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tamos_resnet50.py
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import torch
import torch.optim as optim
from ltr.data.loader import MultiEpochLTRLoader
from ltr.dataset import Got10k, Lasot, TrackingNet, MSCOCOMOTSeq, YouTubeVOS, ImagenetVIDMOT, TAOBURST
from ltr.data import processing, sampler, LTRLoader
from ltr.models.tracking import tamosnet
import ltr.models.loss as ltr_losses
import ltr.actors.tracking as actors
from ltr.trainers import LTRTrainer
import ltr.data.transforms as tfm
from ltr import MultiGPU
from ltr.models.loss.bbr_loss import GIoULoss
import numpy as np
def run(settings):
settings.description = 'TaMOs-Resnet50'
settings.multi_gpu = False
settings.batch_size = 2 * torch.cuda.device_count()
settings.num_workers = 0 * torch.cuda.device_count()
fail_safe = True
load_latest = True
settings.print_interval = 10
settings.save_checkpoint_freq = 10
settings.normalize_mean = [0.485, 0.456, 0.406]
settings.normalize_std = [0.229, 0.224, 0.225]
settings.search_area_factor = 5.0
settings.output_sigma_factor = 1 / 4
settings.target_filter_sz = 1
settings.feature_sz = (36, 24)
settings.output_sz = (16 * settings.feature_sz[0], 16 * settings.feature_sz[1]) # w, h
settings.center_jitter_factor = {'train': 0., 'test': 4.5}
settings.scale_jitter_factor = {'train': 0., 'test': 0.5}
settings.hinge_threshold = 0.05
settings.num_train_frames = 1
settings.num_test_frames = 1
settings.num_encoder_layers = 6
settings.num_decoder_layers = 6
settings.frozen_backbone_layers = ['conv1', 'bn1', 'layer1', 'layer2']
settings.freeze_backbone_bn_layers = True
settings.crop_type = 'inside_major'
settings.max_scale_change = 1.5
settings.max_gap = {'sot': 200, 'mot': 100}
settings.train_samples_per_epoch = 40000
settings.val_samples_per_epoch = 10000
settings.val_epoch_interval = 5
settings.num_epochs = 300
settings.weight_giou = 1.0
settings.weight_clf = 100.0
settings.normalized_bbreg_coords = True
settings.center_sampling_radius = 1.0
settings.use_test_frame_encoding = False # Set to True to use the same as in the paper but is less stable to train.
settings.grad_clip_max_norm = 0.1
settings.max_num_objects = 10
# Train datasets
lasot_train = Lasot(settings.env.lasot_dir, split='train')
got10k_train = Got10k(settings.env.got10k_dir, split='vottrain')
trackingnet_train = TrackingNet(settings.env.trackingnet_dir, set_ids=list(range(4)))
coco_mot_train = MSCOCOMOTSeq(settings.env.coco_dir)
youtubevos_train = YouTubeVOS(settings.env.youtubevos_dir, multiobj=True, split='jjtrain')
imagenetvid_train = ImagenetVIDMOT(settings.env.imagenet_vid_gmot_dir, split='train')
tao_train = TAOBURST(settings.env.tao_burst_dir)
# Validation datasets
got10k_val = Got10k(settings.env.got10k_dir, split='votval')
imagenetvid_val = ImagenetVIDMOT(settings.env.imagenet_vid_gmot_dir, split='val')
# Data transform
transform_joint = tfm.Transform(tfm.ToGrayscale(probability=0.05),
tfm.RandomHorizontalFlip(probability=0.5))
transform_train = tfm.Transform(
tfm.RandomAffine(p_flip=0.5, max_rotation=1.0, max_scale=np.log(1.5), scale_center=0.5),
tfm.ToTensorAndJitter(0.2),
tfm.Normalize(mean=settings.normalize_mean, std=settings.normalize_std))
transform_val = tfm.Transform(tfm.ToTensor(),
tfm.Normalize(mean=settings.normalize_mean, std=settings.normalize_std))
# The tracking pairs processing module
output_sigma = settings.output_sigma_factor / settings.search_area_factor
label_params = {'feature_sz': settings.feature_sz, 'sigma_factor': output_sigma,
'kernel_sz': settings.target_filter_sz}
data_processing_train = processing.TaMOsProcessing(max_num_objects=settings.max_num_objects,
search_area_factor=settings.search_area_factor,
output_sz=settings.output_sz,
center_jitter_factor=settings.center_jitter_factor,
scale_jitter_factor=settings.scale_jitter_factor,
crop_type=settings.crop_type,
max_scale_change=settings.max_scale_change,
mode='sequence',
label_function_params=label_params,
transform=transform_train,
joint_transform=transform_joint,
use_normalized_coords=settings.normalized_bbreg_coords,
center_sampling_radius=settings.center_sampling_radius,
include_high_res_labels=True,
enforce_one_sample_region_per_object=True)
data_processing_val = processing.TaMOsProcessing(max_num_objects=settings.max_num_objects,
search_area_factor=settings.search_area_factor,
output_sz=settings.output_sz,
center_jitter_factor=settings.center_jitter_factor,
scale_jitter_factor=settings.scale_jitter_factor,
crop_type=settings.crop_type,
max_scale_change=settings.max_scale_change,
mode='sequence',
label_function_params=label_params,
transform=transform_val,
joint_transform=transform_joint,
use_normalized_coords=settings.normalized_bbreg_coords,
center_sampling_radius=settings.center_sampling_radius,
include_high_res_labels=True,
enforce_one_sample_region_per_object=True)
# Train sampler and loader
dataset_train = sampler.TaMOsDatasetSampler(
[lasot_train, trackingnet_train, got10k_train, tao_train, coco_mot_train, youtubevos_train, imagenetvid_train],
[1, 1, 1, 1, 1, 1, 1],
samples_per_epoch=settings.train_samples_per_epoch, max_gap=settings.max_gap,
num_test_frames=settings.num_test_frames, num_train_frames=settings.num_train_frames,
processing=data_processing_train)
loader_train = MultiEpochLTRLoader('train', dataset_train, training=True, batch_size=settings.batch_size,
num_workers=settings.num_workers,
shuffle=True, drop_last=True, stack_dim=1)
# Validation samplers and loaders
dataset_sot_val = sampler.TaMOsDatasetSampler([got10k_val], [1], samples_per_epoch=settings.val_samples_per_epoch,
max_gap=settings.max_gap, num_test_frames=settings.num_test_frames,
num_train_frames=settings.num_train_frames,
processing=data_processing_val)
loader_sot_val = LTRLoader('val_sot', dataset_sot_val, training=False, batch_size=settings.batch_size,
num_workers=settings.num_workers,
shuffle=False, drop_last=True, epoch_interval=settings.val_epoch_interval, stack_dim=1)
dataset_mot_val = sampler.TaMOsDatasetSampler([imagenetvid_val], [1],
samples_per_epoch=settings.val_samples_per_epoch,
max_gap=settings.max_gap, num_test_frames=settings.num_test_frames,
num_train_frames=settings.num_train_frames,
processing=data_processing_val)
loader_mot_val = LTRLoader('val_mot', dataset_mot_val, training=False, batch_size=settings.batch_size,
num_workers=settings.num_workers,
shuffle=False, drop_last=True, epoch_interval=settings.val_epoch_interval, stack_dim=1)
# Create network and actor
net = tamosnet.tamosnet_resnet50(filter_size=settings.target_filter_sz, backbone_pretrained=True,
head_feat_blocks=0,
head_feat_norm=True, final_conv=True, out_feature_dim=256,
feature_sz=settings.feature_sz,
frozen_backbone_layers=settings.frozen_backbone_layers,
num_encoder_layers=settings.num_encoder_layers,
num_decoder_layers=settings.num_decoder_layers,
head_layer=['layer2', 'layer3'],
num_tokens=settings.max_num_objects, label_enc='gaussian', box_enc='ltrb_token',
fpn_head_cls_output_mode=['low', 'high', 'trafo'],
fpn_head_bbreg_output_mode=['low', 'high', 'trafo'])
# Wrap the network for multi GPU training
if settings.multi_gpu:
net = MultiGPU(net, dim=1)
objective = {'giou': GIoULoss(), 'test_clf': ltr_losses.FocalLoss()}
loss_weight = {'giou': settings.weight_giou, 'test_clf': settings.weight_clf}
actor = actors.TaMOsActor(net=net, objective=objective, loss_weight=loss_weight, prob=True)
# Optimizer
optimizer = optim.AdamW([
{'params': actor.net.head.parameters(), 'lr': 1e-4},
{'params': actor.net.feature_extractor.layer3.parameters(), 'lr': 2e-5}
], lr=2e-4, weight_decay=0.0001)
lr_scheduler = optim.lr_scheduler.MultiStepLR(optimizer, milestones=[150, 250], gamma=0.2)
trainer = LTRTrainer(actor, [loader_train, loader_sot_val, loader_mot_val], optimizer, settings, lr_scheduler,
freeze_backbone_bn_layers=settings.freeze_backbone_bn_layers)
trainer.train(settings.num_epochs, load_latest=load_latest, fail_safe=fail_safe)