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dltrainer.py
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from __future__ import print_function
import os, sys, gc
import time
import torch
import torch.nn.functional as F
import numpy as np
from torchvision import transforms
from torch.utils.data import DataLoader
from net_builder import build_net
from dataloader.SceneFlowLoader import SceneFlowDataset
from dataloader.IRSLoader import IRSDataset
from dataloader.SintelLoader import SintelDataset
from dataloader.MiddleburyLoader import MiddleburyDataset
from utils.AverageMeter import AverageMeter
from utils.common import logger
from losses.multiscaleloss import EPE
from losses.normalloss import angle_diff_angle, angle_diff_norm
from utils.preprocess import scale_disp, scale_norm, scale_angle
import skimage
class DisparityTrainer(object):
def __init__(self, net_name, lr, devices, dataset, trainlist, vallist, datapath, batch_size, maxdisp, pretrain=None):
super(DisparityTrainer, self).__init__()
self.net_name = net_name
self.lr = lr
self.current_lr = lr
self.devices = devices
self.devices = [int(item) for item in devices.split(',')]
ngpu = len(devices)
self.ngpu = ngpu
self.trainlist = trainlist
self.vallist = vallist
self.dataset = dataset
self.datapath = datapath
self.batch_size = batch_size
self.pretrain = pretrain
self.maxdisp = maxdisp
#self.criterion = criterion
self.criterion = None
self.epe = EPE
self.set_target()
self.initialize()
def _prepare_dataset(self):
if self.dataset == 'sceneflow' or self.dataset == 'irs':
train_dataset = SceneFlowDataset(txt_file = self.trainlist, root_dir = self.datapath, phase='train', load_disp=self.disp_on, load_norm=self.norm_on)
test_dataset = SceneFlowDataset(txt_file = self.vallist, root_dir = self.datapath, phase='test', load_disp=self.disp_on, load_norm=self.norm_on)
if self.dataset == 'middlebury':
train_dataset = MiddleburyDataset(txt_file = self.trainlist, root_dir = self.datapath, phase='train')
test_dataset = MiddleburyDataset(txt_file = self.vallist, root_dir = self.datapath, phase='test')
if self.dataset == 'sintel':
train_dataset = SintelDataset(txt_file = self.trainlist, root_dir = self.datapath, phase='train')
test_dataset = SintelDataset(txt_file = self.vallist, root_dir = self.datapath, phase='test')
self.img_size = test_dataset.get_img_size()
self.scale_size = test_dataset.get_scale_size()
self.focal_length = test_dataset.get_focal_length()
datathread=4
if os.environ.get('datathread') is not None:
datathread = int(os.environ.get('datathread'))
logger.info("Use %d processes to load data..." % datathread)
self.train_loader = DataLoader(train_dataset, batch_size = self.batch_size, \
shuffle = True, num_workers = datathread, \
pin_memory = True)
self.test_loader = DataLoader(test_dataset, batch_size = self.batch_size, \
shuffle = False, num_workers = datathread, \
pin_memory = True)
self.num_batches_per_epoch = len(self.train_loader)
def set_target(self):
# set predicted target
if self.net_name in ['dnfusionnet', 'dtonnet']:
self.disp_on = True
self.norm_on = True
self.angle_on = False
elif self.net_name in ["normnets"]:
self.disp_on = False
self.norm_on = True
self.angle_on = False
else:
self.disp_on = True
self.norm_on = False
self.angle_on = False
def _build_net(self):
# build net according to the net name
if self.net_name == "psmnet":
self.net = build_net(self.net_name)(self.maxdisp)
elif self.net_name in ["normnets"]:
self.net = build_net(self.net_name)()
else:
self.net = build_net(self.net_name)(batchNorm=False, lastRelu=True, maxdisp=self.maxdisp)
if self.net_name in ['dnfusionnet', 'dtonnet']:
self.net.set_focal_length(self.focal_length[0], self.focal_length[1])
self.is_pretrain = False
if self.ngpu >= 1:
self.net = torch.nn.DataParallel(self.net, device_ids=self.devices).cuda()
else:
self.net.cuda()
if self.pretrain == '':
logger.info('Initial a new model...')
else:
if os.path.isfile(self.pretrain):
model_data = torch.load(self.pretrain)
logger.info('Load pretrain model: %s', self.pretrain)
if 'state_dict' in model_data.keys():
self.net.load_state_dict(model_data['state_dict'])
elif 'model' in model_data.keys():
self.net.load_state_dict(model_data['model'])
else:
self.net.load_state_dict(model_data)
self.is_pretrain = True
else:
logger.warning('Can not find the specific model %s, initial a new model...', self.pretrain)
def _build_optimizer(self):
beta = 0.999
momentum = 0.9
self.optimizer = torch.optim.Adam(filter(lambda p: p.requires_grad, self.net.parameters()), self.lr,
betas=(momentum, beta), amsgrad=True)
def initialize(self):
self._prepare_dataset()
self._build_net()
self._build_optimizer()
def adjust_learning_rate(self, epoch):
cur_lr = self.lr / (2**(epoch// 10))
for param_group in self.optimizer.param_groups:
param_group['lr'] = cur_lr
self.current_lr = cur_lr
return cur_lr
def set_criterion(self, criterion):
self.criterion = criterion
def train_one_epoch(self, epoch):
batch_time = AverageMeter()
data_time = AverageMeter()
losses = AverageMeter()
flow2_EPEs = AverageMeter()
norm_EPEs = AverageMeter()
angle_EPEs = AverageMeter()
# switch to train mode
self.net.train()
end = time.time()
cur_lr = self.adjust_learning_rate(epoch)
logger.info("learning rate of epoch %d: %f." % (epoch, cur_lr))
for i_batch, sample_batched in enumerate(self.train_loader):
left_input = torch.autograd.Variable(sample_batched['img_left'].cuda(), requires_grad=False)
right_input = torch.autograd.Variable(sample_batched['img_right'].cuda(), requires_grad=False)
input = torch.cat((left_input, right_input), 1)
if self.disp_on:
target_disp = sample_batched['gt_disp']
target_disp = target_disp.cuda()
target_disp = torch.autograd.Variable(target_disp, requires_grad=False)
if self.norm_on:
if self.angle_on:
target_angle = sample_batched['gt_angle']
target_angle = target_angle.cuda()
target_angle = torch.autograd.Variable(target_angle, requires_grad=False)
else:
target_norm = sample_batched['gt_norm']
target_norm = target_norm.cuda()
target_norm = torch.autograd.Variable(target_norm, requires_grad=False)
input_var = torch.autograd.Variable(input, requires_grad=False)
data_time.update(time.time() - end)
self.optimizer.zero_grad()
if self.net_name in ['dtonnet', 'dnfusionnet']:
disp_norm = self.net(input_var)
disps = disp_norm[0]
normal = disp_norm[1]
#print("gt norm[%f-%f], predict norm[%f-%f]." % (torch.min(target_norm).data.item(), torch.max(target_norm).data.item(), torch.min(normal).data.item(), torch.max(normal).data.item()))
loss_disp = self.criterion(disps, target_disp)
valid_norm_idx = (target_norm >= -1.0) & (target_norm <= 1.0)
loss_norm = F.mse_loss(normal[valid_norm_idx], target_norm[valid_norm_idx], size_average=True) * 3.0
loss = loss_disp + loss_norm
final_disp = disps[0]
flow2_EPE = self.epe(final_disp, target_disp)
norm_EPE = loss_norm
elif self.net_name in ["normnets"]:
normal = self.net(input_var)
#print("gt norm[%f-%f], predict norm[%f-%f]." % (torch.min(target_norm).data.item(), torch.max(target_norm).data.item(), torch.min(normal).data.item(), torch.max(normal).data.item()))
valid_norm_idx = (target_norm >= -1.0) & (target_norm <= 1.0)
loss_norm = F.mse_loss(normal[valid_norm_idx], target_norm[valid_norm_idx], size_average=True) * 3.0
#print(loss_disp, loss_norm)
loss = loss_norm
norm_EPE = loss_norm
elif self.net_name == "fadnet":
output_net1, output_net2 = self.net(input_var)
loss_net1 = self.criterion(output_net1, target_disp)
loss_net2 = self.criterion(output_net2, target_disp)
loss = loss_net1 + loss_net2
output_net2_final = output_net2[0]
flow2_EPE = self.epe(output_net2_final, target_disp)
elif self.net_name == "dispnetcss":
output_net1, output_net2, output_net3 = self.net(input_var)
loss_net1 = self.criterion(output_net1, target_disp)
loss_net2 = self.criterion(output_net2, target_disp)
loss_net3 = self.criterion(output_net3, target_disp)
loss = loss_net1 + loss_net2 + loss_net3
output_net3_final = output_net3[0]
flow2_EPE = self.epe(output_net3_final, target_disp)
elif self.net_name == "psmnet":
mask = target_disp < self.maxdisp
mask.detach_()
output1, output2, output3 = self.net(input_var)
output1 = torch.unsqueeze(output1,1)
output2 = torch.unsqueeze(output2,1)
output3 = torch.unsqueeze(output3,1)
loss = 0.5*F.smooth_l1_loss(output1[mask], target_disp[mask], size_average=True) + 0.7*F.smooth_l1_loss(output2[mask], target_disp[mask], size_average=True) + F.smooth_l1_loss(output3[mask], target_disp[mask], size_average=True)
flow2_EPE = self.epe(output3, target_disp)
elif self.net_name == "gwcnet":
mask = target_disp < self.maxdisp
mask.detach_()
output1, output2, output3, output4 = self.net(input_var)
loss = 0.5*F.smooth_l1_loss(output1[mask], target_disp[mask], size_average=True) + 0.5*F.smooth_l1_loss(output2[mask], target_disp[mask], size_average=True) + 0.7*F.smooth_l1_loss(output3[mask], target_disp[mask], size_average=True) + F.smooth_l1_loss(output4[mask], target_disp[mask], size_average=True)
flow2_EPE = self.epe(output3, target_disp)
else:
output = self.net(input_var)
loss = self.criterion(output, target_disp)
if type(loss) is list or type(loss) is tuple:
loss = np.sum(loss)
if type(output) is list or type(output) is tuple:
flow2_EPE = self.epe(output[0], target_disp)
else:
flow2_EPE = self.epe(output, target_disp)
# record loss and EPE
losses.update(loss.data.item(), input_var.size(0))
if self.disp_on:
flow2_EPEs.update(flow2_EPE.data.item(), input_var.size(0))
if self.norm_on:
if self.angle_on:
angle_EPEs.update(angle_EPE.data.item(), input_var.size(0))
else:
norm_EPEs.update(norm_EPE.data.item(), input_var.size(0))
# compute gradient and do SGD step
loss.backward()
self.optimizer.step()
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
if i_batch % 10 == 0:
logger.info('Epoch: [{0}][{1}/{2}]\t'
'Time {batch_time.val:.3f} ({batch_time.avg:.3f})\t'
'Data {data_time.val:.3f} ({data_time.avg:.3f})\t'
'Loss {loss.val:.3f} ({loss.avg:.3f})\t'
'EPE {flow2_EPE.val:.3f} ({flow2_EPE.avg:.3f})\t'
'norm_EPE {norm_EPE.val:.3f} ({norm_EPE.avg:.3f})\t'
'angle_EPE {angle_EPE.val:.3f} ({angle_EPE.avg:.3f})'.format(
epoch, i_batch, self.num_batches_per_epoch, batch_time=batch_time,
data_time=data_time, loss=losses, flow2_EPE=flow2_EPEs, norm_EPE=norm_EPEs, angle_EPE=angle_EPEs))
#if i_batch > 20:
# break
return losses.avg, flow2_EPEs.avg
def validate(self):
batch_time = AverageMeter()
flow2_EPEs = AverageMeter()
norm_EPEs = AverageMeter()
angle_EPEs = AverageMeter()
losses = AverageMeter()
# switch to evaluate mode
end = time.time()
valid_norm = 0
angle_lt = 0
angle_thres = 11.25
self.net.eval()
for i, sample_batched in enumerate(self.test_loader):
left_input = sample_batched['img_left'].cuda()
right_input = sample_batched['img_right'].cuda()
left_input = F.interpolate(left_input, self.scale_size, mode='bilinear')
right_input = F.interpolate(right_input, self.scale_size, mode='bilinear')
input_var = torch.cat((left_input, right_input), 1)
#input_var = torch.autograd.Variable(inputs, requires_grad=False)
if self.disp_on:
target_disp = sample_batched['gt_disp']
target_disp = target_disp.cuda()
target_disp = torch.autograd.Variable(target_disp, requires_grad=False)
if self.norm_on:
if self.angle_on:
target_angle = sample_batched['gt_angle']
target_angle = target_angle.cuda()
target_angle = torch.autograd.Variable(target_angle, requires_grad=False)
else:
target_norm = sample_batched['gt_norm']
target_norm = target_norm.cuda()
target_norm = torch.autograd.Variable(target_norm, requires_grad=False)
if self.net_name in ['dnfusionnet', 'dtonnet']:
with torch.no_grad():
disp, normal = self.net(input_var)
# scale the result
disp_norm = torch.cat((normal, disp), 1)
# upsampling the predicted disparity map
size = target_disp.size()
disp_norm = scale_norm(disp_norm, (size[0], 4, size[-2], size[-1]), True)
disp = disp_norm[:, 3, :, :].unsqueeze(1)
normal = disp_norm[:, :3, :, :]
valid_norm_idx = (target_norm >= -1.0) & (target_norm <= 1.0)
norm_EPE = F.mse_loss(normal[valid_norm_idx], target_norm[valid_norm_idx], size_average=True) * 3.0
flow2_EPE = self.epe(disp, target_disp)
norm_angle = angle_diff_norm(normal, target_norm).squeeze()
valid_angle_idx = valid_norm_idx[:,0,:,:] & valid_norm_idx[:,1,:,:] & valid_norm_idx[:,2,:,:]
valid_angle_idx = valid_angle_idx.squeeze()
angle_EPE = torch.mean(norm_angle[valid_angle_idx])
valid_norm += float(torch.sum(valid_angle_idx))
angle_lt += float(torch.sum(norm_angle[valid_angle_idx] < angle_thres))
logger.info('percent of < {}: {}.'.format(angle_thres, angle_lt * 1.0 / valid_norm))
angle_EPE = torch.mean(norm_angle)
loss = norm_EPE + flow2_EPE
elif self.net_name in ["normnets"]:
normal = self.net(input_var)
size = normal.size()
# scale the result
normal = scale_norm(normal, (size[0], 3, self.img_height, self.img_width), True)
valid_norm_idx = (target_norm >= -1.0) & (target_norm <= 1.0)
norm_EPE = F.mse_loss(normal[valid_norm_idx], target_norm[valid_norm_idx], size_average=True) * 3.0
norm_angle = angle_diff_norm(normal, target_norm).squeeze()
valid_angle_idx = valid_norm_idx[:,0,:,:] & valid_norm_idx[:,1,:,:] & valid_norm_idx[:,2,:,:]
valid_angle_idx = valid_angle_idx.squeeze()
angle_EPE = torch.mean(norm_angle[valid_angle_idx])
valid_norm += float(torch.sum(valid_angle_idx))
angle_lt += float(torch.sum(norm_angle[valid_angle_idx] < angle_thres))
logger.info('percent of < {}: {}.'.format(angle_thres, angle_lt * 1.0 / valid_norm))
loss = norm_EPE
elif self.net_name == 'fadnet':
output_net1, output_net2 = self.net(input_var)
output_net1 = scale_disp(output_net1, (output_net1.size()[0], self.img_size[0], self.img_size[1]))
output_net2 = scale_disp(output_net2, (output_net2.size()[0], self.img_size[0], self.img_size[1]))
loss_net1 = self.epe(output_net1, target_disp)
loss_net2 = self.epe(output_net2, target_disp)
loss = loss_net1 + loss_net2
flow2_EPE = self.epe(output_net2, target_disp)
elif self.net_name == "psmnet" or self.net_name == "gwcnet":
with torch.no_grad():
output_net3 = self.net(input_var)
if output_net3.dim == 3:
output_net3 = output_net3.unsqueeze(1)
output_net3 = scale_disp(output_net3, (output_net3.size()[0], self.img_size[0], self.img_size[1]))
loss = self.epe(output_net3, target_disp)
flow2_EPE = loss
elif self.net_name == 'dispnetcss':
output_net1, output_net2, output_net3 = self.net(input_var)
output_net1 = scale_disp(output_net1, (output_net1.size()[0], self.img_size[0], self.img_size[1]))
output_net2 = scale_disp(output_net2, (output_net2.size()[0], self.img_size[0], self.img_size[1]))
output_net3 = scale_disp(output_net3, (output_net3.size()[0], self.img_size[0], self.img_size[1]))
loss_net1 = self.epe(output_net1, target_disp)
loss_net2 = self.epe(output_net2, target_disp)
loss_net3 = self.epe(output_net3, target_disp)
loss = loss_net1 + loss_net2 + loss_net3
flow2_EPE = self.epe(output_net3, target_disp)
else:
output = self.net(input_var)[0]
output = scale_disp(output, (output.size()[0], self.img_size[0], self.img_size[1]))
loss = self.epe(output, target_disp)
flow2_EPE = loss
# record loss and EPE
if loss.data.item() == loss.data.item():
losses.update(loss.data.item(), input_var.size(0))
if self.disp_on and (flow2_EPE.data.item() == flow2_EPE.data.item()):
flow2_EPEs.update(flow2_EPE.data.item(), input_var.size(0))
if self.norm_on:
if self.angle_on:
if (angle_EPE.data.item() == angle_EPE.data.item()):
angle_EPEs.update(angle_EPE.data.item(), input_var.size(0))
else:
if (norm_EPE.data.item() == norm_EPE.data.item()):
norm_EPEs.update(norm_EPE.data.item(), input_var.size(0))
if (angle_EPE.data.item() == angle_EPE.data.item()):
angle_EPEs.update(angle_EPE.data.item(), input_var.size(0))
# measure elapsed time
batch_time.update(time.time() - end)
end = time.time()
if i % 1 == 0:
logger.info('Test: [{0}/{1}]\t Time {2}\t EPE {3}\t norm_EPE {4}\t angle_EPE {5}'
.format(i, len(self.test_loader), batch_time.val, flow2_EPEs.val, norm_EPEs.val, angle_EPEs.val))
logger.info(' * EPE {:.3f}'.format(flow2_EPEs.avg))
logger.info(' * normal EPE {:.3f}'.format(norm_EPEs.avg))
logger.info(' * angle EPE {:.3f}'.format(angle_EPEs.avg))
return flow2_EPEs.avg
def get_model(self):
return self.net.state_dict()