Change API to pytorch 0.4; Also, support cpu during demo and test tim…

…e (Doesn't make sense to support cpu during training.).

README.md

@@ -58,7 +58,7 @@ Additional features not mentioned in the [report](https://arxiv.org/pdf/1702.021
   - **Support for visualization**. The current implementation will summarize ground truth boxes, statistics of losses, activations and variables during training, and dump it to a separate folder for tensorboard visualization. The computing graph is also saved for debugging.
 
 ### Prerequisites
-  - A basic pytorch installation. The code follows **0.3**. If you are using old **0.1.12** or **0.2**, you can checkout the corresponding branch.
+  - A basic pytorch installation. The code follows **0.4**. If you are using old **0.1.12** or **0.2** or **0.3**, you can checkout the corresponding branch.
   - Python packages you might not have: `cffi`, `opencv-python`, `easydict` (similar to [py-faster-rcnn](https://github.com/rbgirshick/py-faster-rcnn)). For `easydict` make sure you have the right version. Xinlei uses 1.6.
   - [tensorboard-pytorch](https://github.com/lanpa/tensorboard-pytorch) to visualize the training and validation curve. Please build from source to use the latest tensorflow-tensorboard.
   - ~~Docker users: Since the recent upgrade, the docker image on docker hub (https://hub.docker.com/r/mbuckler/tf-faster-rcnn-deps/) is no longer valid. However, you can still build your own image by using dockerfile located at `docker` folder (cuda 8 version, as it is required by Tensorflow r1.0.) And make sure following Tensorflow installation to install and use nvidia-docker[https://github.com/NVIDIA/nvidia-docker]. Last, after launching the container, you have to build the Cython modules within the running container.~~

lib/layer_utils/proposal_layer.py

@@ -13,8 +13,6 @@
 from model.nms_wrapper import nms
 
 import torch
-from torch.autograd import Variable
-
 
 def proposal_layer(rpn_cls_prob, rpn_bbox_pred, im_info, cfg_key, _feat_stride, anchors, num_anchors):
   """A simplified version compared to fast/er RCNN
@@ -50,7 +48,7 @@ def proposal_layer(rpn_cls_prob, rpn_bbox_pred, im_info, cfg_key, _feat_stride,
   scores = scores[keep,]
 
   # Only support single image as input
-  batch_inds = Variable(proposals.data.new(proposals.size(0), 1).zero_())
+  batch_inds = proposals.new_zeros(proposals.size(0), 1)
   blob = torch.cat((batch_inds, proposals), 1)
 
   return blob, scores

lib/layer_utils/proposal_target_layer.py

@@ -16,7 +16,6 @@
 
 
 import torch
-from torch.autograd import Variable
 
 def proposal_target_layer(rpn_rois, rpn_scores, gt_boxes, _num_classes):
   """
@@ -31,7 +30,7 @@ def proposal_target_layer(rpn_rois, rpn_scores, gt_boxes, _num_classes):
 
   # Include ground-truth boxes in the set of candidate rois
   if cfg.TRAIN.USE_GT:
-    zeros = rpn_rois.data.new(gt_boxes.shape[0], 1)
+    zeros = rpn_rois.new_zeros(gt_boxes.shape[0], 1)
     all_rois = torch.cat(
       (all_rois, torch.cat((zeros, gt_boxes[:, :-1]), 1))
     , 0)
@@ -55,7 +54,7 @@ def proposal_target_layer(rpn_rois, rpn_scores, gt_boxes, _num_classes):
   bbox_inside_weights = bbox_inside_weights.view(-1, _num_classes * 4)
   bbox_outside_weights = (bbox_inside_weights > 0).float()
 
-  return rois, roi_scores, labels, Variable(bbox_targets), Variable(bbox_inside_weights), Variable(bbox_outside_weights)
+  return rois, roi_scores, labels, bbox_targets, bbox_inside_weights, bbox_outside_weights
 
 
 def _get_bbox_regression_labels(bbox_target_data, num_classes):
@@ -72,8 +71,8 @@ def _get_bbox_regression_labels(bbox_target_data, num_classes):
   # Inputs are tensor
 
   clss = bbox_target_data[:, 0]
-  bbox_targets = clss.new(clss.numel(), 4 * num_classes).zero_()
-  bbox_inside_weights = clss.new(bbox_targets.shape).zero_()
+  bbox_targets = clss.new_zeros(clss.numel(), 4 * num_classes)
+  bbox_inside_weights = clss.new_zeros(bbox_targets.shape)
   inds = (clss > 0).nonzero().view(-1)
   if inds.numel() > 0:
     clss = clss[inds].contiguous().view(-1,1)
@@ -122,17 +121,17 @@ def _sample_rois(all_rois, all_scores, gt_boxes, fg_rois_per_image, rois_per_ima
   # Small modification to the original version where we ensure a fixed number of regions are sampled
   if fg_inds.numel() > 0 and bg_inds.numel() > 0:
     fg_rois_per_image = min(fg_rois_per_image, fg_inds.numel())
-    fg_inds = fg_inds[torch.from_numpy(npr.choice(np.arange(0, fg_inds.numel()), size=int(fg_rois_per_image), replace=False)).long().cuda()]
+    fg_inds = fg_inds[torch.from_numpy(npr.choice(np.arange(0, fg_inds.numel()), size=int(fg_rois_per_image), replace=False)).long().to(gt_boxes.device)]
     bg_rois_per_image = rois_per_image - fg_rois_per_image
     to_replace = bg_inds.numel() < bg_rois_per_image
-    bg_inds = bg_inds[torch.from_numpy(npr.choice(np.arange(0, bg_inds.numel()), size=int(bg_rois_per_image), replace=to_replace)).long().cuda()]
+    bg_inds = bg_inds[torch.from_numpy(npr.choice(np.arange(0, bg_inds.numel()), size=int(bg_rois_per_image), replace=to_replace)).long().to(gt_boxes.device)]
   elif fg_inds.numel() > 0:
     to_replace = fg_inds.numel() < rois_per_image
-    fg_inds = fg_inds[torch.from_numpy(npr.choice(np.arange(0, fg_inds.numel()), size=int(rois_per_image), replace=to_replace)).long().cuda()]
+    fg_inds = fg_inds[torch.from_numpy(npr.choice(np.arange(0, fg_inds.numel()), size=int(rois_per_image), replace=to_replace)).long().to(gt_boxes.device)]
     fg_rois_per_image = rois_per_image
   elif bg_inds.numel() > 0:
     to_replace = bg_inds.numel() < rois_per_image
-    bg_inds = bg_inds[torch.from_numpy(npr.choice(np.arange(0, bg_inds.numel()), size=int(rois_per_image), replace=to_replace)).long().cuda()]
+    bg_inds = bg_inds[torch.from_numpy(npr.choice(np.arange(0, bg_inds.numel()), size=int(rois_per_image), replace=to_replace)).long().to(gt_boxes.device)]
     fg_rois_per_image = 0
   else:
     import pdb

lib/layer_utils/proposal_top_layer.py

@@ -30,7 +30,7 @@ def proposal_top_layer(rpn_cls_prob, rpn_bbox_pred, im_info, _feat_stride, ancho
   if length < rpn_top_n:
     # Random selection, maybe unnecessary and loses good proposals
     # But such case rarely happens
-    top_inds = torch.from_numpy(npr.choice(length, size=rpn_top_n, replace=True)).long().cuda()
+    top_inds = torch.from_numpy(npr.choice(length, size=rpn_top_n, replace=True)).long().to(anchors.device)
   else:
     top_inds = scores.sort(0, descending=True)[1]
     top_inds = top_inds[:rpn_top_n]
@@ -50,6 +50,6 @@ def proposal_top_layer(rpn_cls_prob, rpn_bbox_pred, im_info, _feat_stride, ancho
   # Output rois blob
   # Our RPN implementation only supports a single input image, so all
   # batch inds are 0
-  batch_inds = proposals.data.new(proposals.size(0), 1).zero_()
+  batch_inds = proposals.new_zeros(proposals.size(0), 1)
   blob = torch.cat([batch_inds, proposals], 1)
   return blob, scores

lib/model/train_val.py

@@ -233,7 +233,7 @@ def train_model(self, max_iters):
     next_stepsize = stepsizes.pop()
 
     self.net.train()
-    self.net.cuda()
+    self.net.to(self.net._device)
 
     while iter < max_iters + 1:
       # Learning rate

lib/nets/network.py

@@ -47,6 +47,7 @@ def __init__(self):
     self._event_summaries = {}
     self._image_gt_summaries = {}
     self._variables_to_fix = {}
+    self._device = 'cuda'
 
   def _add_gt_image(self):
     # add back mean
@@ -125,10 +126,10 @@ def _anchor_target_layer(self, rpn_cls_score):
       anchor_target_layer(
       rpn_cls_score.data, self._gt_boxes.data.cpu().numpy(), self._im_info, self._feat_stride, self._anchors.data.cpu().numpy(), self._num_anchors)
 
-    rpn_labels = Variable(torch.from_numpy(rpn_labels).float().cuda()) #.set_shape([1, 1, None, None])
-    rpn_bbox_targets = Variable(torch.from_numpy(rpn_bbox_targets).float().cuda())#.set_shape([1, None, None, self._num_anchors * 4])
-    rpn_bbox_inside_weights = Variable(torch.from_numpy(rpn_bbox_inside_weights).float().cuda())#.set_shape([1, None, None, self._num_anchors * 4])
-    rpn_bbox_outside_weights = Variable(torch.from_numpy(rpn_bbox_outside_weights).float().cuda())#.set_shape([1, None, None, self._num_anchors * 4])
+    rpn_labels = torch.from_numpy(rpn_labels).float().to(self._device) #.set_shape([1, 1, None, None])
+    rpn_bbox_targets = torch.from_numpy(rpn_bbox_targets).float().to(self._device)#.set_shape([1, None, None, self._num_anchors * 4])
+    rpn_bbox_inside_weights = torch.from_numpy(rpn_bbox_inside_weights).float().to(self._device)#.set_shape([1, None, None, self._num_anchors * 4])
+    rpn_bbox_outside_weights = torch.from_numpy(rpn_bbox_outside_weights).float().to(self._device)#.set_shape([1, None, None, self._num_anchors * 4])
 
     rpn_labels = rpn_labels.long()
     self._anchor_targets['rpn_labels'] = rpn_labels
@@ -164,7 +165,7 @@ def _anchor_component(self, height, width):
     anchors, anchor_length = generate_anchors_pre(\
                                           height, width,
                                            self._feat_stride, self._anchor_scales, self._anchor_ratios)
-    self._anchors = Variable(torch.from_numpy(anchors).cuda())
+    self._anchors = torch.from_numpy(anchors).to(self._device)
     self._anchor_length = anchor_length
 
   def _smooth_l1_loss(self, bbox_pred, bbox_targets, bbox_inside_weights, bbox_outside_weights, sigma=1.0, dim=[1]):
@@ -186,7 +187,7 @@ def _add_losses(self, sigma_rpn=3.0):
     # RPN, class loss
     rpn_cls_score = self._predictions['rpn_cls_score_reshape'].view(-1, 2)
     rpn_label = self._anchor_targets['rpn_labels'].view(-1)
-    rpn_select = Variable((rpn_label.data != -1).nonzero().view(-1))
+    rpn_select = (rpn_label.data != -1).nonzero().view(-1)
     rpn_cls_score = rpn_cls_score.index_select(0, rpn_select).contiguous().view(-1, 2)
     rpn_label = rpn_label.index_select(0, rpn_select).contiguous().view(-1)
     rpn_cross_entropy = F.cross_entropy(rpn_cls_score, rpn_label)
@@ -325,7 +326,7 @@ def _run_summary_op(self, val=False):
     summaries.append(self._add_gt_image_summary())
     # Add event_summaries
     for key, var in self._event_summaries.items():
-      summaries.append(tb.summary.scalar(key, var.data[0]))
+      summaries.append(tb.summary.scalar(key, var.item()))
     self._event_summaries = {}
     if not val:
       # Add score summaries
@@ -375,9 +376,9 @@ def forward(self, image, im_info, gt_boxes=None, mode='TRAIN'):
     self._image_gt_summaries['gt_boxes'] = gt_boxes
     self._image_gt_summaries['im_info'] = im_info
 
-    self._image = Variable(torch.from_numpy(image.transpose([0,3,1,2])).cuda(), volatile=mode == 'TEST')
+    self._image = torch.from_numpy(image.transpose([0,3,1,2])).to(self._device)
     self._im_info = im_info # No need to change; actually it can be an list
-    self._gt_boxes = Variable(torch.from_numpy(gt_boxes).cuda()) if gt_boxes is not None else None
+    self._gt_boxes = torch.from_numpy(gt_boxes).to(self._device) if gt_boxes is not None else None
 
     self._mode = mode
 
@@ -386,7 +387,7 @@ def forward(self, image, im_info, gt_boxes=None, mode='TRAIN'):
     if mode == 'TEST':
       stds = bbox_pred.data.new(cfg.TRAIN.BBOX_NORMALIZE_STDS).repeat(self._num_classes).unsqueeze(0).expand_as(bbox_pred)
       means = bbox_pred.data.new(cfg.TRAIN.BBOX_NORMALIZE_MEANS).repeat(self._num_classes).unsqueeze(0).expand_as(bbox_pred)
-      self._predictions["bbox_pred"] = bbox_pred.mul(Variable(stds)).add(Variable(means))
+      self._predictions["bbox_pred"] = bbox_pred.mul(stds).add(means)
     else:
       self._add_losses() # compute losses
 
@@ -411,13 +412,14 @@ def normal_init(m, mean, stddev, truncated=False):
   # Extract the head feature maps, for example for vgg16 it is conv5_3
   # only useful during testing mode
   def extract_head(self, image):
-    feat = self._layers["head"](Variable(torch.from_numpy(image.transpose([0,3,1,2])).cuda(), volatile=True))
+    feat = self._layers["head"](torch.from_numpy(image.transpose([0,3,1,2])).to(self._device))
     return feat
 
   # only useful during testing mode
   def test_image(self, image, im_info):
     self.eval()
-    self.forward(image, im_info, None, mode='TEST')
+    with torch.no_grad():
+      self.forward(image, im_info, None, mode='TEST')
     cls_score, cls_prob, bbox_pred, rois = self._predictions["cls_score"].data.cpu().numpy(), \
                                                      self._predictions['cls_prob'].data.cpu().numpy(), \
                                                      self._predictions['bbox_pred'].data.cpu().numpy(), \
@@ -440,11 +442,11 @@ def get_summary(self, blobs):
 
   def train_step(self, blobs, train_op):
     self.forward(blobs['data'], blobs['im_info'], blobs['gt_boxes'])
-    rpn_loss_cls, rpn_loss_box, loss_cls, loss_box, loss = self._losses["rpn_cross_entropy"].data[0], \
-                                                                        self._losses['rpn_loss_box'].data[0], \
-                                                                        self._losses['cross_entropy'].data[0], \
-                                                                        self._losses['loss_box'].data[0], \
-                                                                        self._losses['total_loss'].data[0]
+    rpn_loss_cls, rpn_loss_box, loss_cls, loss_box, loss = self._losses["rpn_cross_entropy"].item(), \
+                                                                        self._losses['rpn_loss_box'].item(), \
+                                                                        self._losses['cross_entropy'].item(), \
+                                                                        self._losses['loss_box'].item(), \
+                                                                        self._losses['total_loss'].item()
     #utils.timer.timer.tic('backward')
     train_op.zero_grad()
     self._losses['total_loss'].backward()
@@ -457,11 +459,11 @@ def train_step(self, blobs, train_op):
 
   def train_step_with_summary(self, blobs, train_op):
     self.forward(blobs['data'], blobs['im_info'], blobs['gt_boxes'])
-    rpn_loss_cls, rpn_loss_box, loss_cls, loss_box, loss = self._losses["rpn_cross_entropy"].data[0], \
-                                                                        self._losses['rpn_loss_box'].data[0], \
-                                                                        self._losses['cross_entropy'].data[0], \
-                                                                        self._losses['loss_box'].data[0], \
-                                                                        self._losses['total_loss'].data[0]
+    rpn_loss_cls, rpn_loss_box, loss_cls, loss_box, loss = self._losses["rpn_cross_entropy"].item(), \
+                                                                        self._losses['rpn_loss_box'].item(), \
+                                                                        self._losses['cross_entropy'].item(), \
+                                                                        self._losses['loss_box'].item(), \
+                                                                        self._losses['total_loss'].item()
     train_op.zero_grad()
     self._losses['total_loss'].backward()
     train_op.step()

lib/utils/timer.py

@@ -20,11 +20,13 @@ def __init__(self):
     def tic(self, name='default'):
         # using time.time instead of time.clock because time time.clock
         # does not normalize for multithreading
-        torch.cuda.synchronize()
+        if torch.cuda.is_available():
+            torch.cuda.synchronize()
         self._start_time[name] = time.time()
 
     def toc(self, name='default', average=True):
-        torch.cuda.synchronize()
+        if torch.cuda.is_available():
+            torch.cuda.synchronize()
         self._diff[name] = time.time() - self._start_time[name]
         self._total_time[name] = self._total_time.get(name, 0.) + self._diff[name]
         self._calls[name] = self._calls.get(name, 0 ) + 1

tools/demo.py

@@ -136,10 +136,12 @@ def parse_args():
     net.create_architecture(21,
                           tag='default', anchor_scales=[8, 16, 32])
 
-    net.load_state_dict(torch.load(saved_model))
+    net.load_state_dict(torch.load(saved_model, map_location=lambda storage, loc: storage))
 
     net.eval()
-    net.cuda()
+    if not torch.cuda.is_available():
+        net._device = 'cpu'
+    net.to(net._device)
 
     print('Loaded network {:s}'.format(saved_model))
 

tools/test_net.py

@@ -104,11 +104,13 @@ def parse_args():
                           anchor_ratios=cfg.ANCHOR_RATIOS)
 
   net.eval()
-  net.cuda()
+  if not torch.cuda.is_available():
+    net._device = 'cpu'
+  net.to(net._device)
 
   if args.model:
     print(('Loading model check point from {:s}').format(args.model))
-    net.load_state_dict(torch.load(args.model))
+    net.load_state_dict(torch.load(args.model, map_location=lambda storage, loc: storage))
     print('Loaded.')
   else:
     print(('Loading initial weights from {:s}').format(args.weight))