# flake8: noqa import comet_ml import time from geowatch.tasks.rutgers_material_seg.models.canny_edge import CannyFilter from skimage.filters import threshold_otsu as otsu from fast_pytorch_kmeans import KMeans from geowatch.tasks.rutgers_material_seg.models.losses import SupConLoss, simCLR_loss, QuadrupletLoss from geowatch.tasks.rutgers_material_seg.models.supcon import SupConResNet from geowatch.tasks.rutgers_material_seg.datasets import build_dataset from geowatch.tasks.rutgers_material_seg.datasets.iarpa_contrastive_dataset import SequenceDataset from geowatch.tasks.rutgers_material_seg.models import build_model import geowatch.tasks.rutgers_material_seg.utils.visualization as visualization import geowatch.tasks.rutgers_material_seg.utils.eval_utils as eval_utils import geowatch.tasks.rutgers_material_seg.utils.utils as utils import torchvision.transforms.functional as FT from torchvision import transforms from tqdm import tqdm from torch import nn from scipy import ndimage import torch.nn.functional as F import torch.optim as optim import ubelt as ub import numpy as np import matplotlib.pyplot as plt import ndsampler import kwimage import kwcoco import random import math import yaml import warnings import datetime import torch import cv2 import gc import matplotlib import sys import os current_path = os.getcwd().split("/") torch.backends.cudnn.enabled = False torch.backends.cudnn.deterministic = True torch.set_printoptions(precision=3, sci_mode=False) np.set_printoptions(precision=3, suppress=True) mean_std = ([0.485, 0.456, 0.406], [0.229, 0.224, 0.225]) class Trainer(object): def __init__(self, model: object, train_loader: torch.utils.data.DataLoader, val_loader: torch.utils.data.DataLoader, epochs: int, optimizer: object, scheduler: object, test_loader: torch.utils.data.DataLoader = None, test_with_full_supervision: int = 0) -> None: """trainer class Args: model (object): trained or untrained model train_loader (torch.utils.data.DataLader): loader with training data val_loader (torch.utils.data.DataLader): loader with validation data epochs (int): number of epochs optimizer (object): optimizer to train with scheduler (object): scheduler to train with test_loader (torch.utils.data.DataLader, optional): loader with testing data. Defaults to None. test_with_full_supervision (int, optional): should full supervision be used. Defaults to 0. """ self.model = model self.use_crf = config['evaluation']['use_crf'] self.train_loader = train_loader self.val_loader = val_loader self.epochs = epochs self.optimizer = optimizer self.scheduler = scheduler self.class_weights = torch.Tensor(config['data']['weights']).float().to(device) self.contrastive_loss = SupConLoss() self.quadrupletloss = QuadrupletLoss() # self.k = config['training']['out_features_dim'] self.k = config['data']['num_classes'] self.kmeans = KMeans(n_clusters=self.k, mode='euclidean', verbose=0, minibatch=None) self.max_label = self.k self.all_crops_params = [tuple([i, j, config['data']['window_size'], config['data']['window_size']]) for i in range(config['data']['window_size'], config['data'] ['image_size'] - config['data']['window_size']) for j in range(config['data']['window_size'], config['data']['image_size'] - config['data']['window_size'])] self.all_crops_params_np = np.array(self.all_crops_params) self.change_threshold = 0.2 # print(self.all_crops_params_np) if test_loader is not None: self.test_loader = test_loader self.test_with_full_supervision = test_with_full_supervision self.train_second_transform = transforms.Compose([ transforms.RandomHorizontalFlip(), transforms.ColorJitter(0.4, 0.4, 0.4, 0.1), transforms.RandomGrayscale(p=0.2), ]) self.crop_size = (config['data']['window_size'], config['data']['window_size']) self.cmap = visualization.n_distinguishable_colors(nlabels=self.max_label, first_color_black=True, last_color_black=True, bg_alpha=config['visualization']['bg_alpha'], fg_alpha=config['visualization']['fg_alpha']) def high_confidence_filter(self, features: torch.Tensor, cutoff_top: float = 0.75, cutoff_low: float = 0.0, eps: float = 1e-8) -> torch.Tensor: """Select high confidence regions to select as predictions Args: features (torch.Tensor): initial mask cutoff_top (float, optional): cutoff of the object. Defaults to 0.75. cutoff_low (float, optional): low cutoff. Defaults to 0.2. eps (float, optional): small number. Defaults to 1e-8. Returns: torch.Tensor: pseudo mask generated """ bs, c, h, w = features.size() features = features.view(bs, c, -1) # for each class extract the max confidence features_max, _ = features.max(-1, keepdim=True) # features_max[:, c-1:] *= 0.8 # features_max[:, :c-1] *= cutoff_top features_max *= cutoff_top # features_max *= cutoff_top # if the top score is too low, ignore it lowest = torch.Tensor([cutoff_low]).type_as(features_max) features_max = features_max.max(lowest) filtered_features = (features > features_max).type_as(features) filtered_features = filtered_features.view( bs, c, h, w) * features.view(bs, c, h, w) return filtered_features def train(self, epoch: int, cometml_experiemnt: object) -> float: """training single epoch Args: epoch (int): number of epoch cometml_experiemnt (object): comet ml experiment to log the epoch Returns: float: training loss of that epoch """ total_loss = 0 total_loss_seg = 0 preds, targets = [], [] self.model.train() print(f"starting epoch {epoch}") loader_size = len(self.train_loader) if config['visualization']['train_visualization_divisor'] >= loader_size: config['visualization']['train_visualization_divisor'] = loader_size iter_visualization = loader_size // config['visualization']['train_visualization_divisor'] # print(config['visualization']['train_visualization_divisor']) # print(iter_visualization) pbar = tqdm(enumerate(self.train_loader), total=len(self.train_loader)) batch_index_to_show = config['visualization']['batch_index_to_show'] for batch_index, batch in pbar: outputs = batch image1, image2 = outputs['inputs']['image1'], outputs['inputs']['image2'] negative_image1 = outputs['inputs']['negative_image'] image_name = outputs['visuals']['image_name'][batch_index_to_show] if 'mask' in outputs.keys(): mask1 = outputs['inputs']['mask'] mask1 = mask1.long().squeeze(1) class_to_show = 1 bs, c, h, w = image1.shape image1 = image1.to(device) image2 = image2.to(device) negative_image1 = negative_image1.to(device) # negative_image2 = negative_image2.to(device) # image1 = utils.stad_image(image1) # image2 = utils.stad_image(image2) # negative_image1 = utils.stad_image(negative_image1) # negative_image2 = utils.stad_image(negative_image2) # image1 = F.normalize(utils.stad_image(image1), dim=1) # image2 = F.normalize(utils.stad_image(image2), dim=1) # negative_image1 = F.normalize(utils.stad_image(negative_image1), dim=1) image_diff = image1 - image2 image_change_magnitude = torch.sqrt(image_diff * image_diff) image_change_magnitude = torch.mean(image_change_magnitude, dim=1, keepdims=False) max_ratio_coef, otsu_coef, edge_threshold = 1.0, 1.0, 15 # best: 0.81, 1.0 try: otsu_threshold = otsu_coef * otsu(image_change_magnitude.cpu().detach().numpy(), nbins=256) condition = ((image_change_magnitude > max_ratio_coef * image_change_magnitude.max()) & (image_change_magnitude > otsu_threshold)) except: continue image_change_magnitude_binary = torch.zeros_like(image_change_magnitude) # .long() image_change_magnitude_binary[condition] = 1 condition_dilated = condition + condition.roll(1, 1) + condition.roll(1, 2) + condition.roll(-1, 1) + condition.roll(-1, 2) condition_dilated = condition_dilated + condition_dilated.roll(1, 1) + condition_dilated.roll(1, 2) + condition_dilated.roll(-1, 1) + condition_dilated.roll(-1, 2) condition_dilated = condition_dilated + condition_dilated.roll(1, 1) + condition_dilated.roll(1, 2) + condition_dilated.roll(-1, 1) + condition_dilated.roll(-1, 2) start = time.time() patched_change_magnitude_binary = torch.stack([transforms.functional.crop( image_change_magnitude_binary, *params) for params in self.all_crops_params], dim=1) patched_change_magnitude_binary = patched_change_magnitude_binary.view(patched_change_magnitude_binary.shape[0], patched_change_magnitude_binary.shape[1], -1) crops_indices = (patched_change_magnitude_binary == 1).any(dim=2).nonzero() params_list = np.delete(self.all_crops_params_np, crops_indices[:, 1].tolist(), axis=0) print(len(params_list)) if params_list.shape[0] == 0: continue crop_collection_time = time.time() - start start = time.time() # if batch_index==31: # print(torch.unique(image_change_magnitude_binary, return_counts=True)) # cropped_negative_image1 = torch.stack([transforms.functional.crop(negative_image1, *params) for params in params_list],dim=1) # print(params_list.shape) patched_image1 = torch.stack([transforms.functional.crop(image1, *params) for params in self.all_crops_params], dim=1) cropped_image1 = torch.stack([transforms.functional.crop(image1, *params) for params in params_list], dim=1) cropped_image2 = torch.stack([transforms.functional.crop(image2, *params) for params in params_list], dim=1) # cropped_image1 = utils.stad_image(cropped_image1, patches=True) # cropped_image2 = utils.stad_image(cropped_image2, patches=True) # cropped_negative_image1 = utils.stad_image(cropped_negative_image1, patches=True) # image1_flat = torch.flatten(image1, start_dim=2, end_dim=3) # image2_flat = torch.flatten(image2, start_dim=2, end_dim=3) # negative_image1_flat = torch.flatten(negative_image1, start_dim=2, end_dim=3) cropped_image1_flat = F.normalize(torch.flatten( cropped_image1, start_dim=2, end_dim=4), dim=1) # cropped_image2_flat = torch.flatten(cropped_image2, start_dim=2, end_dim=4) # cropped_negative_image1_flat = torch.flatten(cropped_negative_image1, start_dim=2, end_dim=4) patched_image1_flat = F.normalize(torch.flatten( patched_image1, start_dim=2, end_dim=4), dim=1) # patched_image2_flat = torch.flatten(patched_image2, start_dim=2, end_dim=4) output1, features1 = self.model(image1) # [B,22,150,150] output2, features2 = self.model(image2) negative_output1, negative_features1 = self.model(negative_image1) # negative_output2, negative_features2 = self.model(negative_image2) # features1_flat = torch.flatten(features1, start_dim=2, end_dim=3) cropped_features1 = torch.stack([transforms.functional.crop(output1, *params) for params in params_list], dim=1) cropped_features2 = torch.stack([transforms.functional.crop(output2, *params) for params in params_list], dim=1) cropped_negative_features1 = torch.stack([transforms.functional.crop(negative_output1, *params) for params in params_list], dim=1) cropped_bs, cropped_ps, cropped_c, cropped_h, cropped_w = cropped_features1.shape patch_max = 6000 cropped_features1 = cropped_features1.view(cropped_bs * cropped_ps, cropped_c * cropped_h * cropped_w) # [bs*ps, c*h*w] cropped_features2 = cropped_features2.view(cropped_bs * cropped_ps, cropped_c * cropped_h * cropped_w) cropped_negative_features1 = cropped_negative_features1.view(cropped_bs * cropped_ps, cropped_c * cropped_h * cropped_w) # cropped_features1 = F.normalize(cropped_features1,dim=1,p=1) #[bs*ps, c*h*w] # cropped_features2 = F.normalize(cropped_features2,dim=1,p=1) features = torch.cat([cropped_features1.unsqueeze(1), cropped_features2.unsqueeze(1)], dim=1)[:patch_max, :, :] # texton_h, texton_w = cropped_h, cropped_w texton_h, texton_w = h, w max_patch_dictionary_length = cropped_ps if cropped_ps < patch_max else patch_max dictionary1_post_assignment = torch.zeros((bs, texton_h, texton_w)).to(device).long() dictionary2_post_assignment = torch.zeros((bs, texton_h, texton_w)) # .to(device).long() dictionary1 = torch.zeros((bs, max_patch_dictionary_length)).to(device).long() # dictionary1 = torch.zeros((bs, number_of_patches)).to(device).long() # dictionary2 = torch.zeros((bs, cropped_h, cropped_w)).to(device).long() # dictionary = torch.zeros((bs, h, w)).to(device).long() # dictionary2 = torch.zeros((bs, h, w)).to(device).long() # dictionary_distribution = torch.zeros((bs, self.k)).to(device)#.long() centroids = torch.zeros((bs, cropped_image1_flat.shape[2], self.k)).to(device) # centroid_distances = torch.zeros((bs, self.k, self.k)).to(device) # residuals1 = torch.zeros((bs, self.k, texton_h*texton_w)).to(device) # residuals2 = torch.zeros((bs, self.k, texton_h*texton_w)).to(device) # negative_residuals = torch.zeros((bs, self.k, texton_h*texton_w)).to(device) # residuals_distances = torch.zeros((bs, image1_flat.shape[2], image1_flat.shape[2])).to(device) run_network_time = time.time() - start start = time.time() """ for b in range(bs): b_input1_flat = cropped_image1_flat[b, :, :] # b_input2_flat = cropped_image2_flat[b,:,:] # b_input1_flat = features1_flat[b,:,:] b_test_full_image1 = patched_image1_flat[b, :, :] b_dictionary1 = self.kmeans.fit_predict(b_input1_flat) # .to(device) dictionary1[b, :] = b_dictionary1[:patch_max] b_centroids1 = self.kmeans.centroids.T # print(b_centroids1.shape) # for index, params in enumerate(params_list): # dictionary1[b,params[0]-1:params[0]+1,params[1]-1:params[1]+1] = b_dictionary1[index] b_dictionary1_test = self.kmeans.predict(b_test_full_image1) root_shape = int(math.sqrt(b_dictionary1_test.shape[0])) b_dictionary1_test = b_dictionary1_test.view( (root_shape, root_shape)) b_dictionary1_test = F.pad(b_dictionary1_test, pad=((h-root_shape)//2, (w-root_shape+1)//2, (h-root_shape)//2, (w-root_shape+1)//2), mode='constant', value=0) # dictionary2_test = self.kmeans.predict(b_test_full_image2) # dictionary2_test = dictionary2_test.view((root_shape,root_shape)) # dictionary2_test = F.pad(dictionary2_test, # pad=((400-root_shape)//2, (400-root_shape+1)//2, (400-root_shape)//2, (400-root_shape+1)//2), # mode='constant', value=0) # for index, params in enumerate(params_mutually_explusive): # b_dictionary1_test[params[0],params[1]] = 0 b_dictionary1_test[condition_dilated[b, :, :]] = 0 dictionary1_post_assignment[b, :, :] = b_dictionary1_test # dictionary2_post_assignment[b,:,:] = dictionary2_test # b_dictionary1_clusters, b_dictionary1_distribution = torch.unique(b_dictionary1, return_counts=True) # b_dictionary1_distribution = b_dictionary1_distribution/(texton_h*texton_w) # b_centroids1 = self.kmeans.centroids.T # b_centroid_distances = torch.cdist(b_centroids.T, b_centroids.T) # [k, k] # b_residual1 = torch.cdist(b_input1_flat.T, b_centroids1.T).T #[k, window_size**2] # b_residual_distances = torch.cdist(b_residual.T, b_residual.T) #[window_size**2, window_size**2] # residuals_distances[b,:,:] = b_residual_distances # residuals1[b,:,:] = b_residual1 centroids[b, :, :] = b_centroids1 # centroid_distances[b,:,:] = b_centroid_distances # dictionary1[b,:] = b_dictionary1#.view(texton_h, texton_w).long() # dictionary1[b,:] = b_dictionary1#.view(texton_h, texton_w).long() # dictionary_distribution[b, b_dictionary_clusters] = b_dictionary1_distribution # residuals1 = residuals1.view(bs, self.k, texton_h*texton_w) # residuals2 = residuals2.view(bs, self.k, texton_h*texton_w) # negative_residuals = negative_residuals.view(bs, self.k, texton_h*texton_w) # cropped_dictionary = transforms.functional.crop(dictionary1, *params) # dictionary1 = dictionary1.view(-1) """ clustering_time = time.time() - start start = time.time() # loss1 = 5*F.cross_entropy(output1, # dictionary1_post_assignment, # ignore_index=0, # reduction="mean") # loss2 = 5*F.cross_entropy(output2, # dictionary1_post_assignment, # ignore_index=0, # reduction="mean") # loss = loss1 + loss2 loss = 5 * F.triplet_margin_loss(cropped_features1, # .unsqueeze(0), cropped_features2, # .unsqueeze(0), cropped_negative_features1 ) # loss += 5*self.contrastive_loss(features, labels=dictionary1) # loss += 5*self.contrastive_loss(features) self.optimizer.zero_grad() loss.backward() self.optimizer.step() total_loss_seg += loss.item() backprop_time = time.time() - start start = time.time() masks1 = F.softmax(output1, dim=1) masks2 = F.softmax(output2, dim=1) # masks1 = F.softmax(features1, dim=1) # masks2 = F.softmax(features2, dim=1) # masks1 = self.high_confidence_filter(masks1, # cutoff_top=config['high_confidence_threshold']['train_cutoff'], # cutoff_low=config['high_confidence_threshold']['train_low_cutoff']) # masks2 = self.high_confidence_filter(masks2, # cutoff_top=config['high_confidence_threshold']['train_cutoff'], # cutoff_low=config['high_confidence_threshold']['train_low_cutoff']) diff_change_features = torch.abs(masks1 - masks2).sum(axis=1) # print(f"Distances, max:{diff_change_features.max()}, min:{diff_change_features.min()}") diff_change_thresholded = diff_change_features.clone() diff_change_thresholded[diff_change_thresholded > self.change_threshold] = 1 pred1 = masks1.max(1)[1].cpu().detach() # .numpy() pred2 = masks2.max(1)[1].cpu().detach() # .numpy() # change_detection_prediction = (pred1!=pred2).type(torch.uint8) change_detection_prediction = diff_change_thresholded.cpu().detach().type(torch.uint8) total_loss += loss.item() mask1[mask1 == -1] = 0 # preds.append(change_detection_prediction.cpu()) preds.append(change_detection_prediction.cpu()) targets.append(mask1.cpu()) # .numpy()) # print(f"\nbatch index: {batch_index}") # print(f"iter visualization: {iter_visualization}") # print(f"batch_index % iter_visualization: {batch_index % iter_visualization}") if config['visualization']['train_visualizer']: if (epoch) % config['visualization']['visualize_training_every'] == 0: if (batch_index % iter_visualization) == 0: # if 1: figure = plt.figure(figsize=(config['visualization']['fig_size'], config['visualization']['fig_size']), dpi=config['visualization']['dpi']) ax1 = figure.add_subplot(3, 4, 1) ax2 = figure.add_subplot(3, 4, 2) ax3 = figure.add_subplot(3, 4, 3) ax4 = figure.add_subplot(3, 4, 4) ax5 = figure.add_subplot(3, 4, 5) ax6 = figure.add_subplot(3, 4, 6) ax7 = figure.add_subplot(3, 4, 7) ax8 = figure.add_subplot(3, 4, 8) ax9 = figure.add_subplot(3, 4, 9) ax10 = figure.add_subplot(3, 4, 10) ax11 = figure.add_subplot(3, 4, 11) ax12 = figure.add_subplot(3, 4, 12) cmap_gradients = plt.cm.get_cmap('jet') # image_show = np.transpose(image1.cpu().detach().numpy()[batch_index_to_show,:,:,:],(1,2,0))[:,:1:4,:3] image_show1 = np.transpose(image1.cpu().detach().numpy()[batch_index_to_show, :, :, :], (1, 2, 0))[:, :, :3] image_show1 = np.flip(image_show1, axis=2) image_show2 = np.transpose(image2.cpu().detach().numpy()[batch_index_to_show, :, :, :], (1, 2, 0))[:, :, :3] image_show2 = np.flip(image_show2, axis=2) negative_image1_show = np.transpose(negative_image1.cpu().detach().numpy()[batch_index_to_show, :, :, :], (1, 2, 0))[:, :, :3] negative_image1_show = np.flip(negative_image1_show, axis=2) cropped_image1_show = np.transpose(cropped_image1.cpu().detach().numpy()[batch_index_to_show, 0, :, :, :], (1, 2, 0))[:, :, :3] cropped_image1_show = np.flip(cropped_image1_show, axis=2) cropped_image2_show = np.transpose(cropped_image2.cpu().detach().numpy()[batch_index_to_show, 0, :, :, :], (1, 2, 0))[:, :, :3] cropped_image2_show = np.flip(cropped_image2_show, axis=2) image_show1 = (image_show1 - image_show1.min()) / (image_show1.max() - image_show1.min()) image_show2 = (image_show2 - image_show2.min()) / (image_show2.max() - image_show2.min()) negative_image1_show = (negative_image1_show - negative_image1_show.min()) / (negative_image1_show.max() - negative_image1_show.min()) cropped_image1_show = (cropped_image1_show - cropped_image1_show.min()) / (cropped_image1_show.max() - cropped_image1_show.min()) cropped_image2_show = (cropped_image2_show - cropped_image2_show.min()) / (cropped_image2_show.max() - cropped_image2_show.min()) # print(f"min: {image_show.min()}, max: {image_show.max()}") # image_show = np.transpose(outputs['visuals']['image'][batch_index_to_show,:,:,:].numpy(),(1,2,0)) logits_show1 = masks1.max(1)[1].cpu().detach().numpy()[batch_index_to_show, :, :] logits_show2 = masks2.max(1)[1].cpu().detach().numpy()[batch_index_to_show, :, :] change_detection_prediction_show = change_detection_prediction.numpy()[batch_index_to_show, :, :] change_detection_show = change_detection_prediction_show gt_mask_show1 = mask1.cpu().detach()[batch_index_to_show, :, :].numpy().squeeze() output1_sample1 = masks1[batch_index_to_show, class_to_show, :, :].cpu().detach().numpy().squeeze() vca_pseudomask_show = image_change_magnitude_binary.cpu().detach()[batch_index_to_show, :, :].numpy() """ # vca_pseudomask_crop_show = cm_binary_crop.cpu().detach()[batch_index_to_show,:,:].numpy() # dictionary_show = dictionary1.cpu().detach()[batch_index_to_show,:,:].numpy() dictionary_show = dictionary2_post_assignment.cpu().detach()[batch_index_to_show, :, :].numpy() dictionary2_show = dictionary1_post_assignment.cpu().detach()[batch_index_to_show, :, :].numpy() """ distances_show = diff_change_features.cpu().detach()[batch_index_to_show, :, :].numpy() distances_show = (distances_show - distances_show.min()) / (distances_show.max() - distances_show.min()) fp_tp_fn_prediction_mask = gt_mask_show1 + (2 * change_detection_show) logits_show1[logits_show1 == -1] = 0 logits_show2[logits_show2 == -1] = 0 gt_mask_show_no_bg1 = np.ma.masked_where( gt_mask_show1 == 0, gt_mask_show1) # logits_show_no_bg = np.ma.masked_where(logits_show==0,logits_show) classes_in_gt = np.unique(gt_mask_show1) ax1.imshow(image_show1) ax2.imshow(image_show2) ax3.imshow(negative_image1_show) ax4.imshow(image_show1) # , alpha=alphas_final_gt) ax4.imshow(gt_mask_show1, cmap=self.cmap, vmin=0, vmax=self.max_label) ax5.imshow(image_show1) # , alpha=alphas_final_gt) ax5.imshow(logits_show1, cmap=self.cmap, vmin=0, vmax=self.max_label) ax6.imshow(image_show2) ax6.imshow(logits_show2, cmap=self.cmap, vmin=0, vmax=self.max_label) ax7.imshow(image_show2) # ax6.imshow(change_detection_prediction_show, cmap=self.cmap, vmin=0, vmax=self.max_label)#, alpha=alphas_final_gt) # , alpha=alphas_final_gt) ax7.imshow(change_detection_show, cmap=self.cmap, vmin=0, vmax=self.max_label) ax8.imshow(vca_pseudomask_show, cmap=self.cmap, vmin=0, vmax=1) ax9.imshow(cropped_image1_show) ax10.imshow(distances_show) if config['visualization']['log_scatters']: from sklearn.manifold import TSNE from sklearn.cluster import KMeans tsne_model = TSNE(n_components=2, verbose=False, random_state=0) clustering_model = KMeans(n_clusters=self.k) clustering_model_raw = KMeans(n_clusters=self.k) scatter_fig = plt.figure(figsize=(config['visualization']['fig_size'], config['visualization']['fig_size'])) scax1 = scatter_fig.add_subplot(1, 2, 1) scax2 = scatter_fig.add_subplot(1, 2, 2) centroids_show = centroids[batch_index_to_show, :, :].T clustering_visualization = tsne_model.fit_transform(centroids_show.detach().cpu()) # [k, 507] -> [k, 2] cropped_image1_flat_clustering = tsne_model.fit_transform(cropped_image1_flat[batch_index_to_show, :, :].detach().cpu()) # [num_pixels, 507] -> [num_pixels, 2] reduced_features_clusters = clustering_model.fit(cropped_image1_flat_clustering) centroids_reduced_features_show = clustering_model.cluster_centers_ y_kmeans = clustering_model.labels_ # scax1.scatter(cropped_image1_flat_clustering[:,0],cropped_image1_flat_clustering[:,1], # c=raw_y_kmeans, # s=25.5, # cmap='tab20', # marker='.', # linewidths=1.0 # ) # scax1.scatter(clustering_visualization[:,0],clustering_visualization[:,1], # c='black', # s=250.5, # alpha=0.7, # edgecolors='gray' # ) ax11.scatter(cropped_image1_flat_clustering[:, 0], cropped_image1_flat_clustering[:, 1], c=y_kmeans, s=25.5, cmap='tab20', marker='.', linewidths=1.0 ) ax11.scatter(centroids_reduced_features_show[:, 0], centroids_reduced_features_show[:, 1], c='black', s=250.5, alpha=0.7, edgecolors='gray' ) # ax11.set_title("Clusters of raw features") ax11.set_title("Clusters of Reduced Features (2D)") # cometml_experiemnt.log_figure(figure_name=f"Training, Scatter Plot",figure=scatter_fig) else: # ax11.imshow(dictionary_show, cmap=self.cmap, vmin=0, vmax=self.max_label) # , alpha=alphas_final_gt) ax11.imshow(fp_tp_fn_prediction_mask, cmap=self.cmap, vmin=0, vmax=self.max_label) ax11.set_title(f"TP (blue), FP (green), TN (gray), FN (red)", fontsize=config['visualization']['font_size']) """ ax12.imshow(dictionary2_show, cmap=self.cmap, vmin=0, vmax=self.max_label) """ ax1.axis('off') ax2.axis('off') ax3.axis('off') ax4.axis('off') ax5.axis('off') ax6.axis('off') ax7.axis('off') ax8.axis('off') # ax9.axis('off') if config['visualization']['titles']: ax1.set_title(f"Input Image 1", fontsize=config['visualization']['font_size']) ax2.set_title(f"Input Image 2", fontsize=config['visualization']['font_size']) ax3.set_title(f"Negative Sample", fontsize=config['visualization']['font_size']) ax4.set_title(f"Change GT Mask overlaid", fontsize=config['visualization']['font_size']) ax5.set_title(f"Prediction overlaid 1", fontsize=config['visualization']['font_size']) ax6.set_title(f"Prediction overlaid 2", fontsize=config['visualization']['font_size']) ax7.set_title(f"Change Detection Prediction", fontsize=config['visualization']['font_size']) ax8.set_title(f"Pseudo-Mask for Change", fontsize=config['visualization']['font_size']) ax9.set_title(f"Cropped Input Image 1, location: {str(params_list[0])}", fontsize=config['visualization']['font_size']) ax10.set_title(f"Distances, max:{diff_change_features.max():.2f}, min:{diff_change_features.min():.2f}", fontsize=config['visualization']['font_size']) ax12.set_title(f"Patch-wise Visual Words", fontsize=config['visualization']['font_size']) figure.suptitle( f"Epoch: {epoch+1}\nGT labels for classification: {classes_in_gt}, \nunique in change predictions: {np.unique(change_detection_show)}\nunique in predictions1: {np.unique(logits_show1)}", fontsize=config['visualization']['font_size']) # cometml_experiemnt.log_figure(figure_name=f"Training, image name: {image_name}, epoch: {epoch}, classes in gt: {classes_in_gt}, classifier predictions: {labels_predicted_indices}",figure=figure) figure_name = "Training, image name:" + str(image_name) cometml_experiemnt.log_figure(figure_name=f"Training, image name: {str(image_name)}", figure=figure) # figure.tight_layout() if config['visualization']['train_imshow']: plt.show() figure.clear() plt.cla() plt.clf() plt.close('all') plt.close(figure) gc.collect() logging_time = time.time() - start pbar.set_description( f"(timing, secs) crop_collection: {crop_collection_time:0.3f}, run_network: {run_network_time:0.3f}, clustering: {clustering_time:0.3f}, backprob: {backprop_time:0.3f}, log: {logging_time:0.3f}") mean_iou, precision, recall = eval_utils.compute_jaccard(preds, targets, num_classes=2) mean_iou = np.array(mean_iou) precision = np.array(precision) recall = np.array(recall) mean_precision = precision.mean() mean_recall = recall.mean() overall_miou = mean_iou.mean() classwise_f1_score = 2 * (precision * recall) / (precision + recall) mean_f1_score = classwise_f1_score.mean() # overall_miou = sum(mean_iou)/len(mean_iou) # print(f"Training class-wise mIoU value: \n{mean_iou} \noverall mIoU: {overall_miou}") # print(f"Training class-wise Precision value: \n{precision} \noverall Precision: {mean_precision}") # print(f"Training class-wise Recall value: \n{recall} \noverall Recall: {mean_recall}") # print(f"Training overall F1 Score: {mean_f1_score}") cometml_experiemnt.log_metric("Training Loss", total_loss, epoch=epoch + 1) cometml_experiemnt.log_metric("Segmentation Loss", total_loss_seg, epoch=epoch + 1) cometml_experiemnt.log_metric("Training mIoU", overall_miou, epoch=epoch + 1) cometml_experiemnt.log_metric("Training mean_f1_score", mean_f1_score, epoch=epoch + 1) cometml_experiemnt.log_metrics({f"Training Recall class {str(x)}": recall[x] for x in range(len(recall))}, epoch=epoch + 1) cometml_experiemnt.log_metrics({f"Training Precision class {str(x)}": precision[x] for x in range(len(precision))}, epoch=epoch + 1) cometml_experiemnt.log_metrics({f"Training F1_score class {str(x)}": classwise_f1_score[x] for x in range(len(classwise_f1_score))}, epoch=epoch + 1) print("Training Epoch {0:2d} average loss: {1:1.2f}".format(epoch + 1, total_loss / self.train_loader.__len__())) return total_loss / self.train_loader.__len__() def validate(self, epoch: int, cometml_experiemnt: object, save_individual_plots_specific: bool = False) -> tuple: """validating single epoch Args: epoch (int): current epoch cometml_experiemnt (object): logging experiment Returns: tuple: (validation loss, mIoU) """ print("validating") total_loss = 0 preds, stacked_preds, targets = [], [], [] accuracies = 0 running_ap = 0.0 batch_index_to_show = config['visualization']['batch_index_to_show'] if self.test_with_full_supervision == 1: loader = self.test_loader else: loader = self.val_loader loader_size = len(loader) if config['visualization']['val_visualization_divisor'] > loader_size: config['visualization']['val_visualization_divisor'] = loader_size iter_visualization = loader_size // config['visualization']['val_visualization_divisor'] self.model.eval() with torch.no_grad(): pbar = tqdm(enumerate(loader), total=len(loader)) for batch_index, batch in pbar: outputs = batch image1, image2, mask1 = outputs['inputs']['image1'], outputs['inputs']['image2'], outputs['inputs']['mask'] negative_image1 = outputs['inputs']['negative_image'] image_name = outputs['visuals']['image_name'] mask1 = mask1.long().squeeze(1) bs, c, h, w = image1.shape image1 = image1.to(device) image2 = image2.to(device) mask1 = mask1.to(device) image1 = utils.stad_image(image1) image2 = utils.stad_image(image2) output1, features1 = self.model(image1) # [B,22,150,150] output2, features2 = self.model(image2) masks1 = F.softmax(output1, dim=1) # .detach() masks2 = F.softmax(output2, dim=1) # .detach() # masks1 = F.softmax(features1, dim=1) # masks2 = F.softmax(features2, dim=1) # masks1 = self.high_confidence_filter(masks1, # cutoff_top=config['high_confidence_threshold']['val_cutoff'], # cutoff_low=config['high_confidence_threshold']['val_low_cutoff']) # masks2 = self.high_confidence_filter(masks2, # cutoff_top=config['high_confidence_threshold']['val_cutoff'], # cutoff_low=config['high_confidence_threshold']['val_low_cutoff']) diff_change_features = torch.abs(masks1 - masks2).sum(axis=1) diff_change_thresholded = diff_change_features.clone() diff_change_thresholded[diff_change_thresholded > self.change_threshold] = 1 pred1 = masks1.max(1)[1].cpu().detach() # .numpy() pred2 = masks2.max(1)[1].cpu().detach() # .numpy() change_detection_prediction = diff_change_thresholded.cpu().detach().type(torch.uint8) # change_detection_prediction = (pred1!=pred2).type(torch.uint8) preds.append(change_detection_prediction) mask1[mask1 == -1] = 0 targets.append(mask1.cpu()) # .numpy()) if config['visualization']['val_visualizer'] or (config['visualization']['save_individual_plots'] and save_individual_plots_specific): if (epoch) % config['visualization']['visualize_val_every'] == 0: if (batch_index % iter_visualization) == 0: figure = plt.figure(figsize=( config['visualization']['fig_size'], config['visualization']['fig_size'])) ax1 = figure.add_subplot(3, 3, 1) ax2 = figure.add_subplot(3, 3, 2) ax3 = figure.add_subplot(3, 3, 3) ax4 = figure.add_subplot(3, 3, 4) ax5 = figure.add_subplot(3, 3, 5) ax6 = figure.add_subplot(3, 3, 6) ax7 = figure.add_subplot(3, 3, 7) ax8 = figure.add_subplot(3, 3, 8) ax9 = figure.add_subplot(3, 3, 9) cmap_gradients = plt.cm.get_cmap('jet') image_show1 = np.transpose(image1.cpu().detach().numpy()[batch_index_to_show, :, :, :], (1, 2, 0))[:, :, :3] image_show1 = np.flip(image_show1, axis=2) image_show2 = np.transpose(image2.cpu().detach().numpy()[batch_index_to_show, :, :, :], (1, 2, 0))[:, :, :3] image_show2 = np.flip(image_show2, axis=2) image_show1 = (image_show1 - image_show1.min()) / (image_show1.max() - image_show1.min()) image_show2 = (image_show2 - image_show2.min()) / (image_show2.max() - image_show2.min()) # print(f"min: {image_show.min()}, max: {image_show.max()}") # image_show = np.transpose(outputs['visuals']['image'][batch_index_to_show,:,:,:].numpy(),(1,2,0)) logits_show1 = masks1.max(1)[1].cpu().detach().numpy()[batch_index_to_show, :, :] logits_show2 = masks2.max(1)[1].cpu().detach().numpy()[batch_index_to_show, :, :] change_detection_prediction_show = change_detection_prediction.numpy()[batch_index_to_show, :, :] change_detection_show = change_detection_prediction_show gt_mask_show1 = mask1.cpu().detach()[batch_index_to_show, :, :].numpy().squeeze() # gt_mask_show2 = mask2.cpu().detach()[batch_index_to_show,:,:].numpy().squeeze() distances_show = diff_change_features.cpu().detach()[batch_index_to_show, :, :].numpy() distances_show = (distances_show - distances_show.min()) / (distances_show.max() - distances_show.min()) fp_tp_fn_prediction_mask = gt_mask_show1 + (2 * change_detection_show) logits_show1[logits_show1 == -1] = 0 logits_show2[logits_show2 == -1] = 0 gt_mask_show_no_bg1 = np.ma.masked_where(gt_mask_show1 == 0, gt_mask_show1) # gt_mask_show_no_bg2 = np.ma.masked_where(gt_mask_show2==0,gt_mask_show2) # logits_show_no_bg = np.ma.masked_where(logits_show==0,logits_show) classes_in_gt = np.unique(gt_mask_show1) ax1.imshow(image_show1) ax2.imshow(image_show1) # , alpha=alphas_final_gt) ax2.imshow(logits_show1, cmap=self.cmap, vmin=0, vmax=self.max_label) ax3.imshow(image_show1) # , alpha=alphas_final_gt) ax3.imshow(gt_mask_show1, cmap=self.cmap, vmin=0, vmax=self.max_label) ax4.imshow(image_show2) ax5.imshow(image_show2) ax5.imshow(logits_show2, cmap=self.cmap, vmin=0, vmax=self.max_label) ax6.imshow(image_show2) # ax6.imshow(change_detection_prediction_show, cmap=self.cmap, vmin=0, vmax=self.max_label)#, alpha=alphas_final_gt) # , alpha=alphas_final_gt) ax6.imshow(change_detection_show, cmap=self.cmap, vmin=0, vmax=self.max_label) # , alpha=alphas_final_gt) ax7.imshow(fp_tp_fn_prediction_mask, cmap=self.cmap, vmin=0, vmax=self.max_label) ax8.imshow(distances_show) ax1.axis('off') ax2.axis('off') ax3.axis('off') ax4.axis('off') ax5.axis('off') ax6.axis('off') if config['visualization']['titles']: ax1.set_title(f"Input Image 1", fontsize=config['visualization']['font_size']) ax2.set_title(f"GT Mask overlaid 1", fontsize=config['visualization']['font_size']) ax3.set_title(f"Prediction overlaid 1", fontsize=config['visualization']['font_size']) ax4.set_title(f"Input Image 2", fontsize=config['visualization']['font_size']) ax5.set_title(f"Prediction overlaid 2", fontsize=config['visualization']['font_size']) ax6.set_title(f"Change Detection Prediction", fontsize=config['visualization']['font_size']) ax8.set_title(f"Distances, max:{distances_show.max():.2f}, min:{distances_show.min():.2f}", fontsize=config['visualization']['font_size']) figure.suptitle( f"Epoch: {epoch+1}\nGT labels for classification: {classes_in_gt}, \nunique in change predictions: {np.unique(change_detection_show)}\nunique in predictions1: {np.unique(logits_show1)}", fontsize=config['visualization']['font_size']) figure.tight_layout() if config['visualization']['val_imshow']: plt.show() if (config['visualization']['save_individual_plots'] and save_individual_plots_specific): plots_path_save = f"{config['visualization']['save_individual_plots_path']}{config['dataset']}/" fig_save_image_root = (f"{plots_path_save}/image_root/", ax1) fig_save_prediction_root = (f"{plots_path_save}/predictions/", ax3) fig_save_overlaid_full_supervised_mask_on_image_alpha_with_bg = (f"{plots_path_save}/overlaid_full_alpha_w_bg/", ax2) roots = [ fig_save_image_root, fig_save_prediction_root, fig_save_overlaid_full_supervised_mask_on_image_alpha_with_bg ] figure.savefig( f"{plots_path_save}/figs/{image_name}.png", bbox_inches='tight') for root, ax in roots: utils.create_dir_if_doesnt_exist(root) file_path = f"{root}/{image_name}.png" # extent = ax.get_window_extent().transformed(figure.dpi_scale_trans.inverted()) extent = ax.get_tightbbox(figure.canvas.get_renderer()).transformed(figure.dpi_scale_trans.inverted()) figure.savefig(file_path, bbox_inches=extent) cometml_experiemnt.log_figure(figure_name=f"Validation, Image name: {image_name}", figure=figure) figure.clear() plt.cla() plt.clf() plt.close('all') plt.close(figure) gc.collect() mean_iou, precision, recall = eval_utils.compute_jaccard(preds, targets, num_classes=2) mean_iou = np.array(mean_iou) precision = np.array(precision) recall = np.array(recall) mean_precision = precision.mean() mean_recall = recall.mean() overall_miou = mean_iou.mean() classwise_f1_score = 2 * (precision * recall) / (precision + recall) mean_f1_score = classwise_f1_score.mean() # print("Validation Epoch {0:2d} average loss: {1:1.2f}".format(epoch+1, total_loss/loader.__len__())) cometml_experiemnt.log_metric("Validation mIoU", overall_miou, epoch=epoch + 1) cometml_experiemnt.log_metric("Validation precision", mean_precision, epoch=epoch + 1) cometml_experiemnt.log_metric("Validation recall", mean_recall, epoch=epoch + 1) cometml_experiemnt.log_metric("Validation mean f1_score", mean_f1_score, epoch=epoch + 1) print({f"Recall class {str(x)}": recall[x] for x in range(len(recall))}) print({f"Precision class {str(x)}": precision[x] for x in range(len(precision))}) cometml_experiemnt.log_metrics({f"Recall class {str(x)}": recall[x] for x in range(len(recall))}, epoch=epoch + 1) cometml_experiemnt.log_metrics({f"Precision class {str(x)}": precision[x] for x in range(len(precision))}, epoch=epoch + 1) cometml_experiemnt.log_metrics({f"F1_score class {str(x)}": classwise_f1_score[x] for x in range(len(classwise_f1_score))}, epoch=epoch + 1) cometml_experiemnt.log_metric("Validation Average Loss", total_loss / loader.__len__(), epoch=epoch + 1) return total_loss / loader.__len__(), overall_miou def forward(self, cometml_experiment: object, world_size: int = 8) -> tuple: """forward pass for all epochs Args: cometml_experiment (object): comet ml experiment for logging world_size (int, optional): for distributed training. Defaults to 8. Returns: tuple: (train losses, validation losses, mIoU) """ train_losses, val_losses = [], [] mean_ious_val, mean_ious_val_list, count_metrics_list = [], [], [] best_val_loss, best_train_loss, train_loss = np.infty, np.infty, np.infty best_val_mean_iou, val_mean_iou = 0, 0 model_save_dir = config['data'][config['location']]['model_save_dir'] + \ f"{current_path[-1]}_{config['dataset']}/{cometml_experiment.project_name}_{datetime.datetime.today().strftime('%Y-%m-%d-%H:%M')}/" utils.create_dir_if_doesnt_exist(model_save_dir) for epoch in range(0, self.epochs): if config['procedures']['train']: with cometml_experiment.train(): train_loss = self.train(epoch, cometml_experiment) if config['procedures']['validate']: with cometml_experiment.validate(): val_loss, val_mean_iou = self.validate( epoch, cometml_experiment) self.scheduler.step() if ((val_mean_iou > best_val_mean_iou) and config['procedures']['validate']) or (config['procedures']['train'] and (train_loss < best_train_loss)): if (config['procedures']['train'] and (train_loss < best_train_loss)): best_train_loss = train_loss if ((val_mean_iou > best_val_mean_iou) and config['procedures']['validate']): best_val_mean_iou = val_mean_iou model_save_name = f"{current_path[-1]}_epoch_{epoch}_loss_{train_loss}_valmIoU_{val_mean_iou}_time_{datetime.datetime.today().strftime('%Y-%m-%d-%H:%M:%S')}.pth" if config['procedures']['train']: with open(model_save_dir + "config.yaml", 'w') as file: yaml.dump(config, file) torch.save({'epoch': epoch, 'model': self.model.state_dict(), 'optimizer': self.optimizer.state_dict(), 'scheduler': self.scheduler.state_dict(), 'loss': train_loss}, model_save_dir + model_save_name) if config['visualization']['save_individual_plots']: _, _ = self.validate( epoch, cometml_experiment, save_individual_plots_specific=True) return train_losses, val_losses, mean_ious_val if __name__ == "__main__": project_root = "/home/native/projects/watch/geowatch/tasks/rutgers_material_seg/" # main_config_path = f"{os.getcwd()}/configs/main.yaml" main_config_path = f"{project_root}/configs/main.yaml" initial_config = utils.load_yaml_as_dict(main_config_path) # experiment_config_path = f"{os.getcwd()}/configs/{initial_config['dataset']}.yaml" experiment_config_path = f"{project_root}/configs/{initial_config['dataset']}.yaml" # config_path = utils.dictionary_contents(os.getcwd()+"/",types=["*.yaml"])[0] experiment_config = utils.config_parser( experiment_config_path, experiment_type="training") config = {**initial_config, **experiment_config} config['start_time'] = datetime.datetime.today().strftime( '%Y-%m-%d-%H:%M:%S') # _{datetime.datetime.today().strftime('%Y-%m-%d-%H:%M')}" project_name = f"{current_path[-3]}_{current_path[-1]}_{config['dataset']}" experiment_name = f"attention_{datetime.datetime.today().strftime('%Y-%m-%d-%H:%M:%S')}" experiment = comet_ml.Experiment(api_key=config['cometml']['api_key'], project_name=project_name, workspace=config['cometml']['workspace'], display_summary_level=0) experiment.set_name(experiment_name) torch.manual_seed(config['seed']) torch.cuda.manual_seed(config['seed']) np.random.seed(config['seed']) random.seed(config['seed']) torch.set_default_dtype(torch.float32) device_ids = list(range(torch.cuda.device_count())) print(device_ids) # config['device_ids'] = device_ids # gpu_devices = ','.join([str(id) for id in device_ids]) # os.environ["CUDA_VISIBLE_DEVICES"] = gpu_devices device = torch.device('cuda') # config['devices_used'] = gpu_devices experiment.log_asset_data(config) experiment.log_text(config) experiment.log_parameters(config) experiment.log_parameters(config['training']) experiment.log_parameters(config['evaluation']) experiment.log_parameters(config['visualization']) channels = config['data']['channels'] num_channels = len(channels.split('|')) config['training']['num_channels'] = num_channels if config['data']['name'] == 'geowatch' or config['data']['name'] == 'onera': coco_fpath = ub.expandpath(config['data'][config['location']]['coco_json']) dset = kwcoco.CocoDataset(coco_fpath) sampler = ndsampler.CocoSampler(dset) window_dims = (config['data']['time_steps'], config['data']['image_size'], config['data']['image_size']) # [t,h,w] input_dims = (config['data']['image_size'], config['data']['image_size']) dataset = SequenceDataset(sampler, window_dims, input_dims, channels) print(dataset.__len__()) train_dataloader = dataset.make_loader(batch_size=config['training']['batch_size']) else: train_dataloader = build_dataset(dataset_name=config['data']['name'], root=config['data'][config['location']]['train_dir'], batch_size=config['training']['batch_size'], num_workers=config['training']['num_workers'], split='train', ) model = build_model(model_name=config['training']['model_name'], backbone=config['training']['backbone'], pretrained=config['training']['pretrained'], num_classes=config['data']['num_classes'], num_groups=config['training']['gn_n_groups'], weight_std=config['training']['weight_std'], beta=config['training']['beta'], num_channels=config['training']['num_channels'], out_dim=config['training']['out_features_dim']) # model = SupConResNet(name=config['training']['backbone']) num_params = sum(p.numel() for p in model.parameters() if p.requires_grad) print("model has {} trainable parameters".format(num_params)) model = nn.DataParallel(model) model.to(device) # for m in model.modules(): # if isinstance(m, nn.BatchNorm2d): # m.eval() # m.weight.requires_grad = False # m.bias.requires_grad = False optimizer = optim.SGD(model.parameters(), lr=config['training']['learning_rate'], momentum=config['training']['momentum'], weight_decay=config['training']['weight_decay']) scheduler = optim.lr_scheduler.CosineAnnealingLR(optimizer, len(train_dataloader), eta_min=config['training']['learning_rate']) if config['training']['resume'] != False: if os.path.isfile(config['training']['resume']): checkpoint = torch.load(config['training']['resume']) # model_dict = model.state_dict() # if model_dict == checkpoint['model']: # print(f"Succesfuly loaded model from {config['training']['resume']}") # else: # pretrained_dict = {k: v for k, v in checkpoint['model'].items() if k in model_dict} # model_dict.update(pretrained_dict) # model.load_state_dict(model_dict) # print("There was model mismatch. Matching elements in the pretrained model were loaded.") model.load_state_dict(checkpoint['model'], strict=False) start_epoch = checkpoint['epoch'] optimizer.load_state_dict(checkpoint['optimizer']) scheduler.load_state_dict(checkpoint['scheduler']) print( f"loadded model succeffuly from: {config['training']['resume']}") else: print("no checkpoint found at {}".format( config['training']['resume'])) exit() trainer = Trainer(model, train_dataloader, train_dataloader, config['training']['epochs'], optimizer, scheduler, test_loader=train_dataloader, test_with_full_supervision=config['training']['test_with_full_supervision'] ) train_losses, val_losses, mean_ious_val = trainer.forward(experiment)