train.py

import torch
from torch import nn
from opt import get_opts
import os
import glob
import imageio
import numpy as np
import cv2
import random
import math
from einops import rearrange

# data
from torch.utils.data import DataLoader
from datasets import dataset_dict
from datasets.ray_utils import axisangle_to_R, get_rays

# models
from kornia.utils.grid import create_meshgrid3d
from models.networks import NGP
from models.implicit_mask import implicit_mask
from models.rendering import render, MAX_SAMPLES
from models.global_var import global_var
from models.shading import SunLight
from utils import convert_normal

# optimizer, losses
# from apex.optimizers import FusedAdam
from torch.optim import Adam
from torch.optim.lr_scheduler import CosineAnnealingLR
from losses import NeRFLoss

# metrics
from torchmetrics import (
    PeakSignalNoiseRatio, 
    StructuralSimilarityIndexMeasure
)
from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity

# pytorch-lightning
from pytorch_lightning.plugins import DDPPlugin
from pytorch_lightning import LightningModule, Trainer
from pytorch_lightning.callbacks import TQDMProgressBar, ModelCheckpoint
from pytorch_lightning.loggers import WandbLogger
from pytorch_lightning.utilities.distributed import all_gather_ddp_if_available

from utils import slim_ckpt, load_ckpt, save_image

# render path
from tqdm import trange
from render import render_for_test, depth2img, semantic2img
import trimesh
from kornia import create_meshgrid
from torch import autograd
import warnings; warnings.filterwarnings("ignore")

class NeRFSystem(LightningModule):
    def __init__(self, hparams):
        super().__init__()
        self.save_hyperparameters(hparams)
        
        self.warmup_steps = hparams.warmup_steps
        self.update_interval = hparams.update_interval

        self.loss = NeRFLoss(hparams)
        self.train_psnr = PeakSignalNoiseRatio(data_range=1)
        self.val_psnr = PeakSignalNoiseRatio(data_range=1)
        self.val_ssim = StructuralSimilarityIndexMeasure(data_range=1)
        if self.hparams.eval_lpips:
            self.val_lpips = LearnedPerceptualImagePatchSimilarity('vgg')
            for p in self.val_lpips.net.parameters():
                p.requires_grad = False
                        
        rgb_act = 'None' if self.hparams.use_exposure else 'Sigmoid'
        self.model = NGP(scale=hparams.scale, rgb_act=rgb_act, embed_a=hparams.embed_a, embed_a_len=hparams.embed_a_len, classes=hparams.num_classes)
        if hparams.embed_msk:
            self.msk_model = implicit_mask()

        G = self.model.grid_size
        self.model.register_buffer('density_grid',
            torch.zeros(self.model.cascades, G**3))
        self.model.register_buffer('grid_coords',
            create_meshgrid3d(G, G, G, False, dtype=torch.int32).reshape(-1, 3))

    def forward(self, batch, split):
        
        if split=='train':
            poses = self.poses[batch['img_idxs']]
            directions = self.directions[batch['pix_idxs']]
        else:
            poses = batch['pose']
            directions = self.directions
        
        poses_ = poses
        if self.hparams.optimize_ext:
            dR = axisangle_to_R(self.dR[batch['img_idxs']])
            poses_ = torch.zeros_like(poses).cuda()
            poses_[..., :3] = dR @ poses[..., :3]
            dT = self.dT[batch['img_idxs']]
            poses_[..., 3] = poses[..., 3] + dT

        if self.hparams.embed_a and split=='train':
            embedding_a = self.embedding_a(batch['img_idxs'])
        elif self.hparams.embed_a and split=='test':
            embedding_a = self.embedding_a(torch.tensor([0], device=directions.device))

        rays_o, rays_d = get_rays(directions, poses_)

        kwargs = {'test_time': split!='train',
                  'random_bg': self.hparams.random_bg,
                  'render_rgb': hparams.render_rgb,
                  'render_depth': hparams.render_depth,
                  'render_normal': hparams.render_normal,
                  'render_sem': hparams.render_semantic,
                  'num_classes': hparams.num_classes,
                  'img_wh': self.img_wh,
                  'light': self.light,
            }
        if self.hparams.dataset_name in ['colmap', 'nerfpp', 'tnt', 'kitti']:
            kwargs['exp_step_factor'] = 1/256
        if self.hparams.use_exposure:
            kwargs['exposure'] = batch['exposure']
        if self.hparams.embed_a:
            kwargs['embedding_a'] = embedding_a
        
        if split == 'train':
            kwargs['label'] = batch['label']
            return render(self.model, rays_o, rays_d, **kwargs)
        else:
            chunk_size = self.hparams.chunk_size
            all_ret = {}
            for i in range(0, rays_o.shape[0], chunk_size):
                ret = render(self.model, rays_o[i:i+chunk_size], rays_d[i:i+chunk_size], **kwargs)
                for k in ret:
                    if k not in all_ret:
                        all_ret[k] = []
                    all_ret[k].append(ret[k])
            for k in all_ret:
                if k in ['total_samples']:
                    continue
                all_ret[k] = torch.cat(all_ret[k], 0)
            all_ret['total_samples'] = torch.sum(torch.tensor(all_ret['total_samples']))
            return all_ret
                

    def setup(self, stage):
        dataset = dataset_dict[self.hparams.dataset_name]
        kwargs = {'root_dir': self.hparams.root_dir,
                  'downsample': self.hparams.downsample,
                  'use_sem': self.hparams.render_semantic,
                  'depth_mono': self.hparams.depth_mono,
                  'normal_mono': self.hparams.normal_mono}

        if self.hparams.dataset_name == 'kitti':
            kwargs['seq_id'] = self.hparams.kitti_seq
            kwargs['frame_start'] = self.hparams.kitti_start
            kwargs['frame_end'] = self.hparams.kitti_end
            kwargs['test_id'] = self.hparams.kitti_test_id
            kwargs['nvs'] = self.hparams.nvs
        
        if self.hparams.dataset_name == 'waymo':
            kwargs['frame_start'] = self.hparams.waymo_start
            kwargs['frame_end']   = self.hparams.waymo_end
            kwargs['sun_dir'] = self.hparams.waymo_sun

        self.train_dataset = dataset(split=self.hparams.split, **kwargs)
        self.train_dataset.batch_size = self.hparams.batch_size
        self.train_dataset.ray_sampling_strategy = self.hparams.ray_sampling_strategy
        self.embedding_a = torch.nn.Embedding(len(self.train_dataset.poses), self.hparams.embed_a_len)

        self.test_dataset = dataset(split='test', **kwargs)
        
        self.img_wh = self.test_dataset.img_wh
        
        # define additional parameters
        self.register_buffer('directions', self.train_dataset.directions.to(self.device))
        self.register_buffer('poses', self.train_dataset.poses.to(self.device))

        sun_config = {
            'direction': self.train_dataset.sun_dir,
            'up': self.train_dataset.up_dir,
            'sky_height': self.hparams.sky_height,
            'near_dist_T': self.hparams.near_dist_T,
        }
        self.light = SunLight(sun_config)

    def configure_optimizers(self):
        if self.hparams.optimize_ext:
            N = len(self.train_dataset.poses)
            self.register_parameter('dR',
                nn.Parameter(torch.zeros(N, 3, device=self.device)))
            self.register_parameter('dT',
                nn.Parameter(torch.zeros(N, 3, device=self.device)))
        
        load_ckpt(self.model, self.hparams.ckpt_load, prefixes_to_ignore=['embedding_a', 'msk_model'])
        load_ckpt(self.light, self.hparams.ckpt_load, model_name='light')
        if self.hparams.embed_a:
            load_ckpt(self.embedding_a, self.hparams.ckpt_load, model_name='embedding_a', prefixes_to_ignore=['model', 'msk_model'])
        if self.hparams.embed_msk:
            load_ckpt(self.msk_model, self.hparams.ckpt_load, model_name='msk_model', prefixes_to_ignore=['model', 'embedding_a'])

        net_params = []
        for n, p in self.named_parameters():
            if n not in ['dR', 'dT']: net_params += [p]
        
        opts = []
        # self.net_opt = FusedAdam(net_params, self.hparams.lr, eps=1e-8)
        self.net_opt = Adam(net_params, self.hparams.lr, eps=1e-8)
        opts += [self.net_opt]
        if self.hparams.optimize_ext:
            opts += [Adam([self.dR, self.dT], 1e-6)]
            
        net_sch = CosineAnnealingLR(self.net_opt,
                                    self.hparams.num_epochs,
                                    self.hparams.lr/100)      

        return opts, [net_sch]

    def train_dataloader(self):
        return DataLoader(self.train_dataset,
                          num_workers=16,
                          persistent_workers=True,
                          batch_size=None,
                          pin_memory=True)

    def val_dataloader(self):
        return DataLoader(self.test_dataset,
                          num_workers=8,
                          batch_size=None,
                          pin_memory=True)

    def training_step(self, batch, batch_nb, *args):
        uniform_density = None
        if self.global_step%self.update_interval == 0:
            self.model.update_density_grid(self.hparams.density_threshold*MAX_SAMPLES/3**0.5,
                                        warmup=self.global_step<self.warmup_steps,
                                        erode=self.hparams.dataset_name=='colmap')

        # with autograd.detect_anomaly():
        results = self(batch, split='train')
        
        if self.hparams.embed_msk:
            w, h = self.img_wh
            uv = torch.tensor(batch['uv']).cuda()
            img_idx = torch.tensor(batch['img_idxs']).cuda()
            uvi = torch.zeros((uv.shape[0], 3)).cuda()
            uvi[:, 0] = (uv[:, 0]-h/2) / h
            uvi[:, 1] = (uv[:, 1]-w/2) / w
            uvi[:, 2] = (img_idx - self.N_imgs/2) / self.N_imgs
            mask = self.msk_model(uvi)
        
        loss_kwargs = {'dataset_name': self.hparams.dataset_name,
                    'uniform_density': uniform_density,
                    'normal_ref': self.hparams.normal_ref,
                    'semantic': self.hparams.render_semantic,
                    'depth_mono': self.hparams.depth_mono,
                    'normal_mono': self.hparams.normal_mono,
                    'visibility': self.hparams.visibility,
                    'embed_msk': self.hparams.embed_msk,
                    'step': self.global_step}
        if self.hparams.embed_msk:
            loss_kwargs['mask'] = mask
        loss_d = self.loss(results, batch, **loss_kwargs)
        if self.hparams.use_exposure:
            zero_radiance = torch.zeros(1, 3, device=self.device)
            unit_exposure_rgb = self.model.log_radiance_to_rgb(zero_radiance,
                                    **{'exposure': torch.ones(1, 1, device=self.device)})
            loss_d['unit_exposure'] = \
                0.5*(unit_exposure_rgb-self.train_dataset.unit_exposure_rgb)**2
        loss = sum(lo.mean() for lo in loss_d.values())
        
        self.log('lr', self.net_opt.param_groups[0]['lr'])
        self.log('train/loss', loss)
        self.log('train/s_per_ray', results['total_samples']/len(batch['rgb']), True)
        with torch.no_grad():
            self.train_psnr(results['rgb_shading'], batch['rgb'])
            self.log('train/psnr', self.train_psnr, True)
            self.train_psnr.reset()
            self.train_psnr(results['rgb'], batch['rgb'])
            self.log('train/psnr_no_shading', self.train_psnr, True)
            self.train_psnr.reset()

        if self.global_step%10000 == 0 and self.global_step>0:
            self.val_in_train()
        return loss
        
    def val_in_train(self):
        with torch.no_grad():
            print('[val in training]')
            print('Ambient:', self.light.ambient)
            w, h = self.img_wh
            batch = self.test_dataset[0]
            for i in batch:
                if isinstance(batch[i], torch.Tensor):
                    batch[i] = batch[i].cuda()
            results = self(batch, split='test')
            pose = batch['pose']
            albedo_pred = rearrange(results['albedo'], '(h w) c -> h w c', h=h)
            rgb_pred = rearrange(results['rgb'], '(h w) c -> h w c', h=h)
            rgb_pred = torch.clip(rgb_pred, 0, 1)
            rgb_shading_pred = rearrange(results['rgb_shading'], '(h w) c -> h w c', h=h)
            rgb_shading_pred = torch.clip(rgb_shading_pred, 0, 1)
            depth_raw = rearrange(results['depth'].cpu().numpy(), '(h w) -> h w', h=h)
            depth_pred = depth2img(depth_raw, scale=2*self.hparams.scale)
            depth_pred = cv2.cvtColor(depth_pred, cv2.COLOR_BGR2RGB)
            normal_pred = rearrange(results['normal_pred'], '(h w) c -> h w c', h=h)
            normal_pred = (convert_normal(normal_pred, pose)+1)/2
            normal_raw = rearrange(results['normal_raw'], '(h w) c -> h w c', h=h)
            normal_raw = (convert_normal(normal_raw, pose)+1)/2
            semantic_pred = rearrange(results['semantic'].squeeze(-1).cpu().numpy(), '(h w) -> h w', h=h)
            semantic_pred = semantic2img(semantic_pred, self.hparams.num_classes)/255.0
            visibility = rearrange(results['visibility'].cpu().numpy(), '(h w) -> h w', h=h)
            visibility_T = rearrange(results['visibility_T'].cpu().numpy(), '(h w) -> h w', h=h)
            
            dir_name = 'val'
            img_dir = os.path.join('results', self.hparams.dataset_name, self.hparams.exp_name, dir_name)
            os.makedirs(img_dir, exist_ok=True)
            save_image(albedo_pred, os.path.join(img_dir, '{:0>5d}_albedo.png'.format(self.global_step)))
            save_image(rgb_pred, os.path.join(img_dir, '{:0>5d}_rgb.png'.format(self.global_step)))
            save_image(rgb_shading_pred, os.path.join(img_dir, '{:0>5d}_rgb_shading.png'.format(self.global_step)))
            save_image((depth_pred/255.0), os.path.join(img_dir, '{:0>5d}_depth.png'.format(self.global_step)))
            save_image(normal_pred, os.path.join(img_dir, '{:0>5d}_normal.png'.format(self.global_step)))
            save_image(normal_raw, os.path.join(img_dir, '{:0>5d}_normal_raw.png'.format(self.global_step)))
            if self.hparams.render_semantic:
                save_image(semantic_pred, os.path.join(img_dir, '{:0>5d}_semantic.png'.format(self.global_step)))
            if self.hparams.render_visibility:
                save_image(visibility, os.path.join(img_dir, '{:0>5d}_vis.png'.format(self.global_step)))
                save_image(visibility_T, os.path.join(img_dir, '{:0>5d}_vis_T.png'.format(self.global_step)))

    def on_validation_start(self):
        torch.cuda.empty_cache()
        if not self.hparams.no_save_test:
            self.val_dir = f'results/{self.hparams.dataset_name}/{self.hparams.exp_name}'
            os.makedirs(self.val_dir, exist_ok=True)
    
    def validation_step(self, batch, batch_nb):
        rgb_gt = batch['rgb']
        results = self(batch, split='test')

        logs = {}
        # compute each metric per image
        self.val_psnr(results['rgb_shading'], rgb_gt)
        logs['psnr'] = self.val_psnr.compute()
        self.val_psnr.reset()

        w, h = self.train_dataset.img_wh
        rgb_pred = rearrange(results['rgb'], '(h w) c -> 1 c h w', h=h)
        rgb_gt = rearrange(rgb_gt, '(h w) c -> 1 c h w', h=h)
        self.val_ssim(rgb_pred, rgb_gt)
        logs['ssim'] = self.val_ssim.compute()
        self.val_ssim.reset()
        if self.hparams.eval_lpips:
            self.val_lpips(torch.clip(rgb_pred*2-1, -1, 1),
                           torch.clip(rgb_gt*2-1, -1, 1))
            logs['lpips'] = self.val_lpips.compute()
            self.val_lpips.reset()

        return logs
    
    def validation_epoch_end(self, outputs):
        psnrs = torch.stack([x['psnr'] for x in outputs])
        mean_psnr = all_gather_ddp_if_available(psnrs).mean()
        print(f'test/mean_PSNR: {mean_psnr}')
        self.log('test/psnr', mean_psnr)

        ssims = torch.stack([x['ssim'] for x in outputs])
        mean_ssim = all_gather_ddp_if_available(ssims).mean()
        print(f'test/mean_SSIM: {mean_ssim}')
        self.log('test/ssim', mean_ssim)

        if self.hparams.eval_lpips:
            lpipss = torch.stack([x['lpips'] for x in outputs])
            mean_lpips = all_gather_ddp_if_available(lpipss).mean()
            print(f'test/mean_LPIPS: {mean_lpips}')
            self.log('test/lpips_vgg', mean_lpips)

    def get_progress_bar_dict(self):
        # don't show the version number
        items = super().get_progress_bar_dict()
        items.pop("v_num", None)
        return items


if __name__ == '__main__':
    torch.manual_seed(20220806)
    torch.cuda.manual_seed_all(20220806)
    np.random.seed(20220806)
    hparams = get_opts()
    global_var._init()
    if hparams.val_only and (not hparams.ckpt_path):
        raise ValueError('You need to provide a @ckpt_path for validation!')
    out_dir = os.path.join('results', hparams.dataset_name, hparams.exp_name)
    os.makedirs(out_dir, exist_ok=True)
    os.system('cp {} {}'.format(hparams.config, out_dir)) 
    system = NeRFSystem(hparams)

    ckpt_cb = ModelCheckpoint(dirpath=f'ckpts/{hparams.dataset_name}/{hparams.exp_name}',
                              filename=hparams.ckpt_save.split('.')[0],
                              save_weights_only=True,
                              every_n_epochs=1,
                              save_last=True,
                              save_on_train_epoch_end=True)
    callbacks = [ckpt_cb, TQDMProgressBar(refresh_rate=1)]

    logger = WandbLogger(
        project='urbanir',
        save_dir=f"logs/{hparams.dataset_name}",
        name=hparams.exp_name)
    
    trainer = Trainer(max_epochs=hparams.num_epochs,
                      check_val_every_n_epoch=hparams.num_epochs,
                      callbacks=callbacks,
                      logger=logger,
                      enable_model_summary=False,
                      accelerator='gpu',
                      devices=hparams.num_gpus,
                      strategy=DDPPlugin(find_unused_parameters=False)
                               if hparams.num_gpus>1 else None,
                      num_sanity_val_steps=-1 if hparams.val_only else 0,
                      precision=32,
                      gradient_clip_val=50)

    trainer.fit(system)

    # save slimmed ckpt for the last epoch
    ckpt_ = slim_ckpt(os.path.join(f'ckpts/{hparams.dataset_name}/{hparams.exp_name}', 'last.ckpt'),
            save_poses=hparams.optimize_ext)
    torch.save(ckpt_, os.path.join(f'ckpts/{hparams.dataset_name}/{hparams.exp_name}', 'last_slim.ckpt'))

    render_for_test(hparams, split='train')