first push

RAFT/train.py

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+from __future__ import print_function, division
+import sys
+sys.path.append('core')
+
+import argparse
+import os
+import cv2
+import time
+import numpy as np
+import matplotlib.pyplot as plt
+
+import torch
+import torch.nn as nn
+import torch.optim as optim
+import torch.nn.functional as F
+
+from torch.utils.data import DataLoader
+from raft import RAFT
+import evaluate
+import datasets
+
+from torch.utils.tensorboard import SummaryWriter
+
+try:
+    from torch.cuda.amp import GradScaler
+except:
+    # dummy GradScaler for PyTorch < 1.6
+    class GradScaler:
+        def __init__(self):
+            pass
+        def scale(self, loss):
+            return loss
+        def unscale_(self, optimizer):
+            pass
+        def step(self, optimizer):
+            optimizer.step()
+        def update(self):
+            pass
+
+
+# exclude extremly large displacements
+MAX_FLOW = 400
+SUM_FREQ = 100
+VAL_FREQ = 5000
+
+
+def sequence_loss(flow_preds, flow_gt, valid, gamma=0.8, max_flow=MAX_FLOW):
+    """ Loss function defined over sequence of flow predictions """
+
+    n_predictions = len(flow_preds)    
+    flow_loss = 0.0
+
+    # exlude invalid pixels and extremely large diplacements
+    mag = torch.sum(flow_gt**2, dim=1).sqrt()
+    valid = (valid >= 0.5) & (mag < max_flow)
+
+    for i in range(n_predictions):
+        i_weight = gamma**(n_predictions - i - 1)
+        i_loss = (flow_preds[i] - flow_gt).abs()
+        flow_loss += i_weight * (valid[:, None] * i_loss).mean()
+
+    epe = torch.sum((flow_preds[-1] - flow_gt)**2, dim=1).sqrt()
+    epe = epe.view(-1)[valid.view(-1)]
+
+    metrics = {
+        'epe': epe.mean().item(),
+        '1px': (epe < 1).float().mean().item(),
+        '3px': (epe < 3).float().mean().item(),
+        '5px': (epe < 5).float().mean().item(),
+    }
+
+    return flow_loss, metrics
+
+
+def count_parameters(model):
+    return sum(p.numel() for p in model.parameters() if p.requires_grad)
+
+
+def fetch_optimizer(args, model):
+    """ Create the optimizer and learning rate scheduler """
+    optimizer = optim.AdamW(model.parameters(), lr=args.lr, weight_decay=args.wdecay, eps=args.epsilon)
+
+    scheduler = optim.lr_scheduler.OneCycleLR(optimizer, args.lr, args.num_steps+100,
+        pct_start=0.05, cycle_momentum=False, anneal_strategy='linear')
+
+    return optimizer, scheduler
+    
+
+class Logger:
+    def __init__(self, model, scheduler):
+        self.model = model
+        self.scheduler = scheduler
+        self.total_steps = 0
+        self.running_loss = {}
+        self.writer = None
+
+    def _print_training_status(self):
+        metrics_data = [self.running_loss[k]/SUM_FREQ for k in sorted(self.running_loss.keys())]
+        training_str = "[{:6d}, {:10.7f}] ".format(self.total_steps+1, self.scheduler.get_last_lr()[0])
+        metrics_str = ("{:10.4f}, "*len(metrics_data)).format(*metrics_data)
+        
+        # print the training status
+        print(training_str + metrics_str)
+
+        if self.writer is None:
+            self.writer = SummaryWriter()
+
+        for k in self.running_loss:
+            self.writer.add_scalar(k, self.running_loss[k]/SUM_FREQ, self.total_steps)
+            self.running_loss[k] = 0.0
+
+    def push(self, metrics):
+        self.total_steps += 1
+
+        for key in metrics:
+            if key not in self.running_loss:
+                self.running_loss[key] = 0.0
+
+            self.running_loss[key] += metrics[key]
+
+        if self.total_steps % SUM_FREQ == SUM_FREQ-1:
+            self._print_training_status()
+            self.running_loss = {}
+
+    def write_dict(self, results):
+        if self.writer is None:
+            self.writer = SummaryWriter()
+
+        for key in results:
+            self.writer.add_scalar(key, results[key], self.total_steps)
+
+    def close(self):
+        self.writer.close()
+
+
+def train(args):
+
+    model = nn.DataParallel(RAFT(args), device_ids=args.gpus)
+    print("Parameter Count: %d" % count_parameters(model))
+
+    if args.restore_ckpt is not None:
+        model.load_state_dict(torch.load(args.restore_ckpt), strict=False)
+
+    model.cuda()
+    model.train()
+
+    if args.stage != 'chairs':
+        model.module.freeze_bn()
+
+    train_loader = datasets.fetch_dataloader(args)
+    optimizer, scheduler = fetch_optimizer(args, model)
+
+    total_steps = 0
+    scaler = GradScaler(enabled=args.mixed_precision)
+    logger = Logger(model, scheduler)
+
+    VAL_FREQ = 5000
+    add_noise = True
+
+    should_keep_training = True
+    while should_keep_training:
+
+        for i_batch, data_blob in enumerate(train_loader):
+            optimizer.zero_grad()
+            image1, image2, flow, valid = [x.cuda() for x in data_blob]
+
+            if args.add_noise:
+                stdv = np.random.uniform(0.0, 5.0)
+                image1 = (image1 + stdv * torch.randn(*image1.shape).cuda()).clamp(0.0, 255.0)
+                image2 = (image2 + stdv * torch.randn(*image2.shape).cuda()).clamp(0.0, 255.0)
+
+            flow_predictions = model(image1, image2, iters=args.iters)            
+
+            loss, metrics = sequence_loss(flow_predictions, flow, valid, args.gamma)
+            scaler.scale(loss).backward()
+            scaler.unscale_(optimizer)                
+            torch.nn.utils.clip_grad_norm_(model.parameters(), args.clip)
+            
+            scaler.step(optimizer)
+            scheduler.step()
+            scaler.update()
+
+            logger.push(metrics)
+
+            if total_steps % VAL_FREQ == VAL_FREQ - 1:
+                PATH = 'checkpoints/%d_%s.pth' % (total_steps+1, args.name)
+                torch.save(model.state_dict(), PATH)
+
+                results = {}
+                for val_dataset in args.validation:
+                    if val_dataset == 'chairs':
+                        results.update(evaluate.validate_chairs(model.module))
+                    elif val_dataset == 'sintel':
+                        results.update(evaluate.validate_sintel(model.module))
+                    elif val_dataset == 'kitti':
+                        results.update(evaluate.validate_kitti(model.module))
+
+                logger.write_dict(results)
+                
+                model.train()
+                if args.stage != 'chairs':
+                    model.module.freeze_bn()
+            
+            total_steps += 1
+
+            if total_steps > args.num_steps:
+                should_keep_training = False
+                break
+
+    logger.close()
+    PATH = 'checkpoints/%s.pth' % args.name
+    torch.save(model.state_dict(), PATH)
+
+    return PATH
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--name', default='raft', help="name your experiment")
+    parser.add_argument('--stage', help="determines which dataset to use for training") 
+    parser.add_argument('--restore_ckpt', help="restore checkpoint")
+    parser.add_argument('--small', action='store_true', help='use small model')
+    parser.add_argument('--validation', type=str, nargs='+')
+
+    parser.add_argument('--lr', type=float, default=0.00002)
+    parser.add_argument('--num_steps', type=int, default=100000)
+    parser.add_argument('--batch_size', type=int, default=6)
+    parser.add_argument('--image_size', type=int, nargs='+', default=[384, 512])
+    parser.add_argument('--gpus', type=int, nargs='+', default=[0,1])
+    parser.add_argument('--mixed_precision', action='store_true', help='use mixed precision')
+
+    parser.add_argument('--iters', type=int, default=12)
+    parser.add_argument('--wdecay', type=float, default=.00005)
+    parser.add_argument('--epsilon', type=float, default=1e-8)
+    parser.add_argument('--clip', type=float, default=1.0)
+    parser.add_argument('--dropout', type=float, default=0.0)
+    parser.add_argument('--gamma', type=float, default=0.8, help='exponential weighting')
+    parser.add_argument('--add_noise', action='store_true')
+    args = parser.parse_args()
+
+    torch.manual_seed(1234)
+    np.random.seed(1234)
+
+    if not os.path.isdir('checkpoints'):
+        os.mkdir('checkpoints')
+
+    train(args)