croco/utils/misc.py

# Copyright (C) 2022-present Naver Corporation. All rights reserved.
# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).
# 
# --------------------------------------------------------
# utilitary functions for CroCo
# --------------------------------------------------------
# References:
# MAE: https://github.com/facebookresearch/mae
# DeiT: https://github.com/facebookresearch/deit
# BEiT: https://github.com/microsoft/unilm/tree/master/beit
# --------------------------------------------------------

import builtins
import datetime
import os
import time
import math
import json
from collections import defaultdict, deque
from pathlib import Path
import numpy as np

import torch
import torch.distributed as dist
from torch import inf

class SmoothedValue(object):
    """Track a series of values and provide access to smoothed values over a
    window or the global series average.
    """

    def __init__(self, window_size=20, fmt=None):
        if fmt is None:
            fmt = "{median:.4f} ({global_avg:.4f})"
        self.deque = deque(maxlen=window_size)
        self.total = 0.0
        self.count = 0
        self.fmt = fmt

    def update(self, value, n=1):
        self.deque.append(value)
        self.count += n
        self.total += value * n

    def synchronize_between_processes(self):
        """
        Warning: does not synchronize the deque!
        """
        if not is_dist_avail_and_initialized():
            return
        t = torch.tensor([self.count, self.total], dtype=torch.float64, device='cuda')
        dist.barrier()
        dist.all_reduce(t)
        t = t.tolist()
        self.count = int(t[0])
        self.total = t[1]

    @property
    def median(self):
        d = torch.tensor(list(self.deque))
        return d.median().item()

    @property
    def avg(self):
        d = torch.tensor(list(self.deque), dtype=torch.float32)
        return d.mean().item()

    @property
    def global_avg(self):
        return self.total / self.count

    @property
    def max(self):
        return max(self.deque)

    @property
    def value(self):
        return self.deque[-1]

    def __str__(self):
        return self.fmt.format(
            median=self.median,
            avg=self.avg,
            global_avg=self.global_avg,
            max=self.max,
            value=self.value)


class MetricLogger(object):
    def __init__(self, delimiter="\t"):
        self.meters = defaultdict(SmoothedValue)
        self.delimiter = delimiter

    def update(self, **kwargs):
        for k, v in kwargs.items():
            if v is None:
                continue
            if isinstance(v, torch.Tensor):
                v = v.item()
            assert isinstance(v, (float, int))
            self.meters[k].update(v)

    def __getattr__(self, attr):
        if attr in self.meters:
            return self.meters[attr]
        if attr in self.__dict__:
            return self.__dict__[attr]
        raise AttributeError("'{}' object has no attribute '{}'".format(
            type(self).__name__, attr))

    def __str__(self):
        loss_str = []
        for name, meter in self.meters.items():
            loss_str.append(
                "{}: {}".format(name, str(meter))
            )
        return self.delimiter.join(loss_str)

    def synchronize_between_processes(self):
        for meter in self.meters.values():
            meter.synchronize_between_processes()

    def add_meter(self, name, meter):
        self.meters[name] = meter

    def log_every(self, iterable, print_freq, header=None, max_iter=None):
        i = 0
        if not header:
            header = ''
        start_time = time.time()
        end = time.time()
        iter_time = SmoothedValue(fmt='{avg:.4f}')
        data_time = SmoothedValue(fmt='{avg:.4f}')
        len_iterable = min(len(iterable), max_iter) if max_iter else len(iterable)
        space_fmt = ':' + str(len(str(len_iterable))) + 'd'
        log_msg = [
            header,
            '[{0' + space_fmt + '}/{1}]',
            'eta: {eta}',
            '{meters}',
            'time: {time}',
            'data: {data}'
        ]
        if torch.cuda.is_available():
            log_msg.append('max mem: {memory:.0f}')
        log_msg = self.delimiter.join(log_msg)
        MB = 1024.0 * 1024.0
        for it,obj in enumerate(iterable):
            data_time.update(time.time() - end)
            yield obj
            iter_time.update(time.time() - end)
            if i % print_freq == 0 or i == len_iterable - 1:
                eta_seconds = iter_time.global_avg * (len_iterable - i)
                eta_string = str(datetime.timedelta(seconds=int(eta_seconds)))
                if torch.cuda.is_available():
                    print(log_msg.format(
                        i, len_iterable, eta=eta_string,
                        meters=str(self),
                        time=str(iter_time), data=str(data_time),
                        memory=torch.cuda.max_memory_allocated() / MB))
                else:
                    print(log_msg.format(
                        i, len_iterable, eta=eta_string,
                        meters=str(self),
                        time=str(iter_time), data=str(data_time)))
            i += 1
            end = time.time()
            if max_iter and it >= max_iter:
                break
        total_time = time.time() - start_time
        total_time_str = str(datetime.timedelta(seconds=int(total_time)))
        print('{} Total time: {} ({:.4f} s / it)'.format(
            header, total_time_str, total_time / len_iterable))


def setup_for_distributed(is_master):
    """
    This function disables printing when not in master process
    """
    builtin_print = builtins.print

    def print(*args, **kwargs):
        force = kwargs.pop('force', False)
        force = force or (get_world_size() > 8)
        if is_master or force:
            now = datetime.datetime.now().time()
            builtin_print('[{}] '.format(now), end='')  # print with time stamp
            builtin_print(*args, **kwargs)

    builtins.print = print


def is_dist_avail_and_initialized():
    if not dist.is_available():
        return False
    if not dist.is_initialized():
        return False
    return True


def get_world_size():
    if not is_dist_avail_and_initialized():
        return 1
    return dist.get_world_size()


def get_rank():
    if not is_dist_avail_and_initialized():
        return 0
    return dist.get_rank()


def is_main_process():
    return get_rank() == 0


def save_on_master(*args, **kwargs):
    if is_main_process():
        torch.save(*args, **kwargs)


def init_distributed_mode(args):
    nodist = args.nodist if hasattr(args,'nodist') else False 
    if 'RANK' in os.environ and 'WORLD_SIZE' in os.environ and not nodist:
        args.rank = int(os.environ["RANK"])
        args.world_size = int(os.environ['WORLD_SIZE'])
        args.gpu = int(os.environ['LOCAL_RANK'])
    else:
        print('Not using distributed mode')
        setup_for_distributed(is_master=True)  # hack
        args.distributed = False
        return

    args.distributed = True

    torch.cuda.set_device(args.gpu)
    args.dist_backend = 'nccl'
    print('| distributed init (rank {}): {}, gpu {}'.format(
        args.rank, args.dist_url, args.gpu), flush=True)
    torch.distributed.init_process_group(backend=args.dist_backend, init_method=args.dist_url,
                                         world_size=args.world_size, rank=args.rank)
    torch.distributed.barrier()
    setup_for_distributed(args.rank == 0)


class NativeScalerWithGradNormCount:
    state_dict_key = "amp_scaler"

    def __init__(self, enabled=True):
        self._scaler = torch.cuda.amp.GradScaler(enabled=enabled)

    def __call__(self, loss, optimizer, clip_grad=None, parameters=None, create_graph=False, update_grad=True):
        self._scaler.scale(loss).backward(create_graph=create_graph)
        if update_grad:
            if clip_grad is not None:
                assert parameters is not None
                self._scaler.unscale_(optimizer)  # unscale the gradients of optimizer's assigned params in-place
                norm = torch.nn.utils.clip_grad_norm_(parameters, clip_grad)
            else:
                self._scaler.unscale_(optimizer)
                norm = get_grad_norm_(parameters)
            self._scaler.step(optimizer)
            self._scaler.update()
        else:
            norm = None
        return norm

    def state_dict(self):
        return self._scaler.state_dict()

    def load_state_dict(self, state_dict):
        self._scaler.load_state_dict(state_dict)


def get_grad_norm_(parameters, norm_type: float = 2.0) -> torch.Tensor:
    if isinstance(parameters, torch.Tensor):
        parameters = [parameters]
    parameters = [p for p in parameters if p.grad is not None]
    norm_type = float(norm_type)
    if len(parameters) == 0:
        return torch.tensor(0.)
    device = parameters[0].grad.device
    if norm_type == inf:
        total_norm = max(p.grad.detach().abs().max().to(device) for p in parameters)
    else:
        total_norm = torch.norm(torch.stack([torch.norm(p.grad.detach(), norm_type).to(device) for p in parameters]), norm_type)
    return total_norm




def save_model(args, epoch, model_without_ddp, optimizer, loss_scaler, fname=None, best_so_far=None):
    output_dir = Path(args.output_dir)
    if fname is None: fname = str(epoch)
    checkpoint_path = output_dir / ('checkpoint-%s.pth' % fname)
    to_save = {
        'model': model_without_ddp.state_dict(),
        'optimizer': optimizer.state_dict(),
        'scaler': loss_scaler.state_dict(),
        'args': args,
        'epoch': epoch,
    }
    if best_so_far is not None: to_save['best_so_far'] = best_so_far
    print(f'>> Saving model to {checkpoint_path} ...')
    save_on_master(to_save, checkpoint_path)


def load_model(args, model_without_ddp, optimizer, loss_scaler):
    args.start_epoch = 0
    best_so_far = None
    if args.resume is not None:
        if args.resume.startswith('https'):
            checkpoint = torch.hub.load_state_dict_from_url(
                args.resume, map_location='cpu', check_hash=True)
        else:
            checkpoint = torch.load(args.resume, map_location='cpu')
        print("Resume checkpoint %s" % args.resume)
        model_without_ddp.load_state_dict(checkpoint['model'], strict=False)
        args.start_epoch = checkpoint['epoch'] + 1
        optimizer.load_state_dict(checkpoint['optimizer'])
        if 'scaler' in checkpoint:
            loss_scaler.load_state_dict(checkpoint['scaler'])
        if 'best_so_far' in checkpoint:
            best_so_far = checkpoint['best_so_far']
            print(" & best_so_far={:g}".format(best_so_far))
        else:
            print("")
        print("With optim & sched! start_epoch={:d}".format(args.start_epoch), end='')
    return best_so_far

def all_reduce_mean(x):
    world_size = get_world_size()
    if world_size > 1:
        x_reduce = torch.tensor(x).cuda()
        dist.all_reduce(x_reduce)
        x_reduce /= world_size
        return x_reduce.item()
    else:
        return x

def _replace(text, src, tgt, rm=''):
    """ Advanced string replacement.
    Given a text:
    - replace all elements in src by the corresponding element in tgt
    - remove all elements in rm
    """
    if len(tgt) == 1: 
        tgt = tgt * len(src)
    assert len(src) == len(tgt), f"'{src}' and '{tgt}' should have the same len"
    for s,t in zip(src, tgt):
        text = text.replace(s,t)
    for c in rm:
        text = text.replace(c,'')
    return text
    
def filename( obj ):
    """ transform a python obj or cmd into a proper filename. 
     - \1 gets replaced by slash '/'
     - \2 gets replaced by comma ','
    """
    if not isinstance(obj, str): 
        obj = repr(obj)
    obj = str(obj).replace('()','')
    obj = _replace(obj, '_,(*/\1\2','-__x%/,', rm=' )\'"')
    assert all(len(s) < 256 for s in obj.split(os.sep)), 'filename too long (>256 characters):\n'+obj
    return obj

def _get_num_layer_for_vit(var_name, enc_depth, dec_depth):
    if var_name in ("cls_token", "mask_token", "pos_embed", "global_tokens"):
        return 0
    elif var_name.startswith("patch_embed"):
        return 0
    elif var_name.startswith("enc_blocks"):
        layer_id = int(var_name.split('.')[1])
        return layer_id + 1
    elif var_name.startswith('decoder_embed') or var_name.startswith('enc_norm'): # part of the last black
        return enc_depth
    elif var_name.startswith('dec_blocks'):
        layer_id = int(var_name.split('.')[1])
        return enc_depth + layer_id + 1
    elif var_name.startswith('dec_norm'): # part of the last block
        return enc_depth + dec_depth
    elif any(var_name.startswith(k) for k in ['head','prediction_head']):
        return enc_depth + dec_depth + 1
    else:
        raise NotImplementedError(var_name)

def get_parameter_groups(model, weight_decay, layer_decay=1.0, skip_list=(), no_lr_scale_list=[]):
    parameter_group_names = {}
    parameter_group_vars = {}
    enc_depth, dec_depth = None, None
    # prepare layer decay values 
    assert layer_decay==1.0 or 0.<layer_decay<1.
    if layer_decay<1.:
        enc_depth = model.enc_depth
        dec_depth = model.dec_depth if hasattr(model, 'dec_blocks') else 0
        num_layers = enc_depth+dec_depth
        layer_decay_values = list(layer_decay ** (num_layers + 1 - i) for i in range(num_layers + 2))
        
    for name, param in model.named_parameters():
        if not param.requires_grad:
            continue  # frozen weights

        # list_grad = ["downstream_head", "dec_blocks.8", "dec_blocks.9", "dec_blocks.10", "dec_blocks.11", "dec_norm",
        #                                 "dec_blocks2.8", "dec_blocks2.9", "dec_blocks2.10", "dec_blocks2.11"]
        list_grad = ["downstream_head", "dec_blocks", "dec_norm",
                                    "dec_blocks2",'dec_blocks_pc','patch_embed_point_cloud','zero_convs']

        if not any([grad in name for grad in list_grad]):
            continue

        # Assign weight decay values
        if len(param.shape) == 1 or name.endswith(".bias") or name in skip_list:
            group_name = "no_decay"
            this_weight_decay = 0.
        else:
            group_name = "decay"
            this_weight_decay = weight_decay

        # Assign layer ID for LR scaling
        if layer_decay<1.:
            skip_scale = False
            layer_id = _get_num_layer_for_vit(name, enc_depth, dec_depth)
            group_name = "layer_%d_%s" % (layer_id, group_name)
            if name in no_lr_scale_list:
                skip_scale = True
                group_name = f'{group_name}_no_lr_scale'
        else:
            layer_id = 0
            skip_scale = True

        if group_name not in parameter_group_names:
            if not skip_scale:
                scale = layer_decay_values[layer_id]
            else:
                scale = 1.

            parameter_group_names[group_name] = {
                "weight_decay": this_weight_decay,
                "params": [],
                "lr_scale": scale
            }
            parameter_group_vars[group_name] = {
                "weight_decay": this_weight_decay,
                "params": [],
                "lr_scale": scale
            }

        parameter_group_vars[group_name]["params"].append(param)
        parameter_group_names[group_name]["params"].append(name)
    print("Param groups = %s" % json.dumps(parameter_group_names, indent=2))
    return list(parameter_group_vars.values())



def adjust_learning_rate(optimizer, epoch, args):
    """Decay the learning rate with half-cycle cosine after warmup"""
    
    if epoch < args.warmup_epochs:
        lr = args.lr * epoch / args.warmup_epochs 
    else:
        lr = args.min_lr + (args.lr - args.min_lr) * 0.5 * \
            (1. + math.cos(math.pi * (epoch - args.warmup_epochs) / (args.epochs - args.warmup_epochs)))
            
    for param_group in optimizer.param_groups:
        if "lr_scale" in param_group:
            param_group["lr"] = lr * param_group["lr_scale"]
        else:
            param_group["lr"] = lr
            
    return lr