diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ab8e15c --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +__pycache__/ +*.pth +run/ \ No newline at end of file diff --git a/README.md b/README.md index 7ec6a40..4dc1f38 100644 --- a/README.md +++ b/README.md @@ -1,25 +1,130 @@ -# ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data +# ISSAFE & EDCNet + +## Introduction + +This is the implementation of our papers below, including the code and dataset (DADA-seg). + +Improving Semantic Segmentation in Accidents by Fusing Event-based Data, IROS 2021, [[paper](arxiv.org/pdf/2008.08974.pdf)]. + +Exploring Event-Driven Dynamic Context for Accident Scene Segmentation, T-ITS 2021, [[paper](arxiv.org/pdf/2112.05006.pdf)]. ![issafe_demo](demo/issafe.gif) -**ISSAFE**, is a multi-modal semantic segmentation architecture by fusing the RGB image and the event-based data, aiming to improve the model's robustness against driving edge-cases (critical or accidental situations). More details can be found in our [paper](https://arxiv.org/pdf/2008.08974.pdf). +## Installation -## Requirement +The requirements are listed in the `requirement.txt` file. To create your own environment, an example is: -TODO +```bash +conda create -n issafe python=3.7 +conda activate issafe +cd /path/to/ISSAFE +pip install -r requirement.txt +``` ## Datasets -Get dataset from [Cityscapes](https://www.cityscapes-dataset.com/), and [DADA-2000](https://github.com/JWFangit/LOTVS-DADA). Our proposed DADA-seg dataset is a subset from DADA-2000. Our annotations have the same labeling rule as Cityscapes and will be release soon. +For the basic setting of this work, please prepare datasets of [Cityscapes](https://www.cityscapes-dataset.com/), and DADA-seg. + +Our proposed DADA-seg dataset is a subset from [DADA-2000](https://github.com/JWFangit/LOTVS-DADA). Our annotations have the same labeling rule as Cityscapes. + +The DADA-seg dataset is now available in [Google Drive](). + +The event generation can be found in [EventGAN](https://github.com/alexzzhu/EventGAN). The anchor and its previous frames are needed for event generation. The generated event volume is saved as `.npy` format for this work. + +A structure of dataset is following: + + ``` +dataset +├── Cityscapes +│   ├── event +│   │   ├── train +│   │ │ ├─aachen +│ │ │ │ ├─aachen_000000_000019_gtFine_event.npy # event volume +│   │   └── val +│   ├── gtFine +│   │   ├── train +│   │   └── val +│   ├─leftImg8bit_prev # for event synthesic +│   │ ├─train +│   │ │ ├─aachen +│   │ │ │ ├─aachen_000000_000019_leftImg8bit_prev.png +│   │ └─val +│   ├── leftImg8bit +│   │   ├── train +│   └── └── val +└── DADA_seg + ├── dof + │   └── val + ├── event + │   └── val + ├── gtFine + │   └── val + └── leftImg8bit +    ├── train +    └── val + + ``` + +(option) other sources: [BDD3K](https://bdd-data.berkeley.edu/), [KITTI-360](http://www.cvlibs.net/datasets/kitti-360/), [ApolloScape](http://apolloscape.auto/). + +(option) other modalities: dense optical flow. + + + +## Training + +The model of EDCNet can be found at `models/edcnet.py`. + +Before run the training script, please modify your own path configurations at `mypath.py`. + +The training configurations can be adjusted at `train.py`. + +An example of training is `python train.py` + + + +## Evaluation + +The evaluation configurations can be adjusted at `eval.py`. + +To achieve the evaluation result of EDCNet in D2S mode with 2 event time bins, the weights can be downloaded in [Google Drive](https://drive.google.com/drive/folders/19hUd8Mfj6K76G48AT9txq-PX9bHQN0qs?usp=sharing). + +Put the weight at `run/cityscapesevent/test_EDCNet_r18/model_best.pth`. + +An example of evaluation of the EDCNet at `B=2` event time bins is `python eval.py`. + + + +## License + +This repository is under the Apache-2.0 license. For commercial use, please contact with the authors. - +## Citation +If you are interested in this work, please cite the following work: +``` +@INPROCEEDINGS{zhang2021issafe, + author={Zhang, Jiaming and Yang, Kailun and Stiefelhagen, Rainer}, + booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + title={ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data}, + year={2021}, + pages={1132-1139}, + doi={10.1109/IROS51168.2021.9636109}} + +@ARTICLE{zhang2021edcnet, + author={Zhang, Jiaming and Yang, Kailun and Stiefelhagen, Rainer}, + journal={IEEE Transactions on Intelligent Transportation Systems}, + title={Exploring Event-Driven Dynamic Context for Accident Scene Segmentation}, + year={2021}, + pages={1-17}, + doi={10.1109/TITS.2021.3134828}} +``` diff --git a/dataloaders/__init__.py b/dataloaders/__init__.py new file mode 100644 index 0000000..d7d4f1c --- /dev/null +++ b/dataloaders/__init__.py @@ -0,0 +1,51 @@ +from dataloaders import cityscapes, dada, apolloscape, kitti, bdd, merge3 +from torch.utils.data import DataLoader + + +def make_data_loader(args, **kwargs): + if args.dataset == 'cityscapesevent': + train_set = cityscapes.CityscapesRGBEvent(args, split='train') + val_set = cityscapes.CityscapesRGBEvent(args, split='val') + num_class = val_set.NUM_CLASSES + train_loader = DataLoader(train_set, batch_size=args.batch_size, shuffle=True, drop_last=True, **kwargs) + val_loader = DataLoader(val_set, batch_size=args.val_batch_size, shuffle=False, **kwargs) + test_loader = None + elif args.dataset == 'dadaevent': + val_set = dada.DADARGBEvent(args, split='val') + num_class = val_set.NUM_CLASSES + train_loader = None + val_loader = DataLoader(val_set, batch_size=args.val_batch_size, shuffle=False, **kwargs) + test_loader = None + elif args.dataset == 'apolloscapeevent': + train_set = apolloscape.ApolloscapeRGBEvent(args, split='train') + val_set = apolloscape.ApolloscapeRGBEvent(args, split='val') + num_class = val_set.NUM_CLASSES + train_loader = DataLoader(train_set, batch_size=args.batch_size, shuffle=True, drop_last=True, **kwargs) + val_loader = DataLoader(val_set, batch_size=args.val_batch_size, shuffle=False, **kwargs) + test_loader = None + elif args.dataset == 'kittievent': + train_set = kitti.KITTIRGBEvent(args, split='train') + val_set = kitti.KITTIRGBEvent(args, split='val') + num_class = val_set.NUM_CLASSES + train_loader = DataLoader(train_set, batch_size=args.batch_size, shuffle=True, drop_last=True, **kwargs) + val_loader = DataLoader(val_set, batch_size=args.val_batch_size, shuffle=False, **kwargs) + test_loader = None + elif args.dataset == 'bdd': + train_set = bdd.BDD(args, split='train') + val_set = bdd.BDD(args, split='val') + num_class = val_set.NUM_CLASSES + train_loader = DataLoader(train_set, batch_size=args.batch_size, shuffle=True, drop_last=True, **kwargs) + val_loader = DataLoader(val_set, batch_size=args.val_batch_size, shuffle=False, **kwargs) + test_loader = None + elif args.dataset == 'merge3': + train_set = merge3.Merge3(args, split='train') + val_set = merge3.Merge3(args, split='val') + num_class = val_set.NUM_CLASSES + train_loader = DataLoader(train_set, batch_size=args.batch_size, shuffle=True, drop_last=True, **kwargs) + val_loader = DataLoader(val_set, batch_size=args.val_batch_size, shuffle=False, **kwargs) + test_loader = None + else: + raise NotImplementedError + return train_loader, val_loader, test_loader, num_class + + diff --git a/dataloaders/apolloscape.py b/dataloaders/apolloscape.py new file mode 100644 index 0000000..8c52614 --- /dev/null +++ b/dataloaders/apolloscape.py @@ -0,0 +1,141 @@ +import os +import numpy as np +from PIL import Image +from torch.utils import data +from mypath import Path +from torchvision import transforms +from dataloaders import custom_transforms as tr +from dataloaders.mapping import APOLLO2CS, APOLLO16 + + +class ApolloscapeRGBEvent(data.Dataset): + """return dict with img, event, label of Apolloscape""" + NUM_CLASSES = 16 + + def __init__(self, args, root=Path.db_root_dir('apolloscapeevent'), split="train"): + self.root = root + self.split = split + self.args = args + self.images = {} + self.event = {} + self.labels = {} + + with open('dataloaders/apolloscape_txt/colors_{}.txt'.format(split), 'r') as colors_f, \ + open('dataloaders/apolloscape_txt/events_{}.txt'.format(split), 'r') as events_f, \ + open('dataloaders/apolloscape_txt/labels_{}.txt'.format(split), 'r') as labels_f: + self.images[split] = colors_f.read().splitlines() + self.event[split] = events_f.read().splitlines() + self.labels[split] = labels_f.read().splitlines() + print("Found %d %s RGB images" % (len(self.images[split]), split)) + + self.ignore_index = 255 + + def __len__(self): + return len(self.labels[self.split]) + + def __getitem__(self, index): + sample = dict() + lbl_path = self.root + self.labels[self.split][index].rstrip() + sample['label'] = self.relabel(lbl_path) + + img_path = self.root + self.images[self.split][index].rstrip() + sample['image'] = Image.open(img_path).convert('RGB') + + if self.args.event_dim: + event_path = self.root + self.event[self.split][index].rstrip() + sample['event'] = self.get_event(event_path) + + # data augment + if self.split == 'train': + return self.transform_tr(sample) + elif self.split == 'val': + return self.transform_val(sample), lbl_path + elif self.split == 'test': + raise NotImplementedError + + def get_event(self, event_path): + event_volume = np.load(event_path)['data'] + neg_volume = event_volume[:9, ...] + pos_volume = event_volume[9:, ...] + if self.args.event_dim == 18: + event_volume = np.concatenate((neg_volume, pos_volume), axis=0) + elif self.args.event_dim == 2: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = np.concatenate((neg_img, pos_img), axis=0) + elif self.args.event_dim == 1: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = neg_img + pos_img + return event_volume + + def relabel(self, label_path): + """from apollo to the 18 class (Cityscapes without 'train', cls=16)""" + _temp = np.array(Image.open(label_path)) + label_mapping1 = {m[0]: m[1] for m in APOLLO2CS} + for k, v in label_mapping1.items(): + _temp[_temp == k] = v + + label_mapping2 = {m[0]: m[1] for m in APOLLO16} + for k, v in label_mapping2.items(): + _temp[_temp == k] = v + return Image.fromarray(_temp.astype(np.uint8)) + + def transform_tr(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=(1024, 2048)), + tr.ColorJitter(), + tr.RandomGaussianBlur(), + tr.RandomMotionBlur(), + tr.RandomHorizontalFlip(), + tr.RandomScaleCrop(base_size=self.args.base_size, crop_size=self.args.crop_size, fill=255), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + def transform_val(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=self.args.crop_size), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + +if __name__ == '__main__': + from dataloaders.utils import decode_segmap + from torch.utils.data import DataLoader + import matplotlib.pyplot as plt + import argparse + + parser = argparse.ArgumentParser() + args = parser.parse_args() + args.base_size = 1024 + args.crop_size = 512 + args.event_dim = 2 + + apolloscape_train = ApolloscapeRGBEvent(args, split='train') + dataloader = DataLoader(apolloscape_train, batch_size=2, shuffle=True, num_workers=0) + + for ii, sample in enumerate(dataloader): + for jj in range(sample["image"].size()[0]): + img = sample['image'].numpy() + gt = sample['label'].numpy() + tmp = np.array(gt[jj]).astype(np.uint8) + segmap = decode_segmap(tmp, dataset='apolloscapeevent') + img_tmp = np.transpose(img[jj], 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dict with img, label of BDD""" + NUM_CLASSES = 19 + + def __init__(self, args, root=Path.db_root_dir('bdd'), split="train"): + self.root = root + self.split = split + self.args = args + self.images = {} + self.event = {} + self.labels = {} + + with open('dataloaders/bdd_txt/images_{}.txt'.format(split), 'r') as colors_f, \ + open('dataloaders/bdd_txt/events_{}.txt'.format(split), 'r') as events_f, \ + open('dataloaders/bdd_txt/labels_{}.txt'.format(split), 'r') as labels_f: + self.images[split] = colors_f.read().splitlines() + self.event[split] = events_f.read().splitlines() + self.labels[split] = labels_f.read().splitlines() + print("Found %d %s RGB images" % (len(self.images[split]), split)) + self.images[split].sort() + self.event[split].sort() + self.labels[split].sort() + + self.ignore_index = 255 + + def __len__(self): + return len(self.labels[self.split]) + + def __getitem__(self, index): + sample = dict() + lbl_path = self.root + self.labels[self.split][index].rstrip() + sample['label'] = Image.open(lbl_path) + + img_path = self.root + self.images[self.split][index].rstrip() + sample['image'] = Image.open(img_path).convert('RGB') + + if self.args.event_dim: + event_path = self.root + self.event[self.split][index].rstrip() + sample['event'] = self.get_event(event_path) + + # data augment + if self.split == 'train': + return self.transform_tr(sample) + elif self.split == 'val': + return self.transform_val(sample), lbl_path + elif self.split == 'test': + raise NotImplementedError + + def get_event(self, event_path): + event_volume = np.load(event_path)['data'] + neg_volume = event_volume[:9, ...] + pos_volume = event_volume[9:, ...] + if self.args.event_dim == 18: + event_volume = np.concatenate((neg_volume, pos_volume), axis=0) + elif self.args.event_dim == 2: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = np.concatenate((neg_img, pos_img), axis=0) + elif self.args.event_dim == 1: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = neg_img + pos_img + return event_volume + + def recursive_glob(self, rootdir='.', suffix=None): + if isinstance(suffix, str): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for filename in filenames if filename.endswith(suffix)] + elif isinstance(suffix, list): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for x in suffix for filename in filenames if filename.startswith(x)] + + def transform_tr(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=(1024, 2048)), + tr.ColorJitter(), + tr.RandomGaussianBlur(), + tr.RandomMotionBlur(), + tr.RandomHorizontalFlip(), + tr.RandomScaleCrop(base_size=self.args.base_size, crop_size=self.args.crop_size, fill=255), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + def transform_val(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=self.args.crop_size), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + +if __name__ == '__main__': + from dataloaders.utils import decode_segmap + from torch.utils.data import DataLoader + import matplotlib.pyplot as plt + import argparse + + parser = argparse.ArgumentParser() + args = parser.parse_args() + args.base_size = 1024 + args.crop_size = 512 + args.event_dim = 2 + + cityscapes_train = BDD(args, split='train') + dataloader = DataLoader(cityscapes_train, batch_size=2, shuffle=True, num_workers=0) + + for ii, sample in enumerate(dataloader): + for jj in range(sample["image"].size()[0]): + img = sample['image'].numpy() + gt = sample['label'].numpy() + event = sample['event'].numpy() + tmp = np.array(gt[jj]).astype(np.uint8) + segmap = decode_segmap(tmp, dataset='bdd') + img_tmp = np.transpose(img[jj], axes=[1, 2, 0]) + img_tmp *= (0.229, 0.224, 0.225) + img_tmp += (0.485, 0.456, 0.406) + img_tmp *= 255.0 + img_tmp = img_tmp.astype(np.uint8) + plt.figure() + plt.title('display') + plt.subplot(311) + plt.imshow(img_tmp) + plt.subplot(312) + plt.imshow(segmap) + plt.subplot(313) + event_neg = np.transpose(event[jj], axes=[1, 2, 0]).astype(np.uint8)[...,0] + event_neg = Image.fromarray(event_neg, mode='L') + plt.imshow(event_neg) + + if ii == 1: + break + + plt.show(block=True) + diff --git a/dataloaders/bdd_txt/events_train.txt b/dataloaders/bdd_txt/events_train.txt new file mode 100644 index 0000000..ecb5cef --- /dev/null +++ b/dataloaders/bdd_txt/events_train.txt @@ -0,0 +1,3086 @@ +events/train/00054602-3bf57337.npz +events/train/00067cfb-e535423e.npz +events/train/00091078-59817bb0.npz +events/train/0010bf16-a457685b.npz +events/train/00495359-1d04dd8a.npz +events/train/0066b72f-974f6883.npz 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0000000..0615a9e --- /dev/null +++ b/dataloaders/cityscapes.py @@ -0,0 +1,166 @@ +import os +import numpy as np +from PIL import Image +from torch.utils import data +from mypath import Path +from torchvision import transforms +from dataloaders import custom_transforms as tr + + +class CityscapesRGBEvent(data.Dataset): + """return dict with img, event, label of Cityscapes""" + NUM_CLASSES = 19 + + def __init__(self, args, root=Path.db_root_dir('cityscapesevent'), split="train"): + self.root = root + self.split = split + self.args = args + self.images = {} + self.event = {} + self.labels = {} + + self.images_base = os.path.join(self.root, 'leftImg8bit', self.split) + self.images[split] = self.recursive_glob(rootdir=self.images_base, suffix='.png') + self.images[split].sort() + if not self.images[split]: + raise Exception("No RGB images for split=[%s] found in %s" % (split, self.images_base)) + else: + print("Found %d %s RGB images" % (len(self.images[split]), split)) + + self.event_base = os.path.join(self.root, 'event', self.split) + self.event[split] = self.recursive_glob(rootdir=self.event_base, suffix='.npz') + self.event[split].sort() + + self.annotations_base = os.path.join(self.root, 'gtFine', self.split) + self.labels[split] = self.recursive_glob(rootdir=self.annotations_base, suffix='labelTrainIds.png') + self.labels[split].sort() + + self.ignore_index = 255 + + def __len__(self): + return len(self.labels[self.split]) + + def __getitem__(self, index): + sample = dict() + lbl_path = self.labels[self.split][index].rstrip() + sample['label'] = Image.open(lbl_path) + + img_path = self.images[self.split][index].rstrip() + sample['image'] = Image.open(img_path).convert('RGB') + + if self.args.event_dim: + event_path = self.event[self.split][index].rstrip() + sample['event'] = self.get_event(event_path) + + # data augment + if self.split == 'train': + return self.transform_tr(sample) + elif self.split == 'val': + return self.transform_val(sample), lbl_path + elif self.split == 'test': + raise NotImplementedError + + def get_event(self, event_path): + event_volume = np.load(event_path)['data'] + neg_volume = event_volume[:9, ...] + pos_volume = event_volume[9:, ...] + if self.args.event_dim == 18: + event_volume = np.concatenate((neg_volume, pos_volume), axis=0) + elif self.args.event_dim == 10: + pos_volume_5 = np.concatenate([np.expand_dims(pos_volume[0, ...] + pos_volume[1, ...], axis=0), + np.expand_dims(pos_volume[2, ...] + pos_volume[3, ...], axis=0), + np.expand_dims(pos_volume[4, ...] + pos_volume[5, ...], axis=0), + np.expand_dims(pos_volume[6, ...] + pos_volume[7, ...], axis=0), + np.expand_dims(pos_volume[8, ...], axis=0), + ], axis=0) + neg_volume_5 = np.concatenate([np.expand_dims(neg_volume[0, ...] + neg_volume[1, ...], axis=0), + np.expand_dims(neg_volume[2, ...] + neg_volume[3, ...], axis=0), + np.expand_dims(neg_volume[4, ...] + neg_volume[5, ...], axis=0), + np.expand_dims(neg_volume[6, ...] + neg_volume[7, ...], axis=0), + np.expand_dims(neg_volume[8, ...], axis=0), + ], axis=0) + event_volume = np.concatenate([pos_volume_5, neg_volume_5], axis=0) + elif self.args.event_dim == 2: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = np.concatenate((neg_img, pos_img), axis=0) + elif self.args.event_dim == 1: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = neg_img + pos_img + return event_volume + + def recursive_glob(self, rootdir='.', suffix=None): + if isinstance(suffix, str): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for filename in filenames if filename.endswith(suffix)] + elif isinstance(suffix, list): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for x in suffix for filename in filenames if filename.startswith(x)] + + def transform_tr(self, sample): + composed_transforms = transforms.Compose([ + tr.CropBlackArea(), + tr.ColorJitter(), + tr.RandomGaussianBlur(), + tr.RandomMotionBlur(), + tr.RandomHorizontalFlip(), + tr.RandomScaleCrop(base_size=self.args.base_size, crop_size=self.args.crop_size, fill=255), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + def transform_val(self, sample): + composed_transforms = transforms.Compose([ + tr.CropBlackArea(), + tr.FixedResize(size=self.args.crop_size), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + +if __name__ == '__main__': + from dataloaders.utils import decode_segmap + from torch.utils.data import DataLoader + import matplotlib.pyplot as plt + import argparse + + parser = argparse.ArgumentParser() + args = parser.parse_args() + args.base_size = 513 + args.crop_size = 513 + args.event_dim = 2 + + cityscapes_train = CityscapesRGBEvent(args, split='train') + dataloader = DataLoader(cityscapes_train, batch_size=2, shuffle=True, num_workers=0) + + for ii, sample in enumerate(dataloader): + for jj in range(sample["image"].size()[0]): + img = sample['image'].numpy() + gt = sample['label'].numpy() + event = sample['event'].numpy() + tmp = np.array(gt[jj]).astype(np.uint8) + segmap = decode_segmap(tmp, dataset='cityscapes') + img_tmp = np.transpose(img[jj], axes=[1, 2, 0]) + img_tmp *= (0.229, 0.224, 0.225) + img_tmp += (0.485, 0.456, 0.406) + img_tmp *= 255.0 + img_tmp = img_tmp.astype(np.uint8) + plt.figure() + plt.title('display') + plt.subplot(311) + plt.imshow(img_tmp) + plt.subplot(312) + plt.imshow(segmap) + plt.subplot(313) + event_neg = np.transpose(event[jj], axes=[1, 2, 0]).astype(np.uint8)[...,0] + event_neg = Image.fromarray(event_neg, mode='L') + plt.imshow(event_neg) + + if ii == 1: + break + + plt.show(block=True) + diff --git a/dataloaders/custom_transforms.py b/dataloaders/custom_transforms.py new file mode 100644 index 0000000..48e8da9 --- /dev/null +++ b/dataloaders/custom_transforms.py @@ -0,0 +1,283 @@ +import torch +import random +import numpy as np +import numbers +from PIL import Image, ImageOps, ImageFilter, ImageEnhance +import cv2 + +class Normalize(object): + """Normalize a tensor image with mean and standard deviation. + Args: + mean (tuple): means for each channel. + std (tuple): standard deviations for each channel. + """ + def __init__(self, mean=(0., 0., 0.), std=(1., 1., 1.)): + self.mean = mean + self.std = std + + def __call__(self, sample): + sample['label'] = np.array(sample['label']).astype(np.float32) + if 'image' in sample: + img = sample['image'] + img = np.array(img).astype(np.float32) + img /= 255.0 + img -= self.mean + img /= self.std + sample['image'] = img + if 'event' in sample: + event = sample['event'] + event = event.astype(np.float32) + # binary + event[event > 0] = 1 + sample['event'] = event + return sample + + +class ToTensor(object): + """Convert Image object in sample to Tensors.""" + + def __call__(self, sample): + # swap color axis because + # numpy image: H x W x C + # torch image: C X H X W + sample['label'] = torch.from_numpy(np.array(sample['label']).astype(np.float32)).float() + if 'image' in sample: + img = sample['image'] + img = np.array(img).astype(np.float32).transpose((2, 0, 1)) + img = torch.from_numpy(img).float() + sample['image'] = img + if 'event' in sample: + sample['event'] = torch.from_numpy(np.array(sample['event']).astype(np.float32)).float() + + return sample + +class CropBlackArea(object): + """ + crop black area for event image + """ + def __init__(self, crop=None): + self.crop = [140, 30, 2030, 900] if crop is None else crop + def __call__(self, sample): + width, height = sample['label'].size + left, top, right, bottom = self.crop + sample['label'] = sample['label'].\ + crop((left, top, right, bottom)).\ + resize((width,height), Image.NEAREST) + if 'image' in sample: + img = sample['image'] + img = img.crop((left, top, right, bottom)) + img = img.resize((width, height), Image.BILINEAR) + sample['image'] = img + if 'event' in sample: + event = sample['event'] + event = event[:, top:bottom, left:right] + event = torch.unsqueeze(torch.from_numpy(event).float(), 0) + event = torch.nn.functional.interpolate(event, size=[height, width], mode="nearest") + event = event[0].cpu().numpy() + sample['event'] = event + + return sample + + +class RandomHorizontalFlip(object): + def __call__(self, sample): + if random.random() < 0.5: + sample['label'] = sample['label'].transpose(Image.FLIP_LEFT_RIGHT) + if 'image' in sample: + img = sample['image'] + img = img.transpose(Image.FLIP_LEFT_RIGHT) + sample['image'] = img + if 'event' in sample: + event = sample['event'] + event = np.flip(event, axis=2) + sample['event'] = event + return sample + + +class RandomGaussianBlur(object): + def __call__(self, sample): + if random.random() < 0.5: + img = sample['image'] + img = img.filter(ImageFilter.GaussianBlur( + radius=random.random())) + sample['image'] = img + return sample + +class RandomMotionBlur(): + def __call__(self, sample): + if random.random() < 0.5: + img = sample['image'] + degree = random.randint(1, 15) + angle = random.randint(1, 45) + M = cv2.getRotationMatrix2D((degree / 2, degree / 2), angle, 1) + motion_blur_kernel = np.diag(np.ones(degree)) + motion_blur_kernel = cv2.warpAffine(motion_blur_kernel, M, (degree, degree)) + motion_blur_kernel = motion_blur_kernel / degree + img = np.array(img) + blurred = cv2.filter2D(img, -1, motion_blur_kernel) + + cv2.normalize(blurred, blurred, 0, 255, cv2.NORM_MINMAX) + blurred = Image.fromarray(blurred.astype(np.uint8)) + sample['image'] = blurred + return sample + + +class ColorJitter(object): + def __init__(self, brightness=0.5, contrast=0.5, saturation=0.5, *args, **kwargs): + if not brightness is None and brightness>0: + self.brightness = [max(1-brightness, 0), 1+brightness] + if not contrast is None and contrast>0: + self.contrast = [max(1-contrast, 0), 1+contrast] + if not saturation is None and saturation>0: + self.saturation = [max(1-saturation, 0), 1+saturation] + + def __call__(self, sample): + img = sample['image'] + r_brightness = random.uniform(self.brightness[0], self.brightness[1]) + r_contrast = random.uniform(self.contrast[0], self.contrast[1]) + r_saturation = random.uniform(self.saturation[0], self.saturation[1]) + img = ImageEnhance.Brightness(img).enhance(r_brightness) + img = ImageEnhance.Contrast(img).enhance(r_contrast) + img = ImageEnhance.Color(img).enhance(r_saturation) + sample['image'] = img + return sample + + +class RandomScaleCrop(object): + def __init__(self, base_size, crop_size, fill=0): + if isinstance(crop_size, numbers.Number): + self.crop_size = (int(crop_size), int(crop_size)) + else: + self.crop_size = crop_size + self.base_size = base_size # 1024 + self.fill = fill + + def __call__(self, sample): + w, h = sample['label'].size + short_edge = w if w w: + ow = short_size + oh = int(1.0 * h * ow / w) + else: + oh = short_size + ow = int(1.0 * w * oh / h) + if 'image' in sample: + sample['image'] = sample['image'].resize((ow, oh), Image.BILINEAR) + if 'event' in sample: + event = sample['event'] + event = torch.unsqueeze(torch.from_numpy(event.copy()).float(), 0) + event = torch.nn.functional.interpolate(event, size=[oh, ow], mode="nearest") + event = event[0].cpu().numpy() + sample['event'] = event + mask = sample['label'] + mask = mask.resize((ow, oh), Image.NEAREST) + + if short_size < min(self.crop_size): + padh = self.crop_size[0] - oh if oh < self.crop_size[0] else 0 + padw = self.crop_size[1] - ow if ow < self.crop_size[1] else 0 + if 'image' in sample: + sample['image'] = ImageOps.expand(sample['image'], border=(0, 0, padw, padh), + fill=0)#left,top,right,bottom + if 'event' in sample: + sample['event'] = np.pad(sample['event'], pad_width=((0, 0), (0, padh), (0, padw)), + mode='constant', constant_values=0) + mask = ImageOps.expand(mask, border=(0, 0, padw, padh), fill=self.fill) + + # random crop crop_size + w, h = mask.size + x1 = random.randint(0, w - self.crop_size[1]) + y1 = random.randint(0, h - self.crop_size[0]) + if 'image' in sample: + sample['image'] = sample['image'].crop((x1, y1, x1 + self.crop_size[1], y1 + self.crop_size[0])) + if 'event' in sample: + sample['event'] = sample['event'][:, y1:y1 + self.crop_size[0], x1:x1 + self.crop_size[1]] + mask = mask.crop((x1, y1, x1 + self.crop_size[1], y1 + self.crop_size[0])) + sample['label'] = mask + return sample + + +class FixScaleCrop(object): + def __init__(self, crop_size): + self.crop_size = crop_size + + def __call__(self, sample): + img = sample['image'] + event = sample['event'] + mask = sample['label'] + w, h = img.size + if w > h: + oh = self.crop_size + ow = int(1.0 * w * oh / h) + else: + ow = self.crop_size + oh = int(1.0 * h * ow / w) + img = img.resize((ow, oh), Image.BILINEAR) + event = event.resize((ow, oh), Image.BILINEAR) + mask = mask.resize((ow, oh), Image.NEAREST) + # center crop + w, h = img.size + x1 = int(round((w - self.crop_size) / 2.)) + y1 = int(round((h - self.crop_size) / 2.)) + img = img.crop((x1, y1, x1 + self.crop_size, y1 + self.crop_size)) + event = event.crop((x1, y1, x1 + self.crop_size, y1 + self.crop_size)) + mask = mask.crop((x1, y1, x1 + self.crop_size, y1 + self.crop_size)) + + return {'image': img, + 'event': event, + 'label': mask} + +class FixedResize(object): + def __init__(self, size): + if isinstance(size, numbers.Number): + self.size = (int(size), int(size)) + else: + self.size = size + + def __call__(self, sample): + sample['label'] = sample['label'].resize((self.size[1], self.size[0]), Image.NEAREST) + if 'image' in sample: + sample['image'] = sample['image'].resize((self.size[1], self.size[0]), Image.BILINEAR) + if 'event' in sample: + event = sample['event'] + event = torch.unsqueeze(torch.from_numpy(event.copy()).float(), 0) + event = torch.nn.functional.interpolate(event, size=self.size, mode="nearest") + event = event[0].cpu().numpy() + sample['event'] = event + return sample + + +class TranslationXY(object): + def __call__(self, sample): + transX = random.randint(-2, 2) + transY = random.randint(-2, 2) + mask = sample['label'] + mask = ImageOps.expand(mask, border=(transX, transY, 0, 0), fill=255) # pad label filling with 255 + mask = mask.crop((0, 0, mask.size[0] - transX, mask.size[1] - transY)) + sample['label'] = mask + + if 'image' in sample: + img = sample['image'] + img = ImageOps.expand(img, border=(transX, transY, 0, 0), fill=0) + img = img.crop((0, 0, img.size[0] - transX, img.size[1] - transY)) + sample['image'] = img + if 'event' in sample: + event = sample['event'] + event = np.pad(event, pad_width=((0, 0), (transY, 0), (transX, 0)), mode='constant', constant_values=0) + event = event[:, 0:event.size[1] - transY, 0:event.size[0] - transX] + sample['event'] = event + return sample + + +if __name__ == '__main__': + from PIL import Image + mb = RandomMotionBlur() + img = Image.open('kitti_rgb.png') + sample = {'image': img} + img_ = mb(sample) + + img.show(title='Source image') + img_['image'].show(title='blur image') diff --git a/dataloaders/dada.py b/dataloaders/dada.py new file mode 100644 index 0000000..6c48b42 --- /dev/null +++ b/dataloaders/dada.py @@ -0,0 +1,148 @@ +import os +import numpy as np +from PIL import Image +from torch.utils import data +from mypath import Path +from torchvision import transforms +from dataloaders import custom_transforms as tr +from dataloaders.mapping import APOLLO2CS, APOLLO16 +import torch + + +class DADARGBEvent(data.Dataset): + """return dict with img, event, label from DADA""" + # 18 for Apolloscape, 19 for Cityscapes + NUM_CLASSES = 19 + + def __init__(self, args, root=Path.db_root_dir('dadaevent'), split="val"): + self.root = root + self.split = split + self.args = args + self.images = {} + self.event = {} + self.labels = {} + + self.images_base = os.path.join(self.root, 'leftImg8bit', self.split) + self.images[split] = self.recursive_glob(rootdir=self.images_base, suffix='.jpg') + self.images[split].sort() + if not self.images[split]: + raise Exception("No RGB images for split=[%s] found in %s" % (split, self.images_base)) + else: + print("Found %d %s RGB images" % (len(self.images[split]), split)) + + self.event_base = os.path.join(self.root, 'event', self.split) + self.event[split] = self.recursive_glob(rootdir=self.event_base, suffix='.npz') + self.event[split].sort() + + self.annotations_base = os.path.join(self.root, 'gtFine', self.split) + self.labels[split] = self.recursive_glob(rootdir=self.annotations_base, suffix='labelTrainIds.png') + self.labels[split].sort() + + self.ignore_index = 255 + + def __len__(self): + return len(self.labels[self.split]) + + def __getitem__(self, index): + sample = dict() + lbl_path = self.labels[self.split][index].rstrip() + sample['label'] = Image.open(lbl_path) if self.NUM_CLASSES == 19 else self.relabel(lbl_path) + + img_path = self.images[self.split][index].rstrip() + sample['image'] = Image.open(img_path).convert('RGB') + + event_path = self.event[self.split][index].rstrip() + sample['event'] = self.get_event(event_path) + + # data augment + if self.split == 'train': + raise NotImplementedError + elif self.split == 'val': + return self.transform_val(sample), lbl_path + elif self.split == 'test': + raise NotImplementedError + + def get_event(self, event_path): + event_volume = np.load(event_path)['data'] + if self.args.event_dim == 2: + neg_img = np.sum(event_volume[:9, ...], axis=0, keepdims=True) + pos_img = np.sum(event_volume[9:, ...], axis=0, keepdims=True) + event_volume = np.concatenate((neg_img, pos_img), axis=0) + elif self.args.event_dim == 1: + neg_img = np.sum(event_volume[:9, ...], axis=0, keepdims=True) + pos_img = np.sum(event_volume[9:, ...], axis=0, keepdims=True) + event_volume = neg_img + pos_img + return event_volume + + def relabel(self, label_path): + """remove the 'train' class=16.""" + _temp = np.array(Image.open(label_path)) + label_mapping = {m[0]: m[1] for m in APOLLO16} + for k, v in label_mapping.items(): + _temp[_temp == k] = v + return Image.fromarray(_temp) + + + def recursive_glob(self, rootdir='.', suffix=None): + if isinstance(suffix, str): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for filename in filenames if filename.endswith(suffix)] + elif isinstance(suffix, list): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for x in suffix for filename in filenames if filename.startswith(x)] + + def transform_val(self, sample): + composed_transforms = transforms.Compose([ + tr.CropBlackArea(crop=[162, 0, 1422, 600]), # left, top, right, bottom + tr.FixedResize(size=self.args.crop_size), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + +if __name__ == '__main__': + from dataloaders.utils import decode_segmap + from torch.utils.data import DataLoader + import matplotlib.pyplot as plt + import argparse + + parser = argparse.ArgumentParser() + args = parser.parse_args() + args.base_size = 513 + args.crop_size = 513 + args.event_dim = 2 + + dada = DADARGBEvent(args, split='val') + dataloader = DataLoader(dada, batch_size=2, shuffle=True, num_workers=0) + + for ii, sample in enumerate(dataloader): + sample, _ = sample + for jj in range(sample["image"].size()[0]): + img = sample['image'].numpy() + gt = sample['label'].numpy() + event = sample['event'].numpy() + tmp = np.array(gt[jj]).astype(np.uint8) + segmap = decode_segmap(tmp, dataset='dada') + img_tmp = np.transpose(img[jj], axes=[1, 2, 0]) + img_tmp *= (0.229, 0.224, 0.225) + img_tmp += (0.485, 0.456, 0.406) + img_tmp *= 255.0 + img_tmp = img_tmp.astype(np.uint8) + plt.figure() + plt.title('display') + plt.subplot(311) + plt.imshow(img_tmp) + plt.subplot(312) + plt.imshow(segmap) + plt.subplot(313) + event_neg = np.transpose(event[jj], axes=[1, 2, 0]).astype(np.uint8)[...,0] + event_neg = Image.fromarray(event_neg, mode='L') + plt.imshow(event_neg) + + if ii == 1: + break + + plt.show(block=True) + diff --git a/dataloaders/kitti.py b/dataloaders/kitti.py new file mode 100644 index 0000000..e65fede --- /dev/null +++ b/dataloaders/kitti.py @@ -0,0 +1,136 @@ +import os +import numpy as np +from PIL import Image +from torch.utils import data +from mypath import Path +from torchvision import transforms +from dataloaders import custom_transforms as tr +from dataloaders.mapping import KITTI2CS + + +class KITTIRGBEvent(data.Dataset): + """return dict with img, event, label of kitti""" + NUM_CLASSES = 19 + + def __init__(self, args, root=Path.db_root_dir('kittievent'), split="train"): + self.root = root + self.split = split + self.args = args + self.images = {} + self.event = {} + self.labels = {} + + with open('dataloaders/kitti_txt/colors_{}.txt'.format(split), 'r') as colors_f, \ + open('dataloaders/kitti_txt/events_{}.txt'.format(split), 'r') as events_f, \ + open('dataloaders/kitti_txt/labels_{}.txt'.format(split), 'r') as labels_f: + self.images[split] = colors_f.read().splitlines() + self.event[split] = events_f.read().splitlines() + self.labels[split] = labels_f.read().splitlines() + print("Found %d %s RGB images" % (len(self.images[split]), split)) + + self.ignore_index = 255 + + def __len__(self): + return len(self.labels[self.split]) + + def __getitem__(self, index): + sample = dict() + lbl_path = self.root + self.labels[self.split][index].rstrip() + sample['label'] = self.relabel(lbl_path) + + img_path = self.root + self.images[self.split][index].rstrip() + sample['image'] = Image.open(img_path).convert('RGB') + + if self.args.event_dim: + event_path = self.root + self.event[self.split][index].rstrip() + sample['event'] = self.get_event(event_path) + + # data augment + if self.split == 'train': + return self.transform_tr(sample) + elif self.split == 'val': + return self.transform_val(sample), lbl_path + elif self.split == 'test': + raise NotImplementedError + + def get_event(self, event_path): + event_volume = np.load(event_path)['data'] + neg_volume = event_volume[:9, ...] + pos_volume = event_volume[9:, ...] + if self.args.event_dim == 18: + event_volume = np.concatenate((neg_volume, pos_volume), axis=0) + elif self.args.event_dim == 2: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = np.concatenate((neg_img, pos_img), axis=0) + elif self.args.event_dim == 1: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = neg_img + pos_img + return event_volume + + def relabel(self, label_path): + """from apollo to the 18 class (Cityscapes without 'train', cls=16)""" + _temp = np.array(Image.open(label_path)) + for k, v in KITTI2CS.items(): + _temp[_temp == k] = v + return Image.fromarray(_temp.astype(np.uint8)) + + def transform_tr(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=(1024, 2048)), + tr.ColorJitter(), + tr.RandomGaussianBlur(), + tr.RandomMotionBlur(), + tr.RandomHorizontalFlip(), + tr.RandomScaleCrop(base_size=self.args.base_size, crop_size=self.args.crop_size, fill=255), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + def transform_val(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=self.args.crop_size), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + +if __name__ == '__main__': + from dataloaders.utils import decode_segmap + from torch.utils.data import DataLoader + import matplotlib.pyplot as plt + import argparse + + parser = argparse.ArgumentParser() + args = parser.parse_args() + args.base_size = 1024 + args.crop_size = 512 + args.event_dim = 2 + + kitti_train = KITTIRGBEvent(args, split='train') + dataloader = DataLoader(kitti_train, batch_size=2, shuffle=True, num_workers=0) + + for ii, sample in enumerate(dataloader): + for jj in range(sample["image"].size()[0]): + img = sample['image'].numpy() + gt = sample['label'].numpy() + tmp = np.array(gt[jj]).astype(np.uint8) + segmap = decode_segmap(tmp, dataset='kittievent') + img_tmp = np.transpose(img[jj], axes=[1, 2, 0]) + img_tmp *= (0.229, 0.224, 0.225) + img_tmp += (0.485, 0.456, 0.406) + img_tmp *= 255.0 + img_tmp = img_tmp.astype(np.uint8) + plt.figure() + plt.title('display') + plt.subplot(311) + plt.imshow(img_tmp) + plt.subplot(312) + plt.imshow(segmap) + + if ii == 1: + break + + plt.show(block=True) + diff --git a/dataloaders/kitti_txt/colors_prev_train.txt b/dataloaders/kitti_txt/colors_prev_train.txt new file mode 100644 index 0000000..3ca193e --- /dev/null +++ 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import print_function, absolute_import, division +from collections import namedtuple + + +Label = namedtuple('Label', ['name', 'id', 'trainId', 'color']) + + +labels_cityscapes = [ + # name id trainId color + Label('unlabeled' , 0, 255, ( 0, 0, 0)), + Label('ego vehicle' , 1, 255, ( 0, 0, 0)), + Label('rectification border' , 2, 255, ( 0, 0, 0)), + Label('out of roi' , 3, 255, ( 0, 0, 0)), + Label('static' , 4, 255, ( 0, 0, 0)), + Label('dynamic' , 5, 255, (111, 74, 0)), + Label('ground' , 6, 255, ( 81, 0, 81)), + Label('road' , 7, 0, (128, 64,128)), + Label('sidewalk' , 8, 1, (244, 35,232)), + Label('parking' , 9, 255, (250,170,160)), + Label('rail track' , 10, 255, (230,150,140)), + Label('building' , 11, 2, ( 70, 70, 70)), + Label('wall' , 12, 3, (102,102,156)), + Label('fence' , 13, 4, (190,153,153)), + Label('guard rail' , 14, 255, (180,165,180)), + Label('bridge' , 15, 255, (150,100,100)), + Label('tunnel' , 16, 255, (150,120, 90)), + Label('pole' , 17, 5, (153,153,153)), + Label('polegroup' , 18, 255, (153,153,153)), + Label('traffic light' , 19, 6, (250,170, 30)), + Label('traffic sign' , 20, 7, (220,220, 0)), + Label('vegetation' , 21, 8, (107,142, 35)), + Label('terrain' , 22, 9, (152,251,152)), + Label('sky' , 23, 10, ( 70,130,180)), + Label('person' , 24, 11, (220, 20, 60)), + Label('rider' , 25, 12, (255, 0, 0)), + Label('car' , 26, 13, ( 0, 0,142)), + Label('truck' , 27, 14, ( 0, 0, 70)), + Label('bus' , 28, 15, ( 0, 60,100)), + Label('caravan' , 29, 255, ( 0, 0, 90)), + Label('trailer' , 30, 255, ( 0, 0,110)), + Label('train' , 31, 16, ( 0, 80,100)), + Label('motorcycle' , 32, 17, ( 0, 0,230)), + Label('bicycle' , 33, 18, (119, 11, 32)), + Label('license plate' , -1, -1, ( 0, 0,142)), +] + +labels_apolloscape = [ + Label('others', 0, 255, (0, 0, 0)), + Label('rover', 1, 255, (0, 0, 0)), + Label('sky', 17, 0, (0, 0, 0)), + Label('car', 33, 1, (0, 0, 0)), + Label('car_groups', 161, 1, (0, 0, 0)), + Label('motorbicycle', 34, 2, (0, 0, 0)), + Label('motorbicycle_group', 162, 2, (0, 0, 0)), + Label('bicycle', 35, 3, (0, 0, 0)), + Label('bicycle_group', 163, 3, (0, 0, 0)), + Label('person', 36, 4, (0, 0, 0)), + Label('person_group', 164, 4, (0, 0, 0)), + Label('rider', 37, 5, (0, 0, 0)), + Label('rider_group', 165, 5, (0, 0, 0)), + Label('truck', 38, 6, (0, 0, 0)), + Label('truck_group', 166, 6, (0, 0, 0)), + Label('bus', 39, 7, (0, 0, 0)), + Label('bus_group', 167, 7, (0, 0, 0)), + Label('tricycle', 40, 8, (0, 0, 0)), + Label('tricycle_group', 168, 8, (0, 0, 0)), + Label('road', 49, 9, (0, 0, 0)), + Label('siderwalk', 50, 10, (0, 0, 0)), + Label('traffic_cone', 65, 11, (0, 0, 0)), + Label('road_pile', 66, 12, (0, 0, 0)), + Label('fence', 67, 13, (0, 0, 0)), + Label('traffic_light', 81, 14, (0, 0, 0)), + Label('pole', 82, 15, (0, 0, 0)), + Label('traffic_sign', 83, 16, (0, 0, 0)), + Label('wall', 84, 17, (0, 0, 0)), + Label('dustbin', 85, 18, (0, 0, 0)), + Label('billboard', 86, 19, (0, 0, 0)), + Label('building', 97, 20, (0, 0, 0)), + Label('bridge', 98, 255, (0, 0, 0)), + Label('tunnel', 99, 255, (0, 0, 0)), + Label('overpass', 100, 255, (0, 0, 0)), + Label('vegatation', 113, 21, (0, 0, 0)), + Label('unlabeled', 255, 255, (0, 0, 0)) +] + +labels_kitti = [ + # name id trainId color + Label('unlabeled' , 0, 255, ( 0, 0, 0)), + Label('ego vehicle' , 1, 255, ( 0, 0, 0)), + Label('rectification border' , 2, 255, ( 0, 0, 0)), + Label('out of roi' , 3, 255, ( 0, 0, 0)), + Label('static' , 4, 255, ( 0, 0, 0)), + Label('dynamic' , 5, 255, (111, 74, 0)), + Label('ground' , 6, 255, ( 81, 0, 81)), + Label('road' , 7, 0, (128, 64,128)), + Label('sidewalk' , 8, 1, (244, 35,232)), + Label('parking' , 9, 255, (250,170,160)), + Label('rail track' , 10, 255, (230,150,140)), + Label('building' , 11, 2, ( 70, 70, 70)), + Label('wall' , 12, 3, (102,102,156)), + Label('fence' , 13, 4, (190,153,153)), + Label('guard rail' , 14, 255, (180,165,180)), + Label('bridge' , 15, 255, (150,100,100)), + Label('tunnel' , 16, 255, (150,120, 90)), + Label('pole' , 17, 5, (153,153,153)), + Label('polegroup' , 18, 255, (153,153,153)), + Label('traffic light' , 19, 6, (250,170, 30)), + Label('traffic sign' , 20, 7, (220,220, 0)), + Label('vegetation' , 21, 8, (107,142, 35)), + Label('terrain' , 22, 9, (152,251,152)), + Label('sky' , 23, 10, ( 70,130,180)), + Label('person' , 24, 11, (220, 20, 60)), + Label('rider' , 25, 12, (255, 0, 0)), + Label('car' , 26, 13, ( 0, 0,142)), + Label('truck' , 27, 14, ( 0, 0, 70)), + Label('bus' , 28, 15, ( 0, 60,100)), + Label('caravan' , 29, 255, ( 0, 0, 90)), + Label('trailer' , 30, 255, ( 0, 0,110)), + Label('train' , 31, 16, ( 0, 80,100)), + Label('motorcycle' , 32, 17, ( 0, 0,230)), + Label('bicycle' , 33, 18, (119, 11, 32)), + Label('garage' , 34, 2, ( 64,128,128)), + Label('gate' , 35, 4, (190,153,153)), + Label('stop' , 36, 255, (150,120, 90)), + Label('smallpole' , 37, 5, (153,153,153)), + Label('lamp' , 38, 255, (0, 64, 64)), + Label('trash bin' , 39, 255, (0, 128,192)), + Label('vending machine' , 40, 255, (128, 64, 0)), + Label('box' , 41, 255, (64, 64,128)), + Label('unknown construction' , 42, 255, (102, 0, 0)), + Label('unknown vehicle' , 43, 255, ( 51, 0, 51)), + Label('unknown object' , 44, 255, ( 32, 32, 32)), + Label('license plate' , -1, -1, ( 0, 0,142)), +] + + +# apolloscape has no Train(16) class. +APOLLO2CS = [ + [0, 255], + [1, 255], + [17, 10], # no "sky" in APOLLO + [33, 13], + [161, 13], + [34, 17], + [162, 17], + [35, 18], + [163, 18], + [36, 11], + [164, 11], + [37, 12], + [165, 12], + [38, 14], + [166, 14], + [39, 15], + [167, 15], + [40, 255], + [168, 255], + [49, 0], + [50, 1], + [65, 255], + [66, 0], + [67, 4], + [81, 6], + [82, 5], + [83, 7], + [84, 3], + [85, 255], + [86, 255], + [97, 2], + [98, 255], + [99, 255], + [100, 255], + [113, 8], + [255, 255] +] + +# no class 9, 10, 16 +APOLLO16 = [ + [0, 0], + [1, 1], + [2, 2], + [3, 3], + [4, 4], + [5, 5], + [6, 6], + [7, 7], + [8, 8], + [9, 255], + [10, 255], + [11, 9], + [12, 10], + [13, 11], + [14, 12], + [15, 13], + [16, 255], + [17, 14], + [18, 15], + [19, 16] +] + +KITTI2CS = {lb.id: lb.trainId for lb in labels_kitti} +# print(KITTI2CS) \ No newline at end of file diff --git a/dataloaders/merge3.py b/dataloaders/merge3.py new file mode 100644 index 0000000..0d36af6 --- /dev/null +++ b/dataloaders/merge3.py @@ -0,0 +1,180 @@ +import os +import numpy as np +from PIL import Image +from torch.utils import data +from mypath import Path +from torchvision import transforms +from dataloaders import custom_transforms as tr +from dataloaders.mapping import KITTI2CS + + +class Merge3(data.Dataset): + """return dict with img, event, label of Cityscapes""" + NUM_CLASSES = 19 + + def __init__(self, args, root=Path.db_root_dir('merge3'), split="train"): + self.root = root + self.split = split + self.args = args + self.images = {} + self.event = {} + self.labels = {} + self.images_base = os.path.join(self.root[0], 'leftImg8bit', self.split) + self.images[split] = self.recursive_glob(rootdir=self.images_base, suffix='.png') + self.images[split].sort() + + self.event_base = os.path.join(self.root[0], 'event', self.split) + self.event[split] = self.recursive_glob(rootdir=self.event_base, suffix='.npz') + self.event[split].sort() + + self.annotations_base = os.path.join(self.root[0], 'gtFine', self.split) + self.labels[split] = self.recursive_glob(rootdir=self.annotations_base, suffix='labelTrainIds.png') + self.labels[split].sort() + + # --- load KITTI-360 dataset + with open('dataloaders/kitti_txt/colors_{}.txt'.format(split), 'r') as colors_f, \ + open('dataloaders/kitti_txt/events_{}.txt'.format(split), 'r') as events_f, \ + open('dataloaders/kitti_txt/labels_{}.txt'.format(split), 'r') as labels_f: + self.images[split] += [self.root[1] + i for i in colors_f.read().splitlines()] + self.event[split] += [self.root[1] + i for i in events_f.read().splitlines()] + self.labels[split] += [self.root[1] + i for i in labels_f.read().splitlines()] + + # --- load BDD3K dataset + with open('dataloaders/bdd_txt/images_{}.txt'.format(split), 'r') as colors_f, \ + open('dataloaders/bdd_txt/events_{}.txt'.format(split), 'r') as events_f, \ + open('dataloaders/bdd_txt/labels_{}.txt'.format(split), 'r') as labels_f: + self.images[split] += [self.root[2] + i for i in colors_f.read().splitlines()] + self.event[split] += [self.root[2] + i for i in events_f.read().splitlines()] + self.labels[split] += [self.root[2] + i for i in labels_f.read().splitlines()] + + if not self.images[split]: + raise Exception("No RGB images for split=[%s] found in %s" % (split, self.images_base)) + else: + print("Found %d %s RGB images" % (len(self.images[split]), split)) + print("Found %d %s RGB events" % (len(self.event[split]), split)) + print("Found %d %s labels" % (len(self.labels[split]), split)) + self.ignore_index = 255 + + def __len__(self): + return len(self.labels[self.split]) + + def __getitem__(self, index): + sample = dict() + lbl_path = self.labels[self.split][index].rstrip() + if 'KITTI-360_mini' in lbl_path: + sample['label'] = self.relabel(lbl_path) + else: + sample['label'] = Image.open(lbl_path) + + img_path = self.images[self.split][index].rstrip() + sample['image'] = Image.open(img_path).convert('RGB') + + if self.args.event_dim: + event_path = self.event[self.split][index].rstrip() + sample['event'] = self.get_event(event_path) + + # data augment + if self.split == 'train': + return self.transform_tr(sample) + elif self.split == 'val': + return self.transform_val(sample), lbl_path + elif self.split == 'test': + raise NotImplementedError + + def relabel(self, label_path): + """from apollo to the 18 class (Cityscapes without 'train', cls=16)""" + _temp = np.array(Image.open(label_path)) + for k, v in KITTI2CS.items(): + _temp[_temp == k] = v + + return Image.fromarray(_temp.astype(np.uint8)) + + def get_event(self, event_path): + event_volume = np.load(event_path)['data'] + neg_volume = event_volume[:9, ...] + pos_volume = event_volume[9:, ...] + if self.args.event_dim == 18: + event_volume = np.concatenate((neg_volume, pos_volume), axis=0) + elif self.args.event_dim == 2: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = np.concatenate((neg_img, pos_img), axis=0) + elif self.args.event_dim == 1: + neg_img = np.sum(neg_volume, axis=0, keepdims=True) + pos_img = np.sum(pos_volume, axis=0, keepdims=True) + event_volume = neg_img + pos_img + return event_volume + + def recursive_glob(self, rootdir='.', suffix=None): + if isinstance(suffix, str): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for filename in filenames if filename.endswith(suffix)] + elif isinstance(suffix, list): + return [os.path.join(looproot, filename) + for looproot, _, filenames in os.walk(rootdir) + for x in suffix for filename in filenames if filename.startswith(x)] + + def transform_tr(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=(1024, 2048)), + tr.ColorJitter(), + tr.RandomGaussianBlur(), + tr.RandomMotionBlur(), + tr.RandomHorizontalFlip(), + tr.RandomScaleCrop(base_size=self.args.base_size, crop_size=self.args.crop_size, fill=255), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + def transform_val(self, sample): + composed_transforms = transforms.Compose([ + tr.FixedResize(size=self.args.crop_size), + tr.Normalize(mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)), + tr.ToTensor()]) + return composed_transforms(sample) + + +if __name__ == '__main__': + from dataloaders.utils import decode_segmap + from torch.utils.data import DataLoader + import matplotlib.pyplot as plt + import argparse + + parser = argparse.ArgumentParser() + args = parser.parse_args() + args.base_size = 513 + args.crop_size = 513 + args.event_dim = 2 + + cityscapes_train = Merge3(args, split='train') + dataloader = DataLoader(cityscapes_train, batch_size=2, shuffle=True, num_workers=0) + + for ii, sample in enumerate(dataloader): + for jj in range(sample["image"].size()[0]): + img = sample['image'].numpy() + gt = sample['label'].numpy() + event = sample['event'].numpy() + tmp = np.array(gt[jj]).astype(np.uint8) + segmap = decode_segmap(tmp, dataset='cityscapes') + img_tmp = np.transpose(img[jj], axes=[1, 2, 0]) + img_tmp *= (0.229, 0.224, 0.225) + img_tmp += (0.485, 0.456, 0.406) + img_tmp *= 255.0 + img_tmp = img_tmp.astype(np.uint8) + plt.figure() + plt.title('display') + plt.subplot(311) + plt.imshow(img_tmp) + plt.subplot(312) + plt.imshow(segmap) + plt.subplot(313) + event_neg = np.transpose(event[jj], axes=[1, 2, 0]).astype(np.uint8)[...,0] + event_neg = Image.fromarray(event_neg, mode='L') + plt.imshow(event_neg) + + if ii == 1: + break + + plt.show(block=True) + diff --git a/dataloaders/utils.py b/dataloaders/utils.py new file mode 100644 index 0000000..4d45d4a --- /dev/null +++ b/dataloaders/utils.py @@ -0,0 +1,181 @@ +import matplotlib.pyplot as plt +import numpy as np +import torch + +def decode_seg_map_sequence(label_masks, dataset='pascal'): + rgb_masks = [] + for label_mask in label_masks: + rgb_mask = decode_segmap(label_mask, dataset) + rgb_masks.append(rgb_mask) + rgb_masks = torch.from_numpy(np.array(rgb_masks).transpose([0, 3, 1, 2])) # change for val + return rgb_masks + + +def decode_segmap(label_mask, dataset, plot=False): + """Decode segmentation class labels into a color image + Args: + label_mask (np.ndarray): an (M,N) array of integer values denoting + the class label at each spatial location. + plot (bool, optional): whether to show the resulting color image + in a figure. + Returns: + (np.ndarray, optional): the resulting decoded color image. + """ + if dataset == 'pascal' or dataset == 'coco': + n_classes = 21 + label_colours = get_pascal_labels() + elif dataset == 'cityscapes' or dataset == 'dada'or \ + dataset == 'cityscapesevent'or dataset == 'dadaevent' or \ + dataset == 'kittievent' or dataset == 'bdd': + n_classes = 19 + label_colours = get_cityscapes_labels() + elif dataset == 'apolloscapeevent': + n_classes = 16 + label_colours = get_apolloscapeevent_labels() + else: + raise NotImplementedError + + r = label_mask.copy() + g = label_mask.copy() + b = label_mask.copy() + for ll in range(0, n_classes): + r[label_mask == ll] = label_colours[ll, 0] + g[label_mask == ll] = label_colours[ll, 1] + b[label_mask == ll] = label_colours[ll, 2] + rgb = np.zeros((label_mask.shape[0], label_mask.shape[1], 3)) + rgb[:, :, 0] = r / 255.0 + rgb[:, :, 1] = g / 255.0 + rgb[:, :, 2] = b / 255.0 + + rgb[:, :, 0] = r / 255.0 + rgb[:, :, 1] = g / 255.0 + rgb[:, :, 2] = b / 255.0 + if plot: + plt.imshow(rgb) + plt.show() + else: + return rgb + + +def encode_segmap(mask): + """Encode segmentation label images as pascal classes + Args: + mask (np.ndarray): raw segmentation label image of dimension + (M, N, 3), in which the Pascal classes are encoded as colours. + Returns: + (np.ndarray): class map with dimensions (M,N), where the value at + a given location is the integer denoting the class index. + """ + mask = mask.astype(int) + label_mask = np.zeros((mask.shape[0], mask.shape[1]), dtype=np.int16) + for ii, label in enumerate(get_pascal_labels()): + label_mask[np.where(np.all(mask == label, axis=-1))[:2]] = ii + label_mask = label_mask.astype(int) + return label_mask + + +def get_cityscapes_labels(): + return np.array([ + [128, 64, 128], + [244, 35, 232], + [70, 70, 70], + [102, 102, 156], + [190, 153, 153], + [153, 153, 153], + [250, 170, 30], + [220, 220, 0], + [107, 142, 35], + [152, 251, 152], + [0, 130, 180], + [220, 20, 60], + [255, 0, 0], + [0, 0, 142], + [0, 0, 70], + [0, 60, 100], + [0, 80, 100], + [0, 0, 230], + [119, 11, 32]]) + +def get_apolloscapeevent_labels(): + return np.array([ + [128, 64, 128], + [244, 35, 232], + [70, 70, 70], + [102, 102, 156], + [190, 153, 153], + [153, 153, 153], + [250, 170, 30], + [220, 220, 0], + [107, 142, 35], + # [152, 251, 152], + # [0, 130, 180], + [220, 20, 60], + [255, 0, 0], + [0, 0, 142], + [0, 0, 70], + [0, 60, 100], + # [0, 80, 100], # without train cls=16 + [0, 0, 230], + [119, 11, 32]]) + + +def get_pascal_labels(): + """Load the mapping that associates pascal classes with label colors + Returns: + np.ndarray with dimensions (21, 3) + """ + return np.asarray([[0, 0, 0], [128, 0, 0], [0, 128, 0], [128, 128, 0], + [0, 0, 128], [128, 0, 128], [0, 128, 128], [128, 128, 128], + [64, 0, 0], [192, 0, 0], [64, 128, 0], [192, 128, 0], + [64, 0, 128], [192, 0, 128], [64, 128, 128], [192, 128, 128], + [0, 64, 0], [128, 64, 0], [0, 192, 0], [128, 192, 0], + [0, 64, 128]]) + + +def colormap_bdd(n): + cmap=np.zeros([n, 3]).astype(np.uint8) + cmap[0,:] = np.array([128, 64, 128]) + cmap[1,:] = np.array([244, 35, 232]) + cmap[2,:] = np.array([ 70, 70, 70]) + cmap[3,:] = np.array([102, 102, 156]) + cmap[4,:] = np.array([190, 153, 153]) + cmap[5,:] = np.array([153, 153, 153]) + + cmap[6,:] = np.array([250, 170, 30]) + cmap[7,:] = np.array([220, 220, 0]) + cmap[8,:] = np.array([107, 142, 35]) + cmap[9,:] = np.array([152, 251, 152]) + cmap[10,:]= np.array([70, 130, 180]) + + cmap[11,:]= np.array([220, 20, 60]) + cmap[12,:]= np.array([255, 0, 0]) + cmap[13,:]= np.array([0, 0, 142]) + cmap[14,:]= np.array([0, 0, 70]) + cmap[15,:]= np.array([0, 60, 100]) + + cmap[16,:]= np.array([0, 80, 100]) + cmap[17,:]= np.array([0, 0, 230]) + cmap[18,:]= np.array([119, 11, 32]) + cmap[19,:]= np.array([111, 74, 0]) + + return cmap + +class Colorize: + + def __init__(self, n=19): + self.cmap = colormap_bdd(256) + self.cmap[n] = self.cmap[-1] + self.cmap = torch.from_numpy(self.cmap[:n]) + + def __call__(self, gray_image): + size = gray_image.size() + color_images = torch.ByteTensor(size[0], 3, size[1], size[2]).fill_(0) + for i in range(color_images.shape[0]): + for label in range(0, len(self.cmap)): + mask = gray_image[0] == label + + color_images[i][0][mask] = self.cmap[label][0] + color_images[i][1][mask] = self.cmap[label][1] + color_images[i][2][mask] = self.cmap[label][2] + + return color_images diff --git a/dataset/.gitkeep b/dataset/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/eval.py b/eval.py new file mode 100644 index 0000000..3ccd390 --- /dev/null +++ b/eval.py @@ -0,0 +1,209 @@ +import argparse +import os +import numpy as np +from tqdm import tqdm +import time +import torch +from torchvision.transforms import ToPILImage +from PIL import Image +import logging +import datetime +from dataloaders import make_data_loader +from dataloaders.utils import Colorize +from utils.metrics import Evaluator +from models.edcnet import EDCNet +import torch.backends.cudnn as cudnn + + +def write_config(args, log): + log.info('\n----------------- Options ---------------\n') + for k, v in sorted(vars(args).items()): + log.info('{:>25}: {:<30}\n'.format(str(k), str(v))) + log.info('----------------- End -------------------\n') + + +def create_logger(dir): + logger = logging.getLogger("Logger") + log_time = datetime.datetime.now().strftime("%Y%m%d_%H%M%S") + file_path = os.path.join(dir, "eval_{}.log".format(log_time)) + hdlr = logging.FileHandler(file_path) + formatter = logging.Formatter("%(asctime)s %(levelname)s %(message)s") + hdlr.setFormatter(formatter) + hdlr.setLevel(logging.INFO) + logger.addHandler(hdlr) + logger.setLevel(logging.INFO) + return logger + + +class Validator(object): + def __init__(self, args, logger): + self.args = args + self.logger = logger + self.time_train = [] + self.args.evaluate= True + self.args.merge=True + kwargs = {'num_workers':args.workers, 'pin_memory': False} + _, self.val_loader, _, self.num_class = make_data_loader(args, **kwargs) + print('un_classes:'+str(self.num_class)) + self.resize = args.crop_size if args.crop_size else [512, 1024] + self.evaluator = Evaluator(self.num_class, self.logger) + self.model = EDCNet(self.args.rgb_dim, args.event_dim, num_classes=self.num_class, use_bn=True) + if args.cuda: + self.model = torch.nn.DataParallel(self.model, device_ids=self.args.gpu_ids) + self.model = self.model.to(self.args.device) + cudnn.benchmark = True + print('Model loaded successfully!') + assert os.path.exists(args.weight_path), 'weight-path:{} doesn\'t exit!'.format(args.weight_path) + self.new_state_dict = torch.load(os.path.join(args.weight_path), map_location='cuda:0') + self.model = load_my_state_dict(self.model.module, self.new_state_dict['state_dict']) + + def validate(self): + self.model.eval() + self.evaluator.reset() + tbar = tqdm(self.val_loader, desc='\r') + for i, (sample, gt_path) in enumerate(tbar): + target = sample['label'] + image = sample['image'] + event = sample['event'] + if self.args.cuda: + target = target.to(self.args.device) + image = image.to(self.args.device) + event = event.to(self.args.device) + start_time = time.time() + with torch.no_grad(): + output, output_event = self.model(image) + pred = output.data.cpu().numpy() + target = target.cpu().numpy() + pred = np.argmax(pred, axis=1) + self.evaluator.add_batch(target, pred) + if self.args.cuda: + torch.cuda.synchronize() + if i!=0: + fwt = time.time() - start_time + self.time_train.append(fwt) + print("Forward time per img (bath size=%d): %.3f (Mean: %.3f)" % ( + self.args.val_batch_size, fwt / self.args.val_batch_size, + sum(self.time_train) / len(self.time_train) / self.args.val_batch_size)) + time.sleep(0.1) + + pre_colors = Colorize()(torch.max(output, 1)[1].detach().cpu().byte()) + pre_colors_gt = Colorize()(torch.ByteTensor(target)) + checkname = self.args.weight_path.split('/')[-2] + prediction_save_dir = os.path.join(self.args.label_save_path, checkname) + if self.args.label_save: + for j in range(pre_colors.shape[0]): + label_name = os.path.join( + *[prediction_save_dir, gt_path[j].split('gtFine/val/')[1].replace('/','_')]) + if 'dada' in self.args.dataset: + label_name = label_name.replace('.jpg', '.png') + os.makedirs(os.path.dirname(label_name), exist_ok=True) + if 'dada' in self.args.dataset: + leftImg8bit_path = gt_path[j].replace('_labelTrainIds.png', '.jpg') + elif 'cityscape' in self.args.dataset: + leftImg8bit_path = gt_path[j].replace('_gtFine_labelTrainIds.png', '_leftImg8bit.png') + leftImg8bit_path = leftImg8bit_path.replace('/gtFine/', '/leftImg8bit/') + pre_color_image = ToPILImage()(pre_colors[j]) + pre_colors_gt = ToPILImage()(pre_colors_gt[j]) + img_ = Image.open(leftImg8bit_path) + img_ = img_.crop((280, 32, 1304, 544)) # [162, 0, 1422, 600] + img_ = img_.resize((self.resize[1], self.resize[0]), Image.BILINEAR) + event_ = ToPILImage()(event[j].cpu()) + pre_event_ = ToPILImage()(torch.sigmoid(output_event[j]).cpu()) # blur + + if self.args.event_dim: + event_path = leftImg8bit_path.replace('/leftImg8bit/', '/event_image/') + event_path = event_path.replace('.jpg', '_event_image.png') + image_stack(img_, pre_color_image, pre_colors_gt, label_name, event_, pre_event_) + else: + image_stack(Image.open(leftImg8bit_path), pre_color_image, pre_colors_gt, label_name) + Acc = self.evaluator.Pixel_Accuracy() + Acc_class = self.evaluator.Pixel_Accuracy_Class() + mIoU = self.evaluator.Mean_Intersection_over_Union() + FWIoU = self.evaluator.Frequency_Weighted_Intersection_over_Union() + self.logger.info('Validation:') + self.logger.info('[Epoch: %d, numImages: %5d]' % (0, i * self.args.batch_size + target.data.shape[0])) + self.logger.info("Acc:{}, Acc_class:{}, mIoU:{}, fwIoU: {}".format(Acc, Acc_class, mIoU, FWIoU)) + + +def image_stack(org, pred, gt, savepath, event=None, pre_event_=None): + imgs = [org, pred, gt] + if event is not None: + event = event.convert('RGB') + imgs.insert(1, event) + if pre_event_ is not None: + pre_event_ = pre_event_.convert('RGB') + imgs.insert(2, pre_event_) + min_shape = sorted([(np.sum(i.size), i.size) for i in imgs])[0][1] + store_img = np.vstack([np.asarray(i.resize(min_shape)) for i in imgs]) + store_img = Image.fromarray(store_img) + store_img.save(savepath) + + +def load_my_state_dict(model, state_dict): + own_state = model.state_dict() + for name, param in state_dict.items(): + if name not in own_state: + print('{} not in model_state'.format(name)) + continue + else: + own_state[name].copy_(param) + + return model + + +def main(): + parser = argparse.ArgumentParser(description="PyTorch Event validation") + parser.add_argument('--model', type=str, default='EDCNet', + choices=['EDCNet'], help='model name (default: EDCNet)') + parser.add_argument('--rgb-dim', type=int, default=3, + choices=[0, 3], help='whether use rgb as input (default: 3)') + parser.add_argument('--event-dim', type=int, default=1, + choices=[1, 2, 18], help='event volume dimension (default: 2)') + parser.add_argument('--dataset', type=str, default='dadaevent', + choices=['cityscapesevent', 'dadaevent', 'apolloscapeevent', 'bdd', 'kittievent', 'merge3'], + help='dataset name (default: dadaevent)') + parser.add_argument('--workers', type=int, default=2, + metavar='N', help='dataloader threads') + parser.add_argument('--base-size', type=int, default=1024, + help='base image size') + parser.add_argument('--crop-size', type=int, default=(512, 1024), + help='crop image size') + parser.add_argument('--batch-size', type=int, default=1, + help='batch size for training') + parser.add_argument('--val-batch-size', type=int, default=1, + metavar='N', help='input batch size for validating (default: auto)') + parser.add_argument('--test-batch-size', type=int, default=1, + metavar='N', help='input batch size for testing (default: auto)') + parser.add_argument('--gpu-ids', type=str, default='0', + help='use which gpu to train, must be a \ + comma-separated list of integers only (default=0)') + parser.add_argument('--device', type=torch.device, default='cpu', + help='torch device') + parser.add_argument('--checkname', type=str, default=None, + help='set the checkpoint name') + parser.add_argument('--weight-path', type=str, default="./run/cityscapesevent/test_EDCNet_r18/model_best.pth", + help='enter your path of the weight') + parser.add_argument('--label-save', action='store_true', default=False, help='save label') + parser.add_argument('--label-save-path', type=str, default='results/', + help='path to save label') + parser.add_argument('--evaluate', action='store_true', default=False, help='evaluate') + + + args = parser.parse_args() + args.cuda = torch.cuda.is_available() + if args.cuda: + try: + args.gpu_ids = [int(s) for s in args.gpu_ids.split(',')] + args.device = torch.device('cuda', args.gpu_ids[0]) + except ValueError: + raise ValueError('Argument --gpu_ids must be a comma-separated list of integers only') + log_dir = os.path.dirname(args.weight_path) + '/eval_DADA_log' + os.makedirs(log_dir, exist_ok=True) + logger = create_logger(log_dir) + write_config(args, logger) + validator = Validator(args, logger) + validator.validate() + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/models/__init__.py b/models/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/models/edcnet.py b/models/edcnet.py new file mode 100644 index 0000000..d53cf8e --- /dev/null +++ b/models/edcnet.py @@ -0,0 +1,465 @@ +from models.util import _BNReluConv, upsample +import torch +import torch.nn as nn +import torch.utils.model_zoo as model_zoo +from itertools import chain +import torch.utils.checkpoint as cp +from torch.nn.modules.conv import _ConvNd +from torch.nn.modules.utils import _pair +from models.util import _Upsample +import torch.nn.functional as F + +__all__ = ['EDCNet'] + +model_urls = { + 'resnet18': 'https://download.pytorch.org/models/resnet18-5c106cde.pth', +} + + +def conv3x3(in_planes, out_planes, stride=1, dilation=1): + """3x3 convolution with padding""" + return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, + padding=dilation, bias=False, dilation=dilation) + +def conv1x1(in_planes, out_planes, stride=1): + """3x3 convolution with padding""" + return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, + padding=0, bias=False) + +def _bn_function_factory(conv, norm, relu=None): + """return a conv-bn-relu function""" + def bn_function(x): + x = conv(x) + if norm is not None: + x = norm(x) + if relu is not None: + x = relu(x) + return x + + return bn_function + + +def do_efficient_fwd(block, x, efficient): + if efficient and x.requires_grad: + return cp.checkpoint(block, x) + else: + return block(x) + + +def channel_shuffle(x, groups): + batchsize, num_channels, height, width = x.data.size() + channels_per_group = num_channels // groups + + x = x.view(batchsize, groups, + channels_per_group, height, width) + x = torch.transpose(x, 1, 2).contiguous() + x = x.view(batchsize, -1, height, width) + + return x + +class BasicBlock(nn.Module): + expansion = 1 + + def __init__(self, inplanes, planes, stride=1, downsample=None, efficient=False, use_bn=True, dilation=1): + super(BasicBlock, self).__init__() + self.use_bn = use_bn + self.conv1 = conv3x3(inplanes, planes, stride, dilation) + self.bn1 = nn.BatchNorm2d(planes) if self.use_bn else None + self.relu = nn.ReLU(inplace=True) + self.conv2 = conv3x3(planes, planes, dilation=dilation) + self.bn2 = nn.BatchNorm2d(planes) if self.use_bn else None + self.downsample = downsample + self.stride = stride + self.efficient = efficient + + def forward(self, x): + residual = x + bn_1 = _bn_function_factory(self.conv1, self.bn1, self.relu) + bn_2 = _bn_function_factory(self.conv2, self.bn2) + out = do_efficient_fwd(bn_1, x, self.efficient) + out = do_efficient_fwd(bn_2, out, self.efficient) + if self.downsample is not None: + residual = self.downsample(x) + out = out + residual + relu = self.relu(out) + return relu, out + + +class Bottleneck(nn.Module): + expansion = 4 + + def __init__(self, inplanes, planes, stride=1, downsample=None, efficient=True, use_bn=True, dilation=1): + super(Bottleneck, self).__init__() + self.use_bn = use_bn + self.conv1 = conv1x1(inplanes, planes) + self.bn1 = nn.BatchNorm2d(planes) if self.use_bn else None + self.conv2 = conv3x3(planes, planes, stride=stride, dilation=dilation) + self.bn2 = nn.BatchNorm2d(planes) if self.use_bn else None + self.conv3 = conv1x1(planes, planes * self.expansion) + self.bn3 = nn.BatchNorm2d(planes * self.expansion) if self.use_bn else None + self.relu = nn.ReLU(inplace=True) + self.downsample = downsample + self.stride = stride + self.efficient = efficient + + def forward(self, x): + residual = x + + bn_1 = _bn_function_factory(self.conv1, self.bn1, self.relu) + bn_2 = _bn_function_factory(self.conv2, self.bn2, self.relu) + bn_3 = _bn_function_factory(self.conv3, self.bn3, self.relu) + + out = do_efficient_fwd(bn_1, x, self.efficient) + out = do_efficient_fwd(bn_2, out, self.efficient) + out = do_efficient_fwd(bn_3, out, self.efficient) + + if self.downsample is not None: + residual = self.downsample(x) + + out = out + residual + relu = self.relu(out) + + return relu, out + + +class Interpolate(nn.Module): + def __init__(self, size=None, scale_factor=None, mode='bilinear'): + super(Interpolate, self).__init__() + self.interp = nn.functional.interpolate + self.size = size + self.scale_factor = scale_factor + self.mode = mode + + def forward(self, x): + if self.scale_factor: + x = self.interp(x, scale_factor=self.scale_factor, mode=self.mode, align_corners=True) + else: + x = self.interp(x, size=self.size, mode=self.mode, align_corners=True) + return x + + +class GatedSpatialConv2d(_ConvNd): + def __init__(self, in_channels, out_channels, kernel_size=1, stride=1, + padding=0, dilation=1, groups=1, bias=False): + kernel_size = _pair(kernel_size) + stride = _pair(stride) + padding = _pair(padding) + dilation = _pair(dilation) + super(GatedSpatialConv2d, self).__init__( + in_channels, out_channels, kernel_size, stride, padding, dilation, + False, _pair(0), groups, bias, 'zeros') + + self._gate_conv = nn.Sequential( + nn.BatchNorm2d(in_channels + 1), + nn.Conv2d(in_channels + 1, in_channels + 1, 1), + nn.ReLU(), + nn.Conv2d(in_channels + 1, 1, 1), + nn.BatchNorm2d(1), + nn.Sigmoid() + ) + + def forward(self, input_features, gating_features): + """ + :param input_features: [NxCxHxW] featuers comming from the event branch. + :param gating_features: [Nx1xHxW] features comming from the texture branch (resnet). Only one channel feature map. + :return: + """ + alphas = self._gate_conv(torch.cat([input_features, gating_features], dim=1)) + + input_features = (input_features * (alphas + 1)) + return F.conv2d(input_features, self.weight, self.bias, self.stride, + self.padding, self.dilation, self.groups) + + def reset_parameters(self): + nn.init.xavier_normal_(self.weight) + if self.bias is not None: + nn.init.zeros_(self.bias) + +class SPP_Event(nn.Module): + def __init__(self, num_maps_in, num_maps_out, bn_momentum=0.1, event_dim=1): + super(SPP_Event, self).__init__() + self.event_conv=nn.Sequential( + nn.Conv2d(event_dim, num_maps_out, kernel_size=1, bias=False), + nn.ReLU(inplace=True)) + def forward(self, feat, event): + feat_size = feat.size() + event = F.interpolate(event, feat_size[2:], mode='bilinear',align_corners=True) + event = self.event_conv(event) + return event + +class SpatialPyramidPooling_Event(nn.Module): + def __init__(self, num_maps_in, num_levels, bt_size=128, level_size=42, out_size=128, + grids=(8, 4, 2, 1), square_grid=False, bn_momentum=0.1, use_bn=True, event_dim=1): + super(SpatialPyramidPooling_Event, self).__init__() + self.grids = grids + self.square_grid = square_grid + self.spp = nn.Sequential() + self.spp.add_module('spp_bn', + _BNReluConv(num_maps_in, bt_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn)) + self.spp.add_module('spp_event', SPP_Event(bt_size, level_size, bn_momentum=bn_momentum, event_dim=event_dim)) + num_features = bt_size + final_size = num_features + level_size + for i in range(num_levels): + final_size += level_size + self.spp.add_module('spp' + str(i), + _BNReluConv(num_features, level_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn)) + self.spp.add_module('spp_fuse', + _BNReluConv(final_size, out_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn)) + + def forward(self, x, event): + """ + :param x: feature shape (B, 512, H/32, W/32) + :param event: event shape (B, 1, H, W) + :return: + """ + levels = [] + target_size = x.size()[2:4] # Bx512x(H/32)x(W/32) + + ar = target_size[1] / target_size[0] + + x = self.spp[0].forward(x) + levels.append(x) + + x_event = self.spp[1].forward(x, event) + levels.append(x_event) + num = len(self.spp) - 1 + + for i in range(2, num): + if not self.square_grid: + if torch.is_tensor(ar): ar = ar.data.tolist() + grid_size = (self.grids[i - 1], max(1, round(ar * self.grids[i - 1]))) + x_pooled = F.adaptive_avg_pool2d(x, grid_size) + else: + x_pooled = F.adaptive_avg_pool2d(x, self.grids[i - 1]) + level = self.spp[i].forward(x_pooled) + + level = upsample(level, target_size) + levels.append(level) + x = torch.cat(levels, 1) + x = self.spp[-1].forward(x) + return x + +class ResNet(nn.Module): + def __init__(self, rgb_dim, event_dim, block, layers, *, num_features=128, k_up=3, efficient=True, use_bn=True, + spp_grids=(16, 8, 4, 2, 1), spp_square_grid=False, **kwargs): + super(ResNet, self).__init__() + self.inplanes = 64 + self.efficient = efficient + self.use_bn = use_bn + + + self.conv1 = nn.Conv2d(rgb_dim, 64, kernel_size=7, stride=2, padding=3, bias=False) + self.bn1 = nn.BatchNorm2d(64) if self.use_bn else lambda x: x + self.relu = nn.ReLU(inplace=True) + self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1) + + upsamples = [] + self.layer1 = self._make_layer_rgb(block, 64, 64, layers[0], stride=1, dilation=1) + self.gating_1 = self.gating(64, 4) + self.layer1_e = self._make_layer_d(block, 64, 64) + self.gate1 = GatedSpatialConv2d(64, 64) + upsamples += [_Upsample(num_features, self.inplanes, num_features, use_bn=self.use_bn, k=k_up)] # num_maps_in, skip_maps_in, num_maps_out, k: kernel size of blend conv + + self.layer2 = self._make_layer_rgb(block, 64, 128, layers[1], stride=2, dilation=1) + self.gating_2 = self.gating(128, 8) + self.layer2_e = self._make_layer_d(block, 64, 32) + self.gate2 = GatedSpatialConv2d(32, 32) + upsamples += [_Upsample(num_features, self.inplanes, num_features, use_bn=self.use_bn, k=k_up)] + + self.layer3 = self._make_layer_rgb(block, 128, 256, layers[2], stride=2, dilation=2) + self.gating_3 = self.gating(256, 16) + self.layer3_e = self._make_layer_d(block, 32, 16) + self.gate3 = GatedSpatialConv2d(16, 16) + upsamples += [_Upsample(num_features, self.inplanes, num_features, use_bn=self.use_bn, k=k_up)] + + self.layer4 = self._make_layer_rgb(block, 256, 512, layers[3], stride=2, dilation=3) + self.gating_4 = self.gating(512, 32) + self.layer4_e = self._make_layer_d(block, 16, 8) + self.gate4 = GatedSpatialConv2d(8, 8) + + self.time_bins = event_dim + self.fuse = nn.Conv2d(8, self.time_bins, 1, bias=False) + + self.fine_tune = list() + self.fine_tune += [self.conv1, self.maxpool, self.layer1, self.layer2, self.layer3, self.layer4] + self.fine_tune += [self.layer1_e, self.layer2_e, self.layer3_e, self.layer4_e] + self.fine_tune += [self.gating_1, self.gate1, self.gating_2, self.gate2, self.gating_3, self.gate3, self.gating_4, self.gate4, self.fuse] + if self.use_bn: + self.fine_tune += [self.bn1] + + num_levels = 3 + self.spp_size = num_features + bt_size = self.spp_size + level_size = self.spp_size // num_levels + self.spp = SpatialPyramidPooling_Event(self.inplanes, num_levels, bt_size=bt_size, level_size=level_size, + out_size=self.spp_size, grids=spp_grids, square_grid=spp_square_grid, + bn_momentum=0.01 / 2, use_bn=self.use_bn, event_dim=self.time_bins) + + self.upsample = nn.ModuleList(list(reversed(upsamples))) + self.random_init = [self.spp, self.upsample, self.fuse] + self.num_features = num_features + + for m in self.modules(): + if isinstance(m, nn.Conv2d): + nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu') + elif isinstance(m, nn.BatchNorm2d): + nn.init.constant_(m.weight, 1) + nn.init.constant_(m.bias, 0) + + def _make_layer_rgb(self, block, inplanes, planes, blocks, stride=1, dilation=1): #block, 64, 64, 2 + downsample = None + if stride != 1 or inplanes != planes * block.expansion: + layers = [nn.Conv2d(inplanes, planes * block.expansion, kernel_size=1, stride=stride, bias=False)] + if self.use_bn: + layers += [nn.BatchNorm2d(planes * block.expansion)] + downsample = nn.Sequential(*layers) + layers = [block(inplanes, planes, stride, downsample, efficient=self.efficient, use_bn=self.use_bn)] + inplanes = planes * block.expansion + self.inplanes = inplanes + for i in range(1, blocks): + layers += [block(inplanes, planes, efficient=self.efficient, use_bn=self.use_bn)] + + return nn.Sequential(*layers) + + def _make_layer_d(self, block, inplanes, planes, stride=1): + layers = [BasicBlock(inplanes, inplanes, stride=stride, efficient=self.efficient, use_bn=self.use_bn)] + layers += [conv1x1(inplanes, planes)] + return nn.Sequential(*layers) + + def gating(self, num_channels, scale_factor): + """create gate/attention from RGB branch""" + return nn.Sequential( + nn.Conv2d(num_channels, 1, 1, bias=False), + Interpolate(scale_factor=scale_factor) + ) + + def random_init_params(self): + return chain(*[f.parameters() for f in self.random_init]) + + def fine_tune_params(self): + return chain(*[f.parameters() for f in self.fine_tune]) + + def forward_resblock(self, x, layers): + skip = None + for l in layers: + x = l(x) + if isinstance(x, tuple): + x, skip = x + return x, skip + + + def forward_down_fusion(self, rgb): + x = self.conv1(rgb) + x = self.bn1(x) + x = self.relu(x) + x = self.maxpool(x) + y = F.interpolate(x, scale_factor=4) + + features = [] + # block 1 + x, skip_rgb = self.forward_resblock(x, self.layer1) + y, skip_event = self.forward_resblock(y, self.layer1_e) + x_gate = self.gating_1(x) + y = self.gate1(y, x_gate) + features += [skip_rgb] + # block 2 + x, skip_rgb = self.forward_resblock(x, self.layer2) + y, skip_event = self.forward_resblock(y, self.layer2_e) + x_gate = self.gating_2(x) + y = self.gate2(y, x_gate) + features += [skip_rgb] + # block 3 + x, skip_rgb = self.forward_resblock(x, self.layer3) + y, skip_event = self.forward_resblock(y, self.layer3_e) + x_gate = self.gating_3(x) + y = self.gate3(y, x_gate) + features += [skip_rgb] + # block 4 + x, skip_rgb = self.forward_resblock(x, self.layer4) + y, skip_event = self.forward_resblock(y, self.layer4_e) + x_gate = self.gating_4(x) + y = self.gate4(y, x_gate) + y = self.fuse(y) + + features += [self.spp.forward(x, y)] + return features, y + + + def forward_up(self, features, y): + features = features[::-1] + x = features[0] + upsamples = [] + for skip, up in zip(features[1:], self.upsample): + x = up(x, skip) + upsamples += [x] + return x, y + + def forward(self, rgb): + features, y = self.forward_down_fusion(rgb) + return self.forward_up(features, y) + + def _load_resnet_pretrained(self, url): + pretrain_dict = model_zoo.load_url(model_urls[url]) + model_dict = {} + state_dict = self.state_dict() + for k, v in pretrain_dict.items(): + if k in state_dict: + if k.startswith('conv1'): + model_dict[k] = v + model_dict[k.replace('conv1', 'conv1_d')] = torch.mean(v, 1).data. \ + view_as(state_dict[k.replace('conv1', 'conv1_d')]) + + elif k.startswith('bn1'): + model_dict[k] = v + model_dict[k.replace('bn1', 'bn1_d')] = v + elif k.startswith('layer'): + model_dict[k] = v + model_dict[k[:6]+'_d'+k[6:]] = v + state_dict.update(model_dict) + self.load_state_dict(state_dict) + + +def resnet18(rgb_dim=3, event_dim=0, pretrained=True, **kwargs): + model = ResNet(rgb_dim, event_dim, BasicBlock, [2, 2, 2, 2], **kwargs) + if pretrained and rgb_dim: + model.load_state_dict(model_zoo.load_url(model_urls['resnet18']), strict=False) + print('pretrained dict loaded sucessfully') + return model + + +class EDCNet(nn.Module): + def __init__(self, rgb_dim=3, event_dim=0, num_classes=19, use_bn=True): + super(EDCNet, self).__init__() + self.rgb_dim = rgb_dim + self.event_dim = event_dim + self.backbone = resnet18(rgb_dim, event_dim, pretrained=True, efficient=False, use_bn= True) + self.num_classes = num_classes + self.logits = _BNReluConv(self.backbone.num_features, self.num_classes, batch_norm=use_bn) + + def forward(self, rgb_inputs=None, event_inputs = None): + x, event = self.backbone(rgb_inputs) + logits = self.logits.forward(x) + up_shape = rgb_inputs.shape[-2:] if rgb_inputs is not None else event_inputs.shape[-2:] + logits_upsample = upsample(logits, up_shape) + return logits_upsample, event + + + def random_init_params(self): + return chain(*([self.logits.parameters(), self.backbone.random_init_params()])) + + def fine_tune_params(self): + return self.backbone.fine_tune_params() + + +if __name__=='__main__': + inp = torch.rand((1, 3, 256, 512)) + net = EDCNet(3, 18).cuda() + net = torch.nn.DataParallel(net, device_ids=[0]) + import os + from utils.saver import summary + modelfile = os.path.join('model_functionsummary.txt') + with open(modelfile, 'w') as f: + f.write(str(net)) + modelfile = os.path.join('model_torchsummary.txt') + with open(modelfile, 'w') as f: + summary(net, [(3, 256, 512), (18, 256, 512)], f) \ No newline at end of file diff --git a/models/replicate.py b/models/replicate.py new file mode 100644 index 0000000..3734266 --- /dev/null +++ b/models/replicate.py @@ -0,0 +1,88 @@ +# -*- coding: utf-8 -*- +# File : replicate.py +# Author : Jiayuan Mao +# Email : maojiayuan@gmail.com +# Date : 27/01/2018 +# +# This file is part of Synchronized-BatchNorm-PyTorch. +# https://github.com/vacancy/Synchronized-BatchNorm-PyTorch +# Distributed under MIT License. + +import functools + +from torch.nn.parallel.data_parallel import DataParallel + +__all__ = [ + 'CallbackContext', + 'execute_replication_callbacks', + 'DataParallelWithCallback', + 'patch_replication_callback' +] + + +class CallbackContext(object): + pass + + +def execute_replication_callbacks(modules): + """ + Execute an replication callback `__data_parallel_replicate__` on each module created by original replication. + The callback will be invoked with arguments `__data_parallel_replicate__(ctx, copy_id)` + Note that, as all modules are isomorphism, we assign each sub-module with a context + (shared among multiple copies of this module on different devices). + Through this context, different copies can share some information. + We guarantee that the callback on the master copy (the first copy) will be called ahead of calling the callback + of any slave copies. + """ + master_copy = modules[0] + nr_modules = len(list(master_copy.modules())) + ctxs = [CallbackContext() for _ in range(nr_modules)] + + for i, module in enumerate(modules): + for j, m in enumerate(module.modules()): + if hasattr(m, '__data_parallel_replicate__'): + m.__data_parallel_replicate__(ctxs[j], i) + + +class DataParallelWithCallback(DataParallel): + """ + Data Parallel with a replication callback. + An replication callback `__data_parallel_replicate__` of each module will be invoked after being created by + original `replicate` function. + The callback will be invoked with arguments `__data_parallel_replicate__(ctx, copy_id)` + Examples: + > sync_bn = SynchronizedBatchNorm1d(10, eps=1e-5, affine=False) + > sync_bn = DataParallelWithCallback(sync_bn, device_ids=[0, 1]) + # sync_bn.__data_parallel_replicate__ will be invoked. + """ + + def replicate(self, module, device_ids): + modules = super(DataParallelWithCallback, self).replicate(module, device_ids) + execute_replication_callbacks(modules) + return modules + + +def patch_replication_callback(data_parallel): + """ + Monkey-patch an existing `DataParallel` object. Add the replication callback. + Useful when you have customized `DataParallel` implementation. + Examples: + > sync_bn = SynchronizedBatchNorm1d(10, eps=1e-5, affine=False) + > sync_bn = DataParallel(sync_bn, device_ids=[0, 1]) + > patch_replication_callback(sync_bn) + # this is equivalent to + > sync_bn = SynchronizedBatchNorm1d(10, eps=1e-5, affine=False) + > sync_bn = DataParallelWithCallback(sync_bn, device_ids=[0, 1]) + """ + + assert isinstance(data_parallel, DataParallel) + + old_replicate = data_parallel.replicate + + @functools.wraps(old_replicate) + def new_replicate(module, device_ids): + modules = old_replicate(module, device_ids) + execute_replication_callbacks(modules) + return modules + + data_parallel.replicate = new_replicate \ No newline at end of file diff --git a/models/util.py b/models/util.py new file mode 100644 index 0000000..5336c2f --- /dev/null +++ b/models/util.py @@ -0,0 +1,103 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F + +upsample = lambda x, size: F.interpolate(x, size, mode='bilinear', align_corners=True) +batchnorm_momentum = 0.01 / 2 + + +def get_n_params(parameters): + pp = 0 + for p in parameters: + nn = 1 + for s in list(p.size()): + nn = nn * s + pp += nn + return pp + + +class _BNReluConv(nn.Sequential): + # num_maps_out = num_class + def __init__(self, num_maps_in, num_maps_out, k=3, batch_norm=True, bn_momentum=0.1, bias=False, dilation=1): + super(_BNReluConv, self).__init__() + if batch_norm: + self.add_module('norm', nn.BatchNorm2d(num_maps_in, momentum=bn_momentum)) + self.add_module('relu', nn.ReLU(inplace=batch_norm is True)) + padding = k // 2 # same conv + self.add_module('conv', nn.Conv2d(num_maps_in, num_maps_out, + kernel_size=k, padding=padding, bias=bias, dilation=dilation)) + + +class _Upsample(nn.Module): + # up0=(128,256,128), up1=(128,128,128), up2=(128,64,128) + def __init__(self, num_maps_in, skip_maps_in, num_maps_out, use_bn=True, k=3): + super(_Upsample, self).__init__() + print(f'Upsample layer: in = {num_maps_in}, skip = {skip_maps_in}, out = {num_maps_out}') + self.bottleneck = _BNReluConv(skip_maps_in, num_maps_in, k=1, batch_norm=use_bn) # 1x1 conv + self.blend_conv = _BNReluConv(num_maps_in, num_maps_out, k=k, batch_norm=use_bn) + + def forward(self, x, skip): + skip = self.bottleneck.forward(skip) + skip_size = skip.size()[2:4] + x = upsample(x, skip_size) # step 1: low to high resolution by bilinearly + # TODO: SE-like channel-wise spatial attention, but more than 128*128*6=98304 #params + x = x + skip # step 2: ele-wise summed up + x = self.blend_conv.forward(x) # step 3: blend conv 3x3 + return x + + +class SpatialPyramidPooling(nn.Module): + def __init__(self, num_maps_in, num_levels, bt_size=512, level_size=128, out_size=128, + grids=(6, 3, 2, 1), square_grid=False, bn_momentum=0.1, use_bn=True): + super(SpatialPyramidPooling, self).__init__() + self.grids = grids + self.square_grid = square_grid + self.spp = nn.Sequential() + self.spp.add_module('spp_bn', + _BNReluConv(num_maps_in, bt_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn)) + num_features = bt_size # ==128 + final_size = num_features + for i in range(num_levels): # 3 + final_size += level_size + self.spp.add_module('spp' + str(i), + _BNReluConv(num_features, level_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn)) + self.spp.add_module('spp_fuse', + _BNReluConv(final_size, out_size, k=1, bn_momentum=bn_momentum, batch_norm=use_bn)) + + def forward(self, x): + levels = [] + target_size = x.size()[2:4] # Bx512x(H/32)x(W/32) + + ar = target_size[1] / target_size[0] + + x = self.spp[0].forward(x) + levels.append(x) + num = len(self.spp) - 1 + + for i in range(1, num): + if not self.square_grid: + if torch.is_tensor(ar): ar = ar.data.tolist() + grid_size = (self.grids[i - 1], max(1, round(ar * self.grids[i - 1]))) + x_pooled = F.adaptive_avg_pool2d(x, grid_size) + else: + x_pooled = F.adaptive_avg_pool2d(x, self.grids[i - 1]) + level = self.spp[i].forward(x_pooled) + + level = upsample(level, target_size) + levels.append(level) + x = torch.cat(levels, 1) + x = self.spp[-1].forward(x) + return x + + +class _UpsampleBlend(nn.Module): + def __init__(self, num_features, use_bn=True): + super(_UpsampleBlend, self).__init__() + self.blend_conv = _BNReluConv(num_features, num_features, k=3, batch_norm=use_bn) + + def forward(self, x, skip): + skip_size = skip.size()[2:4] + x = upsample(x, skip_size) + x = x + skip + x = self.blend_conv.forward(x) + return x diff --git a/mypath.py b/mypath.py new file mode 100644 index 0000000..9753d5c --- /dev/null +++ b/mypath.py @@ -0,0 +1,24 @@ +""" +Root path +""" + +class Path(object): + @staticmethod + def db_root_dir(dataset): + if dataset == 'cityscapesevent': + return 'dataset/Cityscapes' + elif dataset == 'dadaevent': + return 'dataset/DADA_seg' + elif dataset == 'apolloscapeevent': + return 'dataset/seg_mini' + elif dataset == 'kittievent': + return 'dataset/KITTI-360_mini/' + elif dataset == 'bdd': + return 'dataset/seg_event/' + elif dataset == 'merge3': + return ['dataset/Cityscapes', + 'dataset/KITTI-360_mini/', + 'dataset/seg_event/'] + else: + print('Dataset {} not available.'.format(dataset)) + raise NotImplementedError diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..18bd720 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,11 @@ +opencv-python==4.2.0.32 +tqdm==4.36.1 +h5py==2.10.0 +matplotlib==3.1.2 +numpy==1.17.4 +tensorboardX==1.9 +torch==1.3.1 +torchvision==0.4.2 +pillow==7.1.1 +scipy==1.4.1 +tensorboard==1.14 \ No newline at end of file diff --git a/train.py b/train.py new file mode 100644 index 0000000..06956b6 --- /dev/null +++ b/train.py @@ -0,0 +1,283 @@ +""" +train EDCNet +""" +import argparse +import os +import numpy as np +from tqdm import tqdm +import torch +from mypath import Path +from dataloaders import make_data_loader +from models.edcnet import EDCNet +from utils.loss import SegmentationLosses +from models.replicate import patch_replication_callback +from utils.calculate_weights import calculate_weigths_labels +from utils.lr_scheduler import LR_Scheduler +from utils.saver import Saver +from utils.summaries import TensorboardSummary +from utils.metrics import Evaluator + + +class Trainer(object): + def __init__(self, args): + self.args = args + self.saver = Saver(args) + self.saver.save_experiment_config() + self.summary = TensorboardSummary(self.saver.experiment_dir) + self.writer = self.summary.create_summary() + self.logger = self.saver.create_logger() + + kwargs = {'num_workers': args.workers, 'pin_memory': False} + self.train_loader, self.val_loader, self.test_loader, self.nclass = make_data_loader(args, **kwargs) + self.model = EDCNet(args.rgb_dim, args.event_dim, num_classes=self.nclass, use_bn=True) + train_params = [{'params': self.model.random_init_params(), + 'lr': 10*args.lr, 'weight_decay': 10*args.weight_decay}, + {'params': self.model.fine_tune_params(), + 'lr': args.lr, 'weight_decay': args.weight_decay}] + self.optimizer = torch.optim.Adam(train_params, lr=args.lr, weight_decay=args.weight_decay) + if args.cuda: + self.model = torch.nn.DataParallel(self.model, device_ids=self.args.gpu_ids) + patch_replication_callback(self.model) + self.model = self.model.to(self.args.device) + if args.use_balanced_weights: + root_dir = Path.db_root_dir(args.dataset)[0] if isinstance(Path.db_root_dir(args.dataset), list) else Path.db_root_dir(args.dataset) + classes_weights_path = os.path.join(root_dir, + args.dataset + '_classes_weights.npy') + if os.path.isfile(classes_weights_path): + weight = np.load(classes_weights_path) + else: + weight = calculate_weigths_labels(args.dataset, self.train_loader, self.nclass, classes_weights_path) + weight = torch.from_numpy(weight.astype(np.float32)) + else: + weight = None + + self.criterion = SegmentationLosses(weight=weight, cuda=args.cuda).build_loss(mode=args.loss_type) + self.criterion_event = SegmentationLosses(weight=weight, cuda=args.cuda).build_loss(mode='event') + self.scheduler = LR_Scheduler(args.lr_scheduler, args.lr, args.epochs, len(self.train_loader), warmup_epochs=5) + + self.evaluator = Evaluator(self.nclass, self.logger) + self.saver.save_model_summary(self.model) + self.best_pred = 0.0 + if args.resume is not None: + if not os.path.isfile(args.resume): + raise RuntimeError("=> no checkpoint found at '{}'".format(args.resume)) + checkpoint = torch.load(args.resume, map_location='cuda:0') + args.start_epoch = checkpoint['epoch'] + if args.cuda: + self.model.module.load_state_dict(checkpoint['state_dict']) + else: + self.model.load_state_dict(checkpoint['state_dict']) + if not args.ft: + self.optimizer.load_state_dict(checkpoint['optimizer']) + self.best_pred = checkpoint['best_pred'] + print("=> loaded checkpoint '{}' (epoch {})".format(args.resume, checkpoint['epoch'])) + + if args.ft: + args.start_epoch = 0 + + def training(self, epoch): + train_loss = 0.0 + self.model.train() + tbar = tqdm(self.train_loader) + num_img_tr = len(self.train_loader) + for i, sample in enumerate(tbar): + target = sample['label'] + image = sample['image'] + event = sample['event'] + if self.args.cuda: + target = target.to(self.args.device) + image = image.to(self.args.device) + event = event.to(self.args.device) + self.scheduler(self.optimizer, i, epoch, self.best_pred) + self.optimizer.zero_grad() + output, output_event = self.model(image) + loss = self.criterion(output, target) + loss_event = self.criterion_event(output_event, event) + loss += (loss_event * 0.1) + loss.backward() + self.optimizer.step() + + train_loss += loss.item() + tbar.set_description('Train loss: %.3f' % (train_loss / (i + 1))) + self.writer.add_scalar('train/total_loss_iter', loss.item(), i + num_img_tr * epoch) + + self.writer.add_scalar('train/total_loss_epoch', train_loss/num_img_tr, epoch) + self.logger.info('[Epoch: %d, numImages: %5d]' % (epoch, i * self.args.batch_size + target.data.shape[0])) + self.logger.info('Loss: %.3f' % (train_loss/num_img_tr)) + + if self.args.no_val: + is_best = False + self.saver.save_checkpoint({ + 'epoch': epoch + 1, + 'state_dict': self.model.module.state_dict(), + 'optimizer': self.optimizer.state_dict(), + 'best_pred': self.best_pred, + }, is_best) + + def validation(self, epoch): + self.model.eval() + self.evaluator.reset() + tbar = tqdm(self.val_loader, desc='\r') + test_loss = 0.0 + num_img_val = len(self.val_loader) + for i, (sample, _) in enumerate(tbar): + target = sample['label'] + image = sample['image'] + event = sample['event'] + if self.args.cuda: + target = target.to(self.args.device) + image = image.to(self.args.device) + event = event.to(self.args.device) + with torch.no_grad(): + output, output_event = self.model(image) + loss = self.criterion(output, target) + loss_event = self.criterion_event(output_event, event) + loss += (loss_event * 20) + test_loss += loss.item() + tbar.set_description('Test loss: %.3f' % (test_loss / (i + 1))) + pred = output.data.cpu().numpy() + target = target.cpu().numpy() + pred = np.argmax(pred, axis=1) + self.evaluator.add_batch(target, pred) + + Acc = self.evaluator.Pixel_Accuracy() + Acc_class = self.evaluator.Pixel_Accuracy_Class() + mIoU = self.evaluator.Mean_Intersection_over_Union() + FWIoU = self.evaluator.Frequency_Weighted_Intersection_over_Union() + self.writer.add_scalar('val/total_loss_epoch', test_loss/len(self.val_loader), epoch) + self.writer.add_scalar('val/mIoU', mIoU, epoch) + self.writer.add_scalar('val/Acc', Acc, epoch) + self.writer.add_scalar('val/Acc_class', Acc_class, epoch) + self.writer.add_scalar('val/fwIoU', FWIoU, epoch) + self.logger.info('Validation:') + self.logger.info('[Epoch: %d, numImages: %5d]' % (epoch, i * self.args.batch_size + target.data.shape[0])) + self.logger.info("Acc:{}, Acc_class:{}, mIoU:{}, fwIoU: {}".format(Acc, Acc_class, mIoU, FWIoU)) + self.logger.info('Loss: %.3f' % (test_loss/num_img_val)) + + new_pred = mIoU + if new_pred > self.best_pred: + is_best = True + self.best_pred = new_pred + self.saver.save_checkpoint({ + 'epoch': epoch + 1, + 'state_dict': self.model.module.state_dict(), + 'optimizer': self.optimizer.state_dict(), + 'best_pred': self.best_pred, + }, is_best) + + +def main(): + parser = argparse.ArgumentParser(description="PyTorch Event Training") + parser.add_argument('--model', type=str, default='EDCNet', + choices=['EDCNet'], help='model name (default: EDCNet)') + parser.add_argument('--rgb-dim', type=int, default=3, + choices=[0, 3], help='whether use rgb as input (default: 3)') + parser.add_argument('--event-dim', type=int, default=2, + choices=[1, 2, 18], help='event volume dimension (default: 2)') + parser.add_argument('--dataset', type=str, default='cityscapesevent', + choices=['cityscapesevent', 'dadaevent', 'apolloscapeevent', 'bdd', 'kittievent', 'merge3'], + help='dataset name (default: cityscapesevent)') + parser.add_argument('--use-sbd', action='store_true', default=True, + help='whether to use SBD dataset when pascal (default: True)') + parser.add_argument('--workers', type=int, default=4, + metavar='N', help='dataloader threads') + parser.add_argument('--base-size', type=int, default=1024, + help='base image size') + parser.add_argument('--crop-size', type=int, default=(512, 1024), + help='crop image size') + parser.add_argument('--loss-type', type=str, default='focal', + choices=['ce', 'focal', 'ohem'], + help='loss func type (default: ce)') + # training hyper params + parser.add_argument('--epochs', type=int, default=200, metavar='N', + help='number of epochs to train (default: auto)') + parser.add_argument('--start_epoch', type=int, default=0, + metavar='N', help='start epochs (default:0)') + parser.add_argument('--batch-size', type=int, default=4, + metavar='N', help='input batch size for training (default: auto)') + parser.add_argument('--val-batch-size', type=int, default=2, + metavar='N', help='input batch size for testing (default: auto)') + parser.add_argument('--test-batch-size', type=int, default=1, + metavar='N', help='input batch size for testing (default: auto)') + parser.add_argument('--use-balanced-weights', action='store_true', default=True, + help='whether to use balanced weights (default: True)') + # optimizer params + parser.add_argument('--lr', type=float, default=1e-4, metavar='LR', + help='learning rate (default: auto)') + parser.add_argument('--lr-scheduler', type=str, default='cos', + choices=['poly', 'step', 'cos'], + help='lr scheduler mode: (default: cos)') + parser.add_argument('--momentum', type=float, default=0.9, + metavar='M', help='momentum (default: 0.9)') + parser.add_argument('--weight-decay', type=float, default=2.5e-5, + metavar='M', help='w-decay (default: 5e-4)') + # cuda, seed and logging + parser.add_argument('--gpu-ids', type=str, default='0,1', + help='must be a comma-separated list of integers only (default=0)') + parser.add_argument('--device', type=torch.device, default='cpu', + help='torch device') + parser.add_argument('--seed', type=int, default=1, metavar='S', + help='random seed (default: 1)') + # checking point + parser.add_argument('--resume', type=str, default=None, + help='put the path to resuming file if needed') + parser.add_argument('--checkname', type=str, default='test_EDCNet_r18', + help='set the checkpoint name, folder to store output') + # finetuning pre-trained models + parser.add_argument('--ft', action='store_true', default=False, + help='finetuning on a different dataset') + # evaluation option + parser.add_argument('--eval-interval', type=int, default=2, + help='evaluuation interval (default: 1)') + parser.add_argument('--no-val', action='store_true', default=False, + help='skip validation during training') + + args = parser.parse_args() + args.cuda = torch.cuda.is_available() + if args.cuda: + try: + args.gpu_ids = [int(s) for s in args.gpu_ids.split(',')] + args.device = torch.device('cuda', args.gpu_ids[0]) + except ValueError: + raise ValueError('Argument --gpu_ids must be a comma-separated list of integers only') + + if args.epochs is None: + epoches = { + 'cityscapesevent': 200, + 'dadaevent': 200, + 'apolloscapeevent': 100 + } + args.epochs = epoches[args.dataset.lower()] + + if args.batch_size is None: + args.batch_size = 2 * len(args.gpu_ids) + + if args.test_batch_size is None: + args.test_batch_size = args.batch_size + + if args.lr is None: + lrs = { + 'cityscapesevent': 0.0001, + 'dadaevent': 0.0001, + 'apolloscapeevent': 0.0001 + } + args.lr = lrs[args.dataset.lower()] / (4 * len(args.gpu_ids)) * args.batch_size + + if args.checkname is None: + args.checkname = 'EDCNet' + + print(args) + torch.manual_seed(args.seed) + trainer = Trainer(args) + print('Starting Epoch:', trainer.args.start_epoch) + print('Total Epoches:', trainer.args.epochs) + for epoch in range(trainer.args.start_epoch, trainer.args.epochs): + trainer.training(epoch) + if not trainer.args.no_val and epoch % args.eval_interval == (args.eval_interval - 1): + trainer.validation(epoch) + + trainer.writer.close() + + +if __name__ == "__main__": + main() diff --git a/utils/__init__.py b/utils/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/utils/calculate_weights.py b/utils/calculate_weights.py new file mode 100644 index 0000000..ae86386 --- /dev/null +++ b/utils/calculate_weights.py @@ -0,0 +1,61 @@ +import os +from tqdm import tqdm +import numpy as np +from mypath import Path + +''' +weights of cityscapes +[ 3.5724095 , 13.22700867, 4.40570363, 36.22547981, 32.7002075 , +28.2670433 , 45.26888958, 38.04701802, 5.5232027 , 31.79240815, +19.00008406, 25.89065425, 45.75516109, 9.08402964, 44.30799668, +42.57939575, 42.37072459, 47.32382175, 39.76718432] +''' +def calculate_weigths_labels(dataset, dataloader, num_classes, classes_weights_path=None): + # Create an instance from the data loader + z = np.zeros((num_classes,)) + # Initialize tqdm + tqdm_batch = tqdm(dataloader) + print('Calculating classes weights') + for sample in tqdm_batch: + y = sample['label'] + y = y.detach().cpu().numpy() + mask = (y >= 0) & (y < num_classes) + labels = y[mask].astype(np.uint8) + count_l = np.bincount(labels, minlength=num_classes) + z += count_l + tqdm_batch.close() + total_frequency = np.sum(z) + class_weights = [] + for frequency in z: + class_weight = 1 / (np.log(1.02 + (frequency / total_frequency))) + class_weights.append(class_weight) + ret = np.array(class_weights) + # --- class weights + if not classes_weights_path: + classes_weights_path = os.path.join(Path.db_root_dir(dataset), dataset+'_classes_weights.npy') + np.save(classes_weights_path, ret) + + return ret + +def get_erf_weight(): + weight_erf = np.ones(19) + weight_erf[0] = 2.8149201869965 + weight_erf[1] = 6.9850029945374 + weight_erf[2] = 3.7890393733978 + weight_erf[3] = 9.9428062438965 + weight_erf[4] = 9.7702074050903 + weight_erf[5] = 9.5110931396484 + weight_erf[6] = 10.311357498169 + weight_erf[7] = 10.026463508606 + weight_erf[8] = 4.6323022842407 + weight_erf[9] = 9.5608062744141 + weight_erf[10] = 7.8698215484619 + weight_erf[11] = 9.5168733596802 + weight_erf[12] = 10.373730659485 + weight_erf[13] = 6.6616044044495 + weight_erf[14] = 10.260489463806 + weight_erf[15] = 10.287888526917 + weight_erf[16] = 10.289801597595 + weight_erf[17] = 10.405355453491 + weight_erf[18] = 10.138095855713 + return weight_erf \ No newline at end of file diff --git a/utils/loss.py b/utils/loss.py new file mode 100644 index 0000000..3d700d7 --- /dev/null +++ b/utils/loss.py @@ -0,0 +1,121 @@ +import torch +import torch.nn as nn +from torch.nn.modules.loss import _Loss, _WeightedLoss +class SegmentationLosses(object): + def __init__(self, weight=None, size_average=True, batch_average=True, ignore_index=255, cuda=False): # ignore_index=255 + self.ignore_index = ignore_index + self.weight = weight + self.size_average = size_average + self.batch_average = batch_average + self.cuda = cuda + + def build_loss(self, mode='ce'): + """Choices: ['ce' or 'focal']""" + if mode == 'ce': + return self.CrossEntropyLoss + elif mode == 'focal': + return self.FocalLoss + elif mode == 'event': + return self.BinaryCrossEntropyLoss + elif mode == 'ohem': + return self.OHEMCELoss + else: + raise NotImplementedError + + def CrossEntropyLoss(self, logit, target): + n, c, h, w = logit.size() + criterion = nn.CrossEntropyLoss(weight=self.weight, ignore_index=self.ignore_index) + if self.cuda: + criterion = criterion.to(torch.device('cuda', target.get_device())) + + loss = criterion(logit, target.long()) + + if self.batch_average: + loss /= n + + return loss + + def FocalLoss(self, logit, target, gamma=2, alpha=0.5): + n, c, h, w = logit.size() + criterion = nn.CrossEntropyLoss(weight=self.weight, ignore_index=self.ignore_index) + if self.cuda: + criterion = criterion.to(torch.device('cuda', target.get_device())) + + logpt = -criterion(logit, target.long()) + pt = torch.exp(logpt) + if alpha is not None: + logpt *= alpha + loss = -((1 - pt) ** gamma) * logpt + + if self.batch_average: + loss /= n + + return loss + + def OHEMCELoss(self, logit, target, thresh=0.7): + #target = target.long() + n_min = target[target != 255].numel() // 16 + thresh = -torch.log(torch.tensor(thresh, requires_grad=False, dtype=torch.float)).cuda() + criterion = nn.CrossEntropyLoss(ignore_index=self.ignore_index, reduction='none') + loss = criterion(logit, target.long()).view(-1) + loss_hard = loss[loss > thresh] + if loss_hard.numel() < n_min: + loss_hard, _ = loss.topk(n_min) + return torch.mean(loss_hard) + + def BinaryCrossEntropyLoss(self, logit, target): + """event binary""" + n, c, h, w = logit.size() + # criterion = nn.BCELoss() + criterion = nn.BCEWithLogitsLoss() # = sigmoid and BCELoss + if self.cuda: + criterion = criterion.to(torch.device('cuda', target.get_device())) + loss = criterion(logit, target) + if self.batch_average: + loss /= n + #print(logit.shape, target.shape, loss.shape) + return loss + +# class CrossEntropyLoss2d(torch.nn.Module): +# +# def __init__(self, weight=None): +# super().__init__() +# +# self.loss = torch.nn.NLLLoss2d(weight) +# +# def forward(self, outputs, targets): +# return self.loss(torch.nn.functional.log_softmax(outputs, dim=1), targets.long()) + +class CrossEntropyLoss2d(_WeightedLoss): + """ + Standard pytorch weighted nn.CrossEntropyLoss + """ + + def __init__(self, weight=None, cuda=False, ignore_index=255): + super(CrossEntropyLoss2d, self).__init__() + self.ignore_index = ignore_index + self.weight = weight + self.cuda = cuda + def forward(self, output, target): + """ + Forward pass + :param output: torch.tensor (NxC) + :param target: torch.tensor (N) + :return: scalar + """ + self.nll_loss = nn.CrossEntropyLoss(weight=self.weight,ignore_index=self.ignore_index,reduction='mean') + if self.cuda: + self.nll_loss = self.nll_loss.cuda() + return self.nll_loss(output, target.long()) + +if __name__ == "__main__": + loss = SegmentationLosses(cuda=True) + a = torch.rand(1, 3, 7, 7).cuda() + b = torch.rand(1, 7, 7).cuda() + print(loss.CrossEntropyLoss(a, b).item()) + print(loss.FocalLoss(a, b, gamma=0, alpha=None).item()) + print(loss.FocalLoss(a, b, gamma=2, alpha=0.5).item()) + + + + diff --git a/utils/lr_scheduler.py b/utils/lr_scheduler.py new file mode 100644 index 0000000..97995c9 --- /dev/null +++ b/utils/lr_scheduler.py @@ -0,0 +1,70 @@ +##+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +## Created by: Hang Zhang +## ECE Department, Rutgers University +## Email: zhang.hang@rutgers.edu +## Copyright (c) 2017 +## +## This source code is licensed under the MIT-style license found in the +## LICENSE file in the root directory of this source tree +##+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + +import math + +class LR_Scheduler(object): + """Learning Rate Scheduler + + Step mode: ``lr = baselr * 0.1 ^ {floor(epoch-1 / lr_step)}`` + + Cosine mode: ``lr = baselr * 0.5 * (1 + cos(iter/maxiter))`` + + Poly mode: ``lr = baselr * (1 - iter/maxiter) ^ 0.9`` + + Args: + args: + :attr:`args.lr_scheduler` lr scheduler mode (`cos`, `poly`), + :attr:`args.lr` base learning rate, :attr:`args.epochs` number of epochs, + :attr:`args.lr_step` + + iters_per_epoch: number of iterations per epoch + """ + def __init__(self, mode, base_lr, num_epochs, iters_per_epoch=0, + lr_step=0, warmup_epochs=0): + self.mode = mode + print('Using {} LR Scheduler!'.format(self.mode)) + self.lr = base_lr + if mode == 'step': + assert lr_step + self.lr_step = lr_step + self.iters_per_epoch = iters_per_epoch + self.N = num_epochs * iters_per_epoch + self.epoch = -1 + self.warmup_iters = warmup_epochs * iters_per_epoch + + def __call__(self, optimizer, i, epoch, best_pred): + T = epoch * self.iters_per_epoch + i + if self.mode == 'cos': + lr = 0.5 * self.lr * (1 + math.cos(1.0 * T / self.N * math.pi)) + elif self.mode == 'poly': + lr = self.lr * pow((1 - 1.0 * T / self.N), 0.9) + elif self.mode == 'step': + lr = self.lr * (0.1 ** (epoch // self.lr_step)) + else: + raise NotImplemented + # warm up lr schedule + if self.warmup_iters > 0 and T < self.warmup_iters: + lr = lr * 1.0 * T / self.warmup_iters if T/self.warmup_iters else 0.000001 + if epoch > self.epoch: + print('\n=>Epoches %i, learning rate = %.8f, \ + previous best = %.4f' % (epoch, lr, best_pred)) + self.epoch = epoch + assert lr >= 0 + self._adjust_learning_rate(optimizer, lr) + + def _adjust_learning_rate(self, optimizer, lr): + if len(optimizer.param_groups) == 1: + optimizer.param_groups[0]['lr'] = lr * 4 + else: + # enlarge the lr at the head + optimizer.param_groups[0]['lr'] = lr * 4 + for i in range(1, len(optimizer.param_groups)): + optimizer.param_groups[i]['lr'] = lr diff --git a/utils/metrics.py b/utils/metrics.py new file mode 100644 index 0000000..274258f --- /dev/null +++ b/utils/metrics.py @@ -0,0 +1,152 @@ +import numpy as np + + +class Evaluator(object): + def __init__(self, num_class, log=None): + self.logger = log + self.num_class = num_class + self.confusion_matrix = np.zeros((self.num_class,)*2) # shape:(num_class, num_class) + + def Pixel_Accuracy(self): + Acc = np.diag(self.confusion_matrix).sum() / self.confusion_matrix.sum() + return Acc + + def Pixel_Accuracy_Class(self): + Acc = np.diag(self.confusion_matrix) / self.confusion_matrix.sum(axis=1) + self.logger.info('-----------Acc of each classes-----------') + self.logger.info("road : %.6f" % (Acc[0] * 100.0)) + self.logger.info("sidewalk : %.6f" % (Acc[1] * 100.0)) + self.logger.info("building : %.6f" % (Acc[2] * 100.0)) + self.logger.info("wall : %.6f" % (Acc[3] * 100.0)) + self.logger.info("fence : %.6f" % (Acc[4] * 100.0)) + self.logger.info("pole : %.6f" % (Acc[5] * 100.0)) + self.logger.info("traffic light: %.6f" % (Acc[6] * 100.0)) + self.logger.info("traffic sign : %.6f" % (Acc[7] * 100.0)) + self.logger.info("vegetation : %.6f" % (Acc[8] * 100.0)) + if self.num_class == 19: + self.logger.info("terrain : %.6f" % (Acc[9] * 100.0)) + self.logger.info("sky : %.6f" % (Acc[10] * 100.0)) + self.logger.info("person : %.6f" % (Acc[11] * 100.0)) + self.logger.info("rider : %.6f" % (Acc[12] * 100.0)) + self.logger.info("car : %.6f" % (Acc[13] * 100.0)) + self.logger.info("truck : %.6f" % (Acc[14] * 100.0)) + self.logger.info("bus : %.6f" % (Acc[15] * 100.0)) + self.logger.info("train : %.6f" % (Acc[16] * 100.0)) + self.logger.info("motorcycle : %.6f" % (Acc[17] * 100.0)) + self.logger.info("bicycle : %.6f" % (Acc[18] * 100.0)) + elif self.num_class == 16: + # self.logger.info("terrain : %.6f" % (Acc[9] * 100.0)) + # self.logger.info("sky : %.6f" % (Acc[10] * 100.0)) + self.logger.info("person : %.6f" % (Acc[9] * 100.0)) + self.logger.info("rider : %.6f" % (Acc[10] * 100.0)) + self.logger.info("car : %.6f" % (Acc[11] * 100.0)) + self.logger.info("truck : %.6f" % (Acc[12] * 100.0)) + self.logger.info("bus : %.6f" % (Acc[13] * 100.0)) + # self.logger.info("train : %.6f" % (Acc[16] * 100.0)) + self.logger.info("motorcycle : %.6f" % (Acc[14] * 100.0)) + self.logger.info("bicycle : %.6f" % (Acc[15] * 100.0)) + + Acc = np.nanmean(Acc) + return Acc + + def Mean_Intersection_over_Union(self): + MIoU = np.diag(self.confusion_matrix) / ( + np.sum(self.confusion_matrix, axis=1) + np.sum(self.confusion_matrix, axis=0) - + np.diag(self.confusion_matrix)) + + # print MIoU of each class + self.logger.info('-----------IoU of each classes-----------') + self.logger.info("road : %.6f" % (MIoU[0] * 100.0)) + self.logger.info("sidewalk : %.6f" % (MIoU[1] * 100.0)) + self.logger.info("building : %.6f" % (MIoU[2] * 100.0)) + self.logger.info("wall : %.6f" % (MIoU[3] * 100.0)) + self.logger.info("fence : %.6f" % (MIoU[4] * 100.0)) + self.logger.info("pole : %.6f" % (MIoU[5] * 100.0)) + self.logger.info("traffic light: %.6f" % (MIoU[6] * 100.0)) + self.logger.info("traffic sign : %.6f" % (MIoU[7] * 100.0)) + self.logger.info("vegetation : %.6f" % (MIoU[8] * 100.0)) + if self.num_class == 19: + self.logger.info("terrain : %.6f" % (MIoU[9] * 100.0)) + self.logger.info("sky : %.6f" % (MIoU[10] * 100.0)) + self.logger.info("person : %.6f" % (MIoU[11] * 100.0)) + self.logger.info("rider : %.6f" % (MIoU[12] * 100.0)) + self.logger.info("car : %.6f" % (MIoU[13] * 100.0)) + self.logger.info("truck : %.6f" % (MIoU[14] * 100.0)) + self.logger.info("bus : %.6f" % (MIoU[15] * 100.0)) + self.logger.info("train : %.6f" % (MIoU[16] * 100.0)) + self.logger.info("motorcycle : %.6f" % (MIoU[17] * 100.0)) + self.logger.info("bicycle : %.6f" % (MIoU[18] * 100.0)) + elif self.num_class == 16: + # self.logger.info("terrain : %.6f" % (MIoU[9] * 100.0)) + # self.logger.info("sky : %.6f" % (MIoU[10] * 100.0)) + self.logger.info("person : %.6f" % (MIoU[9] * 100.0)) + self.logger.info("rider : %.6f" % (MIoU[10] * 100.0)) + self.logger.info("car : %.6f" % (MIoU[11] * 100.0)) + self.logger.info("truck : %.6f" % (MIoU[12] * 100.0)) + self.logger.info("bus : %.6f" % (MIoU[13] * 100.0)) + # self.logger.info("train : %.6f" % (MIoU[16] * 100.0)) + self.logger.info("motorcycle : %.6f" % (MIoU[14] * 100.0)) + self.logger.info("bicycle : %.6f" % (MIoU[15] * 100.0)) + + MIoU = np.nanmean(MIoU) + return MIoU + + def Frequency_Weighted_Intersection_over_Union(self): + freq = np.sum(self.confusion_matrix, axis=1) / np.sum(self.confusion_matrix) + iu = np.diag(self.confusion_matrix) / ( + np.sum(self.confusion_matrix, axis=1) + np.sum(self.confusion_matrix, axis=0) - + np.diag(self.confusion_matrix)) + + # print frequence of each class + self.logger.info('-----------Freq of each classes-----------') + self.logger.info("road : %.6f" % (freq[0] * 100.0)) + self.logger.info("sidewalk : %.6f" % (freq[1] * 100.0)) + self.logger.info("building : %.6f" % (freq[2] * 100.0)) + self.logger.info("wall : %.6f" % (freq[3] * 100.0)) + self.logger.info("fence : %.6f" % (freq[4] * 100.0)) + self.logger.info("pole : %.6f" % (freq[5] * 100.0)) + self.logger.info("traffic light: %.6f" % (freq[6] * 100.0)) + self.logger.info("traffic sign : %.6f" % (freq[7] * 100.0)) + self.logger.info("vegetation : %.6f" % (freq[8] * 100.0)) + if self.num_class == 19: + self.logger.info("terrain : %.6f" % (freq[9] * 100.0)) + self.logger.info("sky : %.6f" % (freq[10] * 100.0)) + self.logger.info("person : %.6f" % (freq[11] * 100.0)) + self.logger.info("rider : %.6f" % (freq[12] * 100.0)) + self.logger.info("car : %.6f" % (freq[13] * 100.0)) + self.logger.info("truck : %.6f" % (freq[14] * 100.0)) + self.logger.info("bus : %.6f" % (freq[15] * 100.0)) + self.logger.info("train : %.6f" % (freq[16] * 100.0)) + self.logger.info("motorcycle : %.6f" % (freq[17] * 100.0)) + self.logger.info("bicycle : %.6f" % (freq[18] * 100.0)) + elif self.num_class == 16: + # self.logger.info("terrain : %.6f" % (freq[9] * 100.0)) + # self.logger.info("sky : %.6f" % (freq[10] * 100.0)) + self.logger.info("person : %.6f" % (freq[9] * 100.0)) + self.logger.info("rider : %.6f" % (freq[10] * 100.0)) + self.logger.info("car : %.6f" % (freq[11] * 100.0)) + self.logger.info("truck : %.6f" % (freq[12] * 100.0)) + self.logger.info("bus : %.6f" % (freq[13] * 100.0)) + # self.logger.info("train : %.6f" % (freq[16] * 100.0)) + self.logger.info("motorcycle : %.6f" % (freq[14] * 100.0)) + self.logger.info("bicycle : %.6f" % (freq[15] * 100.0)) + FWIoU = (freq[freq > 0] * iu[freq > 0]).sum() + return FWIoU + + def _generate_matrix(self, gt_image, pre_image): + mask = (gt_image >= 0) & (gt_image < self.num_class) + label = self.num_class * gt_image[mask].astype('int') + pre_image[mask] + count = np.bincount(label, minlength=self.num_class**2) + confusion_matrix = count.reshape(self.num_class, self.num_class) + return confusion_matrix + + def add_batch(self, gt_image, pre_image): + assert gt_image.shape == pre_image.shape + self.confusion_matrix += self._generate_matrix(gt_image, pre_image) + + def reset(self): + self.confusion_matrix = np.zeros((self.num_class,) * 2) + + + + diff --git a/utils/saver.py b/utils/saver.py new file mode 100644 index 0000000..febabea --- /dev/null +++ b/utils/saver.py @@ -0,0 +1,208 @@ +import os +import shutil +import torch +from collections import OrderedDict +import glob +# from torchsummary import summary +import torch +import torch.nn as nn +from torch.autograd import Variable +import logging +import datetime + +from collections import OrderedDict +import numpy as np + + +def summary(model, input_size, f, batch_size=-1, device="cuda"): + + def register_hook(module): + + def hook(module, input, output): + if input[0] is not None: + class_name = str(module.__class__).split(".")[-1].split("'")[0] + module_idx = len(summary) + + m_key = "%s-%i" % (class_name, module_idx + 1) + summary[m_key] = OrderedDict() + summary[m_key]["input_shape"] = list(input[0].size()) + summary[m_key]["input_shape"][0] = batch_size + if isinstance(output, (list, tuple)): + summary[m_key]["output_shape"] = [ + [-1] + list(o.size())[1:] for o in output + ] + else: + summary[m_key]["output_shape"] = list(output.size()) + summary[m_key]["output_shape"][0] = batch_size + + params = 0 + if hasattr(module, "weight") and hasattr(module.weight, "size"): + params += torch.prod(torch.LongTensor(list(module.weight.size()))) + summary[m_key]["trainable"] = module.weight.requires_grad + if hasattr(module, "bias") and hasattr(module.bias, "size"): + params += torch.prod(torch.LongTensor(list(module.bias.size()))) + summary[m_key]["nb_params"] = params + + if ( + not isinstance(module, nn.Sequential) + and not isinstance(module, nn.ModuleList) + and not (module == model) + ): + hooks.append(module.register_forward_hook(hook)) + + device = device.lower() + assert device in [ + "cuda", + "cpu", + ], "Input device is not valid, please specify 'cuda' or 'cpu'" + + if device == "cuda" and torch.cuda.is_available(): + dtype = torch.cuda.FloatTensor + else: + dtype = torch.FloatTensor + + # multiple inputs to the network + if isinstance(input_size, tuple): + input_size = [input_size] + + # batch_size of 2 for batchnorm + x= [] + for in_size in input_size: + if in_size is None: + x.append(None) + else: + x.append(torch.rand(2, *in_size).type(dtype)) + # x = [torch.rand(2, *in_size).type(dtype) for in_size in input_size] + # print(type(x[0])) + + # create properties + summary = OrderedDict() + hooks = [] + + # register hook + model.apply(register_hook) + + # make a forward pass + # print(x.shape) + model(*x) + + # remove these hooks + for h in hooks: + h.remove() + + f.write("----------------------------------------------------------------\n") + line_new = "{:>20} {:>25} {:>15}\n".format("Layer (type)", "Output Shape", "Param #") + f.write(line_new) + f.write("================================================================\n") + total_params = 0 + total_output = 0 + trainable_params = 0 + for layer in summary: + # input_shape, output_shape, trainable, nb_params + line_new = "{:>20} {:>25} {:>15}\n".format( + layer, + str(summary[layer]["output_shape"]), + "{0:,}".format(summary[layer]["nb_params"]), + ) + total_params += summary[layer]["nb_params"] + total_output += np.prod([np.prod(outshape) for outshape in summary[layer]["output_shape"]]) + if "trainable" in summary[layer]: + if summary[layer]["trainable"] == True: + trainable_params += summary[layer]["nb_params"] + f.write(line_new) + + # assume 4 bytes/number (float on cuda). + # total_input_size = abs(np.prod(input_size) * batch_size * 4. / (1024 ** 2.)) + total_input_size = abs(np.sum([np.prod(in_tuple) for in_tuple in input_size if in_tuple is not None]) * batch_size * 4. / (1024 ** 2.)) + total_output_size = abs(2. * total_output * 4. / (1024 ** 2.)) # x2 for gradients + total_params_size = abs(total_params.numpy() * 4. / (1024 ** 2.)) + total_size = total_params_size + total_output_size + total_input_size + + f.write("================================================================\n") + f.write("Total params: {0:,}\n".format(total_params)) + f.write("Trainable params: {0:,}\n".format(trainable_params)) + f.write("Non-trainable params: {0:,}\n".format(total_params - trainable_params)) + f.write("----------------------------------------------------------------\n") + f.write("Input size (MB): %0.2f\n" % total_input_size) + f.write("Forward/backward pass size (MB): %0.2f\n" % total_output_size) + f.write("Params size (MB): %0.2f\n" % total_params_size) + f.write("Estimated Total Size (MB): %0.2f\n" % total_size) + f.write("----------------------------------------------------------------") + # return summary + +class Saver(object): + + def __init__(self, args): + self.args = args + self.directory = os.path.join(*['run', args.dataset, args.checkname]) + self.runs = sorted(glob.glob(os.path.join(self.directory, 'experiment_*'))) + run_id = int(self.runs[-1].split('_')[-1]) + 1 if self.runs else 0 + + self.experiment_dir = os.path.join(self.directory, 'experiment_{}'.format(str(run_id))) + if not os.path.exists(self.experiment_dir): + os.makedirs(self.experiment_dir) + + def save_checkpoint(self, state, is_best, filename='checkpoint.pth'): # filename from .pth.tar change to .pth? + """Saves checkpoint to disk""" + filename = os.path.join(self.experiment_dir, filename) + torch.save(state, filename) + if is_best: + best_pred = state['best_pred'] + with open(os.path.join(self.experiment_dir, 'best_pred.txt'), 'w') as f: + f.write(str(best_pred)) + if self.runs: + previous_miou = [0.0] + for run in self.runs: + run_id = run.split('_')[-1] + path = os.path.join(self.directory, 'experiment_{}'.format(str(run_id)), 'best_pred.txt') + if os.path.exists(path): + with open(path, 'r') as f: + miou = float(f.readline()) + previous_miou.append(miou) + else: + continue + max_miou = max(previous_miou) + if best_pred > max_miou: + shutil.copyfile(filename, os.path.join(self.directory, 'model_best.pth')) + else: + shutil.copyfile(filename, os.path.join(self.directory, 'model_best.pth')) + + def save_experiment_config(self): + logfile = os.path.join(self.experiment_dir, 'parameters.txt') + message = '' + message += '----------------- Options ---------------\n' + for k, v in sorted(vars(self.args).items()): + message += '{:>25}: {:<30}\n'.format(str(k), str(v)) + message += '----------------- End -------------------' + # print(message) + with open(logfile, 'wt') as opt_file: + opt_file.write(message) + opt_file.write('\n') + + def save_model_summary(self, model, torchsummary=False): + if torchsummary: + modelfile = os.path.join(self.experiment_dir, 'model_torchsummary.txt') + with open(modelfile, 'w') as f: + event_shape = (9, self.args.event_dim, 512, 256) if self.args.model=='STNet' else (self.args.event_dim, 512, 256) + rgb_shape = (self.args.rgb_dim, 512, 256) + if self.args.event_dim!=0 and self.args.rgb_dim!=0: + summary(model, [rgb_shape, event_shape], f) + elif self.args.event_dim!=0 and self.args.rgb_dim==0: + summary(model, [None, event_shape], f) + elif self.args.event_dim==0 and self.args.rgb_dim!=0: + summary(model, [rgb_shape, None], f) + modelfile = os.path.join(self.experiment_dir, 'model_functionsummary.txt') + with open(modelfile, 'w') as f: + f.write(str(model)) + + def create_logger(self): + logger = logging.getLogger("Logger") + log_time = datetime.datetime.now().strftime("%Y%m%d_%H%M%S") + file_path = os.path.join(self.experiment_dir, "train_{}.log".format(log_time)) + hdlr = logging.FileHandler(file_path) + formatter = logging.Formatter("%(asctime)s %(levelname)s %(message)s") + hdlr.setFormatter(formatter) + hdlr.setLevel(logging.INFO) + logger.addHandler(hdlr) + logger.setLevel(logging.INFO) + return logger \ No newline at end of file diff --git a/utils/summaries.py b/utils/summaries.py new file mode 100644 index 0000000..ba43ef4 --- /dev/null +++ b/utils/summaries.py @@ -0,0 +1,39 @@ +import os +import torch +from torchvision.utils import make_grid +# from tensorboardX import SummaryWriter +from torch.utils.tensorboard import SummaryWriter +from dataloaders.utils import decode_seg_map_sequence + +class TensorboardSummary(object): + def __init__(self, directory): + self.directory = directory + + def create_summary(self): + writer = SummaryWriter(log_dir=os.path.join(self.directory)) + return writer + + def visualize_image(self, writer, dataset, image, target, output, global_step, event=None): + if event is None: + grid_image = make_grid(image[:3].clone().cpu().data, 3, normalize=True) + writer.add_image('Image', grid_image, global_step) + + grid_image = make_grid(decode_seg_map_sequence(torch.max(output[:3], 1)[1].detach().cpu().numpy(), + dataset=dataset), 3, normalize=False, range=(0, 255)) + writer.add_image('Predicted label', grid_image, global_step) + grid_image = make_grid(decode_seg_map_sequence(torch.squeeze(target[:3], 1).detach().cpu().numpy(), + dataset=dataset), 3, normalize=False, range=(0, 255)) + writer.add_image('Groundtruth label', grid_image, global_step) + else: + grid_image = make_grid(image[:3].clone().cpu().data, 4, normalize=True) + writer.add_image('Image', grid_image, global_step) + + grid_image = make_grid(event[:3].clone().cpu().data, 4, normalize=False) # normalize=False? + writer.add_image('Event', grid_image, global_step) + + grid_image = make_grid(decode_seg_map_sequence(torch.max(output[:3], 1)[1].detach().cpu().numpy(), + dataset=dataset), 4, normalize=False, range=(0, 255)) + writer.add_image('Predicted label', grid_image, global_step) + grid_image = make_grid(decode_seg_map_sequence(torch.squeeze(target[:3], 1).detach().cpu().numpy(), + dataset=dataset), 4, normalize=False, range=(0, 255)) + writer.add_image('Groundtruth label', grid_image, global_step) \ No newline at end of file