# Modified by Peize Sun, Rufeng Zhang # ------------------------------------------------------------------------ # Deformable DETR # Copyright (c) 2020 SenseTime. All Rights Reserved. # Licensed under the Apache License, Version 2.0 [see LICENSE for details] # ------------------------------------------------------------------------ # Modified from DETR (https://github.com/facebookresearch/detr) # Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved # ------------------------------------------------------------------------ import argparse import datetime import json import random import time from pathlib import Path import numpy as np import torch from torch.utils.data import DataLoader import datasets import util.misc as utils import datasets.samplers as samplers from datasets import build_dataset, get_coco_api_from_dataset from engine_track import evaluate, train_one_epoch, evaluate_track from models import build_tracktrain_model, build_tracktest_model, build_model from models import Tracker from models import save_track from mot_online.byte_tracker import BYTETracker from collections import defaultdict def get_args_parser(): parser = argparse.ArgumentParser('Deformable DETR Detector', add_help=False) parser.add_argument('--lr', default=2e-4, type=float) parser.add_argument('--lr_backbone_names', default=["backbone.0"], type=str, nargs='+') parser.add_argument('--lr_backbone', default=2e-5, type=float) parser.add_argument('--lr_linear_proj_names', default=['reference_points', 'sampling_offsets'], type=str, nargs='+') parser.add_argument('--lr_linear_proj_mult', default=0.1, type=float) parser.add_argument('--batch_size', default=1, type=int) parser.add_argument('--weight_decay', default=1e-4, type=float) parser.add_argument('--epochs', default=50, type=int) parser.add_argument('--lr_drop', default=40, type=int) parser.add_argument('--lr_drop_epochs', default=None, type=int, nargs='+') parser.add_argument('--clip_max_norm', default=0.1, type=float, help='gradient clipping max norm') parser.add_argument('--sgd', action='store_true') # Variants of Deformable DETR parser.add_argument('--with_box_refine', default=True, action='store_true') parser.add_argument('--two_stage', default=False, action='store_true') # Model parameters parser.add_argument('--frozen_weights', type=str, default=None, help="Path to the pretrained model. If set, only the mask head will be trained") # * Backbone parser.add_argument('--backbone', default='resnet50', type=str, help="Name of the convolutional backbone to use") parser.add_argument('--dilation', action='store_true', help="If true, we replace stride with dilation in the last convolutional block (DC5)") parser.add_argument('--position_embedding', default='sine', type=str, choices=('sine', 'learned'), help="Type of positional embedding to use on top of the image features") parser.add_argument('--position_embedding_scale', default=2 * np.pi, type=float, help="position / size * scale") parser.add_argument('--num_feature_levels', default=4, type=int, help='number of feature levels') # * Transformer parser.add_argument('--enc_layers', default=6, type=int, help="Number of encoding layers in the transformer") parser.add_argument('--dec_layers', default=6, type=int, help="Number of decoding layers in the transformer") parser.add_argument('--dim_feedforward', default=1024, type=int, help="Intermediate size of the feedforward layers in the transformer blocks") parser.add_argument('--hidden_dim', default=256, type=int, help="Size of the embeddings (dimension of the transformer)") parser.add_argument('--dropout', default=0.1, type=float, help="Dropout applied in the transformer") parser.add_argument('--nheads', default=8, type=int, help="Number of attention heads inside the transformer's attentions") parser.add_argument('--num_queries', default=500, type=int, help="Number of query slots") parser.add_argument('--dec_n_points', default=4, type=int) parser.add_argument('--enc_n_points', default=4, type=int) # * Segmentation parser.add_argument('--masks', action='store_true', help="Train segmentation head if the flag is provided") # Loss parser.add_argument('--no_aux_loss', dest='aux_loss', action='store_false', help="Disables auxiliary decoding losses (loss at each layer)") # * Matcher parser.add_argument('--set_cost_class', default=2, type=float, help="Class coefficient in the matching cost") parser.add_argument('--set_cost_bbox', default=5, type=float, help="L1 box coefficient in the matching cost") parser.add_argument('--set_cost_giou', default=2, type=float, help="giou box coefficient in the matching cost") # * Loss coefficients parser.add_argument('--mask_loss_coef', default=1, type=float) parser.add_argument('--dice_loss_coef', default=1, type=float) parser.add_argument('--cls_loss_coef', default=2, type=float) parser.add_argument('--bbox_loss_coef', default=5, type=float) parser.add_argument('--giou_loss_coef', default=2, type=float) parser.add_argument('--focal_alpha', default=0.25, type=float) parser.add_argument('--id_loss_coef', default=1, type=float) # dataset parameters parser.add_argument('--dataset_file', default='coco') parser.add_argument('--coco_path', default='./data/coco', type=str) parser.add_argument('--coco_panoptic_path', type=str) parser.add_argument('--remove_difficult', action='store_true') parser.add_argument('--output_dir', default='', help='path where to save, empty for no saving') parser.add_argument('--device', default='cuda', help='device to use for training / testing') parser.add_argument('--seed', default=42, type=int) parser.add_argument('--resume', default='', help='resume from checkpoint') parser.add_argument('--start_epoch', default=0, type=int, metavar='N', help='start epoch') parser.add_argument('--eval', action='store_true') parser.add_argument('--num_workers', default=2, type=int) parser.add_argument('--cache_mode', default=False, action='store_true', help='whether to cache images on memory') # PyTorch checkpointing for saving memory (torch.utils.checkpoint.checkpoint) parser.add_argument('--checkpoint_enc_ffn', default=False, action='store_true') parser.add_argument('--checkpoint_dec_ffn', default=False, action='store_true') # appended for track. parser.add_argument('--track_train_split', default='train', type=str) parser.add_argument('--track_eval_split', default='val', type=str) parser.add_argument('--track_thresh', default=0.4, type=float) parser.add_argument('--reid_shared', default=False, type=bool) parser.add_argument('--reid_dim', default=128, type=int) parser.add_argument('--num_ids', default=360, type=int) # detector for track. parser.add_argument('--det_val', default=False, action='store_true') return parser def main(args): utils.init_distributed_mode(args) print("git:\n {}\n".format(utils.get_sha())) if args.frozen_weights is not None: assert args.masks, "Frozen training is meant for segmentation only" print(args) device = torch.device(args.device) # fix the seed for reproducibility seed = args.seed + utils.get_rank() torch.manual_seed(seed) np.random.seed(seed) random.seed(seed) if args.det_val: assert args.eval, 'only support eval mode of detector for track' model, criterion, postprocessors = build_model(args) elif args.eval: model, criterion, postprocessors = build_tracktest_model(args) else: model, criterion, postprocessors = build_tracktrain_model(args) model.to(device) model_without_ddp = model n_parameters = sum(p.numel() for p in model.parameters() if p.requires_grad) print('number of params:', n_parameters) dataset_train = build_dataset(image_set=args.track_train_split, args=args) dataset_val = build_dataset(image_set=args.track_eval_split, args=args) if args.distributed: if args.cache_mode: sampler_train = samplers.NodeDistributedSampler(dataset_train) sampler_val = samplers.NodeDistributedSampler(dataset_val, shuffle=False) else: sampler_train = samplers.DistributedSampler(dataset_train) sampler_val = samplers.DistributedSampler(dataset_val, shuffle=False) else: sampler_train = torch.utils.data.RandomSampler(dataset_train) sampler_val = torch.utils.data.SequentialSampler(dataset_val) batch_sampler_train = torch.utils.data.BatchSampler( sampler_train, args.batch_size, drop_last=True) data_loader_train = DataLoader(dataset_train, batch_sampler=batch_sampler_train, collate_fn=utils.collate_fn, num_workers=args.num_workers, pin_memory=True) data_loader_val = DataLoader(dataset_val, args.batch_size, sampler=sampler_val, drop_last=False, collate_fn=utils.collate_fn, num_workers=args.num_workers, pin_memory=True) # lr_backbone_names = ["backbone.0", "backbone.neck", "input_proj", "transformer.encoder"] def match_name_keywords(n, name_keywords): out = False for b in name_keywords: if b in n: out = True break return out for n, p in model_without_ddp.named_parameters(): print(n) param_dicts = [ { "params": [p for n, p in model_without_ddp.named_parameters() if not match_name_keywords(n, args.lr_backbone_names) and not match_name_keywords(n, args.lr_linear_proj_names) and p.requires_grad], "lr": args.lr, }, { "params": [p for n, p in model_without_ddp.named_parameters() if match_name_keywords(n, args.lr_backbone_names) and p.requires_grad], "lr": args.lr_backbone, }, { "params": [p for n, p in model_without_ddp.named_parameters() if match_name_keywords(n, args.lr_linear_proj_names) and p.requires_grad], "lr": args.lr * args.lr_linear_proj_mult, } ] if args.sgd: optimizer = torch.optim.SGD(param_dicts, lr=args.lr, momentum=0.9, weight_decay=args.weight_decay) else: optimizer = torch.optim.AdamW(param_dicts, lr=args.lr, weight_decay=args.weight_decay) lr_scheduler = torch.optim.lr_scheduler.StepLR(optimizer, args.lr_drop) if args.distributed: model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[args.gpu], find_unused_parameters=True) model_without_ddp = model.module if args.dataset_file == "coco_panoptic": # We also evaluate AP during panoptic training, on original coco DS coco_val = datasets.coco.build("val", args) base_ds = get_coco_api_from_dataset(coco_val) else: base_ds = get_coco_api_from_dataset(dataset_val) if args.frozen_weights is not None: checkpoint = torch.load(args.frozen_weights, map_location='cpu') model_without_ddp.detr.load_state_dict(checkpoint['model']) output_dir = Path(args.output_dir) if args.resume: if args.resume.startswith('https'): checkpoint = torch.hub.load_state_dict_from_url( args.resume, map_location='cpu', check_hash=True) else: checkpoint = torch.load(args.resume, map_location='cpu') missing_keys, unexpected_keys = model_without_ddp.load_state_dict(checkpoint['model'], strict=False) unexpected_keys = [k for k in unexpected_keys if not (k.endswith('total_params') or k.endswith('total_ops'))] if len(missing_keys) > 0: print('Missing Keys: {}'.format(missing_keys)) if len(unexpected_keys) > 0: print('Unexpected Keys: {}'.format(unexpected_keys)) if not args.eval and 'optimizer' in checkpoint and 'lr_scheduler' in checkpoint and 'epoch' in checkpoint: import copy p_groups = copy.deepcopy(optimizer.param_groups) optimizer.load_state_dict(checkpoint['optimizer']) for pg, pg_old in zip(optimizer.param_groups, p_groups): pg['lr'] = pg_old['lr'] pg['initial_lr'] = pg_old['initial_lr'] print(optimizer.param_groups) lr_scheduler.load_state_dict(checkpoint['lr_scheduler']) # todo: this is a hack for doing experiment that resume from checkpoint and also modify lr scheduler (e.g., decrease lr in advance). args.override_resumed_lr_drop = True if args.override_resumed_lr_drop: print('Warning: (hack) args.override_resumed_lr_drop is set to True, so args.lr_drop would override lr_drop in resumed lr_scheduler.') lr_scheduler.step_size = args.lr_drop lr_scheduler.base_lrs = list(map(lambda group: group['initial_lr'], optimizer.param_groups)) lr_scheduler.step(lr_scheduler.last_epoch) args.start_epoch = checkpoint['epoch'] + 1 # check the resumed model # if not args.eval: # test_stats, coco_evaluator, _ = evaluate( # model, criterion, postprocessors, data_loader_val, base_ds, device, args.output_dir # ) if args.eval: assert args.batch_size == 1, print("Now only support 1.") # tracker = MOTXTracker(score_thresh=args.track_thresh) # test_stats, coco_evaluator, res_tracks = evaluate(model, criterion, postprocessors, data_loader_val, # base_ds, device, args.output_dir, tracker=tracker, # phase='eval', det_val=args.det_val) tracker = BYTETracker(args) test_stats, coco_evaluator, res_tracks = evaluate_track(args, model, criterion, postprocessors, data_loader_val, base_ds, device, args.output_dir, tracker=tracker, phase='eval', det_val=args.det_val) if args.output_dir: utils.save_on_master(coco_evaluator.coco_eval["bbox"].eval, output_dir / "eval.pth") if res_tracks is not None: print("Creating video index for {}.".format(args.dataset_file)) video_to_images = defaultdict(list) video_names = defaultdict() for _, info in dataset_val.coco.imgs.items(): video_to_images[info["video_id"]].append({"image_id": info["id"], "frame_id": info["frame_id"]}) video_name = info["file_name"].split("/")[0] if video_name not in video_names: video_names[info["video_id"]] = video_name assert len(video_to_images) == len(video_names) # save mot results. save_track(res_tracks, args.output_dir, video_to_images, video_names, args.track_eval_split) return print("Start training") start_time = time.time() for epoch in range(args.start_epoch, args.epochs): if args.distributed: sampler_train.set_epoch(epoch) train_stats = train_one_epoch( model, criterion, data_loader_train, optimizer, device, epoch, args.clip_max_norm) lr_scheduler.step() if args.output_dir: checkpoint_paths = [output_dir / 'checkpoint.pth'] # extra checkpoint before LR drop and every 5 epochs if (epoch + 1) % args.lr_drop == 0 or (epoch + 1) % 5 == 0: checkpoint_paths.append(output_dir / f'checkpoint{epoch:04}.pth') for checkpoint_path in checkpoint_paths: utils.save_on_master({ 'model': model_without_ddp.state_dict(), 'optimizer': optimizer.state_dict(), 'lr_scheduler': lr_scheduler.state_dict(), 'epoch': epoch, 'args': args, }, checkpoint_path) if epoch % 10 == 0 or epoch > args.epochs - 5: test_stats, coco_evaluator, _ = evaluate( model, criterion, postprocessors, data_loader_val, base_ds, device, args.output_dir, ) log_stats = {**{f'train_{k}': v for k, v in train_stats.items()}, **{f'test_{k}': v for k, v in test_stats.items()}, 'epoch': epoch, 'n_parameters': n_parameters} if args.output_dir and utils.is_main_process(): with (output_dir / "log.txt").open("a") as f: f.write(json.dumps(log_stats) + "\n") # for evaluation logs if coco_evaluator is not None: (output_dir / 'eval').mkdir(exist_ok=True) if "bbox" in coco_evaluator.coco_eval: filenames = ['latest.pth'] if epoch % 50 == 0: filenames.append(f'{epoch:03}.pth') for name in filenames: torch.save(coco_evaluator.coco_eval["bbox"].eval, output_dir / "eval" / name) total_time = time.time() - start_time total_time_str = str(datetime.timedelta(seconds=int(total_time))) print('Training time {}'.format(total_time_str)) if __name__ == '__main__': parser = argparse.ArgumentParser('Deformable DETR training and evaluation script', parents=[get_args_parser()]) args = parser.parse_args() if args.output_dir: Path(args.output_dir).mkdir(parents=True, exist_ok=True) main(args)