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@@ -0,0 +1,42 @@ +# DATA +dataset='Tusimple' +data_root = "Tusimple" + +# TRAIN +epoch = 2 +batch_size = 1 +optimizer = 'Adam' #['SGD','Adam'] +# learning_rate = 0.1 +learning_rate = 1e-4 +weight_decay = 1e-4 +momentum = 0.9 + +scheduler = 'cos' #['multi', 'cos'] +# steps = [50,75] +gamma = 0.1 +warmup = 'linear' +warmup_iters = 100 + +# NETWORK +backbone = '18' +griding_num = 100 +use_aux = False + +# LOSS +sim_loss_w = 1.0 +shp_loss_w = 0.0 + +# EXP +note = 'model' + +log_path = "./log/" + +# FINETUNE or RESUME MODEL PATH +finetune = None +resume = "ep000.pth" + +# TEST +test_model = None +test_work_dir = None + +num_lanes = 4 \ No newline at end of file diff --git a/data/constant.py b/data/constant.py new file mode 100644 index 0000000..411146c --- /dev/null +++ b/data/constant.py @@ -0,0 +1,11 @@ +# row anchors are a series of pre-defined coordinates in image height to detect lanes +# the row anchors are defined according to the evaluation protocol of CULane and Tusimple +# since our method will resize the image to 288x800 for training, the row anchors are defined with the height of 288 +# you can modify these row anchors according to your training image resolution + +tusimple_row_anchor = [ 64, 68, 72, 76, 80, 84, 88, 92, 96, 100, 104, 108, 112, + 116, 120, 124, 128, 132, 136, 140, 144, 148, 152, 156, 160, 164, + 168, 172, 176, 180, 184, 188, 192, 196, 200, 204, 208, 212, 216, + 220, 224, 228, 232, 236, 240, 244, 248, 252, 256, 260, 264, 268, + 272, 276, 280, 284] +culane_row_anchor = [121, 131, 141, 150, 160, 170, 180, 189, 199, 209, 219, 228, 238, 248, 258, 267, 277, 287] diff --git a/data/dataloader.py b/data/dataloader.py new file mode 100644 index 0000000..15b5ebb --- /dev/null +++ b/data/dataloader.py @@ -0,0 +1,109 @@ +import torch, os +import numpy as np + +import torchvision.transforms as transforms +import data.mytransforms as mytransforms +from data.constant import tusimple_row_anchor, culane_row_anchor +from data.dataset import LaneClsDataset, LaneTestDataset + +def get_train_loader(batch_size, data_root, griding_num, dataset, use_aux, distributed, num_lanes): + target_transform = transforms.Compose([ + mytransforms.FreeScaleMask((288, 800)), + mytransforms.MaskToTensor(), + ]) + segment_transform = transforms.Compose([ + mytransforms.FreeScaleMask((36, 100)), + mytransforms.MaskToTensor(), + ]) + img_transform = transforms.Compose([ + transforms.Resize((288, 800)), + transforms.ToTensor(), + transforms.Normalize((0.485, 0.456, 0.406), (0.229, 0.224, 0.225)), + ]) + simu_transform = mytransforms.Compose2([ + mytransforms.RandomRotate(6), + mytransforms.RandomUDoffsetLABEL(100), + mytransforms.RandomLROffsetLABEL(200) + ]) + if dataset == 'CULane': + train_dataset = LaneClsDataset(data_root, + os.path.join(data_root, 'list/train_gt.txt'), + img_transform=img_transform, target_transform=target_transform, + simu_transform = simu_transform, + segment_transform=segment_transform, + row_anchor = culane_row_anchor, + griding_num=griding_num, use_aux=use_aux, num_lanes = num_lanes) + cls_num_per_lane = 18 + + elif dataset == 'Tusimple': + train_dataset = LaneClsDataset(data_root, + os.path.join(data_root, 'train_gt.txt'), + img_transform=img_transform, target_transform=target_transform, + simu_transform = simu_transform, + griding_num=griding_num, + row_anchor = tusimple_row_anchor, + segment_transform=segment_transform,use_aux=use_aux, num_lanes = num_lanes) + cls_num_per_lane = 56 + else: + raise NotImplementedError + + if distributed: + sampler = torch.utils.data.distributed.DistributedSampler(train_dataset) + else: + sampler = torch.utils.data.RandomSampler(train_dataset) + + train_loader = torch.utils.data.DataLoader(train_dataset, batch_size=batch_size, sampler = sampler, num_workers=4) + + return train_loader, cls_num_per_lane + +def get_test_loader(batch_size, data_root,dataset, distributed): + img_transforms = transforms.Compose([ + transforms.Resize((288, 800)), + transforms.ToTensor(), + transforms.Normalize((0.485, 0.456, 0.406), (0.229, 0.224, 0.225)), + ]) + if dataset == 'CULane': + test_dataset = LaneTestDataset(data_root,os.path.join(data_root, 'list/test.txt'),img_transform = img_transforms) + cls_num_per_lane = 18 + elif dataset == 'Tusimple': + test_dataset = LaneTestDataset(data_root,os.path.join(data_root, 'test.txt'), img_transform = img_transforms) + cls_num_per_lane = 56 + + if distributed: + sampler = SeqDistributedSampler(test_dataset, shuffle = False) + else: + sampler = torch.utils.data.SequentialSampler(test_dataset) + loader = torch.utils.data.DataLoader(test_dataset, batch_size=batch_size, sampler = sampler, num_workers=4) + return loader + + +class SeqDistributedSampler(torch.utils.data.distributed.DistributedSampler): + ''' + Change the behavior of DistributedSampler to sequential distributed sampling. + The sequential sampling helps the stability of multi-thread testing, which needs multi-thread file io. + Without sequentially sampling, the file io on thread may interfere other threads. + ''' + def __init__(self, dataset, num_replicas=None, rank=None, shuffle=False): + super().__init__(dataset, num_replicas, rank, shuffle) + def __iter__(self): + g = torch.Generator() + g.manual_seed(self.epoch) + if self.shuffle: + indices = torch.randperm(len(self.dataset), generator=g).tolist() + else: + indices = list(range(len(self.dataset))) + + + # add extra samples to make it evenly divisible + indices += indices[:(self.total_size - len(indices))] + assert len(indices) == self.total_size + + + num_per_rank = int(self.total_size // self.num_replicas) + + # sequential sampling + indices = indices[num_per_rank * self.rank : num_per_rank * (self.rank + 1)] + + assert len(indices) == self.num_samples + + return iter(indices) \ No newline at end of file diff --git a/data/dataset.py b/data/dataset.py new file mode 100644 index 0000000..b6307aa --- /dev/null +++ b/data/dataset.py @@ -0,0 +1,165 @@ +import torch +from PIL import Image +import os +import pdb +import numpy as np +import cv2 +from data.mytransforms import find_start_pos + + +def loader_func(path): + return Image.open(path) + + +class LaneTestDataset(torch.utils.data.Dataset): + def __init__(self, path, list_path, img_transform=None): + super(LaneTestDataset, self).__init__() + self.path = path + self.img_transform = img_transform + with open(list_path, 'r') as f: + self.list = f.readlines() + self.list = [l[1:] if l[0] == '/' else l for l in self.list] # exclude the incorrect path prefix '/' of CULane + + + def __getitem__(self, index): + name = self.list[index].split()[0] + img_path = os.path.join(self.path, name) + img = loader_func(img_path) + + if self.img_transform is not None: + img = self.img_transform(img) + + return img, name + + def __len__(self): + return len(self.list) + + +class LaneClsDataset(torch.utils.data.Dataset): + def __init__(self, path, list_path, img_transform = None,target_transform = None,simu_transform = None, griding_num=50, load_name = False, + row_anchor = None,use_aux=False,segment_transform=None, num_lanes = 4): + super(LaneClsDataset, self).__init__() + self.img_transform = img_transform + self.target_transform = target_transform + self.segment_transform = segment_transform + self.simu_transform = simu_transform + self.path = path + self.griding_num = griding_num + self.load_name = load_name + self.use_aux = use_aux + self.num_lanes = num_lanes + + with open(list_path, 'r') as f: + self.list = f.readlines() + + self.row_anchor = row_anchor + self.row_anchor.sort() + + def __getitem__(self, index): + l = self.list[index] + l_info = l.split() + img_name, label_name = l_info[0], l_info[1] + if img_name[0] == '/': + img_name = img_name[1:] + label_name = label_name[1:] + + label_path = os.path.join(self.path, label_name) + label = loader_func(label_path) + + img_path = os.path.join(self.path, img_name) + img = loader_func(img_path) + + + if self.simu_transform is not None: + img, label = self.simu_transform(img, label) + lane_pts = self._get_index(label) + # get the coordinates of lanes at row anchors + + + + w, h = img.size + cls_label = self._grid_pts(lane_pts, self.griding_num, w) + # make the coordinates to classification label + if self.use_aux: + assert self.segment_transform is not None + seg_label = self.segment_transform(label) + + if self.img_transform is not None: + img = self.img_transform(img) + + if self.use_aux: + return img, cls_label, seg_label + if self.load_name: + return img, cls_label, img_name + return img, cls_label + + def __len__(self): + return len(self.list) + + def _grid_pts(self, pts, num_cols, w): + # pts : numlane,n,2 + num_lane, n, n2 = pts.shape + col_sample = np.linspace(0, w - 1, num_cols) + + assert n2 == 2 + to_pts = np.zeros((n, num_lane)) + for i in range(num_lane): + pti = pts[i, :, 1] + to_pts[:, i] = np.asarray( + [int(pt // (col_sample[1] - col_sample[0])) if pt != -1 else num_cols for pt in pti]) + return to_pts.astype(int) + + def _get_index(self, label): + w, h = label.size + + if h != 288: + scale_f = lambda x : int((x * 1.0/288) * h) + sample_tmp = list(map(scale_f,self.row_anchor)) + + all_idx = np.zeros((self.num_lanes,len(sample_tmp),2)) + for i,r in enumerate(sample_tmp): + label_r = np.asarray(label)[int(round(r))] + for lane_idx in range(1, self.num_lanes + 1): + pos = np.where(label_r == lane_idx)[0] + if len(pos) == 0: + all_idx[lane_idx - 1, i, 0] = r + all_idx[lane_idx - 1, i, 1] = -1 + continue + pos = np.mean(pos) + all_idx[lane_idx - 1, i, 0] = r + all_idx[lane_idx - 1, i, 1] = pos + + # data augmentation: extend the lane to the boundary of image + + all_idx_cp = all_idx.copy() + for i in range(self.num_lanes): + if np.all(all_idx_cp[i,:,1] == -1): + continue + # if there is no lane + + valid = all_idx_cp[i,:,1] != -1 + # get all valid lane points' index + valid_idx = all_idx_cp[i,valid,:] + # get all valid lane points + if valid_idx[-1,0] == all_idx_cp[0,-1,0]: + # if the last valid lane point's y-coordinate is already the last y-coordinate of all rows + # this means this lane has reached the bottom boundary of the image + # so we skip + continue + if len(valid_idx) < 6: + continue + # if the lane is too short to extend + + valid_idx_half = valid_idx[len(valid_idx) // 2:,:] + p = np.polyfit(valid_idx_half[:,0], valid_idx_half[:,1],deg = 1) + start_line = valid_idx_half[-1,0] + pos = find_start_pos(all_idx_cp[i,:,0],start_line) + 1 + + fitted = np.polyval(p,all_idx_cp[i,pos:,0]) + fitted = np.array([-1 if y < 0 or y > w-1 else y for y in fitted]) + + assert np.all(all_idx_cp[i,pos:,1] == -1) + all_idx_cp[i,pos:,1] = fitted + if -1 in all_idx[:, :, 0]: + pdb.set_trace() + return all_idx_cp diff --git a/data/mytransforms.py b/data/mytransforms.py new file mode 100644 index 0000000..1b86f63 --- /dev/null +++ b/data/mytransforms.py @@ -0,0 +1,167 @@ +import numbers +import random +import numpy as np +from PIL import Image, ImageOps, ImageFilter +#from config import cfg +import torch +import pdb +import cv2 + +# ===============================img tranforms============================ + +class Compose2(object): + def __init__(self, transforms): + self.transforms = transforms + + def __call__(self, img, mask, bbx=None): + if bbx is None: + for t in self.transforms: + img, mask = t(img, mask) + return img, mask + for t in self.transforms: + img, mask, bbx = t(img, mask, bbx) + return img, mask, bbx + +class FreeScale(object): + def __init__(self, size): + self.size = size # (h, w) + + def __call__(self, img, mask): + return img.resize((self.size[1], self.size[0]), Image.BILINEAR), mask.resize((self.size[1], self.size[0]), Image.NEAREST) + +class FreeScaleMask(object): + def __init__(self,size): + self.size = size + def __call__(self,mask): + return mask.resize((self.size[1], self.size[0]), Image.NEAREST) + +class Scale(object): + def __init__(self, size): + self.size = size + + def __call__(self, img, mask): + if img.size != mask.size: + print(img.size) + print(mask.size) + assert img.size == mask.size + w, h = img.size + if (w <= h and w == self.size) or (h <= w and h == self.size): + return img, mask + if w < h: + ow = self.size + oh = int(self.size * h / w) + return img.resize((ow, oh), Image.BILINEAR), mask.resize((ow, oh), Image.NEAREST) + else: + oh = self.size + ow = int(self.size * w / h) + return img.resize((ow, oh), Image.BILINEAR), mask.resize((ow, oh), Image.NEAREST) + + +class RandomRotate(object): + """Crops the given PIL.Image at a random location to have a region of + the given size. size can be a tuple (target_height, target_width) + or an integer, in which case the target will be of a square shape (size, size) + """ + + def __init__(self, angle): + self.angle = angle + + def __call__(self, image, label): + assert label is None or image.size == label.size + + + angle = random.randint(0, self.angle * 2) - self.angle + + label = label.rotate(angle, resample=Image.NEAREST) + image = image.rotate(angle, resample=Image.BILINEAR) + + return image, label + + + +# ===============================label tranforms============================ + +class DeNormalize(object): + def __init__(self, mean, std): + self.mean = mean + self.std = std + + def __call__(self, tensor): + for t, m, s in zip(tensor, self.mean, self.std): + t.mul_(s).add_(m) + return tensor + + +class MaskToTensor(object): + def __call__(self, img): + return torch.from_numpy(np.array(img, dtype=np.int32)).long() + + +def find_start_pos(row_sample,start_line): + # row_sample = row_sample.sort() + # for i,r in enumerate(row_sample): + # if r >= start_line: + # return i + l,r = 0,len(row_sample)-1 + while True: + mid = int((l+r)/2) + if r - l == 1: + return r + if row_sample[mid] < start_line: + l = mid + if row_sample[mid] > start_line: + r = mid + if row_sample[mid] == start_line: + return mid + +class RandomLROffsetLABEL(object): + def __init__(self,max_offset): + self.max_offset = max_offset + def __call__(self,img,label): + offset = np.random.randint(-self.max_offset,self.max_offset) + w, h = img.size + + img = np.array(img) + if offset > 0: + img[:,offset:,:] = img[:,0:w-offset,:] + img[:,:offset,:] = 0 + if offset < 0: + real_offset = -offset + img[:,0:w-real_offset,:] = img[:,real_offset:,:] + img[:,w-real_offset:,:] = 0 + + label = np.array(label) + if offset > 0: + label[:,offset:] = label[:,0:w-offset] + label[:,:offset] = 0 + if offset < 0: + offset = -offset + label[:,0:w-offset] = label[:,offset:] + label[:,w-offset:] = 0 + return Image.fromarray(img),Image.fromarray(label) + +class RandomUDoffsetLABEL(object): + def __init__(self,max_offset): + self.max_offset = max_offset + def __call__(self,img,label): + offset = np.random.randint(-self.max_offset,self.max_offset) + w, h = img.size + + img = np.array(img) + if offset > 0: + img[offset:,:,:] = img[0:h-offset,:,:] + img[:offset,:,:] = 0 + if offset < 0: + real_offset = -offset + img[0:h-real_offset,:,:] = img[real_offset:,:,:] + img[h-real_offset:,:,:] = 0 + + label = np.array(label) + if offset > 0: + label[offset:,:] = label[0:h-offset,:] + label[:offset,:] = 0 + if offset < 0: + offset = -offset + label[0:h-offset,:] = label[offset:,:] + label[h-offset:,:] = 0 + return Image.fromarray(img),Image.fromarray(label) diff --git a/ep000.pth b/ep000.pth new file mode 100644 index 0000000..1e62e61 Binary files /dev/null and b/ep000.pth differ diff --git a/evaluation/eval_wrapper.py b/evaluation/eval_wrapper.py new file mode 100644 index 0000000..e855718 --- /dev/null +++ b/evaluation/eval_wrapper.py @@ -0,0 +1,238 @@ + +from data.dataloader import get_test_loader +from evaluation.tusimple.lane import LaneEval +from utils.dist_utils import is_main_process, dist_print, get_rank, get_world_size, dist_tqdm, synchronize +import os, json, torch, scipy +import numpy as np +import platform + +def generate_lines(out, shape, names, output_path, griding_num, localization_type='abs', flip_updown=False): + + col_sample = np.linspace(0, shape[1] - 1, griding_num) + col_sample_w = col_sample[1] - col_sample[0] + + for j in range(out.shape[0]): + out_j = out[j].data.cpu().numpy() + if flip_updown: + out_j = out_j[:, ::-1, :] + if localization_type == 'abs': + out_j = np.argmax(out_j, axis=0) + out_j[out_j == griding_num] = -1 + out_j = out_j + 1 + elif localization_type == 'rel': + prob = scipy.special.softmax(out_j[:-1, :, :], axis=0) + idx = np.arange(griding_num) + 1 + idx = idx.reshape(-1, 1, 1) + loc = np.sum(prob * idx, axis=0) + out_j = np.argmax(out_j, axis=0) + loc[out_j == griding_num] = 0 + out_j = loc + else: + raise NotImplementedError + name = names[j] + + line_save_path = os.path.join(output_path, name[:-3] + 'lines.txt') + save_dir, _ = os.path.split(line_save_path) + if not os.path.exists(save_dir): + os.makedirs(save_dir) + with open(line_save_path, 'w') as fp: + for i in range(out_j.shape[1]): + if np.sum(out_j[:, i] != 0) > 2: + for k in range(out_j.shape[0]): + if out_j[k, i] > 0: + fp.write( + '%d %d ' % (int(out_j[k, i] * col_sample_w * 1640 / 800) - 1, int(590 - k * 20) - 1)) + fp.write('\n') + +def run_test(net, data_root, exp_name, work_dir, griding_num, use_aux,distributed, batch_size=8): + # torch.backends.cudnn.benchmark = True + output_path = os.path.join(work_dir, exp_name) + if not os.path.exists(output_path) and is_main_process(): + os.mkdir(output_path) + synchronize() + loader = get_test_loader(batch_size, data_root, 'CULane', distributed) + # import pdb;pdb.set_trace() + for i, data in enumerate(dist_tqdm(loader)): + imgs, names = data + imgs = imgs.cuda() + with torch.no_grad(): + out = net(imgs) + if len(out) == 2 and use_aux: + out, seg_out = out + + generate_lines(out,imgs[0,0].shape,names,output_path,griding_num,localization_type = 'rel',flip_updown = True) +def generate_tusimple_lines(out,shape,griding_num,localization_type='rel'): + + out = out.data.cpu().numpy() + out_loc = np.argmax(out,axis=0) + + if localization_type == 'rel': + prob = scipy.special.softmax(out[:-1, :, :], axis=0) + idx = np.arange(griding_num) + idx = idx.reshape(-1, 1, 1) + + loc = np.sum(prob * idx, axis=0) + + loc[out_loc == griding_num] = griding_num + out_loc = loc + lanes = [] + for i in range(out_loc.shape[1]): + out_i = out_loc[:,i] + lane = [int(round((loc + 0.5) * 1280.0 / (griding_num - 1))) if loc != griding_num else -2 for loc in out_i] + lanes.append(lane) + return lanes + +def run_test_tusimple(net,data_root,work_dir,exp_name,griding_num,use_aux, distributed,batch_size = 8): + output_path = os.path.join(work_dir,exp_name+'.%d.txt'% get_rank()) + fp = open(output_path,'w') + loader = get_test_loader(batch_size,data_root,'Tusimple', distributed) + for i,data in enumerate(dist_tqdm(loader)): + imgs,names = data + imgs = imgs.cuda() + with torch.no_grad(): + out = net(imgs) + if len(out) == 2 and use_aux: + out = out[0] + for i,name in enumerate(names): + tmp_dict = {} + tmp_dict['lanes'] = generate_tusimple_lines(out[i],imgs[0,0].shape,griding_num) + tmp_dict['h_samples'] = [160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, + 270, 280, 290, 300, 310, 320, 330, 340, 350, 360, 370, 380, 390, 400, 410, 420, + 430, 440, 450, 460, 470, 480, 490, 500, 510, 520, 530, 540, 550, 560, 570, 580, + 590, 600, 610, 620, 630, 640, 650, 660, 670, 680, 690, 700, 710] + tmp_dict['raw_file'] = name + tmp_dict['run_time'] = 10 + json_str = json.dumps(tmp_dict) + + fp.write(json_str+'\n') + fp.close() + +def combine_tusimple_test(work_dir,exp_name): + size = get_world_size() + all_res = [] + for i in range(size): + output_path = os.path.join(work_dir,exp_name+'.%d.txt'% i) + with open(output_path, 'r') as fp: + res = fp.readlines() + all_res.extend(res) + names = set() + all_res_no_dup = [] + for i, res in enumerate(all_res): + pos = res.find('clips') + name = res[pos:].split('\"')[0] + if name not in names: + names.add(name) + all_res_no_dup.append(res) + + output_path = os.path.join(work_dir,exp_name+'.txt') + with open(output_path, 'w') as fp: + fp.writelines(all_res_no_dup) + + +def eval_lane(net, dataset, data_root, work_dir, griding_num, use_aux, distributed): + net.eval() + if dataset == 'CULane': + run_test(net,data_root, 'culane_eval_tmp', work_dir, griding_num, use_aux, distributed) + synchronize() # wait for all results + if is_main_process(): + res = call_culane_eval(data_root, 'culane_eval_tmp', work_dir) + TP,FP,FN = 0,0,0 + for k, v in res.items(): + val = float(v['Fmeasure']) if 'nan' not in v['Fmeasure'] else 0 + val_tp,val_fp,val_fn = int(v['tp']),int(v['fp']),int(v['fn']) + TP += val_tp + FP += val_fp + FN += val_fn + dist_print(k,val) + P = TP * 1.0/(TP + FP) + R = TP * 1.0/(TP + FN) + F = 2*P*R/(P + R) + dist_print(F) + synchronize() + + elif dataset == 'Tusimple': + exp_name = 'tusimple_eval_tmp' + run_test_tusimple(net, data_root, work_dir, exp_name, griding_num, use_aux, distributed) + synchronize() # wait for all results + if is_main_process(): + combine_tusimple_test(work_dir,exp_name) + res = LaneEval.bench_one_submit(os.path.join(work_dir,exp_name + '.txt'),os.path.join(data_root,'test_label.json')) + res = json.loads(res) + for r in res: + dist_print(r['name'], r['value']) + synchronize() + + +def read_helper(path): + lines = open(path, 'r').readlines()[1:] + lines = ' '.join(lines) + values = lines.split(' ')[1::2] + keys = lines.split(' ')[0::2] + keys = [key[:-1] for key in keys] + res = {k : v for k,v in zip(keys,values)} + return res + +def call_culane_eval(data_dir, exp_name,output_path): + if data_dir[-1] != '/': + data_dir = data_dir + '/' + detect_dir=os.path.join(output_path,exp_name)+'/' + + w_lane=30 + iou=0.5; # Set iou to 0.3 or 0.5 + im_w=1640 + im_h=590 + frame=1 + list0 = os.path.join(data_dir,'list/test_split/test0_normal.txt') + list1 = os.path.join(data_dir,'list/test_split/test1_crowd.txt') + list2 = os.path.join(data_dir,'list/test_split/test2_hlight.txt') + list3 = os.path.join(data_dir,'list/test_split/test3_shadow.txt') + list4 = os.path.join(data_dir,'list/test_split/test4_noline.txt') + list5 = os.path.join(data_dir,'list/test_split/test5_arrow.txt') + list6 = os.path.join(data_dir,'list/test_split/test6_curve.txt') + list7 = os.path.join(data_dir,'list/test_split/test7_cross.txt') + list8 = os.path.join(data_dir,'list/test_split/test8_night.txt') + if not os.path.exists(os.path.join(output_path,'txt')): + os.mkdir(os.path.join(output_path,'txt')) + out0 = os.path.join(output_path,'txt','out0_normal.txt') + out1=os.path.join(output_path,'txt','out1_crowd.txt') + out2=os.path.join(output_path,'txt','out2_hlight.txt') + out3=os.path.join(output_path,'txt','out3_shadow.txt') + out4=os.path.join(output_path,'txt','out4_noline.txt') + out5=os.path.join(output_path,'txt','out5_arrow.txt') + out6=os.path.join(output_path,'txt','out6_curve.txt') + out7=os.path.join(output_path,'txt','out7_cross.txt') + out8=os.path.join(output_path,'txt','out8_night.txt') + + eval_cmd = './evaluation/culane/evaluate' + if platform.system() == 'Windows': + eval_cmd = eval_cmd.replace('/', os.sep) + + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list0,w_lane,iou,im_w,im_h,frame,out0)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list0,w_lane,iou,im_w,im_h,frame,out0)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list1,w_lane,iou,im_w,im_h,frame,out1)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list1,w_lane,iou,im_w,im_h,frame,out1)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list2,w_lane,iou,im_w,im_h,frame,out2)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list2,w_lane,iou,im_w,im_h,frame,out2)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list3,w_lane,iou,im_w,im_h,frame,out3)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list3,w_lane,iou,im_w,im_h,frame,out3)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list4,w_lane,iou,im_w,im_h,frame,out4)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list4,w_lane,iou,im_w,im_h,frame,out4)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list5,w_lane,iou,im_w,im_h,frame,out5)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list5,w_lane,iou,im_w,im_h,frame,out5)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list6,w_lane,iou,im_w,im_h,frame,out6)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list6,w_lane,iou,im_w,im_h,frame,out6)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list7,w_lane,iou,im_w,im_h,frame,out7)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list7,w_lane,iou,im_w,im_h,frame,out7)) + # print('./evaluate -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(data_dir,detect_dir,data_dir,list8,w_lane,iou,im_w,im_h,frame,out8)) + os.system('%s -a %s -d %s -i %s -l %s -w %s -t %s -c %s -r %s -f %s -o %s'%(eval_cmd,data_dir,detect_dir,data_dir,list8,w_lane,iou,im_w,im_h,frame,out8)) + res_all = {} + res_all['res_normal'] = read_helper(out0) + res_all['res_crowd']= read_helper(out1) + res_all['res_night']= read_helper(out8) + res_all['res_noline'] = read_helper(out4) + res_all['res_shadow'] = read_helper(out3) + res_all['res_arrow']= read_helper(out5) + res_all['res_hlight'] = read_helper(out2) + res_all['res_curve']= read_helper(out6) + res_all['res_cross']= read_helper(out7) + return res_all \ No newline at end of file diff --git a/evaluation/tusimple/lane.py b/evaluation/tusimple/lane.py new file mode 100644 index 0000000..15d1014 --- /dev/null +++ b/evaluation/tusimple/lane.py @@ -0,0 +1,101 @@ +import numpy as np +from sklearn.linear_model import LinearRegression +import json + + +class LaneEval(object): + lr = LinearRegression() + pixel_thresh = 20 + pt_thresh = 0.85 + + @staticmethod + def get_angle(xs, y_samples): + xs, ys = xs[xs >= 0], y_samples[xs >= 0] + if len(xs) > 1: + LaneEval.lr.fit(ys[:, None], xs) + k = LaneEval.lr.coef_[0] + theta = np.arctan(k) + else: + theta = 0 + return theta + + @staticmethod + def line_accuracy(pred, gt, thresh): + pred = np.array([p if p >= 0 else -100 for p in pred]) + gt = np.array([g if g >= 0 else -100 for g in gt]) + return np.sum(np.where(np.abs(pred - gt) < thresh, 1., 0.)) / len(gt) + + @staticmethod + def bench(pred, gt, y_samples, running_time): + if any(len(p) != len(y_samples) for p in pred): + raise Exception('Format of lanes error.') + if running_time > 200 or len(gt) + 2 < len(pred): + return 0., 0., 1. + angles = [LaneEval.get_angle(np.array(x_gts), np.array(y_samples)) for x_gts in gt] + threshs = [LaneEval.pixel_thresh / np.cos(angle) for angle in angles] + line_accs = [] + fp, fn = 0., 0. + matched = 0. + for x_gts, thresh in zip(gt, threshs): + accs = [LaneEval.line_accuracy(np.array(x_preds), np.array(x_gts), thresh) for x_preds in pred] + max_acc = np.max(accs) if len(accs) > 0 else 0. + if max_acc < LaneEval.pt_thresh: + fn += 1 + else: + matched += 1 + line_accs.append(max_acc) + fp = len(pred) - matched + if len(gt) > 4 and fn > 0: + fn -= 1 + s = sum(line_accs) + if len(gt) > 4: + s -= min(line_accs) + return s / max(min(4.0, len(gt)), 1.), fp / len(pred) if len(pred) > 0 else 0., fn / max(min(len(gt), 4.) , 1.) + + @staticmethod + def bench_one_submit(pred_file, gt_file): + try: + json_pred = [json.loads(line) for line in open(pred_file).readlines()] + except BaseException as e: + raise Exception('Fail to load json file of the prediction.') + json_gt = [json.loads(line) for line in open(gt_file).readlines()] + if len(json_gt) != len(json_pred): + raise Exception('We do not get the predictions of all the test tasks') + gts = {l['raw_file']: l for l in json_gt} + accuracy, fp, fn = 0., 0., 0. + for pred in json_pred: + if 'raw_file' not in pred or 'lanes' not in pred or 'run_time' not in pred: + raise Exception('raw_file or lanes or run_time not in some predictions.') + raw_file = pred['raw_file'] + pred_lanes = pred['lanes'] + run_time = pred['run_time'] + if raw_file not in gts: + raise Exception('Some raw_file from your predictions do not exist in the test tasks.') + gt = gts[raw_file] + gt_lanes = gt['lanes'] + y_samples = gt['h_samples'] + try: + a, p, n = LaneEval.bench(pred_lanes, gt_lanes, y_samples, run_time) + except BaseException as e: + raise Exception('Format of lanes error.') + accuracy += a + fp += p + fn += n + num = len(gts) + # the first return parameter is the default ranking parameter + return json.dumps([ + {'name': 'Accuracy', 'value': accuracy / num, 'order': 'desc'}, + {'name': 'FP', 'value': fp / num, 'order': 'asc'}, + {'name': 'FN', 'value': fn / num, 'order': 'asc'} + ]) + + +if __name__ == '__main__': + import sys + try: + if len(sys.argv) != 3: + raise Exception('Invalid input arguments') + print(LaneEval.bench_one_submit(sys.argv[1], sys.argv[2])) + except Exception as e: + print(e.message) + sys.exit(e.message) diff --git a/model/backbone.py b/model/backbone.py new file mode 100644 index 0000000..22ef28c --- /dev/null +++ b/model/backbone.py @@ -0,0 +1,56 @@ +import torch,pdb +import torchvision +import torch.nn.modules + +class vgg16bn(torch.nn.Module): + def __init__(self,pretrained = False): + super(vgg16bn,self).__init__() + model = list(torchvision.models.vgg16_bn(pretrained=pretrained).features.children()) + model = model[:33]+model[34:43] + self.model = torch.nn.Sequential(*model) + + def forward(self,x): + return self.model(x) +class resnet(torch.nn.Module): + def __init__(self,layers,pretrained = False): + super(resnet,self).__init__() + if layers == '18': + model = torchvision.models.resnet18(pretrained=pretrained) + elif layers == '34': + model = torchvision.models.resnet34(pretrained=pretrained) + elif layers == '50': + model = torchvision.models.resnet50(pretrained=pretrained) + elif layers == '101': + model = torchvision.models.resnet101(pretrained=pretrained) + elif layers == '152': + model = torchvision.models.resnet152(pretrained=pretrained) + elif layers == '50next': + model = torchvision.models.resnext50_32x4d(pretrained=pretrained) + elif layers == '101next': + model = torchvision.models.resnext101_32x8d(pretrained=pretrained) + elif layers == '50wide': + model = torchvision.models.wide_resnet50_2(pretrained=pretrained) + elif layers == '101wide': + model = torchvision.models.wide_resnet101_2(pretrained=pretrained) + else: + raise NotImplementedError + + self.conv1 = model.conv1 + self.bn1 = model.bn1 + self.relu = model.relu + self.maxpool = model.maxpool + self.layer1 = model.layer1 + self.layer2 = model.layer2 + self.layer3 = model.layer3 + self.layer4 = model.layer4 + + def forward(self,x): + x = self.conv1(x) + x = self.bn1(x) + x = self.relu(x) + x = self.maxpool(x) + x = self.layer1(x) + x2 = self.layer2(x) + x3 = self.layer3(x2) + x4 = self.layer4(x3) + return x2,x3,x4 diff --git a/model/model.py b/model/model.py new file mode 100644 index 0000000..40ae5ba --- /dev/null +++ b/model/model.py @@ -0,0 +1,120 @@ +import torch +from model.backbone import resnet +import numpy as np + +class conv_bn_relu(torch.nn.Module): + def __init__(self,in_channels, out_channels, kernel_size, stride=1, padding=0, dilation=1,bias=False): + super(conv_bn_relu,self).__init__() + self.conv = torch.nn.Conv2d(in_channels,out_channels, kernel_size, + stride = stride, padding = padding, dilation = dilation,bias = bias) + self.bn = torch.nn.BatchNorm2d(out_channels) + self.relu = torch.nn.ReLU() + + def forward(self,x): + x = self.conv(x) + x = self.bn(x) + x = self.relu(x) + return x +class parsingNet(torch.nn.Module): + def __init__(self, size=(288, 800), pretrained=True, backbone='50', cls_dim=(37, 10, 4), use_aux=False): + super(parsingNet, self).__init__() + + self.size = size + self.w = size[0] + self.h = size[1] + self.cls_dim = cls_dim # (num_gridding, num_cls_per_lane, num_of_lanes) + # num_cls_per_lane is the number of row anchors + self.use_aux = use_aux + self.total_dim = np.prod(cls_dim) + + # input : nchw, + # output: (w+1) * sample_rows * 4 + self.model = resnet(backbone, pretrained=pretrained) + + if self.use_aux: + self.aux_header2 = torch.nn.Sequential( + conv_bn_relu(128, 128, kernel_size=3, stride=1, padding=1) if backbone in ['34','18'] else conv_bn_relu(512, 128, kernel_size=3, stride=1, padding=1), + conv_bn_relu(128,128,3,padding=1), + conv_bn_relu(128,128,3,padding=1), + conv_bn_relu(128,128,3,padding=1), + ) + self.aux_header3 = torch.nn.Sequential( + conv_bn_relu(256, 128, kernel_size=3, stride=1, padding=1) if backbone in ['34','18'] else conv_bn_relu(1024, 128, kernel_size=3, stride=1, padding=1), + conv_bn_relu(128,128,3,padding=1), + conv_bn_relu(128,128,3,padding=1), + ) + self.aux_header4 = torch.nn.Sequential( + conv_bn_relu(512, 128, kernel_size=3, stride=1, padding=1) if backbone in ['34','18'] else conv_bn_relu(2048, 128, kernel_size=3, stride=1, padding=1), + conv_bn_relu(128,128,3,padding=1), + ) + self.aux_combine = torch.nn.Sequential( + conv_bn_relu(384, 256, 3,padding=2,dilation=2), + conv_bn_relu(256, 128, 3,padding=2,dilation=2), + conv_bn_relu(128, 128, 3,padding=2,dilation=2), + conv_bn_relu(128, 128, 3,padding=4,dilation=4), + torch.nn.Conv2d(128, cls_dim[-1] + 1,1) + # output : n, num_of_lanes+1, h, w + ) + initialize_weights(self.aux_header2,self.aux_header3,self.aux_header4,self.aux_combine) + + self.cls = torch.nn.Sequential( + torch.nn.Linear(1800, 2048), + torch.nn.ReLU(), + torch.nn.Linear(2048, self.total_dim), + ) + + self.pool = torch.nn.Conv2d(512,8,1) if backbone in ['34','18'] else torch.nn.Conv2d(2048,8,1) + # 1/32,2048 channel + # 288,800 -> 9,40,2048 + # (w+1) * sample_rows * 4 + # 37 * 10 * 4 + initialize_weights(self.cls) + + def forward(self, x): + # n c h w - > n 2048 sh sw + # -> n 2048 + x2,x3,fea = self.model(x) + if self.use_aux: + x2 = self.aux_header2(x2) + x3 = self.aux_header3(x3) + x3 = torch.nn.functional.interpolate(x3,scale_factor = 2,mode='bilinear') + x4 = self.aux_header4(fea) + x4 = torch.nn.functional.interpolate(x4,scale_factor = 4,mode='bilinear') + aux_seg = torch.cat([x2,x3,x4],dim=1) + aux_seg = self.aux_combine(aux_seg) + else: + aux_seg = None + + fea = self.pool(fea).view(-1, 1800) + + group_cls = self.cls(fea).view(-1, *self.cls_dim) + + if self.use_aux: + return group_cls, aux_seg + + return group_cls + + +def initialize_weights(*models): + for model in models: + real_init_weights(model) +def real_init_weights(m): + + if isinstance(m, list): + for mini_m in m: + real_init_weights(mini_m) + else: + if isinstance(m, torch.nn.Conv2d): + torch.nn.init.kaiming_normal_(m.weight, nonlinearity='relu') + if m.bias is not None: + torch.nn.init.constant_(m.bias, 0) + elif isinstance(m, torch.nn.Linear): + m.weight.data.normal_(0.0, std=0.01) + elif isinstance(m, torch.nn.BatchNorm2d): + torch.nn.init.constant_(m.weight, 1) + torch.nn.init.constant_(m.bias, 0) + elif isinstance(m,torch.nn.Module): + for mini_m in m.children(): + real_init_weights(mini_m) + else: + print('unkonwn module', m) \ No newline at end of file diff --git a/predict.py b/predict.py new file mode 100644 index 0000000..825b214 --- /dev/null +++ b/predict.py @@ -0,0 +1,66 @@ +import torch, os, cv2 +from model.model import parsingNet +from utils.common import merge_config +from utils.dist_utils import dist_print +import torch +import scipy.special, tqdm +import numpy as np +import torchvision.transforms as transforms +from data.dataset import LaneTestDataset +from data.constant import culane_row_anchor, tusimple_row_anchor + +if __name__ == "__main__": + torch.backends.cudnn.benchmark = True + + args, cfg = merge_config() + + dist_print('start testing...') + assert cfg.backbone in ['18', '34', '50', '101', '152', '50next', '101next', '50wide', '101wide'] + + if cfg.dataset == 'CULane': + cls_num_per_lane = 18 + elif cfg.dataset == 'Tusimple': + cls_num_per_lane = 56 + else: + raise NotImplementedError + + net = parsingNet(pretrained=False, backbone=cfg.backbone, cls_dim=(cfg.griding_num + 1, cls_num_per_lane, 4), + use_aux=False).cuda() # we dont need auxiliary segmentation in testing + + state_dict = torch.load(cfg.test_model, map_location='cpu')['model'] + compatible_state_dict = {} + for k, v in state_dict.items(): + if 'module.' in k: + compatible_state_dict[k[7:]] = v + else: + compatible_state_dict[k] = v + + net.load_state_dict(compatible_state_dict, strict=False) + net.eval() + + img_transforms = transforms.Compose([ + transforms.Resize((288, 800)), + transforms.ToTensor(), + transforms.Normalize((0.485, 0.456, 0.406), (0.229, 0.224, 0.225)), + ]) + if cfg.dataset == 'CULane': + splits = ['test0_normal.txt', 'test1_crowd.txt', 'test2_hlight.txt', 'test3_shadow.txt', 'test4_noline.txt', + 'test5_arrow.txt', 'test6_curve.txt', 'test7_cross.txt', 'test8_night.txt'] + datasets = [LaneTestDataset(cfg.data_root, os.path.join(cfg.data_root, 'list/test_split/' + split), + img_transform=img_transforms) for split in splits] + img_w, img_h = 1640, 590 + row_anchor = culane_row_anchor + elif cfg.dataset == 'Tusimple': + splits = ['predict.txt'] + datasets = [LaneTestDataset(cfg.data_root, os.path.join(cfg.data_root, split), img_transform=img_transforms) for + split in splits] + img_w, img_h = 1280, 720 + row_anchor = tusimple_row_anchor + else: + raise NotImplementedError + for split, dataset in zip(splits, datasets): + loader = torch.utils.data.DataLoader(dataset, batch_size=1, shuffle=False, num_workers=1) + for i, data in enumerate(tqdm.tqdm(loader)): + ########## Begin ########## + + ########## End ########## \ No newline at end of file diff --git a/resize_dataset.py b/resize_dataset.py new file mode 100644 index 0000000..0641a0c --- /dev/null +++ b/resize_dataset.py @@ -0,0 +1,12 @@ +import os +import json +root = "Tusimple/" +lable_str = open("Tusimple/test_label.json", "r", encoding="utf8").readlines() +lable_json = [json.loads(line) for line in lable_str] + +with open("{}/test_label.json".format(root), "w", encoding="utf8") as fp: + for label,s in zip(lable_json, lable_str): + path = root + label["raw_file"] + # print(path) + if os.path.exists(path): + fp.write(s) diff --git a/scripts/convert_tusimple.py b/scripts/convert_tusimple.py new file mode 100644 index 0000000..aedc799 --- /dev/null +++ b/scripts/convert_tusimple.py @@ -0,0 +1,155 @@ +import os +import cv2 +import tqdm +import numpy as np +import pdb +import json, argparse + + +def calc_k(line): + ''' + Calculate the direction of lanes + ''' + line_x = line[::2] + line_y = line[1::2] + length = np.sqrt((line_x[0]-line_x[-1])**2 + (line_y[0]-line_y[-1])**2) + if length < 90: + return -10 # if the lane is too short, it will be skipped + + p = np.polyfit(line_x, line_y,deg = 1) + rad = np.arctan(p[0]) + + return rad +def draw(im,line,idx,show = False): + ''' + Generate the segmentation label according to json annotation + ''' + line_x = line[::2] + line_y = line[1::2] + pt0 = (int(line_x[0]),int(line_y[0])) + if show: + cv2.putText(im,str(idx),(int(line_x[len(line_x) // 2]),int(line_y[len(line_x) // 2]) - 20),cv2.FONT_HERSHEY_SIMPLEX, 1.0, (255, 255, 255), lineType=cv2.LINE_AA) + idx = idx * 60 + + + for i in range(len(line_x)-1): + cv2.line(im,pt0,(int(line_x[i+1]),int(line_y[i+1])),(idx,),thickness = 16) + pt0 = (int(line_x[i+1]),int(line_y[i+1])) +def get_tusimple_list(root, label_list): + ''' + Get all the files' names from the json annotation + ''' + label_json_all = [] + for l in label_list: + l = os.path.join(root,l) + label_json = [json.loads(line) for line in open(l).readlines()] + label_json_all += label_json + names = [l['raw_file'] for l in label_json_all] + h_samples = [np.array(l['h_samples']) for l in label_json_all] + lanes = [np.array(l['lanes']) for l in label_json_all] + + line_txt = [] + for i in range(len(lanes)): + line_txt_i = [] + for j in range(len(lanes[i])): + if np.all(lanes[i][j] == -2): + continue + valid = lanes[i][j] != -2 + line_txt_tmp = [None]*(len(h_samples[i][valid])+len(lanes[i][j][valid])) + line_txt_tmp[::2] = list(map(str,lanes[i][j][valid])) + line_txt_tmp[1::2] = list(map(str,h_samples[i][valid])) + line_txt_i.append(line_txt_tmp) + line_txt.append(line_txt_i) + + return names,line_txt + +def generate_segmentation_and_train_list(root, line_txt, names): + """ + The lane annotations of the Tusimple dataset is not strictly in order, so we need to find out the correct lane order for segmentation. + We use the same definition as CULane, in which the four lanes from left to right are represented as 1,2,3,4 in segentation label respectively. + """ + train_gt_fp = open(os.path.join(root,'train_gt.txt'),'w') + + for i in tqdm.tqdm(range(len(line_txt))): + + tmp_line = line_txt[i] + lines = [] + for j in range(len(tmp_line)): + lines.append(list(map(float,tmp_line[j]))) + + ks = np.array([calc_k(line) for line in lines]) # get the direction of each lane + + k_neg = ks[ks<0].copy() + k_pos = ks[ks>0].copy() + k_neg = k_neg[k_neg != -10] # -10 means the lane is too short and is discarded + k_pos = k_pos[k_pos != -10] + k_neg.sort() + k_pos.sort() + + label_path = names[i][:-3]+'png' + label = np.zeros((720,1280),dtype=np.uint8) + bin_label = [0,0,0,0] + if len(k_neg) == 1: # for only one lane in the left + which_lane = np.where(ks == k_neg[0])[0][0] + draw(label,lines[which_lane],2) + bin_label[1] = 1 + elif len(k_neg) == 2: # for two lanes in the left + which_lane = np.where(ks == k_neg[1])[0][0] + draw(label,lines[which_lane],1) + which_lane = np.where(ks == k_neg[0])[0][0] + draw(label,lines[which_lane],2) + bin_label[0] = 1 + bin_label[1] = 1 + elif len(k_neg) > 2: # for more than two lanes in the left, + which_lane = np.where(ks == k_neg[1])[0][0] # we only choose the two lanes that are closest to the center + draw(label,lines[which_lane],1) + which_lane = np.where(ks == k_neg[0])[0][0] + draw(label,lines[which_lane],2) + bin_label[0] = 1 + bin_label[1] = 1 + + if len(k_pos) == 1: # For the lanes in the right, the same logical is adopted. + which_lane = np.where(ks == k_pos[0])[0][0] + draw(label,lines[which_lane],3) + bin_label[2] = 1 + elif len(k_pos) == 2: + which_lane = np.where(ks == k_pos[1])[0][0] + draw(label,lines[which_lane],3) + which_lane = np.where(ks == k_pos[0])[0][0] + draw(label,lines[which_lane],4) + bin_label[2] = 1 + bin_label[3] = 1 + elif len(k_pos) > 2: + which_lane = np.where(ks == k_pos[-1])[0][0] + draw(label,lines[which_lane],3) + which_lane = np.where(ks == k_pos[-2])[0][0] + draw(label,lines[which_lane],4) + bin_label[2] = 1 + bin_label[3] = 1 + + cv2.imwrite(os.path.join(root,label_path),label) + + + train_gt_fp.write(names[i] + ' ' + label_path + ' '+' '.join(list(map(str,bin_label))) + '\n') + train_gt_fp.close() + +def get_args(): + parser = argparse.ArgumentParser() + parser.add_argument('--root', default="E:/pythonProject/LaneNet/Tusimple", help='The root of the Tusimple dataset') + return parser + +if __name__ == "__main__": + args = get_args().parse_args() + + # training set + names,line_txt = get_tusimple_list(args.root, ['label_data_0601.json','label_data_0531.json','label_data_0313.json']) + # generate segmentation and training list for training + generate_segmentation_and_train_list(args.root, line_txt, names) + + # testing set + names,line_txt = get_tusimple_list(args.root, ['test_tasks_0627.json']) + # generate testing set for testing + with open(os.path.join(args.root,'test.txt'),'w') as fp: + for name in names: + fp.write(name + '\n') + diff --git a/train.py b/train.py new file mode 100644 index 0000000..8906f93 --- /dev/null +++ b/train.py @@ -0,0 +1,149 @@ +import torch, os, datetime +import numpy as np + +from model.model import parsingNet +from data.dataloader import get_train_loader + +from utils.dist_utils import dist_print, dist_tqdm, is_main_process, DistSummaryWriter +from utils.factory import get_metric_dict, get_loss_dict, get_optimizer, get_scheduler +from utils.metrics import MultiLabelAcc, AccTopk, Metric_mIoU, update_metrics, reset_metrics + +from utils.common import merge_config, save_model, cp_projects +from utils.common import get_work_dir, get_logger + +import time + + +def inference(net, data_label, use_aux): + if use_aux: + img, cls_label, seg_label = data_label + img, cls_label, seg_label = img.cuda(), cls_label.long().cuda(), seg_label.long().cuda() + cls_out, seg_out = net(img) + return {'cls_out': cls_out, 'cls_label': cls_label, 'seg_out':seg_out, 'seg_label': seg_label} + else: + img, cls_label = data_label + img, cls_label = img.cuda(), cls_label.long().cuda() + cls_out = net(img) + return {'cls_out': cls_out, 'cls_label': cls_label} + + +def resolve_val_data(results, use_aux): + results['cls_out'] = torch.argmax(results['cls_out'], dim=1) + if use_aux: + results['seg_out'] = torch.argmax(results['seg_out'], dim=1) + return results + + +def calc_loss(loss_dict, results, logger, global_step): + loss = 0 + + for i in range(len(loss_dict['name'])): + + data_src = loss_dict['data_src'][i] + + datas = [results[src] for src in data_src] + + loss_cur = loss_dict['op'][i](*datas) + + if global_step % 20 == 0: + logger.add_scalar('loss/'+loss_dict['name'][i], loss_cur, global_step) + + loss += loss_cur * loss_dict['weight'][i] + return loss + + +def train(net, data_loader, loss_dict, optimizer, scheduler,logger, epoch, metric_dict, use_aux): + net.train() + progress_bar = dist_tqdm(train_loader) + t_data_0 = time.time() + for b_idx, data_label in enumerate(progress_bar): + t_data_1 = time.time() + reset_metrics(metric_dict) + global_step = epoch * len(data_loader) + b_idx + + t_net_0 = time.time() + results = inference(net, data_label, use_aux) + + loss = calc_loss(loss_dict, results, logger, global_step) + optimizer.zero_grad() + loss.backward() + optimizer.step() + scheduler.step(global_step) + t_net_1 = time.time() + + results = resolve_val_data(results, use_aux) + + update_metrics(metric_dict, results) + if global_step % 20 == 0: + for me_name, me_op in zip(metric_dict['name'], metric_dict['op']): + logger.add_scalar('metric/' + me_name, me_op.get(), global_step=global_step) + logger.add_scalar('meta/lr', optimizer.param_groups[0]['lr'], global_step=global_step) + + if hasattr(progress_bar,'set_postfix'): + kwargs = {me_name: '%.3f' % me_op.get() for me_name, me_op in zip(metric_dict['name'], metric_dict['op'])} + progress_bar.set_postfix(loss = '%.3f' % float(loss), + data_time = '%.3f' % float(t_data_1 - t_data_0), + net_time = '%.3f' % float(t_net_1 - t_net_0), + **kwargs) + t_data_0 = time.time() + + +if __name__ == "__main__": + torch.backends.cudnn.benchmark = True + + args, cfg = merge_config() + + work_dir = get_work_dir(cfg) + + distributed = False + if 'WORLD_SIZE' in os.environ: + distributed = int(os.environ['WORLD_SIZE']) > 1 + + if distributed: + torch.cuda.set_device(args.local_rank) + torch.distributed.init_process_group(backend='nccl', init_method='env://') + dist_print(datetime.datetime.now().strftime('[%Y/%m/%d %H:%M:%S]') + ' start training...') + dist_print(cfg) + assert cfg.backbone in ['18','34','50','101','152','50next','101next','50wide','101wide'] + + + train_loader, cls_num_per_lane = get_train_loader(cfg.batch_size, cfg.data_root, cfg.griding_num, cfg.dataset, cfg.use_aux, distributed, cfg.num_lanes) + + net = parsingNet(pretrained = True, backbone=cfg.backbone,cls_dim = (cfg.griding_num+1,cls_num_per_lane, cfg.num_lanes),use_aux=cfg.use_aux).cuda() + + if distributed: + net = torch.nn.parallel.DistributedDataParallel(net, device_ids = [args.local_rank]) + optimizer = get_optimizer(net, cfg) + + if cfg.finetune is not None: + dist_print('finetune from ', cfg.finetune) + state_all = torch.load(cfg.finetune)['model'] + state_clip = {} # only use backbone parameters + for k,v in state_all.items(): + if 'model' in k: + state_clip[k] = v + net.load_state_dict(state_clip, strict=False) + if cfg.resume is not None: + dist_print('==> Resume model from ' + cfg.resume) + resume_dict = torch.load(cfg.resume, map_location='cpu') + net.load_state_dict(resume_dict['model']) + if 'optimizer' in resume_dict.keys(): + optimizer.load_state_dict(resume_dict['optimizer']) + resume_epoch = int(os.path.split(cfg.resume)[1][2:5]) + 1 + else: + resume_epoch = 0 + + + scheduler = get_scheduler(optimizer, cfg, len(train_loader)) + dist_print(len(train_loader)) + metric_dict = get_metric_dict(cfg) + loss_dict = get_loss_dict(cfg) + logger = get_logger(work_dir, cfg) + cp_projects(args.auto_backup, work_dir) + + for epoch in range(resume_epoch, cfg.epoch): + + train(net, train_loader, loss_dict, optimizer, scheduler, logger, epoch, metric_dict, cfg.use_aux) + + save_model(net, optimizer, epoch ,work_dir, distributed) + logger.close() diff --git a/utils/common.py b/utils/common.py new file mode 100644 index 0000000..2b52ba2 --- /dev/null +++ b/utils/common.py @@ -0,0 +1,119 @@ +import os, argparse +from utils.dist_utils import is_main_process, dist_print, DistSummaryWriter +from utils.config import Config +import torch +import time +import pathspec + +def str2bool(v): + if isinstance(v, bool): + return v + if v.lower() in ('yes', 'true', 't', 'y', '1'): + return True + elif v.lower() in ('no', 'false', 'f', 'n', '0'): + return False + else: + raise argparse.ArgumentTypeError('Boolean value expected.') + +def get_args(): + parser = argparse.ArgumentParser() + parser.add_argument('config', help = 'path to config file') + parser.add_argument('--local_rank', type=int, default=0) + + parser.add_argument('--img_path', type=str) + parser.add_argument('--dataset', default = None, type = str) + parser.add_argument('--data_root', default = None, type = str) + parser.add_argument('--epoch', default = None, type = int) + parser.add_argument('--batch_size', default = None, type = int) + parser.add_argument('--optimizer', default = None, type = str) + parser.add_argument('--learning_rate', default = None, type = float) + parser.add_argument('--weight_decay', default = None, type = float) + parser.add_argument('--momentum', default = None, type = float) + parser.add_argument('--scheduler', default = None, type = str) + parser.add_argument('--steps', default = None, type = int, nargs='+') + parser.add_argument('--gamma', default = None, type = float) + parser.add_argument('--warmup', default = None, type = str) + parser.add_argument('--warmup_iters', default = None, type = int) + parser.add_argument('--backbone', default = None, type = str) + parser.add_argument('--griding_num', default = None, type = int) + parser.add_argument('--use_aux', default = None, type = str2bool) + parser.add_argument('--sim_loss_w', default = None, type = float) + parser.add_argument('--shp_loss_w', default = None, type = float) + parser.add_argument('--note', default = None, type = str) + parser.add_argument('--log_path', default = None, type = str) + parser.add_argument('--finetune', default = None, type = str) + parser.add_argument('--resume', default = None, type = str) + parser.add_argument('--test_model', default = None, type = str) + parser.add_argument('--test_work_dir', default = None, type = str) + parser.add_argument('--num_lanes', default = None, type = int) + parser.add_argument('--auto_backup', action='store_true', help='automatically backup current code in the log path') + + return parser + +def merge_config(): + args = get_args().parse_args() + cfg = Config.fromfile(args.config) + + items = ['img_path','dataset','data_root','epoch','batch_size','optimizer','learning_rate', + 'weight_decay','momentum','scheduler','steps','gamma','warmup','warmup_iters', + 'use_aux','griding_num','backbone','sim_loss_w','shp_loss_w','note','log_path', + 'finetune','resume', 'test_model','test_work_dir', 'num_lanes'] + for item in items: + if getattr(args, item) is not None: + dist_print('merge ', item, ' config') + setattr(cfg, item, getattr(args, item)) + return args, cfg + + +def save_model(net, optimizer, epoch,save_path, distributed): + if is_main_process(): + model_state_dict = net.state_dict() + state = {'model': model_state_dict, 'optimizer': optimizer.state_dict()} + # state = {'model': model_state_dict} + assert os.path.exists(save_path) + model_path = os.path.join(save_path, 'ep%03d.pth' % epoch) + torch.save(state, model_path) + + + +def cp_projects(auto_backup, to_path): + if is_main_process() and auto_backup: + with open('./.gitignore','r') as fp: + ign = fp.read() + ign += '\n.git' + spec = pathspec.PathSpec.from_lines(pathspec.patterns.GitWildMatchPattern, ign.splitlines()) + all_files = {os.path.join(root,name) for root,dirs,files in os.walk('./') for name in files} + matches = spec.match_files(all_files) + matches = set(matches) + to_cp_files = all_files - matches + dist_print('Copying projects to '+ to_path + ' for backup') + t0 = time.time() + warning_flag = True + for f in to_cp_files: + dirs = os.path.join(to_path,'code',os.path.split(f[2:])[0]) + if not os.path.exists(dirs): + os.makedirs(dirs) + os.system('cp %s %s'%(f,os.path.join(to_path,'code',f[2:]))) + elapsed_time = time.time() - t0 + if elapsed_time > 5 and warning_flag: + dist_print('If the program is stuck, it might be copying large files in this directory. please don\'t set --auto_backup. Or please make you working directory clean, i.e, don\'t place large files like dataset, log results under this directory.') + warning_flag = False + + + + +import datetime, os +def get_work_dir(cfg): + now = datetime.datetime.now().strftime('%Y%m%d_%H%M%S') + hyper_param_str = '_lr_%1.0e_b_%d' % (cfg.learning_rate, cfg.batch_size) + work_dir = os.path.join(cfg.log_path, now + hyper_param_str + cfg.note) + return work_dir + +def get_logger(work_dir, cfg): + logger = DistSummaryWriter(work_dir) + config_txt = os.path.join(work_dir, 'cfg.txt') + if is_main_process(): + with open(config_txt, 'w') as fp: + fp.write(str(cfg)) + + return logger diff --git a/utils/config.py b/utils/config.py new file mode 100644 index 0000000..d19f52d --- /dev/null +++ b/utils/config.py @@ -0,0 +1,352 @@ +import json +import os.path as osp +import shutil +import sys +import tempfile +from argparse import Action, ArgumentParser +from collections import abc +from importlib import import_module + +from addict import Dict + + +BASE_KEY = '_base_' +DELETE_KEY = '_delete_' + + +class ConfigDict(Dict): + + def __missing__(self, name): + raise KeyError(name) + + def __getattr__(self, name): + try: + value = super(ConfigDict, self).__getattr__(name) + except KeyError: + ex = AttributeError(f"'{self.__class__.__name__}' object has no " + f"attribute '{name}'") + except Exception as e: + ex = e + else: + return value + raise ex + + +def add_args(parser, cfg, prefix=''): + for k, v in cfg.items(): + if isinstance(v, str): + parser.add_argument('--' + prefix + k) + elif isinstance(v, int): + parser.add_argument('--' + prefix + k, type=int) + elif isinstance(v, float): + parser.add_argument('--' + prefix + k, type=float) + elif isinstance(v, bool): + parser.add_argument('--' + prefix + k, action='store_true') + elif isinstance(v, dict): + add_args(parser, v, prefix + k + '.') + elif isinstance(v, abc.Iterable): + parser.add_argument('--' + prefix + k, type=type(v[0]), nargs='+') + else: + print(f'cannot parse key {prefix + k} of type {type(v)}') + return parser + + +class Config(object): + """A facility for config and config files. + It supports common file formats as configs: python/json/yaml. The interface + is the same as a dict object and also allows access config values as + attributes. + Example: + >>> cfg = Config(dict(a=1, b=dict(b1=[0, 1]))) + >>> cfg.a + 1 + >>> cfg.b + {'b1': [0, 1]} + >>> cfg.b.b1 + [0, 1] + >>> cfg = Config.fromfile('tests/data/config/a.py') + >>> cfg.filename + "/home/kchen/projects/mmcv/tests/data/config/a.py" + >>> cfg.item4 + 'test' + >>> cfg + "Config [path: /home/kchen/projects/mmcv/tests/data/config/a.py]: " + "{'item1': [1, 2], 'item2': {'a': 0}, 'item3': True, 'item4': 'test'}" + """ + + @staticmethod + def _file2dict(filename): + filename = osp.abspath(osp.expanduser(filename)) + if filename.endswith('.py'): + with tempfile.TemporaryDirectory() as temp_config_dir: + temp_config_file = tempfile.NamedTemporaryFile( + dir=temp_config_dir, suffix='.py') + temp_config_name = osp.basename(temp_config_file.name) + # close temp file + temp_config_file.close() + shutil.copyfile(filename, + osp.join(temp_config_dir, temp_config_name)) + temp_module_name = osp.splitext(temp_config_name)[0] + sys.path.insert(0, temp_config_dir) + mod = import_module(temp_module_name) + sys.path.pop(0) + cfg_dict = { + name: value + for name, value in mod.__dict__.items() + if not name.startswith('__') + } + # delete imported module + del sys.modules[temp_module_name] + + elif filename.endswith(('.yml', '.yaml', '.json')): + import mmcv + cfg_dict = mmcv.load(filename) + else: + raise IOError('Only py/yml/yaml/json type are supported now!') + + cfg_text = filename + '\n' + with open(filename, 'r') as f: + cfg_text += f.read() + + if BASE_KEY in cfg_dict: + cfg_dir = osp.dirname(filename) + base_filename = cfg_dict.pop(BASE_KEY) + base_filename = base_filename if isinstance( + base_filename, list) else [base_filename] + + cfg_dict_list = list() + cfg_text_list = list() + for f in base_filename: + _cfg_dict, _cfg_text = Config._file2dict(osp.join(cfg_dir, f)) + cfg_dict_list.append(_cfg_dict) + cfg_text_list.append(_cfg_text) + + base_cfg_dict = dict() + for c in cfg_dict_list: + if len(base_cfg_dict.keys() & c.keys()) > 0: + raise KeyError('Duplicate key is not allowed among bases') + base_cfg_dict.update(c) + + base_cfg_dict = Config._merge_a_into_b(cfg_dict, base_cfg_dict) + cfg_dict = base_cfg_dict + + # merge cfg_text + cfg_text_list.append(cfg_text) + cfg_text = '\n'.join(cfg_text_list) + + return cfg_dict, cfg_text + + @staticmethod + def _merge_a_into_b(a, b): + # merge dict `a` into dict `b` (non-inplace). values in `a` will + # overwrite `b`. + # copy first to avoid inplace modification + b = b.copy() + for k, v in a.items(): + if isinstance(v, dict) and k in b and not v.pop(DELETE_KEY, False): + if not isinstance(b[k], dict): + raise TypeError( + f'{k}={v} in child config cannot inherit from base ' + f'because {k} is a dict in the child config but is of ' + f'type {type(b[k])} in base config. You may set ' + f'`{DELETE_KEY}=True` to ignore the base config') + b[k] = Config._merge_a_into_b(v, b[k]) + else: + b[k] = v + return b + + @staticmethod + def fromfile(filename): + cfg_dict, cfg_text = Config._file2dict(filename) + return Config(cfg_dict, cfg_text=cfg_text, filename=filename) + + @staticmethod + def auto_argparser(description=None): + """Generate argparser from config file automatically (experimental) + """ + partial_parser = ArgumentParser(description=description) + partial_parser.add_argument('config', help='config file path') + cfg_file = partial_parser.parse_known_args()[0].config + cfg = Config.fromfile(cfg_file) + parser = ArgumentParser(description=description) + parser.add_argument('config', help='config file path') + add_args(parser, cfg) + return parser, cfg + + def __init__(self, cfg_dict=None, cfg_text=None, filename=None): + if cfg_dict is None: + cfg_dict = dict() + elif not isinstance(cfg_dict, dict): + raise TypeError('cfg_dict must be a dict, but ' + f'got {type(cfg_dict)}') + + super(Config, self).__setattr__('_cfg_dict', ConfigDict(cfg_dict)) + super(Config, self).__setattr__('_filename', filename) + if cfg_text: + text = cfg_text + elif filename: + with open(filename, 'r') as f: + text = f.read() + else: + text = '' + super(Config, self).__setattr__('_text', text) + + @property + def filename(self): + return self._filename + + @property + def text(self): + return self._text + + @property + def pretty_text(self): + + indent = 4 + + def _indent(s_, num_spaces): + s = s_.split('\n') + if len(s) == 1: + return s_ + first = s.pop(0) + s = [(num_spaces * ' ') + line for line in s] + s = '\n'.join(s) + s = first + '\n' + s + return s + + def _format_basic_types(k, v): + if isinstance(v, str): + v_str = f"'{v}'" + else: + v_str = str(v) + attr_str = f'{str(k)}={v_str}' + attr_str = _indent(attr_str, indent) + + return attr_str + + def _format_list(k, v): + # check if all items in the list are dict + if all(isinstance(_, dict) for _ in v): + v_str = '[\n' + v_str += '\n'.join( + f'dict({_indent(_format_dict(v_), indent)}),' + for v_ in v).rstrip(',') + attr_str = f'{str(k)}={v_str}' + attr_str = _indent(attr_str, indent) + ']' + else: + attr_str = _format_basic_types(k, v) + return attr_str + + def _format_dict(d, outest_level=False): + r = '' + s = [] + for idx, (k, v) in enumerate(d.items()): + is_last = idx >= len(d) - 1 + end = '' if outest_level or is_last else ',' + if isinstance(v, dict): + v_str = '\n' + _format_dict(v) + attr_str = f'{str(k)}=dict({v_str}' + attr_str = _indent(attr_str, indent) + ')' + end + elif isinstance(v, list): + attr_str = _format_list(k, v) + end + else: + attr_str = _format_basic_types(k, v) + end + + s.append(attr_str) + r += '\n'.join(s) + return r + + cfg_dict = self._cfg_dict.to_dict() + text = _format_dict(cfg_dict, outest_level=True) + + return text + + def __repr__(self): + return f'Config (path: {self.filename}): {self._cfg_dict.__repr__()}' + + def __len__(self): + return len(self._cfg_dict) + + def __getattr__(self, name): + return getattr(self._cfg_dict, name) + + def __getitem__(self, name): + return self._cfg_dict.__getitem__(name) + + def __setattr__(self, name, value): + if isinstance(value, dict): + value = ConfigDict(value) + self._cfg_dict.__setattr__(name, value) + + def __setitem__(self, name, value): + if isinstance(value, dict): + value = ConfigDict(value) + self._cfg_dict.__setitem__(name, value) + + def __iter__(self): + return iter(self._cfg_dict) + + def dump(self): + cfg_dict = super(Config, self).__getattribute__('_cfg_dict') + format_text = json.dumps(cfg_dict, indent=2) + return format_text + + def merge_from_dict(self, options): + """Merge list into cfg_dict + Merge the dict parsed by MultipleKVAction into this cfg. + Examples: + >>> options = {'model.backbone.depth': 50, + ... 'model.backbone.with_cp':True} + >>> cfg = Config(dict(model=dict(backbone=dict(type='ResNet')))) + >>> cfg.merge_from_dict(options) + >>> cfg_dict = super(Config, self).__getattribute__('_cfg_dict') + >>> assert cfg_dict == dict( + ... model=dict(backbone=dict(depth=50, with_cp=True))) + Args: + options (dict): dict of configs to merge from. + """ + option_cfg_dict = {} + for full_key, v in options.items(): + d = option_cfg_dict + key_list = full_key.split('.') + for subkey in key_list[:-1]: + d.setdefault(subkey, ConfigDict()) + d = d[subkey] + subkey = key_list[-1] + d[subkey] = v + + cfg_dict = super(Config, self).__getattribute__('_cfg_dict') + super(Config, self).__setattr__( + '_cfg_dict', Config._merge_a_into_b(option_cfg_dict, cfg_dict)) + + +class DictAction(Action): + """ + argparse action to split an argument into KEY=VALUE form + on the first = and append to a dictionary. List options should + be passed as comma separated values, i.e KEY=V1,V2,V3 + """ + + @staticmethod + def _parse_int_float_bool(val): + try: + return int(val) + except ValueError: + pass + try: + return float(val) + except ValueError: + pass + if val.lower() in ['true', 'false']: + return True if val.lower() == 'true' else False + return val + + def __call__(self, parser, namespace, values, option_string=None): + options = {} + for kv in values: + key, val = kv.split('=', maxsplit=1) + val = [self._parse_int_float_bool(v) for v in val.split(',')] + if len(val) == 1: + val = val[0] + options[key] = val + setattr(namespace, self.dest, options) \ No newline at end of file diff --git a/utils/dist_utils.py b/utils/dist_utils.py new file mode 100644 index 0000000..e7f7962 --- /dev/null +++ b/utils/dist_utils.py @@ -0,0 +1,173 @@ +import torch +import torch.distributed as dist +import pickle + + +def get_world_size(): + if not dist.is_available(): + return 1 + if not dist.is_initialized(): + return 1 + return dist.get_world_size() + + +def to_python_float(t): + if hasattr(t, 'item'): + return t.item() + else: + return t[0] + + +def get_rank(): + if not dist.is_available(): + return 0 + if not dist.is_initialized(): + return 0 + return dist.get_rank() + + +def is_main_process(): + return get_rank() == 0 + + +def can_log(): + return is_main_process() + + +def dist_print(*args, **kwargs): + if can_log(): + print(*args, **kwargs) + + +def synchronize(): + """ + Helper function to synchronize (barrier) among all processes when + using distributed training + """ + if not dist.is_available(): + return + if not dist.is_initialized(): + return + world_size = dist.get_world_size() + if world_size == 1: + return + dist.barrier() + +def dist_cat_reduce_tensor(tensor): + if not dist.is_available(): + return tensor + if not dist.is_initialized(): + return tensor + # dist_print(tensor) + rt = tensor.clone() + all_list = [torch.zeros_like(tensor) for _ in range(get_world_size())] + dist.all_gather(all_list,rt) + # dist_print(all_list[0][1],all_list[1][1],all_list[2][1],all_list[3][1]) + # dist_print(all_list[0][2],all_list[1][2],all_list[2][2],all_list[3][2]) + # dist_print(all_list[0][3],all_list[1][3],all_list[2][3],all_list[3][3]) + # dist_print(all_list[0].shape) + return torch.cat(all_list,dim = 0) + +def dist_sum_reduce_tensor(tensor): + if not dist.is_available(): + return tensor + if not dist.is_initialized(): + return tensor + if not isinstance(tensor, torch.Tensor): + return tensor + rt = tensor.clone() + dist.all_reduce(rt, op=dist.reduce_op.SUM) + return rt + + +def dist_mean_reduce_tensor(tensor): + rt = dist_sum_reduce_tensor(tensor) + rt /= get_world_size() + return rt + + +def all_gather(data): + """ + Run all_gather on arbitrary picklable data (not necessarily tensors) + Args: + data: any picklable object + Returns: + list[data]: list of data gathered from each rank + """ + world_size = get_world_size() + if world_size == 1: + return [data] + + # serialized to a Tensor + buffer = pickle.dumps(data) + storage = torch.ByteStorage.from_buffer(buffer) + tensor = torch.ByteTensor(storage).to("cuda") + + # obtain Tensor size of each rank + local_size = torch.LongTensor([tensor.numel()]).to("cuda") + size_list = [torch.LongTensor([0]).to("cuda") for _ in range(world_size)] + dist.all_gather(size_list, local_size) + size_list = [int(size.item()) for size in size_list] + max_size = max(size_list) + + # receiving Tensor from all ranks + # we pad the tensor because torch all_gather does not support + # gathering tensors of different shapes + tensor_list = [] + for _ in size_list: + tensor_list.append(torch.ByteTensor(size=(max_size,)).to("cuda")) + if local_size != max_size: + padding = torch.ByteTensor(size=(max_size - local_size,)).to("cuda") + tensor = torch.cat((tensor, padding), dim=0) + dist.all_gather(tensor_list, tensor) + + data_list = [] + for size, tensor in zip(size_list, tensor_list): + buffer = tensor.cpu().numpy().tobytes()[:size] + data_list.append(pickle.loads(buffer)) + + return data_list + + +from torch.utils.tensorboard import SummaryWriter + + +class DistSummaryWriter(SummaryWriter): + def __init__(self, *args, **kwargs): + if can_log(): + super(DistSummaryWriter, self).__init__(*args, **kwargs) + + def add_scalar(self, *args, **kwargs): + if can_log(): + super(DistSummaryWriter, self).add_scalar(*args, **kwargs) + + def add_figure(self, *args, **kwargs): + if can_log(): + super(DistSummaryWriter, self).add_figure(*args, **kwargs) + + def add_graph(self, *args, **kwargs): + if can_log(): + super(DistSummaryWriter, self).add_graph(*args, **kwargs) + + def add_histogram(self, *args, **kwargs): + if can_log(): + super(DistSummaryWriter, self).add_histogram(*args, **kwargs) + + def add_image(self, *args, **kwargs): + if can_log(): + super(DistSummaryWriter, self).add_image(*args, **kwargs) + + def close(self): + if can_log(): + super(DistSummaryWriter, self).close() + + +import tqdm + + +def dist_tqdm(obj, *args, **kwargs): + if can_log(): + return tqdm.tqdm(obj, *args, **kwargs) + else: + return obj + diff --git a/utils/factory.py b/utils/factory.py new file mode 100644 index 0000000..cb98bfd --- /dev/null +++ b/utils/factory.py @@ -0,0 +1,129 @@ +from utils.loss import SoftmaxFocalLoss, ParsingRelationLoss, ParsingRelationDis +from utils.metrics import MultiLabelAcc, AccTopk, Metric_mIoU +from utils.dist_utils import DistSummaryWriter + +import torch + + +def get_optimizer(net,cfg): + training_params = filter(lambda p: p.requires_grad, net.parameters()) + if cfg.optimizer == 'Adam': + optimizer = torch.optim.Adam(training_params, lr=cfg.learning_rate, weight_decay=cfg.weight_decay) + elif cfg.optimizer == 'SGD': + optimizer = torch.optim.SGD(training_params, lr=cfg.learning_rate, momentum=cfg.momentum, + weight_decay=cfg.weight_decay) + else: + raise NotImplementedError + return optimizer + +def get_scheduler(optimizer, cfg, iters_per_epoch): + if cfg.scheduler == 'multi': + scheduler = MultiStepLR(optimizer, cfg.steps, cfg.gamma, iters_per_epoch, cfg.warmup, iters_per_epoch if cfg.warmup_iters is None else cfg.warmup_iters) + elif cfg.scheduler == 'cos': + scheduler = CosineAnnealingLR(optimizer, cfg.epoch * iters_per_epoch, eta_min = 0, warmup = cfg.warmup, warmup_iters = cfg.warmup_iters) + else: + raise NotImplementedError + return scheduler + +def get_loss_dict(cfg): + + if cfg.use_aux: + loss_dict = { + 'name': ['cls_loss', 'relation_loss', 'aux_loss', 'relation_dis'], + 'op': [SoftmaxFocalLoss(2), ParsingRelationLoss(), torch.nn.CrossEntropyLoss(), ParsingRelationDis()], + 'weight': [1.0, cfg.sim_loss_w, 1.0, cfg.shp_loss_w], + 'data_src': [('cls_out', 'cls_label'), ('cls_out',), ('seg_out', 'seg_label'), ('cls_out',)] + } + else: + loss_dict = { + 'name': ['cls_loss', 'relation_loss', 'relation_dis'], + 'op': [SoftmaxFocalLoss(2), ParsingRelationLoss(), ParsingRelationDis()], + 'weight': [1.0, cfg.sim_loss_w, cfg.shp_loss_w], + 'data_src': [('cls_out', 'cls_label'), ('cls_out',), ('cls_out',)] + } + + return loss_dict + +def get_metric_dict(cfg): + + if cfg.use_aux: + metric_dict = { + 'name': ['top1', 'top2', 'top3', 'iou'], + 'op': [MultiLabelAcc(), AccTopk(cfg.griding_num, 2), AccTopk(cfg.griding_num, 3), Metric_mIoU(cfg.num_lanes+1)], + 'data_src': [('cls_out', 'cls_label'), ('cls_out', 'cls_label'), ('cls_out', 'cls_label'), ('seg_out', 'seg_label')] + } + else: + metric_dict = { + 'name': ['top1', 'top2', 'top3'], + 'op': [MultiLabelAcc(), AccTopk(cfg.griding_num, 2), AccTopk(cfg.griding_num, 3)], + 'data_src': [('cls_out', 'cls_label'), ('cls_out', 'cls_label'), ('cls_out', 'cls_label')] + } + + + return metric_dict + + +class MultiStepLR: + def __init__(self, optimizer, steps, gamma = 0.1, iters_per_epoch = None, warmup = None, warmup_iters = None): + self.warmup = warmup + self.warmup_iters = warmup_iters + self.optimizer = optimizer + self.steps = steps + self.steps.sort() + self.gamma = gamma + self.iters_per_epoch = iters_per_epoch + self.iters = 0 + self.base_lr = [group['lr'] for group in optimizer.param_groups] + + def step(self, external_iter = None): + self.iters += 1 + if external_iter is not None: + self.iters = external_iter + if self.warmup == 'linear' and self.iters < self.warmup_iters: + rate = self.iters / self.warmup_iters + for group, lr in zip(self.optimizer.param_groups, self.base_lr): + group['lr'] = lr * rate + return + + # multi policy + if self.iters % self.iters_per_epoch == 0: + epoch = int(self.iters / self.iters_per_epoch) + power = -1 + for i, st in enumerate(self.steps): + if epoch < st: + power = i + break + if power == -1: + power = len(self.steps) + # print(self.iters, self.iters_per_epoch, self.steps, power) + + for group, lr in zip(self.optimizer.param_groups, self.base_lr): + group['lr'] = lr * (self.gamma ** power) +import math +class CosineAnnealingLR: + def __init__(self, optimizer, T_max , eta_min = 0, warmup = None, warmup_iters = None): + self.warmup = warmup + self.warmup_iters = warmup_iters + self.optimizer = optimizer + self.T_max = T_max + self.eta_min = eta_min + + self.iters = 0 + self.base_lr = [group['lr'] for group in optimizer.param_groups] + + def step(self, external_iter = None): + self.iters += 1 + if external_iter is not None: + self.iters = external_iter + if self.warmup == 'linear' and self.iters < self.warmup_iters: + rate = self.iters / self.warmup_iters + for group, lr in zip(self.optimizer.param_groups, self.base_lr): + group['lr'] = lr * rate + return + + # cos policy + + for group, lr in zip(self.optimizer.param_groups, self.base_lr): + group['lr'] = self.eta_min + (lr - self.eta_min) * (1 + math.cos(math.pi * self.iters / self.T_max)) / 2 + + \ No newline at end of file diff --git a/utils/loss.py b/utils/loss.py new file mode 100644 index 0000000..23ca730 --- /dev/null +++ b/utils/loss.py @@ -0,0 +1,74 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F + +import numpy as np + +class OhemCELoss(nn.Module): + def __init__(self, thresh, n_min, ignore_lb=255, *args, **kwargs): + super(OhemCELoss, self).__init__() + self.thresh = -torch.log(torch.tensor(thresh, dtype=torch.float)).cuda() + self.n_min = n_min + self.ignore_lb = ignore_lb + self.criteria = nn.CrossEntropyLoss(ignore_index=ignore_lb, reduction='none') + + def forward(self, logits, labels): + N, C, H, W = logits.size() + loss = self.criteria(logits, labels).view(-1) + loss, _ = torch.sort(loss, descending=True) + if loss[self.n_min] > self.thresh: + loss = loss[loss>self.thresh] + else: + loss = loss[:self.n_min] + return torch.mean(loss) + + +class SoftmaxFocalLoss(nn.Module): + def __init__(self, gamma, ignore_lb=255, *args, **kwargs): + super(SoftmaxFocalLoss, self).__init__() + self.gamma = gamma + self.nll = nn.NLLLoss(ignore_index=ignore_lb) + + def forward(self, logits, labels): + scores = F.softmax(logits, dim=1) + factor = torch.pow(1.-scores, self.gamma) + log_score = F.log_softmax(logits, dim=1) + log_score = factor * log_score + loss = self.nll(log_score, labels) + return loss + +class ParsingRelationLoss(nn.Module): + def __init__(self): + super(ParsingRelationLoss, self).__init__() + def forward(self,logits): + n,c,h,w = logits.shape + loss_all = [] + for i in range(0,h-1): + loss_all.append(logits[:,:,i,:] - logits[:,:,i+1,:]) + #loss0 : n,c,w + loss = torch.cat(loss_all) + return torch.nn.functional.smooth_l1_loss(loss,torch.zeros_like(loss)) + + + +class ParsingRelationDis(nn.Module): + def __init__(self): + super(ParsingRelationDis, self).__init__() + self.l1 = torch.nn.L1Loss() + # self.l1 = torch.nn.MSELoss() + def forward(self, x): + n,dim,num_rows,num_cols = x.shape + x = torch.nn.functional.softmax(x[:,:dim-1,:,:],dim=1) + embedding = torch.Tensor(np.arange(dim-1)).float().to(x.device).view(1,-1,1,1) + pos = torch.sum(x*embedding,dim = 1) + + diff_list1 = [] + for i in range(0,num_rows // 2): + diff_list1.append(pos[:,i,:] - pos[:,i+1,:]) + + loss = 0 + for i in range(len(diff_list1)-1): + loss += self.l1(diff_list1[i],diff_list1[i+1]) + loss /= len(diff_list1) - 1 + return loss + diff --git a/utils/metrics.py b/utils/metrics.py new file mode 100644 index 0000000..0f3594b --- /dev/null +++ b/utils/metrics.py @@ -0,0 +1,103 @@ +import numpy as np +import torch +import time,pdb + +def converter(data): + if isinstance(data,torch.Tensor): + data = data.cpu().data.numpy().flatten() + return data.flatten() +def fast_hist(label_pred, label_true,num_classes): + #pdb.set_trace() + hist = np.bincount(num_classes * label_true.astype(int) + label_pred, minlength=num_classes ** 2) + hist = hist.reshape(num_classes, num_classes) + return hist + +class Metric_mIoU(): + def __init__(self,class_num): + self.class_num = class_num + self.hist = np.zeros((self.class_num,self.class_num)) + def update(self,predict,target): + predict,target = converter(predict),converter(target) + + self.hist += fast_hist(predict,target,self.class_num) + + def reset(self): + self.hist = np.zeros((self.class_num,self.class_num)) + def get_miou(self): + miou = np.diag(self.hist) / ( + np.sum(self.hist, axis=1) + np.sum(self.hist, axis=0) - + np.diag(self.hist)) + miou = np.nanmean(miou) + return miou + + def get_acc(self): + acc = np.diag(self.hist) / self.hist.sum(axis=1) + acc = np.nanmean(acc) + return acc + def get(self): + return self.get_miou() +class MultiLabelAcc(): + def __init__(self): + self.cnt = 0 + self.correct = 0 + def reset(self): + self.cnt = 0 + self.correct = 0 + def update(self,predict,target): + predict,target = converter(predict),converter(target) + self.cnt += len(predict) + self.correct += np.sum(predict==target) + def get_acc(self): + return self.correct * 1.0 / self.cnt + def get(self): + return self.get_acc() +class AccTopk(): + def __init__(self,background_classes,k): + self.background_classes = background_classes + self.k = k + self.cnt = 0 + self.top5_correct = 0 + def reset(self): + self.cnt = 0 + self.top5_correct = 0 + def update(self,predict,target): + predict,target = converter(predict),converter(target) + self.cnt += len(predict) + background_idx = (predict == self.background_classes) + (target == self.background_classes) + self.top5_correct += np.sum(predict[background_idx] == target[background_idx]) + not_background_idx = np.logical_not(background_idx) + self.top5_correct += np.sum(np.absolute(predict[not_background_idx]-target[not_background_idx])