.join(f'of{thr}={val}' for thr, val in of.items()))
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if batch_idx % 8 == 0:
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self.wandb_logger.log_image(**log_images(left, right, flow_predictions, gt_disp))
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def test_step(self, batch, batch_idx):
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left, right, gt_disp, valid_mask = batch
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gt_disp = torch.unsqueeze(gt_disp, dim=1) # [2, 384, 512] -> [2, 1, 384, 512]
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gt_flow = torch.cat([gt_disp, gt_disp * 0], dim=1) # [2, 2, 384, 512]
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flow_predictions = self.forward(left, right, test_mode=True)
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test_loss = sequence_loss(
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flow_predictions, gt_flow, valid_mask, gamma=0.8
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)
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self.log("test_loss", test_loss)
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self.wandb_logger.log_image(**log_images(left, right, flow_predictions, gt_disp))
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def predict_step(self, batch, batch_idx, dataloader_idx=0):
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return self(batch)
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def configure_optimizers(self):
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optimizer = optim.Adam(self.model.parameters(), lr=self.lr, betas=(0.9, 0.999))
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print('len(self.train_dataloader)', len(self.train_dataloader()))
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lr_scheduler = {
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'scheduler': torch.optim.lr_scheduler.CosineAnnealingLR(
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optimizer,
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T_max=self.T_max if self.T_max else len(self.train_dataloader())/self.batch_size,
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),
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'name': 'CosineAnnealingLRScheduler',
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}
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return [optimizer], [lr_scheduler]
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def adjust_learning_rate(self):
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optimizer = self.optimizers().optimizer
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epoch = self.trainer.current_epoch+1
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warm_up = 0.02
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const_range = 0.6
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min_lr_rate = 0.05
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if epoch <= self.n_total_epoch * warm_up:
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lr = (1 - min_lr_rate) * self.base_lr / (
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self.n_total_epoch * warm_up
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) * epoch + min_lr_rate * self.base_lr
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elif self.n_total_epoch * warm_up < epoch <= self.n_total_epoch * const_range:
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lr = self.base_lr
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else:
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lr = (min_lr_rate - 1) * self.base_lr / (
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(1 - const_range) * self.n_total_epoch
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) * epoch + (1 - min_lr_rate * const_range) / (1 - const_range) * self.base_lr
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for param_group in optimizer.param_groups:
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param_group['lr'] = lr
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if __name__ == "__main__":
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wandb_logger = WandbLogger(project="crestereo-lightning", log_model=True)
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# train configuration
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args = parse_yaml("cfgs/train.yaml")
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wandb_logger.experiment.config.update(args._asdict())
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config = wandb.config
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if 'blender' in config.training_data_path:
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# this was used for our blender renders
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pattern_path = '/home/nils/miniprojekt/kinect_syn_ref.png'
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if 'ctd' in config.training_data_path:
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# this one is used (i hope) for ctd
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pattern_path = '/home/nils/kinect_from_settings.png'
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devices = min(config.nr_gpus, torch.cuda.device_count())
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if devices != config.nr_gpus:
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print(f'Using less devices than expected! ({devices} / {config.nr_gpus})')
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model = CREStereoLightning(
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# args,
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config,
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wandb_logger,
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pattern_path,
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config.training_data_path,
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# lr=0.00017378008287493763, # found with auto_lr_find=True
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)
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# NOTE turn this down once it's working, this might use too much space
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# wandb_logger.watch(model, log_graph=False) #, log='all')
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model_checkpoint = ModelCheckpoint(
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monitor="val_loss",
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mode="min",
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save_top_k=2,
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save_last=True,
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)
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trainer = Trainer(
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accelerator='gpu',
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devices=devices,
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max_epochs=config.n_total_epoch,
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callbacks=[
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EarlyStopping(
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monitor="val_loss",
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mode="min",
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patience=16,
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),
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LearningRateMonitor(),
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model_checkpoint,
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],
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strategy=DDPSpawnStrategy(find_unused_parameters=False),
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# auto_scale_batch_size='binsearch',
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# auto_lr_find=True,
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# accumulate_grad_batches=4, # needed to disable for manual optimization
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deterministic=True,
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check_val_every_n_epoch=1,
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limit_val_batches=64,
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limit_test_batches=256,
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logger=wandb_logger,
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default_root_dir=config.log_dir_lightning,
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)
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# trainer.tune(model)
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trainer.fit(model)
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# trainer.validate(chkpt_path=model_checkpoint.best_model_path)
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