trainers/vae/shape_vae.py

from typing import *
import os
import copy
import functools
import numpy as np
import torch
import torch.nn.functional as F
from torch.utils.data import DataLoader
import utils3d
from easydict import EasyDict as edict

from ..basic import BasicTrainer
from ...modules import sparse as sp
from ...renderers import MeshRenderer
from ...representations import Mesh
from ...utils.data_utils import recursive_to_device, cycle, BalancedResumableSampler
from ...utils.loss_utils import l1_loss, ssim, lpips


class ShapeVaeTrainer(BasicTrainer):
    """
    Trainer for Shape VAE
    
    Args:
        models (dict[str, nn.Module]): Models to train.
        dataset (torch.utils.data.Dataset): Dataset.
        output_dir (str): Output directory.
        load_dir (str): Load directory.
        step (int): Step to load.
        batch_size (int): Batch size.
        batch_size_per_gpu (int): Batch size per GPU. If specified, batch_size will be ignored.
        batch_split (int): Split batch with gradient accumulation.
        max_steps (int): Max steps.
        optimizer (dict): Optimizer config.
        lr_scheduler (dict): Learning rate scheduler config.
        elastic (dict): Elastic memory management config.
        grad_clip (float or dict): Gradient clip config.
        ema_rate (float or list): Exponential moving average rates.
        fp16_mode (str): FP16 mode.
            - None: No FP16.
            - 'inflat_all': Hold a inflated fp32 master param for all params.
            - 'amp': Automatic mixed precision.
        fp16_scale_growth (float): Scale growth for FP16 gradient backpropagation.
        finetune_ckpt (dict): Finetune checkpoint.
        log_param_stats (bool): Log parameter stats.
        i_print (int): Print interval.
        i_log (int): Log interval.
        i_sample (int): Sample interval.
        i_save (int): Save interval.
        i_ddpcheck (int): DDP check interval.
        
        lambda_subdiv (float): Subdivision loss weight.
        lambda_intersected (float): Intersected loss weight.
        lambda_vertice (float): Vertice loss weight.
        lambda_kl (float): KL loss weight.
        lambda_ssim (float): SSIM loss weight.
        lambda_lpips (float): LPIPS loss weight.
    """
    
    def __init__(
        self,
        *args,
        lambda_subdiv: float = 0.1,
        lambda_intersected: float = 0.1,
        lambda_vertice: float = 1e-2,
        lambda_mask: float = 1,
        lambda_depth: float = 10,
        lambda_normal: float = 1,
        lambda_kl: float = 1e-6,
        lambda_ssim: float = 0.2,
        lambda_lpips: float = 0.2,
        render_resolution: float = 1024,
        camera_randomization_config: dict = {
            'radius_range': [2, 100],
        },
        **kwargs
    ):
        super().__init__(*args, **kwargs)
        self.lambda_subdiv = lambda_subdiv
        self.lambda_intersected = lambda_intersected
        self.lambda_mask = lambda_mask
        self.lambda_vertice = lambda_vertice
        self.lambda_depth = lambda_depth
        self.lambda_normal = lambda_normal
        self.lambda_kl = lambda_kl
        self.lambda_ssim = lambda_ssim
        self.lambda_lpips = lambda_lpips
        self.camera_randomization_config = camera_randomization_config
        
        self.renderer = MeshRenderer({'near': 1, 'far': 3, 'resolution': render_resolution}, device=self.device)
        
    def prepare_dataloader(self, **kwargs):
        """
        Prepare dataloader.
        """
        self.data_sampler = BalancedResumableSampler(
            self.dataset,
            shuffle=True,
            batch_size=self.batch_size_per_gpu,
        )
        self.dataloader = DataLoader(
            self.dataset,
            batch_size=self.batch_size_per_gpu,
            num_workers=int(np.ceil(os.cpu_count() / torch.cuda.device_count())),
            pin_memory=True,
            drop_last=True,
            persistent_workers=True,
            collate_fn=functools.partial(self.dataset.collate_fn, split_size=self.batch_split),
            sampler=self.data_sampler,
        )
        self.data_iterator = cycle(self.dataloader)
        
    def _randomize_camera(self, num_samples: int):
        # sample radius and fov
        r_min, r_max = self.camera_randomization_config['radius_range']
        k_min = 1 / r_max**2
        k_max = 1 / r_min**2
        ks = torch.rand(num_samples, device=self.device) * (k_max - k_min) + k_min
        radius = 1 / torch.sqrt(ks)
        fov = 2 * torch.arcsin(0.5 / radius)
        origin = radius.unsqueeze(-1) * F.normalize(torch.randn(num_samples, 3, device=self.device), dim=-1)
        
        # build camera
        extrinsics = utils3d.torch.extrinsics_look_at(origin, torch.zeros_like(origin), torch.tensor([0, 0, 1], dtype=torch.float32, device=self.device))
        intrinsics = utils3d.torch.intrinsics_from_fov_xy(fov, fov)
        near = [np.random.uniform(r - 1, r) for r in radius.tolist()]
        
        return {
            'extrinsics': extrinsics,
            'intrinsics': intrinsics,
            'near': near,
        }
        
    def _render_batch(self, reps: List[Mesh], extrinsics: torch.Tensor, intrinsics: torch.Tensor, near: List,
                      return_types=['mask', 'normal', 'depth']) -> Dict[str, torch.Tensor]:
        """
        Render a batch of representations.

        Args:
            reps: The dictionary of lists of representations.
            extrinsics: The [N x 4 x 4] tensor of extrinsics.
            intrinsics: The [N x 3 x 3] tensor of intrinsics.
            return_types: vary in ['mask', 'normal', 'depth', 'normal_map', 'color']
            
        Returns: 
            a dict with
                mask : [N x 1 x H x W] tensor of rendered masks
                normal : [N x 3 x H x W] tensor of rendered normals
                depth : [N x 1 x H x W] tensor of rendered depths
        """
        ret = {k : [] for k in return_types}
        for i, rep in enumerate(reps):
            self.renderer.rendering_options['near'] = near[i]
            self.renderer.rendering_options['far'] = near[i] + 2
            out_dict = self.renderer.render(rep, extrinsics[i], intrinsics[i], return_types=return_types)
            for k in out_dict:
                ret[k].append(out_dict[k][None] if k in ['mask', 'depth'] else out_dict[k])
        for k in ret:
            ret[k] = torch.stack(ret[k])
        return ret
    
    def training_losses(
        self,
        vertices: sp.SparseTensor,
        intersected: sp.SparseTensor,
        mesh: List[Mesh],
    ) -> Tuple[Dict, Dict]:
        """
        Compute training losses.

        Args:
            vertices (SparseTensor): vertices of each active voxel
            intersected (SparseTensor): intersected flag of each active voxel
            mesh (List[Mesh]): the list of meshes to render

        Returns:
            a dict with the key "loss" containing a scalar tensor.
            may also contain other keys for different terms.
        """
        z, mean, logvar = self.training_models['encoder'](vertices, intersected, sample_posterior=True, return_raw=True)
        recon, pred_vertice, pred_intersected, subs_gt, subs = self.training_models['decoder'](z, intersected)
        
        terms = edict(loss = 0.0)
        
        # direct regression
        if self.lambda_intersected > 0:
            terms["direct/intersected"] = F.binary_cross_entropy_with_logits(pred_intersected.feats.flatten(), intersected.feats.flatten().float())
            terms["loss"] = terms["loss"] + self.lambda_intersected * terms["direct/intersected"]
        if self.lambda_vertice > 0:
            terms["direct/vertice"] = F.mse_loss(pred_vertice.feats, vertices.feats)
            terms["loss"] = terms["loss"] + self.lambda_vertice * terms["direct/vertice"]
            
        # subdivision prediction loss
        for i, (sub_gt, sub) in enumerate(zip(subs_gt, subs)):
            terms[f"bce_sub{i}"] = F.binary_cross_entropy_with_logits(sub.feats, sub_gt.float())
            terms["loss"] = terms["loss"] + self.lambda_subdiv * terms[f"bce_sub{i}"]
            
        # rendering loss
        cameras = self._randomize_camera(len(mesh))
        gt_renders = self._render_batch(mesh, **cameras, return_types=['mask', 'normal', 'depth'])
        pred_renders = self._render_batch(recon, **cameras, return_types=['mask', 'normal', 'depth'])
        terms['render/mask'] = l1_loss(pred_renders['mask'], gt_renders['mask'])
        terms['render/depth'] = l1_loss(pred_renders['depth'], gt_renders['depth'])
        terms['render/normal/l1'] = l1_loss(pred_renders['normal'], gt_renders['normal'])
        terms['render/normal/ssim'] = 1 - ssim(pred_renders['normal'], gt_renders['normal'])
        terms['render/normal/lpips'] = lpips(pred_renders['normal'], gt_renders['normal'])
        terms['loss'] = terms['loss'] + \
                        self.lambda_mask * terms['render/mask'] + \
                        self.lambda_depth * terms['render/depth'] + \
                        self.lambda_normal * (terms['render/normal/l1'] + self.lambda_ssim * terms['render/normal/ssim'] + self.lambda_lpips * terms['render/normal/lpips'])
       
        # KL regularization     
        terms["kl"] = 0.5 * torch.mean(mean.pow(2) + logvar.exp() - logvar - 1)
        terms["loss"] = terms["loss"] + self.lambda_kl * terms["kl"]
            
        return terms, {}
    
    @torch.no_grad()
    def run_snapshot(
        self,
        num_samples: int,
        batch_size: int,
        verbose: bool = False,
    ) -> Dict:
        dataloader = DataLoader(
            copy.deepcopy(self.dataset),
            batch_size=batch_size,
            shuffle=True,
            num_workers=1,
            collate_fn=self.dataset.collate_fn if hasattr(self.dataset, 'collate_fn') else None,
        )

        # inference
        gts = []
        recons = []
        recons2 = []
        self.models['encoder'].eval()
        for i in range(0, num_samples, batch_size):
            batch = min(batch_size, num_samples - i)
            data = next(iter(dataloader))
            args = {k: v[:batch] for k, v in data.items()}
            args = recursive_to_device(args, self.device)
            z = self.models['encoder'](args['vertices'], args['intersected'])
            self.models['decoder'].train()
            y = self.models['decoder'](z, args['intersected'])[0]
            z.clear_spatial_cache()
            self.models['decoder'].eval()
            y2 = self.models['decoder'](z)
            gts.extend(args['mesh'])
            recons.extend(y)
            recons2.extend(y2)
        self.models['encoder'].train()
        self.models['decoder'].train()
        
        cameras = self._randomize_camera(num_samples)
        gt_renders = self._render_batch(gts, **cameras, return_types=['normal'])
        recons_renders = self._render_batch(recons, **cameras, return_types=['normal'])
        recons2_renders = self._render_batch(recons2, **cameras, return_types=['normal'])
        
        sample_dict = {
            'gt': {'value': gt_renders['normal'], 'type': 'image'},
            'rec': {'value': recons_renders['normal'], 'type': 'image'},
            'rec2': {'value': recons2_renders['normal'], 'type': 'image'},
        }
            
        return sample_dict