2021SC@SDUSC
目录
请不要忽视代码中的注释
训练
# Model parameters
hyp['box'] *= 3. / nl # scale to layers
hyp['cls'] *= nc / 80. * 3. / nl # scale to classes and layers # 分类损失系数
hyp['obj'] *= (imgsz / 640) ** 2 * 3. / nl # scale to image size and layers
hyp['label_smoothing'] = opt.label_smoothing
model.nc = nc # attach number of classes to model
model.hyp = hyp # attach hyperparameters to model
# 从训练样本标签得到类别权重（和类别中的目标数即类别频率成反比）
model.class_weights = labels_to_class_weights(dataset.labels, nc).to(device) * nc # attach class weights
model.names = names
# Start training
t0 = time.time()
# 获取热身迭代的次数iterations # number of warmup iterations, max(3 epochs, 1k iterations)
nw = max(round(hyp['warmup_epochs'] * nb), 1000) # number of warmup iterations, max(3 epochs, 1k iterations)
# nw = min(nw, (epochs - start_epoch) / 2 * nb) # limit warmup to < 1/2 of training
last_opt_step = -1
# 初始化maps(每个类别的map)和results
maps = np.zeros(nc) # mAP per class
results = (0, 0, 0, 0, 0, 0, 0) # P, R, mAP@.5, mAP@.5-.95, val_loss(box, obj, cls)
# 设置学习率衰减所进行到的轮次，即使打断训练，使用resume接着训练也能正常衔接之前的训练进行学习率衰减
scheduler.last_epoch = start_epoch - 1 # do not move
# 设置amp混合精度训练 GradScaler + autocast
scaler = amp.GradScaler(enabled=cuda)
# 初始化损失函数
stopper = EarlyStopping(patience=opt.patience)
compute_loss = ComputeLoss(model) # init loss class
LOGGER.info(f'Image sizes {imgsz} train, {imgsz} val\n'
f'Using {train_loader.num_workers} dataloader workers\n'
f"Logging results to {colorstr('bold', save_dir)}\n"
f'Starting training for {epochs} epochs...')
for epoch in range(start_epoch, epochs): # epoch ------------------------------------------------------------------
model.train()
# Update image weights (optional, single-GPU only)
# Update image weights (optional) 并不一定好 默认是False的
# 如果为True 进行图片采样策略(按数据集各类别权重采样)
if opt.image_weights:
cw = model.class_weights.cpu().numpy() * (1 - maps) ** 2 / nc # class weights
iw = labels_to_image_weights(dataset.labels, nc=nc, class_weights=cw) # image weights
dataset.indices = random.choices(range(dataset.n), weights=iw, k=dataset.n) # rand weighted idx
# Update mosaic border (optional)
# b = int(random.uniform(0.25 * imgsz, 0.75 * imgsz + gs) // gs * gs)
# dataset.mosaic_border = [b - imgsz, -b] # height, width borders
# 初始化训练时打印的平均损失信息
mloss = torch.zeros(3, device=device) # mean losses
if RANK != -1:
# DDP模式打乱数据，并且dpp.sampler的随机采样数据是基于epoch+seed作为随机种子，每次epoch不同，随机种子不同
train_loader.sampler.set_epoch(epoch)
pbar = enumerate(train_loader)
LOGGER.info(('\n' + '%10s' * 7) % ('Epoch', 'gpu_mem', 'box', 'obj', 'cls', 'labels', 'img_size'))
if RANK in [-1, 0]:
pbar = tqdm(pbar, total=nb) # progress bar
# 梯度清零
optimizer.zero_grad()
for i, (imgs, targets, paths, _) in pbar: # batch -------------------------------------------------------------
# ni: 计算当前迭代次数 iteration
ni = i + nb * epoch # number integrated batches (since train start)
imgs = imgs.to(device, non_blocking=True).float() / 255.0 # uint8 to float32, 0-255 to 0.0-1.0
# Warmup
if ni <= nw:
xi = [0, nw] # x interp
# compute_loss.gr = np.interp(ni, xi, [0.0, 1.0]) # iou loss ratio (obj_loss = 1.0 or iou)
accumulate = max(1, np.interp(ni, xi, [1, nbs / batch_size]).round())
for j, x in enumerate(optimizer.param_groups):
# bias lr falls from 0.1 to lr0, all other lrs rise from 0.0 to lr0
x['lr'] = np.interp(ni, xi, [hyp['warmup_bias_lr'] if j == 2 else 0.0, x['initial_lr'] * lf(epoch)])
if 'momentum' in x:
x['momentum'] = np.interp(ni, xi, [hyp['warmup_momentum'], hyp['momentum']])
# Multi-scale
if opt.multi_scale:
sz = random.randrange(imgsz * 0.5, imgsz * 1.5 + gs) // gs * gs # size
sf = sz / max(imgs.shape[2:]) # scale factor
if sf != 1:
ns = [math.ceil(x * sf / gs) * gs for x in imgs.shape[2:]] # new shape (stretched to gs-multiple)
imgs = nn.functional.interpolate(imgs, size=ns, mode='bilinear', align_corners=False)
# Forward
# Forward 混合精度训练 开启autocast的上下文
with amp.autocast(enabled=cuda):
pred = model(imgs) # forward
# 计算损失，包括分类损失，置信度损失和框的回归损失
# loss为总损失值 loss_items为一个元组，包含分类损失、置信度损失、框的回归损失和总损失
loss, loss_items = compute_loss(pred, targets.to(device)) # loss scaled by batch_size
if RANK != -1:
# 采用DDP训练 平均不同gpu之间的梯度
loss *= WORLD_SIZE # gradient averaged between devices in DDP mode
if opt.quad:
# 如果采用collate_fn4取出mosaic4数据loss也要翻4倍
loss *= 4.
# Backward
scaler.scale(loss).backward()
# Optimize
# 模型反向传播accumulate次（iterations）后再根据累计的梯度更新一次参数
if ni - last_opt_step >= accumulate:
# scaler.step()首先把梯度的值unscale回来
# 如果梯度的值不是 infs 或者 NaNs, 那么调用optimizer.step()来更新权重,
# 否则，忽略step调用，从而保证权重不更新（不被破坏）
scaler.step(optimizer) # optimizer.step
# 准备着，看是否要增大scaler
scaler.update()
# 梯度清零
optimizer.zero_grad()
if ema:
# 当前epoch训练结束 更新ema
ema.update(model)
last_opt_step = ni
# Log
if RANK in [-1, 0]:
mloss = (mloss * i + loss_items) / (i + 1) # update mean losses
mem = f'{torch.cuda.memory_reserved() / 1E9 if torch.cuda.is_available() else 0:.3g}G' # (GB)
pbar.set_description(('%10s' * 2 + '%10.4g' * 5) % (
f'{epoch}/{epochs - 1}', mem, *mloss, targets.shape[0], imgs.shape[-1]))
callbacks.run('on_train_batch_end', ni, model, imgs, targets, paths, plots, opt.sync_bn)
# end batch ------------------------------------------------------------------------------------------------
# Scheduler
lr = [x['lr'] for x in optimizer.param_groups] # for loggers
scheduler.step()
if RANK in [-1, 0]:
# mAP
# 将model中的属性赋值给ema
callbacks.run('on_train_epoch_end', epoch=epoch)
ema.update_attr(model, include=['yaml', 'nc', 'hyp', 'names', 'stride', 'class_weights'])
# 判断当前epoch是否是最后一轮
final_epoch = (epoch + 1 == epochs) or stopper.possible_stop
if not noval or final_epoch: # Calculate mAP
results, maps, _ = val.run(data_dict,
batch_size=batch_size // WORLD_SIZE * 2,
imgsz=imgsz,
model=ema.ema,
single_cls=single_cls,
dataloader=val_loader,
save_dir=save_dir,
save_json=is_coco and final_epoch,
verbose=nc < 50 and final_epoch,
plots=plots and final_epoch,
callbacks=callbacks,
compute_loss=compute_loss)
# Update best mAP
fi = fitness(np.array(results).reshape(1, -1)) # weighted combination of [P, R, mAP@.5, mAP@.5-.95]
if fi > best_fitness:
best_fitness = fi
log_vals = list(mloss) + list(results) + lr
callbacks.run('on_fit_epoch_end', log_vals, epoch, best_fitness, fi)
# Save model
# 保存带checkpoint的模型用于inference或resuming training
# 保存模型, 还保存了epoch, results, optimizer等信息
# optimizer将不会在最后一轮完成后保存
# model保存的是EMA的模型
if (not nosave) or (final_epoch and not evolve): # if save
ckpt = {'epoch': epoch,
'best_fitness': best_fitness,
'model': deepcopy(de_parallel(model)).half(),
'ema': deepcopy(ema.ema).half(),
'updates': ema.updates,
'optimizer': optimizer.state_dict(),
'wandb_id': loggers.wandb.wandb_run.id if loggers.wandb else None}
# Save last, best and delete
torch.save(ckpt, last)
if best_fitness == fi:
torch.save(ckpt, best)
del ckpt
callbacks.run('on_model_save', last, epoch, final_epoch, best_fitness, fi)
# Stop Single-GPU
if RANK == -1 and stopper(epoch=epoch, fitness=fi):
break设置/初始化一些训练要用的参数(hyp[‘box’]、hyp[‘cls’]、hyp[‘obj’]、hyp[‘label_smoothing’]、model.nc、model.hyp、model.gr、从训练
样本标签得到类别权重model.class_weights、model.names、热身迭代的次数iterationsnw、last_opt_step、初始化maps和results、学
习率衰减所进行到的轮次scheduler.last_epoch + 设置amp混合精度训练scaler + 初始化损失函数compute_loss + 打印日志信息) + 开
始训练(注意五点：图片采样策略 + Warmup热身训练 + multi_scale多尺度训练 + amp混合精度训练 + accumulate 梯度更新策略) + 打
印训练相关信息(包括当前epoch、显存、损失(box、obj、cls、total)、当前batch的target的数量和图片的size等 + Plot 前三次迭代的
barch的标签框再图片中画出来并保存 + wandb ) + validation(调整学习率、scheduler.step() 、emp val.run()得到results, maps相关
信息、将测试结果results写入result.txt中、wandb_logger、Update best mAP 以加权mAP fitness为衡量标准、Save model)
结尾
# end training -----------------------------------------------------------------------------------------------------
if RANK in [-1, 0]:
# 日志: 打印训练时间
LOGGER.info(f'\n{epoch - start_epoch + 1} epochs completed in {(time.time() - t0) / 3600:.3f} hours.')
if not evolve:
if is_coco: # COCO dataset
for m in [last, best] if best.exists() else [last]: # speed, mAP tests
results, _, _ = val.run(data_dict,
batch_size=batch_size // WORLD_SIZE * 2,
imgsz=imgsz,
model=attempt_load(m, device).half(),
iou_thres=0.7, # NMS IoU threshold for best pycocotools results
single_cls=single_cls,
dataloader=val_loader,
save_dir=save_dir,
save_json=True,
plots=False)
# Strip optimizers
# 模型训练完后, strip_optimizer函数将optimizer从ckpt中删除
# 并对模型进行model.half() 将Float32->Float16 这样可以减少模型大小, 提高inference速度
for f in last, best:
if f.exists():
strip_optimizer(f) # strip optimizers
callbacks.run('on_train_end', last, best, plots, epoch)
LOGGER.info(f"Results saved to {colorstr('bold', save_dir)}")
torch.cuda.empty_cache()
return results打印一些信息(日志: 打印训练时间、plots可视化训练结果results1.png、confusion_matrix.png 以及(‘F1’, ‘PR’, ‘P’, ‘R’)曲线变化 、日志信息) + coco评价(只在coco数据集才会运行) + 释放显存 return results
run函数
def run(**kwargs):
# Usage: import train; train.run(data='coco128.yaml', imgsz=320, weights='yolov5m.pt')
opt = parse_opt(True)
for k, v in kwargs.items():
setattr(opt, k, v)
main(opt)这个函数使得支持指令执行这个脚本。
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