train_baseline.py

# --------------------------------------------------------
# Pytorch Baseline Faster R-CNN
# Witten by Minghao Xu, Hang Wang
# Based on the Faster R-CNN code written by Jianwei Yang
# --------------------------------------------------------

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

import os
import sys
sys.path.append('./lib/')
import numpy as np
import argparse
import pprint
import pdb
import time

import torch
from torch.autograd import Variable
import torch.nn as nn
import torch.optim as optim

import torchvision.transforms as transforms
from torch.utils.data.sampler import Sampler

from roi_data_layer.roidb import combined_roidb
from roi_data_layer.roibatchLoader import roibatchLoader
from model.utils.config import cfg, cfg_from_file, cfg_from_list, get_output_dir
from model.utils.net_utils import weights_normal_init, save_net, load_net, \
    adjust_learning_rate, save_checkpoint, clip_gradient, get_lr_at_iter

from model.faster_rcnn.vgg16 import vgg16
from model.faster_rcnn.resnet import resnet

def parse_args():
  """
  Parse input arguments
  """
  parser = argparse.ArgumentParser(description='Train a GPA detection model')
  parser.add_argument('--dataset', dest='dataset',
                      help='training dataset',
                      default='city_multi', type=str)
  parser.add_argument('--model_config', dest='model_config',
                      help='the config of model',
                      default='pascal_voc', type=str)
  parser.add_argument('--net', dest='net',
                    help='vgg16, res101',
                    default='res50', type=str)
  parser.add_argument('--start_epoch', dest='start_epoch',
                      help='starting epoch',
                      default=1, type=int)
  parser.add_argument('--epochs', dest='max_epochs',
                      help='number of epochs to train',
                      default=10, type=int)
  parser.add_argument('--disp_interval', dest='disp_interval',
                      help='number of iterations to display',
                      default=10, type=int)
  parser.add_argument('--checkpoint_interval', dest='checkpoint_interval',
                      help='number of iterations to display',
                      default=10000, type=int)

  parser.add_argument('--save_dir', dest='save_dir',
                      help='directory to save models', default="models",
                      type=str)
  parser.add_argument('--nw', dest='num_workers',
                      help='number of worker to load data',
                      default=0, type=int)
  parser.add_argument('--cuda', dest='cuda',
                      help='whether use CUDA',
                      action='store_true')
  parser.add_argument('--ls', dest='large_scale',
                      help='whether use large imag scale',
                      action='store_true')                      
  parser.add_argument('--mGPUs', dest='mGPUs',
                      help='whether use multiple GPUs',
                      action='store_true')
  parser.add_argument('--bs', dest='batch_size',
                      help='batch_size',
                      default=3, type=int)
  parser.add_argument('--cag', dest='class_agnostic',
                      help='whether perform class_agnostic bbox regression',
                      action='store_true')
  parser.add_argument('--pos_r', dest='pos_ratio',
                      help='ration of positive example',
                      default=0.25, type=float)
  parser.add_argument('--rpn_bs', dest='rpn_bs',
                      help='rpn batchsize',
                      default=128, type=int)
  parser.add_argument('--weight_decay', dest='weight_decay',
                      help='weight_decay',
                      default=0.0005, type=float)
  parser.add_argument('--warm_up', dest='warm_up',
                      help='warm_up iters',
                      default=200, type=int)

  # config optimization
  parser.add_argument('--o', dest='optimizer',
                      help='training optimizer',
                      default="sgd", type=str)
  parser.add_argument('--lr', dest='lr',
                      help='starting learning rate',
                      default=0.001, type=float)
  parser.add_argument('--lr_decay_step', dest='lr_decay_step',
                      help='step to do learning rate decay, unit is epoch',
                      default='5', type=str)
  parser.add_argument('--lr_decay_gamma', dest='lr_decay_gamma',
                      help='learning rate decay ratio',
                      default=0.1, type=float)

  # set training session
  parser.add_argument('--s', dest='session',
                      help='training session',
                      default=1, type=int)

  # resume trained model
  parser.add_argument('--r', dest='resume',
                      help='resume checkpoint or not',
                      default=False, type=bool)
  parser.add_argument('--checksession', dest='checksession',
                      help='checksession to load model',
                      default=1, type=int)
  parser.add_argument('--checkepoch', dest='checkepoch',
                      help='checkepoch to load model',
                      default=1, type=int)
  parser.add_argument('--checkpoint', dest='checkpoint',
                      help='checkpoint to load model',
                      default=0, type=int)

  # log and diaplay
  parser.add_argument('--use_tfb', dest='use_tfboard',
                      help='whether use tensorboard',
                      action='store_true')

  args = parser.parse_args()
  return args


class sampler(Sampler):
  def __init__(self, train_size, batch_size):
    self.num_data = train_size
    self.num_per_batch = int(train_size / batch_size)
    self.batch_size = batch_size
    self.range = torch.arange(0,batch_size).view(1, batch_size).long()
    self.leftover_flag = False
    if train_size % batch_size:
      self.leftover = torch.arange(self.num_per_batch*batch_size, train_size).long()
      self.leftover_flag = True

  def __iter__(self):
    rand_num = torch.randperm(self.num_per_batch).view(-1,1) * self.batch_size
    self.rand_num = rand_num.expand(self.num_per_batch, self.batch_size) + self.range

    self.rand_num_view = self.rand_num.view(-1)

    if self.leftover_flag:
      self.rand_num_view = torch.cat((self.rand_num_view, self.leftover),0)

    return iter(self.rand_num_view)

  def __len__(self):
    return self.num_data

if __name__ == '__main__':

  args = parse_args()

  print('Called with args:')
  print(args)

  if args.dataset == "pascal_voc":
      args.imdb_name = "voc_2007_trainval"
      args.imdbval_name = "voc_2007_test"
      args.set_cfgs = ['ANCHOR_SCALES', '[8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '20']
  elif args.dataset == "pascal_voc_0712":
      args.imdb_name = "voc_2007_trainval+voc_2012_trainval"
      args.imdbval_name = "voc_2007_test"
      args.set_cfgs = ['ANCHOR_SCALES', '[8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '20']
  elif args.dataset == "coco":
      args.imdb_name = "coco_2014_train+coco_2014_valminusminival"
      args.imdbval_name = "coco_2014_minival"
      args.set_cfgs = ['ANCHOR_SCALES', '[4, 8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '50']
  elif args.dataset == "imagenet":
      args.imdb_name = "imagenet_train"
      args.imdbval_name = "imagenet_val"
      args.set_cfgs = ['ANCHOR_SCALES', '[4, 8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '30']
  elif args.dataset == "sim10k":
      args.imdb_name = "sim10k_train"
      args.imdbval_name = "sim10k_test"
      args.set_cfgs = ['ANCHOR_SCALES', '[8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '20']
  elif args.dataset == "city":
      args.imdb_name = "city_train"
      args.imdbval_name = "city_val"
      args.set_cfgs = ['ANCHOR_SCALES', '[8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '20']
  elif args.dataset == "city_multi":
      args.imdb_name = "city_multi_train"
      args.imdbval_name = "city_multi_val"
      args.set_cfgs = ['ANCHOR_SCALES', '[8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '20']
  elif args.dataset == "fog_city":
      args.imdb_name = "fog_city_train"
      args.imdbval_name = "fog_city_val"
      args.set_cfgs = ['ANCHOR_SCALES', '[8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '20']
  elif args.dataset == "vg":
      args.imdb_name = "vg_150-50-50_minitrain"
      args.imdbval_name = "vg_150-50-50_minival"
      args.set_cfgs = ['ANCHOR_SCALES', '[4, 8, 16, 32]', 'ANCHOR_RATIOS', '[0.5,1,2]', 'MAX_NUM_GT_BOXES', '50']

  args.cfg_file = "cfgs/{}_ls.yml".format(args.net) if args.large_scale else "cfgs/{}.yml".format(args.net)

  if args.cfg_file is not None:
    cfg_from_file(args.cfg_file)
  if args.set_cfgs is not None:
    cfg_from_list(args.set_cfgs)

  cfg.TRAIN.RPN_FG_FRACTION = args.pos_ratio
  cfg.TRAIN.RPN_BATCHSIZE = args.rpn_bs
  cfg.TRAIN.WEIGHT_DECAY = args.weight_decay
  print('RPN_FG_FRACTION:', cfg.TRAIN.RPN_FG_FRACTION)
  print('RPN_BATCHSIZE:', cfg.TRAIN.RPN_BATCHSIZE)
  print('WEIGHT_DECAY:', cfg.TRAIN.WEIGHT_DECAY)

  print('Using config:')
  pprint.pprint(cfg)
  np.random.seed(cfg.RNG_SEED)
  torch.manual_seed(cfg.RNG_SEED)
  torch.cuda.manual_seed(cfg.RNG_SEED)
  if torch.cuda.is_available() and not args.cuda:
    print("WARNING: You have a CUDA device, so you should probably run with --cuda")

  # train set
  cfg.TRAIN.USE_FLIPPED = True
  cfg.USE_GPU_NMS = args.cuda
  imdb, roidb, ratio_list, ratio_index = combined_roidb(args.imdb_name)
  train_size = len(roidb)

  print('{:d} roidb entries'.format(len(roidb)))

  output_dir = args.save_dir + "/" + args.net + "/" + args.model_config
  if not os.path.exists(output_dir):
    os.makedirs(output_dir)

  sampler_batch = sampler(train_size, args.batch_size)

  dataset = roibatchLoader(roidb, ratio_list, ratio_index, args.batch_size, \
                           imdb.num_classes, training=True)

  dataloader = torch.utils.data.DataLoader(dataset, batch_size=args.batch_size,
                            sampler=sampler_batch, num_workers=args.num_workers)

  # initilize the tensor holder here.
  im_data = torch.FloatTensor(1)
  im_info = torch.FloatTensor(1)
  num_boxes = torch.LongTensor(1)
  gt_boxes = torch.FloatTensor(1)

  # ship to cuda
  if args.cuda:
    im_data = im_data.cuda()
    im_info = im_info.cuda()
    num_boxes = num_boxes.cuda()
    gt_boxes = gt_boxes.cuda()

  # make variable
  im_data = Variable(im_data)
  im_info = Variable(im_info)
  num_boxes = Variable(num_boxes)
  gt_boxes = Variable(gt_boxes)

  if args.cuda:
    cfg.CUDA = True

  # initilize the network here.
  if args.net == 'vgg16':
    fasterRCNN = vgg16(imdb.classes, pretrained=True, class_agnostic=args.class_agnostic)
  elif args.net == 'res101':
    fasterRCNN = resnet(imdb.classes, 101, pretrained=True, class_agnostic=args.class_agnostic)
  elif args.net == 'res50':
    fasterRCNN = resnet(imdb.classes, 50, pretrained=True, class_agnostic=args.class_agnostic)
  elif args.net == 'res152':
    fasterRCNN = resnet(imdb.classes, 152, pretrained=True, class_agnostic=args.class_agnostic)
  else:
    print("network is not defined")
    pdb.set_trace()

  fasterRCNN.create_architecture()

  lr = cfg.TRAIN.LEARNING_RATE
  lr = args.lr

  params = []
  for key, value in dict(fasterRCNN.named_parameters()).items():
    if value.requires_grad:
      if 'bias' in key:
        params += [{'params':[value],'lr':lr*(cfg.TRAIN.DOUBLE_BIAS + 1), \
                'weight_decay': cfg.TRAIN.BIAS_DECAY and cfg.TRAIN.WEIGHT_DECAY or 0}]
      else:
        params += [{'params':[value],'lr':lr, 'weight_decay': cfg.TRAIN.WEIGHT_DECAY}]

  if args.optimizer == "adam":
    lr = lr * 0.1
    optimizer = torch.optim.Adam(params)

  elif args.optimizer == "sgd":
    optimizer = torch.optim.SGD(params, momentum=cfg.TRAIN.MOMENTUM)

  if args.cuda:
    fasterRCNN.cuda()

  if args.resume:
    load_name = os.path.join(output_dir,
      'faster_rcnn_{}_{}_{}.pth'.format(args.checksession, args.checkepoch, args.checkpoint))
    print("loading checkpoint %s" % (load_name))
    checkpoint = torch.load(load_name)
    args.session = checkpoint['session']
    args.start_epoch = checkpoint['epoch']
    fasterRCNN.load_state_dict(checkpoint['model'])
    optimizer.load_state_dict(checkpoint['optimizer'])
    lr = optimizer.param_groups[0]['lr']
    if 'pooling_mode' in checkpoint.keys():
      cfg.POOLING_MODE = checkpoint['pooling_mode']
    print("loaded checkpoint %s" % (load_name))

  if args.mGPUs:
    fasterRCNN = nn.DataParallel(fasterRCNN)

  iters_per_epoch = int(train_size / args.batch_size)

  if args.use_tfboard:
    from tensorboardX import SummaryWriter
    logger = SummaryWriter("logs")

  lr_decay_step = sorted([int(decay_step) for decay_step in args.lr_decay_step.split(',') if decay_step.strip()])
  for epoch in range(args.start_epoch, args.max_epochs + 1):
    # setting to train mode
    fasterRCNN.train()
    loss_temp = 0
    start = time.time()

    while  lr_decay_step and epoch > lr_decay_step[0]:
      lr_decay_step.pop(0)
      adjust_learning_rate(optimizer, args.lr_decay_gamma)
      lr *= args.lr_decay_gamma

    data_iter = iter(dataloader)

    base_lr = lr

    for step in range(iters_per_epoch):

      if epoch == 1 and step <= args.warm_up:
          lr = base_lr * get_lr_at_iter(step / args.warm_up)
      else:
          lr = base_lr  

      data = next(data_iter)
      im_data.data.resize_(data[0].size()).copy_(data[0])
      im_info.data.resize_(data[1].size()).copy_(data[1])
      gt_boxes.data.resize_(data[2].size()).copy_(data[2])
      num_boxes.data.resize_(data[3].size()).copy_(data[3])

      fasterRCNN.zero_grad()
      rois, cls_prob, bbox_pred, \
      rpn_loss_cls, rpn_loss_box, \
      RCNN_loss_cls, RCNN_loss_bbox, \
      rois_label = fasterRCNN(im_data, im_info, gt_boxes, num_boxes)

      loss = rpn_loss_cls.mean() + rpn_loss_box.mean() \
           + RCNN_loss_cls.mean() + RCNN_loss_bbox.mean()
      loss_temp += loss.item()

      if args.mGPUs:
          loss_temp = loss.mean().item()
      else:
          loss_temp = loss.item()

      # backward
      optimizer.zero_grad()
      loss.backward()
      if args.net == "vgg16":
          clip_gradient(fasterRCNN, 10.)
      optimizer.step()

      if step % args.disp_interval == 0:
        end = time.time()
        if step > 0:
          loss_temp /= (args.disp_interval + 1)

        if args.mGPUs:
          loss_rpn_cls = rpn_loss_cls.mean().item()
          loss_rpn_box = rpn_loss_box.mean().item()
          loss_rcnn_cls = RCNN_loss_cls.mean().item()
          loss_rcnn_box = RCNN_loss_bbox.mean().item()
          fg_cnt = torch.sum(rois_label.data.ne(0))
          bg_cnt = rois_label.data.numel() - fg_cnt
        else:
          loss_rpn_cls = rpn_loss_cls.item()
          loss_rpn_box = rpn_loss_box.item()
          loss_rcnn_cls = RCNN_loss_cls.item()
          loss_rcnn_box = RCNN_loss_bbox.item()
          fg_cnt = torch.sum(rois_label.data.ne(0))
          bg_cnt = rois_label.data.numel() - fg_cnt

        print("[session %d][epoch %2d][iter %4d/%4d] loss: %.4f, lr: %.2e" \
                                % (args.session, epoch, step, iters_per_epoch, loss_temp, lr))
        print("\t\t\tfg/bg=(%d/%d), time cost: %f" % (fg_cnt, bg_cnt, end-start))
        print("\t\t\trpn_cls: %.4f, rpn_box: %.4f, rcnn_cls: %.4f, rcnn_box %.4f" \
                      % (loss_rpn_cls, loss_rpn_box, loss_rcnn_cls, loss_rcnn_box))
        if args.use_tfboard:
          info = {
            'loss': loss_temp,
            'loss_rpn_cls': loss_rpn_cls,
            'loss_rpn_box': loss_rpn_box,
            'loss_rcnn_cls': loss_rcnn_cls,
            'loss_rcnn_box': loss_rcnn_box
          }
          logger.add_scalars("logs_s_{}/losses".format(args.session), info, (epoch - 1) * iters_per_epoch + step)

        loss_temp = 0
        start = time.time()

    
    save_name = os.path.join(output_dir, 'faster_rcnn_{}_{}_{}.pth'.format(args.session, epoch, step))
    save_checkpoint({
      'session': args.session,
      'epoch': epoch + 1,
      'model': fasterRCNN.module.state_dict() if args.mGPUs else fasterRCNN.state_dict(),
      'optimizer': optimizer.state_dict(),
      'pooling_mode': cfg.POOLING_MODE,
      'class_agnostic': args.class_agnostic,
    }, save_name)
    print('save model: {}'.format(save_name))

  if args.use_tfboard:
    logger.close()
  os.system("watch nvidia-smi")