Pikaliov
4ff36ce188
Add dataloaders (v1/v2), analysis scripts, and documentation for working with UAV-GeoLoc (World-UAV). Co-authored-by: Cursor <cursoragent@cursor.com>
234 lines
8.4 KiB
Python
234 lines
8.4 KiB
Python
from torch.utils.data import DataLoader
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from dataclasses import dataclass,field
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from eval import eval
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import os
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import torch
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from torchvision import transforms as T
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from dataset.World import AerialDatasetEvalGroup, AerialDatasetEvalVanilia
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from models import model
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import glob
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import matplotlib.pyplot as plt
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import matplotlib.patches as patches
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import numpy as np
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def default_group_config():
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return {
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"group_arch" : "groupdinonet", #group
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"group_config": {
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"none"
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}
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}
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def default_backbone_config():
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return {
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"backbone_arch" : "dinov2_vits14", #dinov2_vitb14,resnet18
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"pretrain_flag":True
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}
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def default_agg_config():
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return {
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"agg_arch": "multiconvap", #convap
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"agg_config": {
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"in_channels": 384, #256 #512，768
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"out_channels": 384, #256
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"s1": 1,
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"s2": 1,
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'LPN':False
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}
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}
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@dataclass
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class Configuration:
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model: str = "resnet18"
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# Savepath for model checkpoints
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model_path: str = "./world"
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# model config
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group:dict = field(default_factory=default_group_config)
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backbone:dict = field(default_factory=default_backbone_config)
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agg:dict = field(default_factory=default_agg_config)
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# dataset
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dataset_root_dir: str = "/media/Shen/Data/RingoData/WorldLoc/TestData/vpair"
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train_query_txt: str = "/media/Shen/Data/RingoData/WorldLoc/WorldLoc/Index/train_query.txt"
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# val_index
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val_index_txt = "/media/Shen/Data/RingoData/WorldLoc/WorldLoc/Index/val.txt"
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# test_index
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test_index_txt = "/media/Shen/Data/RingoData/WorldLoc/WorldLoc/Index/test.txt"
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save_pred_txt = "/media/Shen/Data/RingoData/WorldLoc/txt/rot270/divo-s-frozen.txt"
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# Checkpoint to start from
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checkpoint_start = None
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# set num_workers to 0 if on Windows
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num_workers: int = 0 if os.name == 'nt' else 4
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# train on GPU if available
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device: str = 'cuda' if torch.cuda.is_available() else 'cpu'
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# for better performance
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cudnn_benchmark: bool = True
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# make cudnn deterministic
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cudnn_deterministic: bool = False
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# trainning
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mixed_precision: bool = True
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custom_sampling: bool = True # use custom sampling instead of random
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seed = 1
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epochs: int = 30
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batch_size: int = 10 # keep in mind real_batch_size = 2 * batch_size 128
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verbose: bool = True
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gpu_ids: tuple = (1,) # GPU ids for training
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# Optimizer
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clip_grad = 100. # None | float
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decay_exclue_bias: bool = False
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grad_checkpointing: bool = False # Gradient Checkpointing
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# Loss
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label_smoothing: float = 0.1
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# Learning Rate
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lr: float = 0.001 # 1 * 10^-4 for ViT | 1 * 10^-1 for CNN
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scheduler: str = "cosine" # "polynomial" | "cosine" | "constant" | None
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warmup_epochs: int = 0.1
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lr_end: float = 0.0001 # only for "polynomial"
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#-------------------------------------------------------------------------------------------#
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# Train Config
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#-------------------------------------------------------------------------------------------#
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config = Configuration()
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IMAGENET_MEAN_STD = {'mean': [0.485, 0.456, 0.406],
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'std': [0.229, 0.224, 0.225]}
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eval_transform = T.Compose([
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T.Resize((224, 224), interpolation=T.InterpolationMode.BILINEAR),
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T.ToTensor(),
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T.Normalize(mean=IMAGENET_MEAN_STD["mean"], std=IMAGENET_MEAN_STD["std"]),
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])
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model = model.BackboneGlobal(config.backbone['backbone_arch'],
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config.backbone['pretrain_flag'],
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config.agg['agg_arch'],
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config.agg['agg_config'])
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# model = model.GrounpGlobal(config.group['group_arch'],
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# config.agg['agg_arch'],
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# config.agg['agg_config'])
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# model = model.GrounpDinoGlobal(config.group['group_arch'],
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# config.agg['agg_arch'],
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# config.agg['agg_config'])
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model_state_dict = torch.load("/media/Shen/Data/RingoData/WorldLoc/Code/world_vanilia/dinos-info-data-aug-multi-frozen-/122040/weights_e1_0.4058.pth")
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model.load_state_dict(model_state_dict, strict=False)
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model = model.to(config.device)
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eva_dataset_query = AerialDatasetEvalVanilia(data_dir=config.dataset_root_dir,
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mode='query',
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transforms=eval_transform)
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eval_dataloader_query = DataLoader(eva_dataset_query,
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batch_size=config.batch_size,
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num_workers=config.num_workers,
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shuffle=not config.custom_sampling,
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pin_memory=True)
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eva_dataset_db = AerialDatasetEvalVanilia(data_dir=config.dataset_root_dir,
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mode='DB',
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transforms=eval_transform)
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eval_dataloader_db = DataLoader(eva_dataset_db,
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batch_size=config.batch_size,
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num_workers=config.num_workers,
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shuffle=not config.custom_sampling,
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pin_memory=True)
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pos_gt = eval_dataloader_db.dataset.get_gt_npy() #get_gt()#
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result, predictions, really_pos_gt = eval.evaluate(config, model, eval_dataloader_query, eval_dataloader_db, pos_gt, mode='vanilia',LPN=config.agg['agg_config']['LPN'])
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print('top 1: ', round(result[0]*100,2), 'top 5: ', round(result[1]*100,2), 'top 10: ', round(result[2]*100,2)) #vanilia
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# vis and save retrieval results
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# save_vis_dir = config.dataset_root_dir + '/' + 'vis' + '/'
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# if not os.path.exists(save_vis_dir):
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# os.makedirs(save_vis_dir)
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temp_path = os.path.join(config.dataset_root_dir, 'reference_images')
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DB_path = sorted(glob.glob(f'{temp_path}/{"*.png"}'))
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# save top 1 flase or wrong
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with open(config.save_pred_txt, 'w') as f:
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for i in range(predictions.shape[0]):
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query_path = eval_dataloader_query.dataset.getitem(i)
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if np.any(np.in1d(predictions[i,0], really_pos_gt[i][1])):
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num = 1
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else:
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num = 0
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pred_path = DB_path[predictions[i,0]]
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info = query_path + ' ' + pred_path + ' ' + str(num) + '\n'
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f.write(info)
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# for i in range(predictions.shape[0]):
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# query_path = eval_dataloader_query.dataset.getitem(i)
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# fig, axs = plt.subplots(2, 6, figsize=(15, 5))
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# query_img = plt.imread(query_path)
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# for j in range(2):
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# for k in range(6):
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# if j == 0 and k == 0:
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# axs[j, k].imshow(query_img)
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# axs[j, k].axis('off') # 不显示坐标轴
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# elif j==0 and k != 0:
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# if np.any(np.in1d(predictions[i,k], really_pos_gt[i][1] )):
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# db_img_path = DB_path[predictions[i,k]]
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# db_img = plt.imread(db_img_path)
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# axs[j, k].imshow(db_img)
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# # 创建一个矩形框
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# rect = patches.Rectangle((10, 10), 2, 2, linewidth=10, edgecolor='blue', facecolor='none')
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# # 将矩形框添加到图像上，根据图像尺寸调整框的大小
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# rect.set_transform(axs[j, k].transData) # 将框的坐标系设置为数据坐标系
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# axs[j, k].add_patch(rect)
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# axs[j,k].axis('off') # 不显示坐标轴
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# else:
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# db_img_path = DB_path[predictions[i,k]]
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# db_img = plt.imread(db_img_path)
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# axs[j, k].imshow(db_img)
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# # 创建一个矩形框
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# rect = patches.Rectangle((10, 10), 2, 2, linewidth=10, edgecolor='red', facecolor='none')
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# # 将矩形框添加到图像上，根据图像尺寸调整框的大小
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# rect.set_transform(axs[j, k].transData) # 将框的坐标系设置为数据坐标系
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# axs[j, k].add_patch(rect)
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# axs[j, k].axis('off') # 不显示坐标轴
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# if j ==1:
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# try:
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# db_img_path = DB_path[really_pos_gt[i][1][k]]
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# db_img = plt.imread(db_img_path)
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# axs[j, k].imshow(db_img)
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# axs[j, k].axis('off') # 不显示坐标轴
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# except:
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# break
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# save_one_path = save_vis_dir + str(i) + '.png'
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# plt.savefig(save_one_path, dpi=300)
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