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train_semseg.py
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import argparse
import os
import torch
import numpy as np
import torch.nn.parallel
import torch.utils.data
from collections import defaultdict
from torch.autograd import Variable
from data_utils.S3DISDataLoader import S3DISDataLoader, recognize_all_data,class2label
import torch.nn.functional as F
import datetime
import logging
from pathlib import Path
from utils import test_semseg
from tqdm import tqdm
from model.pointnet2 import PointNet2SemSeg
from model.pointnet import PointNetSeg, feature_transform_reguliarzer
seg_classes = class2label
seg_label_to_cat = {}
for i,cat in enumerate(seg_classes.keys()):
seg_label_to_cat[i] = cat
def parse_args():
parser = argparse.ArgumentParser('PointNet')
parser.add_argument('--batchsize', type=int, default=12, help='input batch size')
parser.add_argument('--workers', type=int, default=4, help='number of data loading workers')
parser.add_argument('--epoch', type=int, default=201, help='number of epochs for training')
parser.add_argument('--pretrain', type=str, default=None,help='whether use pretrain model')
parser.add_argument('--gpu', type=str, default='0', help='specify gpu device')
parser.add_argument('--learning_rate', type=float, default=0.001, help='learning rate for training')
parser.add_argument('--decay_rate', type=float, default=1e-4, help='weight decay')
parser.add_argument('--optimizer', type=str, default='Adam', help='type of optimizer')
parser.add_argument('--multi_gpu', type=str, default=None, help='whether use multi gpu training')
parser.add_argument('--model_name', type=str, default='pointnet2', help='Name of model')
return parser.parse_args()
def main(args):
os.environ["CUDA_VISIBLE_DEVICES"] = args.gpu if args.multi_gpu is None else '0,1,2,3'
'''CREATE DIR'''
experiment_dir = Path('./experiment/')
experiment_dir.mkdir(exist_ok=True)
file_dir = Path(str(experiment_dir) +'/%sSemSeg-'%args.model_name+ str(datetime.datetime.now().strftime('%Y-%m-%d_%H-%M')))
file_dir.mkdir(exist_ok=True)
checkpoints_dir = file_dir.joinpath('checkpoints/')
checkpoints_dir.mkdir(exist_ok=True)
log_dir = file_dir.joinpath('logs/')
log_dir.mkdir(exist_ok=True)
'''LOG'''
args = parse_args()
logger = logging.getLogger(args.model_name)
logger.setLevel(logging.INFO)
formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
file_handler = logging.FileHandler(str(log_dir) + '/train_%s_semseg.txt'%args.model_name)
file_handler.setLevel(logging.INFO)
file_handler.setFormatter(formatter)
logger.addHandler(file_handler)
logger.info('---------------------------------------------------TRANING---------------------------------------------------')
logger.info('PARAMETER ...')
logger.info(args)
print('Load data...')
train_data, train_label, test_data, test_label = recognize_all_data(test_area = 5)
dataset = S3DISDataLoader(train_data,train_label)
dataloader = torch.utils.data.DataLoader(dataset, batch_size=args.batchsize,
shuffle=True, num_workers=int(args.workers))
test_dataset = S3DISDataLoader(test_data,test_label)
testdataloader = torch.utils.data.DataLoader(test_dataset, batch_size=args.batchsize,
shuffle=True, num_workers=int(args.workers))
num_classes = 13
blue = lambda x: '\033[94m' + x + '\033[0m'
model = PointNet2SemSeg(num_classes) if args.model_name == 'pointnet2' else PointNetSeg(num_classes,feature_transform=True,semseg = True)
if args.pretrain is not None:
model.load_state_dict(torch.load(args.pretrain))
print('load model %s'%args.pretrain)
logger.info('load model %s'%args.pretrain)
else:
print('Training from scratch')
logger.info('Training from scratch')
pretrain = args.pretrain
init_epoch = int(pretrain[-14:-11]) if args.pretrain is not None else 0
if args.optimizer == 'SGD':
optimizer = torch.optim.SGD(model.parameters(), lr=0.01, momentum=0.9)
elif args.optimizer == 'Adam':
optimizer = torch.optim.Adam(
model.parameters(),
lr=args.learning_rate,
betas=(0.9, 0.999),
eps=1e-08,
weight_decay=args.decay_rate
)
scheduler = torch.optim.lr_scheduler.StepLR(optimizer, step_size=20, gamma=0.5)
LEARNING_RATE_CLIP = 1e-5
'''GPU selection and multi-GPU'''
if args.multi_gpu is not None:
device_ids = [int(x) for x in args.multi_gpu.split(',')]
torch.backends.cudnn.benchmark = True
model.cuda(device_ids[0])
model = torch.nn.DataParallel(model, device_ids=device_ids)
else:
model.cuda()
history = defaultdict(lambda: list())
best_acc = 0
best_meaniou = 0
for epoch in range(init_epoch,args.epoch):
scheduler.step()
lr = max(optimizer.param_groups[0]['lr'],LEARNING_RATE_CLIP)
print('Learning rate:%f' % lr)
for param_group in optimizer.param_groups:
param_group['lr'] = lr
for i, data in tqdm(enumerate(dataloader, 0),total=len(dataloader),smoothing=0.9):
points, target = data
points, target = Variable(points.float()), Variable(target.long())
points = points.transpose(2, 1)
points, target = points.cuda(), target.cuda()
optimizer.zero_grad()
model = model.train()
if args.model_name == 'pointnet':
pred, trans_feat = model(points)
else:
pred = model(points[:,:3,:],points[:,3:,:])
pred = pred.contiguous().view(-1, num_classes)
target = target.view(-1, 1)[:, 0]
loss = F.nll_loss(pred, target)
if args.model_name == 'pointnet':
loss += feature_transform_reguliarzer(trans_feat) * 0.001
history['loss'].append(loss.cpu().data.numpy())
loss.backward()
optimizer.step()
pointnet2 = args.model_name == 'pointnet2'
test_metrics, test_hist_acc, cat_mean_iou = test_semseg(model.eval(), testdataloader, seg_label_to_cat,num_classes = num_classes,pointnet2=pointnet2)
mean_iou = np.mean(cat_mean_iou)
print('Epoch %d %s accuracy: %f meanIOU: %f' % (
epoch, blue('test'), test_metrics['accuracy'],mean_iou))
logger.info('Epoch %d %s accuracy: %f meanIOU: %f' % (
epoch, 'test', test_metrics['accuracy'],mean_iou))
if test_metrics['accuracy'] > best_acc:
best_acc = test_metrics['accuracy']
torch.save(model.state_dict(), '%s/%s_%.3d_%.4f.pth' % (checkpoints_dir,args.model_name, epoch, best_acc))
logger.info(cat_mean_iou)
logger.info('Save model..')
print('Save model..')
print(cat_mean_iou)
if mean_iou > best_meaniou:
best_meaniou = mean_iou
print('Best accuracy is: %.5f'%best_acc)
logger.info('Best accuracy is: %.5f'%best_acc)
print('Best meanIOU is: %.5f'%best_meaniou)
logger.info('Best meanIOU is: %.5f'%best_meaniou)
if __name__ == '__main__':
args = parse_args()
main(args)