train_eval_pc.py

import os
import torch
import torch.optim as optim
import time
import numpy as np
from datetime import datetime
from pathlib import Path
from collections import defaultdict

from data.data_loader import get_datasets, get_dataloader
from utils.loss_func import PermLoss
from utils.evaluation_metric import matching_accuracy, compute_metrics, summarize_metrics, print_metrics
from utils.model_sl import load_model, save_model
from utils.hungarian import hungarian
from utils.visdomshow import VisdomViz
from utils.config import cfg
from parallel import DataParallel
from evalpc import eval_model



def train_eval_model(model,
                     permLoss,
                     optimizer,
                     dataloader,
                     num_epochs=25,
                     resume=False,
                     start_epoch=0,
                     viz=None,
                     savefiletime='time'):
    print('**************************************')
    print('Start training...')
    dataset_size = len(dataloader['train'].dataset)
    print('train datasize: {}'.format(dataset_size))

    since = time.time()
    lap_solver = hungarian
    optimal_acc = 0.0
    optimal_rot = np.inf
    device = next(model.parameters()).device

    # train_writer = SummaryWriter(str(Path(cfg.OUTPUT_PATH) / ('tensorboard_train' + savefiletime)), flush_secs=10)

    print('model on device: {}'.format(device))

    checkpoint_path = Path(cfg.OUTPUT_PATH) / 'params'
    if not checkpoint_path.exists():
        checkpoint_path.mkdir(parents=True)

    if resume:
        assert start_epoch != 0
        model_path = str(checkpoint_path / 'params_{:04}.pt'.format(start_epoch))
        print('Loading model parameters from {}'.format(model_path))
        load_model(model, model_path)

        optim_path = str(checkpoint_path / 'optim_{:04}.pt'.format(start_epoch))
        print('Loading optimizer state from {}'.format(optim_path))
        optimizer.load_state_dict(torch.load(optim_path))

    scheduler = optim.lr_scheduler.MultiStepLR(optimizer,
                                               milestones=cfg.TRAIN.LR_STEP,
                                               gamma=cfg.TRAIN.LR_DECAY,
                                               last_epoch=cfg.TRAIN.START_EPOCH - 1)

    for epoch in range(start_epoch, num_epochs):
        print('Epoch {}/{}'.format(epoch, num_epochs - 1))
        print('-' * 10)

        model.train()  # Set model to training mode

        print('lr = ' + ', '.join(['{:.2e}'.format(x['lr']) for x in optimizer.param_groups]))

        iter_num = 0
        running_since = time.time()
        all_train_metrics_np = defaultdict(list)

        # Iterate over data3d.
        for inputs in dataloader['train']:
            P1_gt, P2_gt = [_.cuda() for _ in inputs['Ps']]     #keypoints坐标
            n1_gt, n2_gt = [_.cuda() for _ in inputs['ns']]     #keypoints数量
            # e1_gt, e2_gt = [_.cuda() for _ in inputs['es']]     #edges数目
            A1_gt, A2_gt = [_.cuda() for _ in inputs['As']]     #edge连接性
            perm_mat = inputs['gt_perm_mat'].cuda()             #指派矩阵
            # R1_gt, R2_gt = [_.cuda() for _ in inputs['Rs']]
            T1_gt, T2_gt = [_.cuda() for _ in inputs['Ts']]
            Inlier_src_gt, Inlier_ref_gt = [_.cuda() for _ in inputs['Ins']]

            batch_cur_size = perm_mat.size(0)
            iter_num = iter_num + 1

            # zero the parameter gradients
            optimizer.zero_grad()

            with torch.set_grad_enabled(True):
                # forward
                s_pred, Inlier_src_pre, Inlier_ref_pre = model(P1_gt, P2_gt, A1_gt, A2_gt, n1_gt, n2_gt)

                # multi_loss = []
                if cfg.DATASET.NOISE_TYPE == 'clean':
                    permloss = permLoss(s_pred, perm_mat, n1_gt, n2_gt)
                    loss = permloss
                else:
                    if cfg.PGM.USEINLIERRATE:
                        s_pred = Inlier_src_pre * s_pred * Inlier_ref_pre.transpose(2, 1).contiguous()
                    permloss = permLoss(s_pred, perm_mat, n1_gt, n2_gt)
                    loss = permloss

                # backward + optimize
                loss.backward()
                optimizer.step()
                # print('--------------------------------------------------')
                # print('--------------------------------------------------')
                # print('loss:', loss.item())
                # for name, parms in model.named_parameters():
                #     print('-->name:', name,
                #           '-->grad_requies:', parms.requires_grad,
                #           '-->weight:', torch.mean(torch.abs(parms.data)),
                #           '-->grad_value:', torch.mean(torch.abs(parms.grad)))

                # training accuracy statistic
                s_perm_mat = lap_solver(s_pred, n1_gt, n2_gt, Inlier_src_pre, Inlier_ref_pre)
                match_metrics = matching_accuracy(s_perm_mat, perm_mat, n1_gt)
                perform_metrics = compute_metrics(s_perm_mat, P1_gt[:,:,:3], P2_gt[:,:,:3], T1_gt[:, :3, :3], T1_gt[:, :3, 3])

                for k in match_metrics:
                    all_train_metrics_np[k].append(match_metrics[k])
                for k in perform_metrics:
                    all_train_metrics_np[k].append(perform_metrics[k])
                all_train_metrics_np['loss'].append(np.repeat(loss.item(), 4))

                if iter_num % cfg.STATISTIC_STEP == 0:
                    running_speed = cfg.STATISTIC_STEP * batch_cur_size / (time.time() - running_since)
                    # globalstep = epoch * dataset_size + iter_num * batch_cur_size
                    print('Epoch {:<4} Iteration {:<4} {:>4.2f}sample/s Loss={:<8.4f} GT-Acc:{:.4f} Pred-Acc:{:.4f}'
                          .format(epoch, iter_num, running_speed,
                                  np.mean(np.concatenate(all_train_metrics_np['loss'])[-cfg.STATISTIC_STEP*batch_cur_size:]),
                                  np.mean(np.concatenate(all_train_metrics_np['acc_gt'])[-cfg.STATISTIC_STEP*batch_cur_size:]),
                                  np.mean(np.concatenate(all_train_metrics_np['acc_pred'])[-cfg.STATISTIC_STEP*batch_cur_size:])))
                    running_since = time.time()

        all_train_metrics_np = {k: np.concatenate(all_train_metrics_np[k]) for k in all_train_metrics_np}
        summary_metrics = summarize_metrics(all_train_metrics_np)
        print('Epoch {:<4} Mean-Loss: {:.4f} GT-Acc:{:.4f} Pred-Acc:{:.4f}'.
              format(epoch, summary_metrics['loss'], summary_metrics['acc_gt'], summary_metrics['acc_pred']) )
        print_metrics(summary_metrics)

        save_model(model, str(checkpoint_path / 'params_{:04}.pt'.format(epoch + 1)))
        torch.save(optimizer.state_dict(), str(checkpoint_path / 'optim_{:04}.pt'.format(epoch + 1)))

        # 是否需要保存训练过程中的指标
        metric_is_save= False
        if metric_is_save:
            np.save(str(Path(cfg.OUTPUT_PATH) / ('train_log_' + savefiletime + '_metric')),
                    all_train_metrics_np)

        if viz is not None:
            viz.update('train_loss', epoch, {'loss': summary_metrics['loss']})
            viz.update('train_acc', epoch, {'acc': summary_metrics['acc_gt']})
            viz.update('train_metric', epoch, {'r_mae': summary_metrics['r_mae'],
                                                    't_mae': summary_metrics['t_mae']})


        # Eval in each epochgi
        val_metrics = eval_model(model, dataloader['val'])
        if viz is not None:
            viz.update('val_acc', epoch, {'acc': val_metrics['acc_gt']})
            viz.update('val_metric', epoch, {'r_mae': val_metrics['r_mae'],
                                             't_mae': val_metrics['t_mae']})
        if optimal_acc < val_metrics['acc_gt']:
            optimal_acc = val_metrics['acc_gt']
            print('Current best acc model is {}'.format(epoch + 1))
        if optimal_rot > val_metrics['r_mae']:
            optimal_rot = val_metrics['r_mae']
            print('Current best rotation model is {}'.format(epoch + 1))

        # Test in each epochgi
        test_metrics = eval_model(model, dataloader['test'])
        if viz is not None:
            viz.update('test_acc', epoch, {'acc': test_metrics['acc_gt']})
            viz.update('test_metric', epoch, {'r_mae': test_metrics['r_mae'],
                                              't_mae': test_metrics['t_mae']})

        scheduler.step()

    time_elapsed = time.time() - since
    print('Training complete in {:.0f}h {:.0f}m {:.0f}s'
          .format(time_elapsed // 3600, (time_elapsed // 60) % 60, time_elapsed % 60))

    return model


if __name__ == '__main__':
    from utils.dup_stdout_manager import DupStdoutFileManager
    from utils.parse_argspc import parse_args
    from utils.print_easydict import print_easydict
    import socket

    args = parse_args('Point could registration of graph matching training & evaluation code.')

    if cfg.VISDOM.OPEN:
        hostname = socket.gethostname()
        Visdomins = VisdomViz(env_name=hostname+'PGM_Train', server=cfg.VISDOM.SERVER, port=cfg.VISDOM.PORT)
        Visdomins.viz.close()
    else:
        Visdomins = None

    import importlib
    mod = importlib.import_module(cfg.MODULE)
    Net = mod.Net

    torch.manual_seed(cfg.RANDOM_SEED)

    pc_dataset = {x: get_datasets(partition = x,
                                  num_points = cfg.DATASET.POINT_NUM,
                                  unseen = cfg.DATASET.UNSEEN,
                                  noise_type = cfg.DATASET.NOISE_TYPE,
                                  rot_mag = cfg.DATASET.ROT_MAG,
                                  trans_mag = cfg.DATASET.TRANS_MAG,
                                  partial_p_keep = cfg.DATASET.PARTIAL_P_KEEP,
                                  crossval = (x == 'train'),
                                  train_part = (x == 'train')) for x in ('train', 'test')}
    pc_dataset['val'] = get_datasets(partition = 'train',
                                     num_points = cfg.DATASET.POINT_NUM,
                                     unseen = cfg.DATASET.UNSEEN,
                                     noise_type = cfg.DATASET.NOISE_TYPE,
                                     rot_mag = cfg.DATASET.ROT_MAG,
                                     trans_mag = cfg.DATASET.TRANS_MAG,
                                     partial_p_keep = cfg.DATASET.PARTIAL_P_KEEP,
                                     crossval = True,
                                     train_part = False)

    dataloader = {x: get_dataloader(pc_dataset[x], shuffle=(x == 'train')) for x in ('train', 'val', 'test')}

    device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")

    model = Net()

    # load pretrained model para
    if cfg.PRE_DCPWEIGHT:
        model_dict = model.state_dict()
        modelpath = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'pretrained', 'model.1024_1.t7')
        gcnnweight = torch.load(modelpath, map_location='cpu')

        # change_pointefeature = True
        # if change_pointefeature:
        #     gcnnweight2 = collections.OrderedDict(
        #         [('pointfeaturer' + k[6:], v) if 'module.' in k else (k, v) for k, v in gcnnweight.items()])
        #     gcnnweight2 = collections.OrderedDict(
        #         [('pointfeaturer.bn11111' + k[17:], v) if '.bn5.' in k else (k, v) for k, v in gcnnweight2.items()])
        #     gcnnweight2 = collections.OrderedDict(
        #         [('pointfeaturer.bn11111' + k[17:], v) if '.conv5.' in k else (k, v) for k, v in gcnnweight2.items()])
        #     modelpath2 = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'pretrained', 'model.1024_1.t7')
        #     torch.save(gcnnweight2, modelpath2)

        pretrained_dict = {k: v for k, v in gcnnweight.items() if k in model_dict}
        model_dict.update(pretrained_dict)
        model.load_state_dict(model_dict)
        print('load DGCNN weight sucess')

    model = model.cuda()

    permLoss = PermLoss()

    if cfg.TRAIN.OPTIM == 'SGD':
        optimizer = optim.SGD(model.parameters(), lr=cfg.TRAIN.LR, momentum=cfg.TRAIN.MOMENTUM, nesterov=True)
    else:
        optimizer = optim.Adam(model.parameters(), lr=cfg.TRAIN.LR, weight_decay=1e-4)

    model = DataParallel(model, device_ids=cfg.GPUS)

    if not Path(cfg.OUTPUT_PATH).exists():
        Path(cfg.OUTPUT_PATH).mkdir(parents=True)

    now_time = datetime.now().strftime('%Y-%m-%d-%H-%M-%S')

    with DupStdoutFileManager(str(Path(cfg.OUTPUT_PATH) / ('train_log_' + now_time + '.log'))) as _:
        print_easydict(cfg)
        model = train_eval_model(model, permLoss, optimizer, dataloader,
                                 num_epochs=cfg.TRAIN.NUM_EPOCHS,
                                 resume=cfg.TRAIN.START_EPOCH != 0,
                                 start_epoch=cfg.TRAIN.START_EPOCH,
                                 viz = Visdomins,savefiletime=now_time)