fix lightning, prepare sweeps

cfgs/train.yaml

@@ -1,6 +1,8 @@
 seed: 0
 mixed_precision: false
-base_lr: 4.0e-4
+# base_lr: 4.0e-4
+base_lr: 0.001
+t_max: 161
 
 nr_gpus: 3
 batch_size: 2
@@ -16,7 +18,7 @@ max_disp: 256
 image_width: 640
 image_height: 480
 # training_data_path: "./stereo_trainset/crestereo"
-pattern_attention: true
+pattern_attention: false
 dataset: "blender"
 # training_data_path: "/media/Data1/connecting_the_dots_data/ctd_data/"
 training_data_path: "/media/Data1/connecting_the_dots_data/blender_renders/data"

dataset.py

@@ -384,7 +384,7 @@ class BlenderDataset(CTDDataset):
             )
 
         if not self.use_lightning:
-            right_img = right_img.transpose((2, 0, 1)).astype("uint8")
+            # right_img = right_img.transpose((2, 0, 1)).astype("uint8")
             return {
                 "left": left_img,
                 "right": right_img,
@@ -408,7 +408,7 @@ class BlenderDataset(CTDDataset):
         # return disp.astype(np.float32) / 32
         # FIXME temporarily increase disparity until new data with better depth values is generated
         #       higher values seem to speedup convergence, but introduce much stronger artifacting
-        # mystery_factor = 150
+        mystery_factor = 150
-        mystery_factor = 1
+        # mystery_factor = 1
         disp = (baseline * fl * mystery_factor) / depth
         return disp.astype(np.float32)

nets/crestereo.py

@@ -38,10 +38,10 @@ class CREStereo(nn.Module):
         self.update_block = BasicUpdateBlock(hidden_dim=self.hidden_dim, cor_planes=4 * 9, mask_size=4)
 
         # # NOTE Position_encoding as workaround for TensorRt
-        image1_shape = [1, 2, 480, 640]
+        # image1_shape = [1, 2, 480, 640]
-        self.pos_encoding_fn_small = PositionEncodingSine(
+        # self.pos_encoding_fn_small = PositionEncodingSine(
-            d_model=256, max_shape=(image1_shape[2] // 16, image1_shape[3] // 16)
+            # d_model=256, max_shape=(image1_shape[2] // 16, image1_shape[3] // 16)
-        )
+        # )
 
         # loftr
         self.self_att_fn = LocalFeatureTransformer(
@@ -141,10 +141,12 @@ class CREStereo(nn.Module):
                 d_model=256, max_shape=(image1.shape[2] // 16, image1.shape[3] // 16)
             )
             # 'n c h w -> n (h w) c'
-            x_tmp = self.pos_encoding_fn_small(fmap1_dw16)
+            # x_tmp = self.pos_encoding_fn_small(fmap1_dw16)
+            x_tmp = pos_encoding_fn_small(fmap1_dw16)
             fmap1_dw16 = x_tmp.permute(0, 2, 3, 1).reshape(x_tmp.shape[0], x_tmp.shape[2] * x_tmp.shape[3], x_tmp.shape[1])
             # 'n c h w -> n (h w) c'
-            x_tmp = self.pos_encoding_fn_small(fmap2_dw16)
+            # x_tmp = self.pos_encoding_fn_small(fmap2_dw16)
+            x_tmp = pos_encoding_fn_small(fmap2_dw16)
             fmap2_dw16 = x_tmp.permute(0, 2, 3, 1).reshape(x_tmp.shape[0], x_tmp.shape[2] * x_tmp.shape[3], x_tmp.shape[1])
 
             # FIXME experimental ! no self-attention for pattern

train.py

@@ -419,6 +419,7 @@ def main(args):
                     # print(f'left {left.shape}, right {right.shape}')
                     # left = left.transpose([2, 0, 1])
                     right = right.transpose([1, 2, 0])
+
                     # right = right.transpose(2, 3).transpose(2, 3)#.transpose(1, 2)
                     # print(f'left {left.shape}, right {right.shape}')
 

train_lightning.py

@@ -5,10 +5,8 @@ import logging
 from collections import namedtuple
 
 import yaml
-# from tensorboardX import SummaryWriter
 
 from nets import Model
-# from dataset import CREStereoDataset
 from dataset import BlenderDataset, CREStereoDataset, CTDDataset
 
 import torch
@@ -18,8 +16,11 @@ import torch.optim as optim
 from torch.utils.data import DataLoader
 from pytorch_lightning import LightningDataModule, LightningModule, Trainer
 from pytorch_lightning import Trainer, seed_everything
-from pytorch_lightning.loggers import WandbLogger
 from pytorch_lightning.callbacks.early_stopping import EarlyStopping
+from pytorch_lightning.callbacks import LearningRateMonitor
+from pytorch_lightning.callbacks import ModelCheckpoint
+from pytorch_lightning.loggers import WandbLogger
+from pytorch_lightning.strategies import DDPSpawnStrategy
 
 seed_everything(42, workers=True)
 
@@ -39,11 +40,9 @@ def normalize_and_colormap(img):
     return ret
 
 
-def log_images(left, right, pred_disp, gt_disp, wandb_logger=None):
+def log_images(left, right, pred_disp, gt_disp):
-    # wandb_logger.log_text('test')
-    # return
     log = {}
-    batch_idx = 1
+    batch_idx = 0
 
     if isinstance(pred_disp, list):
         pred_disp = pred_disp[-1]
@@ -100,32 +99,13 @@ def ensure_dir(path):
         os.makedirs(path, exist_ok=True)
 
 
-def adjust_learning_rate(optimizer, epoch):
-
-    warm_up = 0.02
-    const_range = 0.6
-    min_lr_rate = 0.05
-
-    if epoch <= args.n_total_epoch * warm_up:
-        lr = (1 - min_lr_rate) * args.base_lr / (
-            args.n_total_epoch * warm_up
-        ) * epoch + min_lr_rate * args.base_lr
-    elif args.n_total_epoch * warm_up < epoch <= args.n_total_epoch * const_range:
-        lr = args.base_lr
-    else:
-        lr = (min_lr_rate - 1) * args.base_lr / (
-            (1 - const_range) * args.n_total_epoch
-        ) * epoch + (1 - min_lr_rate * const_range) / (1 - const_range) * args.base_lr
-
-    for param_group in optimizer.param_groups:
-        param_group['lr'] = lr
-
 def sequence_loss(flow_preds, flow_gt, valid, gamma=0.8, test=False):
     '''
     valid: (2, 384, 512) (B, H, W) -> (B, 1, H, W)
     flow_preds[0]: (B, 2, H, W)
     flow_gt: (B, 2, H, W)
     '''
+    """
     if test:
         # print('sequence loss')
         if valid.shape != (2, 480, 640):
@@ -136,6 +116,7 @@ def sequence_loss(flow_preds, flow_gt, valid, gamma=0.8, test=False):
             if valid.shape != (2, 480, 640):
                 valid = valid.transpose(0,1)
                 # print(valid.shape)
+    """
     # print(valid.shape)
     # print(flow_preds[0].shape)
     # print(flow_gt.shape)
@@ -143,7 +124,7 @@ def sequence_loss(flow_preds, flow_gt, valid, gamma=0.8, test=False):
     flow_loss = 0.0
     
     # TEST
-    flow_gt = torch.squeeze(flow_gt, dim=-1)
+    # flow_gt = torch.squeeze(flow_gt, dim=-1)
 
     for i in range(n_predictions):
         i_weight = gamma ** (n_predictions - i - 1)
@@ -155,16 +136,88 @@ def sequence_loss(flow_preds, flow_gt, valid, gamma=0.8, test=False):
 
 
 class CREStereoLightning(LightningModule):
-    def __init__(self, args, logger):
+    def __init__(self, args, logger, pattern_path, data_path):
         super().__init__()
         self.batch_size = args.batch_size
         self.wandb_logger = logger
+        self.lr = args.base_lr
+        print(f'lr = {self.lr}')
+        self.T_max = args.t_max if args.t_max else None
+        self.pattern_attention = args.pattern_attention
+        self.pattern_path = pattern_path
+        self.data_path = data_path
         self.model = Model(
             max_disp=args.max_disp, mixed_precision=args.mixed_precision, test_mode=False
         )
 
-    def forward(self, image1, image2, flow_init=None, iters=10, upsample=True, test_mode=False, self_attend_right=True):
+    def train_dataloader(self):
-        return self.model(image1, image2, flow_init, iters, upsample, test_mode, self_attend_right)
+        dataset = BlenderDataset(
+                root=self.data_path,
+                pattern_path=self.pattern_path,
+                use_lightning=True,
+            )
+        dataloader = DataLoader(
+                dataset,
+                self.batch_size,
+                shuffle=True,
+                num_workers=4,
+                drop_last=True,
+                persistent_workers=True,
+                pin_memory=True,
+            )
+                # num_workers=0, drop_last=True, persistent_workers=False, pin_memory=True)
+        return dataloader
+
+    def val_dataloader(self):
+        test_dataset = BlenderDataset(
+                root=self.data_path,
+                pattern_path=self.pattern_path,
+                test_set=True,
+                use_lightning=True,
+            )
+
+        test_dataloader = DataLoader(
+                test_dataset,
+                self.batch_size,
+                shuffle=False,
+                num_workers=4,
+                drop_last=False,
+                persistent_workers=True,
+                pin_memory=True
+            )
+                # num_workers=0, drop_last=True, persistent_workers=False, pin_memory=True)
+        return test_dataloader
+
+    def test_dataloader(self):
+        # TODO change this to use IRL data?
+        test_dataset = BlenderDataset(
+                root=self.data_path,
+                pattern_path=self.pattern_path,
+                test_set=True,
+                use_lightning=True,
+            )
+
+        test_dataloader = DataLoader(
+                test_dataset,
+                self.batch_size,
+                shuffle=False,
+                num_workers=4,
+                drop_last=False,
+                persistent_workers=True,
+                pin_memory=True
+            )
+        return test_dataloader
+
+    def forward(
+            self,
+            image1,
+            image2,
+            flow_init=None,
+            iters=10,
+            upsample=True,
+            test_mode=False,
+            ):
+        return self.model(image1, image2, flow_init, iters, upsample, test_mode, self.pattern_attention)
 
     def training_step(self, batch, batch_idx):
         left, right, gt_disp, valid_mask = batch
@@ -174,6 +227,10 @@ class CREStereoLightning(LightningModule):
         loss = sequence_loss(
             flow_predictions, gt_flow, valid_mask, gamma=0.8
         )
+        if batch_idx % 128 == 0:
+            image_log = log_images(left, right, flow_predictions, gt_disp)
+            image_log['key'] = 'debug_train'
+            self.wandb_logger.log_image(**image_log)
         self.log("train_loss", loss)
         return loss
 
@@ -186,22 +243,31 @@ class CREStereoLightning(LightningModule):
             flow_predictions, gt_flow, valid_mask, gamma=0.8
         )
         self.log("val_loss", val_loss)
-        if batch_idx % 4 == 0:
+        if batch_idx % 8 == 0:
             self.wandb_logger.log_image(**log_images(left, right, flow_predictions, gt_disp))
 
     def test_step(self, batch, batch_idx):
         left, right, gt_disp, valid_mask = batch
-        gt_disp = torch.unsqueeze(gt_disp, dim=1)  # [2, 384, 512] -> [2, 1, 384, 512] gt_flow = torch.cat([gt_disp, gt_disp * 0], dim=1)  # [2, 2, 384, 512]
+        gt_disp = torch.unsqueeze(gt_disp, dim=1)  # [2, 384, 512] -> [2, 1, 384, 512] 
+        gt_flow = torch.cat([gt_disp, gt_disp * 0], dim=1)  # [2, 2, 384, 512]
         flow_predictions = self.forward(left, right, test_mode=True)
         test_loss = sequence_loss(
             flow_predictions, gt_flow, valid_mask, gamma=0.8
         )
         self.log("test_loss", test_loss)
-        print('test_batch_idx:', batch_idx)
         self.wandb_logger.log_image(**log_images(left, right, flow_predictions, gt_disp))
     
     def configure_optimizers(self):
-        return optim.Adam(self.model.parameters(), lr=0.1, betas=(0.9, 0.999))
+        optimizer = optim.Adam(self.model.parameters(), lr=self.lr, betas=(0.9, 0.999))
+        print('len(self.train_dataloader)', len(self.train_dataloader()))
+        lr_scheduler = {
+                'scheduler': torch.optim.lr_scheduler.CosineAnnealingLR(
+                    optimizer,
+                    T_max=self.T_max if self.T_max else len(self.train_dataloader())/self.batch_size,
+                    ),
+                'name': 'CosineAnnealingLRScheduler',
+                }
+        return [optimizer], [lr_scheduler]
 
 
 if __name__ == "__main__":
@@ -209,61 +275,54 @@ if __name__ == "__main__":
     args = parse_yaml("cfgs/train.yaml")
     pattern_path = '/home/nils/miniprojekt/kinect_syn_ref.png'
     
-    wandb_logger = WandbLogger(project="crestereo-lightning")
+    run = wandb.init(project="crestereo-lightning", config=args._asdict(), tags=['new_scheduler', 'default_lr', f'{"" if args.pattern_attention else "no-"}pattern-attention'], notes='')
-    wandb.config.update(args._asdict())
+    run.config.update(args._asdict())
+    config = wandb.config
+    wandb_logger = WandbLogger(project="crestereo-lightning", id=run.id, log_model=True)
+    # wandb_logger = WandbLogger(project="crestereo-lightning", log_model='all')
+    # wandb_logger.experiment.config.update(args._asdict())
 
-    model = CREStereoLightning(args, wandb_logger)
+    model = CREStereoLightning(
-
+            # args, 
-    dataset = BlenderDataset(
+            config,
-            root=args.training_data_path,
+            wandb_logger, 
-            pattern_path=pattern_path,
+            pattern_path, 
-            use_lightning=True,
+            args.training_data_path,
-        )
+            # lr=0.00017378008287493763,          # found with auto_lr_find=True
-    test_dataset = BlenderDataset(
+            )
-            root=args.training_data_path,
+    # NOTE turn this down once it's working, this might use too much space
-            pattern_path=pattern_path,
+    # wandb_logger.watch(model, log_graph=False) #, log='all')
-            test_set=True,
-            use_lightning=True,
-        )
-
-    dataloader = DataLoader(
-            dataset,
-            args.batch_size,
-            shuffle=True,
-            num_workers=16,
-            drop_last=True,
-            persistent_workers=True,
-            pin_memory=True,
-        )
-                            # num_workers=0, drop_last=True, persistent_workers=False, pin_memory=True)
-    test_dataloader = DataLoader(
-            test_dataset,
-            args.batch_size,
-            shuffle=False,
-            num_workers=16,
-            drop_last=False,
-            persistent_workers=True,
-            pin_memory=True
-        )
 
     trainer = Trainer(
             accelerator='gpu', 
-            devices=2,
+            devices=args.nr_gpus,
             max_epochs=args.n_total_epoch, 
             callbacks=[
                 EarlyStopping(
                         monitor="val_loss", 
                         mode="min",
-                        patience=4,
+                        patience=16,
+                    ),
+                LearningRateMonitor(),
+                ModelCheckpoint(
+                    monitor="val_loss", 
+                    mode="min",
+                    save_top_k=2,
+                    save_last=True,
                     )
                 ],
-            accumulate_grad_batches=8,
+            strategy=DDPSpawnStrategy(find_unused_parameters=False),
+            # auto_scale_batch_size='binsearch',
+            # auto_lr_find=True,
+            accumulate_grad_batches=4,
             deterministic=True,
             check_val_every_n_epoch=1,
-            limit_val_batches=24,
+            limit_val_batches=64,
-            limit_test_batches=24,
+            limit_test_batches=256,
             logger=wandb_logger,
             default_root_dir=args.log_dir_lightning,
         )
 
-    trainer.fit(model, dataloader, test_dataloader)
+    # trainer.tune(model)
+    trainer.fit(model)
+    trainer.validate()