depth/models_depth/checkpoint.py

# ------------------------------------------------------------------------------
# Copyright (c) Microsoft
# Licensed under the MIT License.
# The code is from Swin Transformer.
# (https://github.com/SwinTransformer/Swin-Transformer-Object-Detection/blob/master/mmcv_custom/checkpoint.py)
# ------------------------------------------------------------------------------

import io
import os
import os.path as osp
import pkgutil
import time
import warnings
import numpy as np
from collections import OrderedDict
from importlib import import_module
from tempfile import TemporaryDirectory
from scipy import interpolate

import torch
import torchvision
import torch.distributed as dist
from torch.optim import Optimizer
from torch.utils import model_zoo
from torch.nn import functional as F

import mmcv
from mmcv.fileio import FileClient
from mmcv.fileio import load as load_file
from mmcv.parallel import is_module_wrapper
from mmcv.utils import mkdir_or_exist
from mmcv.runner import get_dist_info
from mmcv.utils import get_logger

import logging


def get_root_logger(log_file=None, log_level=logging.INFO):
    """Get the root logger.

    The logger will be initialized if it has not been initialized. By default a
    StreamHandler will be added. If `log_file` is specified, a FileHandler will
    also be added. The name of the root logger is the top-level package name,
    e.g., "mmseg".

    Args:
        log_file (str | None): The log filename. If specified, a FileHandler
            will be added to the root logger.
        log_level (int): The root logger level. Note that only the process of
            rank 0 is affected, while other processes will set the level to
            "Error" and be silent most of the time.

    Returns:
        logging.Logger: The root logger.
    """

    logger = get_logger(name='mmpose', log_file=log_file, log_level=log_level)

    return logger


def _get_mmcv_home():
    mmcv_home = os.path.expanduser(
        os.getenv(
            ENV_MMCV_HOME,
            os.path.join(
                os.getenv(ENV_XDG_CACHE_HOME, DEFAULT_CACHE_DIR), 'mmcv')))

    mkdir_or_exist(mmcv_home)
    return mmcv_home


def load_state_dict(module, state_dict, strict=False, logger=None):
    """Load state_dict to a module.

    This method is modified from :meth:`torch.nn.Module.load_state_dict`.
    Default value for ``strict`` is set to ``False`` and the message for
    param mismatch will be shown even if strict is False.

    Args:
        module (Module): Module that receives the state_dict.
        state_dict (OrderedDict): Weights.
        strict (bool): whether to strictly enforce that the keys
            in :attr:`state_dict` match the keys returned by this module's
            :meth:`~torch.nn.Module.state_dict` function. Default: ``False``.
        logger (:obj:`logging.Logger`, optional): Logger to log the error
            message. If not specified, print function will be used.
    """
    unexpected_keys = []
    all_missing_keys = []
    err_msg = []

    metadata = getattr(state_dict, '_metadata', None)
    state_dict = state_dict.copy()
    if metadata is not None:
        state_dict._metadata = metadata

    # use _load_from_state_dict to enable checkpoint version control
    def load(module, prefix=''):
        # recursively check parallel module in case that the model has a
        # complicated structure, e.g., nn.Module(nn.Module(DDP))
        if is_module_wrapper(module):
            module = module.module
        local_metadata = {} if metadata is None else metadata.get(
            prefix[:-1], {})
        module._load_from_state_dict(state_dict, prefix, local_metadata, True,
                                     all_missing_keys, unexpected_keys,
                                     err_msg)
        for name, child in module._modules.items():
            if child is not None:
                load(child, prefix + name + '.')

    load(module)
    load = None  # break load->load reference cycle

    # ignore "num_batches_tracked" of BN layers
    missing_keys = [
        key for key in all_missing_keys if 'num_batches_tracked' not in key
    ]

    if unexpected_keys:
        err_msg.append('unexpected key in source '
                       f'state_dict: {", ".join(unexpected_keys)}\n')
    if missing_keys:
        err_msg.append(
            f'missing keys in source state_dict: {", ".join(missing_keys)}\n')

    rank, _ = get_dist_info()
    if len(err_msg) > 0 and rank == 0:
        err_msg.insert(
            0, 'The model and loaded state dict do not match exactly\n')
        err_msg = '\n'.join(err_msg)
        if strict:
            raise RuntimeError(err_msg)
        elif logger is not None:
            logger.warning(err_msg)
        else:
            print(err_msg)


def load_url_dist(url, model_dir=None):
    """In distributed setting, this function only download checkpoint at local
    rank 0."""
    rank, world_size = get_dist_info()
    rank = int(os.environ.get('LOCAL_RANK', rank))
    if rank == 0:
        checkpoint = model_zoo.load_url(url, model_dir=model_dir)
    if world_size > 1:
        torch.distributed.barrier()
        if rank > 0:
            checkpoint = model_zoo.load_url(url, model_dir=model_dir)
    return checkpoint


def load_pavimodel_dist(model_path, map_location=None):
    """In distributed setting, this function only download checkpoint at local
    rank 0."""
    try:
        from pavi import modelcloud
    except ImportError:
        raise ImportError(
            'Please install pavi to load checkpoint from modelcloud.')
    rank, world_size = get_dist_info()
    rank = int(os.environ.get('LOCAL_RANK', rank))
    if rank == 0:
        model = modelcloud.get(model_path)
        with TemporaryDirectory() as tmp_dir:
            downloaded_file = osp.join(tmp_dir, model.name)
            model.download(downloaded_file)
            checkpoint = torch.load(downloaded_file, map_location=map_location)
    if world_size > 1:
        torch.distributed.barrier()
        if rank > 0:
            model = modelcloud.get(model_path)
            with TemporaryDirectory() as tmp_dir:
                downloaded_file = osp.join(tmp_dir, model.name)
                model.download(downloaded_file)
                checkpoint = torch.load(
                    downloaded_file, map_location=map_location)
    return checkpoint


def load_fileclient_dist(filename, backend, map_location):
    """In distributed setting, this function only download checkpoint at local
    rank 0."""
    rank, world_size = get_dist_info()
    rank = int(os.environ.get('LOCAL_RANK', rank))
    allowed_backends = ['ceph']
    if backend not in allowed_backends:
        raise ValueError(f'Load from Backend {backend} is not supported.')
    if rank == 0:
        fileclient = FileClient(backend=backend)
        buffer = io.BytesIO(fileclient.get(filename))
        checkpoint = torch.load(buffer, map_location=map_location)
    if world_size > 1:
        torch.distributed.barrier()
        if rank > 0:
            fileclient = FileClient(backend=backend)
            buffer = io.BytesIO(fileclient.get(filename))
            checkpoint = torch.load(buffer, map_location=map_location)
    return checkpoint


def get_torchvision_models():
    model_urls = dict()
    for _, name, ispkg in pkgutil.walk_packages(torchvision.models.__path__):
        if ispkg:
            continue
        _zoo = import_module(f'torchvision.models.{name}')
        if hasattr(_zoo, 'model_urls'):
            _urls = getattr(_zoo, 'model_urls')
            model_urls.update(_urls)
    return model_urls


def get_external_models():
    mmcv_home = _get_mmcv_home()
    default_json_path = osp.join(mmcv.__path__[0], 'model_zoo/open_mmlab.json')
    default_urls = load_file(default_json_path)
    assert isinstance(default_urls, dict)
    external_json_path = osp.join(mmcv_home, 'open_mmlab.json')
    if osp.exists(external_json_path):
        external_urls = load_file(external_json_path)
        assert isinstance(external_urls, dict)
        default_urls.update(external_urls)

    return default_urls


def get_mmcls_models():
    mmcls_json_path = osp.join(mmcv.__path__[0], 'model_zoo/mmcls.json')
    mmcls_urls = load_file(mmcls_json_path)

    return mmcls_urls


def get_deprecated_model_names():
    deprecate_json_path = osp.join(mmcv.__path__[0],
                                   'model_zoo/deprecated.json')
    deprecate_urls = load_file(deprecate_json_path)
    assert isinstance(deprecate_urls, dict)

    return deprecate_urls


def _process_mmcls_checkpoint(checkpoint):
    state_dict = checkpoint['state_dict']
    new_state_dict = OrderedDict()
    for k, v in state_dict.items():
        if k.startswith('backbone.'):
            new_state_dict[k[9:]] = v
    new_checkpoint = dict(state_dict=new_state_dict)

    return new_checkpoint


def _load_checkpoint(filename, map_location=None):
    """Load checkpoint from somewhere (modelzoo, file, url).

    Args:
        filename (str): Accept local filepath, URL, ``torchvision://xxx``,
            ``open-mmlab://xxx``. Please refer to ``docs/model_zoo.md`` for
            details.
        map_location (str | None): Same as :func:`torch.load`. Default: None.

    Returns:
        dict | OrderedDict: The loaded checkpoint. It can be either an
            OrderedDict storing model weights or a dict containing other
            information, which depends on the checkpoint.
    """
    if filename.startswith('modelzoo://'):
        warnings.warn('The URL scheme of "modelzoo://" is deprecated, please '
                      'use "torchvision://" instead')
        model_urls = get_torchvision_models()
        model_name = filename[11:]
        checkpoint = load_url_dist(model_urls[model_name])
    elif filename.startswith('torchvision://'):
        model_urls = get_torchvision_models()
        model_name = filename[14:]
        checkpoint = load_url_dist(model_urls[model_name])
    elif filename.startswith('open-mmlab://'):
        model_urls = get_external_models()
        model_name = filename[13:]
        deprecated_urls = get_deprecated_model_names()
        if model_name in deprecated_urls:
            warnings.warn(f'open-mmlab://{model_name} is deprecated in favor '
                          f'of open-mmlab://{deprecated_urls[model_name]}')
            model_name = deprecated_urls[model_name]
        model_url = model_urls[model_name]
        # check if is url
        if model_url.startswith(('http://', 'https://')):
            checkpoint = load_url_dist(model_url)
        else:
            filename = osp.join(_get_mmcv_home(), model_url)
            if not osp.isfile(filename):
                raise IOError(f'{filename} is not a checkpoint file')
            checkpoint = torch.load(filename, map_location=map_location)
    elif filename.startswith('mmcls://'):
        model_urls = get_mmcls_models()
        model_name = filename[8:]
        checkpoint = load_url_dist(model_urls[model_name])
        checkpoint = _process_mmcls_checkpoint(checkpoint)
    elif filename.startswith(('http://', 'https://')):
        checkpoint = load_url_dist(filename)
    elif filename.startswith('pavi://'):
        model_path = filename[7:]
        checkpoint = load_pavimodel_dist(model_path, map_location=map_location)
    elif filename.startswith('s3://'):
        checkpoint = load_fileclient_dist(
            filename, backend='ceph', map_location=map_location)
    else:
        if not osp.isfile(filename):
            raise IOError(f'{filename} is not a checkpoint file')
        checkpoint = torch.load(filename, map_location=map_location)
    return checkpoint


def load_checkpoint_swin(model,
                         filename,
                         map_location='cpu',
                         strict=False,
                         rpe_interpolation='outer_mask',
                         logger=None):
    """Load checkpoint from a file or URI.

    Args:
        model (Module): Module to load checkpoint.
        filename (str): Accept local filepath, URL, ``torchvision://xxx``,
            ``open-mmlab://xxx``. Please refer to ``docs/model_zoo.md`` for
            details.
        map_location (str): Same as :func:`torch.load`.
        strict (bool): Whether to allow different params for the model and
            checkpoint.
        logger (:mod:`logging.Logger` or None): The logger for error message.

    Returns:
        dict or OrderedDict: The loaded checkpoint.
    """
    checkpoint = _load_checkpoint(filename, map_location)
    # OrderedDict is a subclass of dict
    if not isinstance(checkpoint, dict):
        raise RuntimeError(
            f'No state_dict found in checkpoint file {filename}')
    # get state_dict from checkpoint
    if 'state_dict' in checkpoint:
        state_dict = checkpoint['state_dict']
    elif 'model' in checkpoint:
        state_dict = checkpoint['model']
    elif 'module' in checkpoint:
        state_dict = checkpoint['module']
    else:
        state_dict = checkpoint
    # strip prefix of state_dict
    if list(state_dict.keys())[0].startswith('module.'):
        state_dict = {k[7:]: v for k, v in state_dict.items()}
    
    # for MoBY, load model of online branch
    if sorted(list(state_dict.keys()))[2].startswith('encoder'):
        state_dict = {k.replace('encoder.', ''): v for k, v in state_dict.items() if k.startswith('encoder.')}

    # reshape absolute position embedding for Swin
    if state_dict.get('absolute_pos_embed') is not None:
        absolute_pos_embed = state_dict['absolute_pos_embed']
        N1, L, C1 = absolute_pos_embed.size()
        N2, C2, H, W = model.absolute_pos_embed.size()
        if N1 != N2 or C1 != C2 or L != H * W:
            logger.warning("Error in loading absolute_pos_embed, pass")
        else:
            state_dict['absolute_pos_embed'] = absolute_pos_embed.view(N2, H, W, C2).permute(0, 3, 1, 2)

    # interpolate position bias table if needed
    relative_position_bias_table_keys = [k for k in state_dict.keys() if "relative_position_bias_table" in k]
    for k in relative_position_bias_table_keys:
        table_pretrained = state_dict[k]
        table_current = model.state_dict()[k]
        L1, nH1 = table_pretrained.size()
        L2, nH2 = table_current.size()
        if nH1 != nH2:
            logger.warning(f"Error in loading {k}, pass")
        else:
            if L1 != L2:
                if rpe_interpolation in ['bicubic', 'bilinear', 'nearest']:
                    logger.info(f"Interpolate relative_position_bias_table using {rpe_interpolation}")
                    S1 = int(L1 ** 0.5)
                    S2 = int(L2 ** 0.5)
                    table_pretrained_resized = F.interpolate(
                        table_pretrained.permute(1, 0).view(1, nH1, S1, S1),
                        size=(S2, S2), mode=rpe_interpolation)
                    state_dict[k] = table_pretrained_resized.view(nH2, L2).permute(1, 0)
                elif rpe_interpolation == 'geo':
                    logger.info("Interpolate relative_position_bias_table using geo.")
                    src_size = int(L1 ** 0.5)
                    dst_size = int(L2 ** 0.5)

                    def geometric_progression(a, r, n):
                        return a * (1.0 - r ** n) / (1.0 - r)

                    left, right = 1.01, 1.5
                    while right - left > 1e-6:
                        q = (left + right) / 2.0
                        gp = geometric_progression(1, q, src_size // 2)
                        if gp > dst_size // 2:
                            right = q
                        else:
                            left = q

                    # if q > 1.13492:
                    #     q = 1.13492

                    dis = []
                    cur = 1
                    for i in range(src_size // 2):
                        dis.append(cur)
                        cur += q ** (i + 1)

                    r_ids = [-_ for _ in reversed(dis)]

                    x = r_ids + [0] + dis
                    y = r_ids + [0] + dis

                    t = dst_size // 2.0
                    dx = np.arange(-t, t + 0.1, 1.0)
                    dy = np.arange(-t, t + 0.1, 1.0)

                    logger.info("Original positions = %s" % str(x))
                    logger.info("Target positions = %s" % str(dx))

                    all_rel_pos_bias = []

                    for i in range(nH1):
                        z = table_pretrained[:, i].view(src_size, src_size).float().numpy()
                        f_cubic = interpolate.interp2d(x, y, z, kind='cubic')
                        all_rel_pos_bias.append(torch.Tensor(f_cubic(dx, dy)).contiguous().view(-1, 1).to(
                            table_pretrained.device))

                    new_rel_pos_bias = torch.cat(all_rel_pos_bias, dim=-1)
                    state_dict[k] = new_rel_pos_bias

    if 'pos_embed' in state_dict:
        pos_embed_checkpoint = state_dict['pos_embed']
        embedding_size = pos_embed_checkpoint.shape[-1]
        num_patches = model.patch_embed.num_patches
        num_extra_tokens = model.pos_embed.shape[-2] - num_patches
        # height (== width) for the checkpoint position embedding
        orig_size = int((pos_embed_checkpoint.shape[-2] - num_extra_tokens) ** 0.5)
        # height (== width) for the new position embedding
        new_size = int(num_patches ** 0.5)
        # class_token and dist_token are kept unchanged
        if orig_size != new_size:
            if dist.get_rank() == 0:
                print("Position interpolate from %dx%d to %dx%d" % (orig_size, orig_size, new_size, new_size))
            extra_tokens = pos_embed_checkpoint[:, :num_extra_tokens]
            # only the position tokens are interpolated
            pos_tokens = pos_embed_checkpoint[:, num_extra_tokens:]
            pos_tokens = pos_tokens.reshape(-1, orig_size, orig_size, embedding_size).permute(0, 3, 1, 2)
            pos_tokens = torch.nn.functional.interpolate(
                pos_tokens, size=(new_size, new_size), mode='bicubic', align_corners=False)
            pos_tokens = pos_tokens.permute(0, 2, 3, 1).flatten(1, 2)
            new_pos_embed = torch.cat((extra_tokens, pos_tokens), dim=1)
            state_dict['pos_embed'] = new_pos_embed

    # load state_dict
    load_state_dict(model, state_dict, strict, logger)
    return checkpoint


def weights_to_cpu(state_dict):
    """Copy a model state_dict to cpu.

    Args:
        state_dict (OrderedDict): Model weights on GPU.

    Returns:
        OrderedDict: Model weights on GPU.
    """
    state_dict_cpu = OrderedDict()
    for key, val in state_dict.items():
        state_dict_cpu[key] = val.cpu()
    return state_dict_cpu


def _save_to_state_dict(module, destination, prefix, keep_vars):
    """Saves module state to `destination` dictionary.

    This method is modified from :meth:`torch.nn.Module._save_to_state_dict`.

    Args:
        module (nn.Module): The module to generate state_dict.
        destination (dict): A dict where state will be stored.
        prefix (str): The prefix for parameters and buffers used in this
            module.
    """
    for name, param in module._parameters.items():
        if param is not None:
            destination[prefix + name] = param if keep_vars else param.detach()
    for name, buf in module._buffers.items():
        # remove check of _non_persistent_buffers_set to allow nn.BatchNorm2d
        if buf is not None:
            destination[prefix + name] = buf if keep_vars else buf.detach()


def get_state_dict(module, destination=None, prefix='', keep_vars=False):
    """Returns a dictionary containing a whole state of the module.

    Both parameters and persistent buffers (e.g. running averages) are
    included. Keys are corresponding parameter and buffer names.

    This method is modified from :meth:`torch.nn.Module.state_dict` to
    recursively check parallel module in case that the model has a complicated
    structure, e.g., nn.Module(nn.Module(DDP)).

    Args:
        module (nn.Module): The module to generate state_dict.
        destination (OrderedDict): Returned dict for the state of the
            module.
        prefix (str): Prefix of the key.
        keep_vars (bool): Whether to keep the variable property of the
            parameters. Default: False.

    Returns:
        dict: A dictionary containing a whole state of the module.
    """
    # recursively check parallel module in case that the model has a
    # complicated structure, e.g., nn.Module(nn.Module(DDP))
    if is_module_wrapper(module):
        module = module.module

    # below is the same as torch.nn.Module.state_dict()
    if destination is None:
        destination = OrderedDict()
        destination._metadata = OrderedDict()
    destination._metadata[prefix[:-1]] = local_metadata = dict(
        version=module._version)
    _save_to_state_dict(module, destination, prefix, keep_vars)
    for name, child in module._modules.items():
        if child is not None:
            get_state_dict(
                child, destination, prefix + name + '.', keep_vars=keep_vars)
    for hook in module._state_dict_hooks.values():
        hook_result = hook(module, destination, prefix, local_metadata)
        if hook_result is not None:
            destination = hook_result
    return destination


def save_checkpoint(model, filename, optimizer=None, meta=None):
    """Save checkpoint to file.

    The checkpoint will have 3 fields: ``meta``, ``state_dict`` and
    ``optimizer``. By default ``meta`` will contain version and time info.

    Args:
        model (Module): Module whose params are to be saved.
        filename (str): Checkpoint filename.
        optimizer (:obj:`Optimizer`, optional): Optimizer to be saved.
        meta (dict, optional): Metadata to be saved in checkpoint.
    """
    if meta is None:
        meta = {}
    elif not isinstance(meta, dict):
        raise TypeError(f'meta must be a dict or None, but got {type(meta)}')
    meta.update(mmcv_version=mmcv.__version__, time=time.asctime())

    if is_module_wrapper(model):
        model = model.module

    if hasattr(model, 'CLASSES') and model.CLASSES is not None:
        # save class name to the meta
        meta.update(CLASSES=model.CLASSES)

    checkpoint = {
        'meta': meta,
        'state_dict': weights_to_cpu(get_state_dict(model))
    }
    # save optimizer state dict in the checkpoint
    if isinstance(optimizer, Optimizer):
        checkpoint['optimizer'] = optimizer.state_dict()
    elif isinstance(optimizer, dict):
        checkpoint['optimizer'] = {}
        for name, optim in optimizer.items():
            checkpoint['optimizer'][name] = optim.state_dict()

    if filename.startswith('pavi://'):
        try:
            from pavi import modelcloud
            from pavi.exception import NodeNotFoundError
        except ImportError:
            raise ImportError(
                'Please install pavi to load checkpoint from modelcloud.')
        model_path = filename[7:]
        root = modelcloud.Folder()
        model_dir, model_name = osp.split(model_path)
        try:
            model = modelcloud.get(model_dir)
        except NodeNotFoundError:
            model = root.create_training_model(model_dir)
        with TemporaryDirectory() as tmp_dir:
            checkpoint_file = osp.join(tmp_dir, model_name)
            with open(checkpoint_file, 'wb') as f:
                torch.save(checkpoint, f)
                f.flush()
            model.create_file(checkpoint_file, name=model_name)
    else:
        mmcv.mkdir_or_exist(osp.dirname(filename))
        # immediately flush buffer
        with open(filename, 'wb') as f:
            torch.save(checkpoint, f)
            f.flush()