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deeplabv3

PyTorch implementation of DeepLabV3, trained on the Cityscapes dataset.

demo video with results

Index

Paperspace:

To train models and to run pretrained models (with small batch sizes), you can use an Ubuntu 16.04 P4000 VM with 250 GB SSD on Paperspace. Below I have listed what I needed to do in order to get started, and some things I found useful.

#!/bin/bash

# DEFAULT VALUES
GPUIDS="0"
NAME="paperspace_GPU"


NV_GPU="$GPUIDS" nvidia-docker run -it --rm \
        -p 5584:5584 \
        --name "$NAME""$GPUIDS" \
        -v /home/paperspace:/root/ \
        pytorch/pytorch:0.4_cuda9_cudnn7 bash

  • Inside the image, /root/ will now be mapped to /home/paperspace (i.e., $ cd -- takes you to the regular home folder).

  • To start the image:

    • $ sudo sh start_docker_image.sh

  • To commit changes to the image:

    • Open a new terminal window.
    • $ sudo docker commit paperspace_GPU0 pytorch/pytorch:0.4_cuda9_cudnn7

  • To stop the image when it’s running:

    • $ sudo docker stop paperspace_GPU0

  • To exit the image without killing running code:

    • Ctrl + P + Q

  • To get back into a running image:

    • $ sudo docker attach paperspace_GPU0

  • To open more than one terminal window at the same time:

    • $ sudo docker exec -it paperspace_GPU0 bash

  • To install the needed software inside the docker image:

    • $ apt-get update
    • $ apt-get install nano
    • $ apt-get install sudo
    • $ apt-get install wget
    • $ sudo apt install unzip
    • $ sudo apt-get install libopencv-dev
    • $ pip install opencv-python
    • $ python -mpip install matplotlib
    • Commit changes to the image (otherwise, the installed packages will be removed at exit!)

  • Do the following outside of the docker image:

    • $ --
    • Download the Cityscapes dataset:
      • $ wget --keep-session-cookies --save-cookies=cookies.txt --post-data 'username=XXXXX&password=YYYYY&submit=Login' https://www.cityscapes-dataset.com/login/ (where you replace XXXXX with your username, and YYYYY with your password)
      • $ unzip gtFine_trainvaltest.zip
      • $ unzip leftImg8bit_trainvaltest.zip
      • $ mkdir deeplabv3/data
      • $ mkdir deeplabv3/data/cityscapes
      • $ mv gtFine deeplabv3/data/cityscapes
      • $ mv leftImg8bit deeplabv3/data/cityscapes
      • $ unzip leftImg8bit_demoVideo.zip
      • $ mv leftImg8bit/demoVideo deeplabv3/data/cityscapes/leftImg8bit
      • $ unzip thn.zip?dl=0
      • $ mv thn deeplabv3/data
      • $ cd deeplabv3
      • Comment out the line print type(obj).name on line 238 in deeplabv3/cityscapesScripts/cityscapesscripts/helpers/annotation.py (this is need for the cityscapes scripts to be runnable with Python3)

Pretrained model:

Train model on Cityscapes:

  • SSH into the paperspace server.
  • $ sudo sh start_docker_image.sh
  • $ cd --
  • $ python deeplabv3/utils/preprocess_data.py (ONLY NEED TO DO THIS ONCE!)
  • $ python deeplabv3/train.py

Evaluation

evaluation/eval_on_val.py:

  • SSH into the paperspace server.

  • $ sudo sh start_docker_image.sh

  • $ cd --

  • $ python deeplabv3/utils/preprocess_data.py (ONLY NEED TO DO THIS ONCE!)

  • $ python deeplabv3/evaluation/eval_on_val.py

    • This will run the pretrained model (set on line 31 in eval_on_val.py) on all images in Cityscapes val, compute and print the loss, and save the predicted segmentation images in deeplabv3/training_logs/model_eval_val.

evaluation/eval_on_val_for_metrics.py:

  • SSH into the paperspace server.

  • $ sudo sh start_docker_image.sh

  • $ cd --

  • $ python deeplabv3/utils/preprocess_data.py (ONLY NEED TO DO THIS ONCE!)

  • $ python deeplabv3/evaluation/eval_on_val_for_metrics.py

  • $ cd deeplabv3/cityscapesScripts

  • $ pip install . (ONLY NEED TO DO THIS ONCE!)

  • $ python setup.py build_ext --inplace (ONLY NEED TO DO THIS ONCE!) (this enables cython, which makes the cityscapes evaluation script run A LOT faster)

  • $ export CITYSCAPES_RESULTS="/root/deeplabv3/training_logs/model_eval_val_for_metrics"

  • $ export CITYSCAPES_DATASET="/root/deeplabv3/data/cityscapes"

  • $ python cityscapesscripts/evaluation/evalPixelLevelSemanticLabeling.py

    • This will run the pretrained model (set on line 55 in eval_on_val_for_metrics.py) on all images in Cityscapes val, upsample the predicted segmentation images to the original Cityscapes image size (1024, 2048), and compute and print performance metrics:
classes          IoU      nIoU
--------------------------------
road          : 0.918      nan
sidewalk      : 0.715      nan
building      : 0.837      nan
wall          : 0.413      nan
fence         : 0.397      nan
pole          : 0.404      nan
traffic light : 0.411      nan
traffic sign  : 0.577      nan
vegetation    : 0.857      nan
terrain       : 0.489      nan
sky           : 0.850      nan
person        : 0.637    0.491
rider         : 0.456    0.262
car           : 0.897    0.759
truck         : 0.582    0.277
bus           : 0.616    0.411
train         : 0.310    0.133
motorcycle    : 0.322    0.170
bicycle       : 0.583    0.413
--------------------------------
Score Average : 0.593    0.364
--------------------------------


categories       IoU      nIoU
--------------------------------
flat          : 0.932      nan
construction  : 0.846      nan
object        : 0.478      nan
nature        : 0.869      nan
sky           : 0.850      nan
human         : 0.658    0.521
vehicle       : 0.871    0.744
--------------------------------
Score Average : 0.786    0.632
--------------------------------

Visualization

visualization/run_on_seq.py:

  • SSH into the paperspace server.

  • $ sudo sh start_docker_image.sh

  • $ cd --

  • $ python deeplabv3/utils/preprocess_data.py (ONLY NEED TO DO THIS ONCE!)

  • $ python deeplabv3/visualization/run_on_seq.py

    • This will run the pretrained model (set on line 33 in run_on_seq.py) on all images in the Cityscapes demo sequences (stuttgart_00, stuttgart_01 and stuttgart_02) and create a visualization video for each sequence, which is saved to deeplabv3/training_logs/model_eval_seq. See Youtube video from the top of the page.

visualization/run_on_thn_seq.py:

  • SSH into the paperspace server.

  • $ sudo sh start_docker_image.sh

  • $ cd --

  • $ python deeplabv3/utils/preprocess_data.py (ONLY NEED TO DO THIS ONCE!)

  • $ python deeplabv3/visualization/run_on_thn_seq.py

    • This will run the pretrained model (set on line 31 in run_on_thn_seq.py) on all images in the Thn sequence (real-life sequence collected with a standard dash cam) and create a visualization video, which is saved to deeplabv3/training_logs/model_eval_seq_thn. See Youtube video from the top of the page.

Documentation of remaining code

  • model/resnet.py:

    • Definition of the custom Resnet model (output stride = 8 or 16) which is the backbone of DeepLabV3.

  • model/aspp.py:

    • Definition of the Atrous Spatial Pyramid Pooling (ASPP) module.

  • model/deeplabv3.py:

    • Definition of the complete DeepLabV3 model.

  • utils/preprocess_data.py:

    • Converts all Cityscapes label images from having Id to having trainId pixel values, and saves these to deeplabv3/data/cityscapes/meta/label_imgs. Also computes class weights according to the ENet paper and saves these to deeplabv3/data/cityscapes/meta.

  • utils/utils.py:

    • Contains helper funtions which are imported and utilized in multiple files.

  • datasets.py:

    • Contains all utilized dataset definitions.