SDK Core ML Event to Video API
Data simulator
Here we reuse the GPUSimulator from OpenEB to stream synthetic events.
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class
metavision_core_ml.event_to_video.gpu_esim.
GPUEBSIM
(dataloader, simulator, batch_times, event_volume_depth, randomize_noises, device) Simulated Events on GPU
- Parameters
dataloader – video-clips datalodaer
simulator – gpu-simulator
batch_times – number of rounds per batch
event_volume_depth – number of timesteps per round
device – hardware to run simulation on
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metavision_core_ml.event_to_video.gpu_esim.
collect_target_images
(gray_images, timestamps, video_len, target_indices) Collect target frames + timestamps at target indices and rearranges them into T,B,C,H,W tensor
- Parameters
gray_images (tensor) – H,W,T format (videos are concatenated along 3rd dimension
timestamps (tensor) – B,T
video_len (tensor) – B lengths
target_indices (tensor) – B,M indices
Neural network
-
class
metavision_core_ml.event_to_video.event_to_video.
EventToVideo
(in_channels, out_channels, num_layers=3, base=4, cell='lstm', separable=False, separable_hidden=False, archi='all_rnn') High Speed and High Dynamic Range Video with an Event Camera Rebecq et al. Every resize is done using bilinear sampling of factor 2 (even though you could use a different resize) :param in_channels: :type in_channels: int :param out_channels: :type out_channels: int :param num_layers: :type num_layers: int :param base: :type base: int :param cell: type of rnn cell :type cell: str
Initializes internal Module state, shared by both nn.Module and ScriptModule.
-
forward
(x) Defines the computation performed at every call.
Should be overridden by all subclasses.
Note
Although the recipe for forward pass needs to be defined within this function, one should call the
Module
instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.
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class
metavision_core_ml.event_to_video.event_to_video.
MergeSkip
Merge with skip connection
Initializes internal Module state, shared by both nn.Module and ScriptModule.
-
forward
(x, skip) Defines the computation performed at every call.
Should be overridden by all subclasses.
Note
Although the recipe for forward pass needs to be defined within this function, one should call the
Module
instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.
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Lightning data module
Here we reuse the GPUSimulator from OpenEB to stream synthetic events.
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class
metavision_core_ml.event_to_video.data_module.
EventToVideoDataModule
(hparams) Simulation gives you events + frames
Attributes: prepare_data_per_node:
If True, each LOCAL_RANK=0 will call prepare data. Otherwise only NODE_RANK=0, LOCAL_RANK=0 will prepare data.
- allow_zero_length_dataloader_with_multiple_devices:
If True, dataloader with zero length within local rank is allowed. Default value is False.
-
test_dataloader
() Implement one or multiple PyTorch DataLoaders for testing.
For data processing use the following pattern:
download in
prepare_data()
process and split in
setup()
However, the above are only necessary for distributed processing.
Warning
do not assign state in prepare_data
test()
prepare_data()
setup()
Note
Lightning adds the correct sampler for distributed and arbitrary hardware. There is no need to set it yourself.
- Returns
A
torch.utils.data.DataLoader
or a sequence of them specifying testing samples.
Example:
def test_dataloader(self): transform = transforms.Compose([transforms.ToTensor(), transforms.Normalize((0.5,), (1.0,))]) dataset = MNIST(root='/path/to/mnist/', train=False, transform=transform, download=True) loader = torch.utils.data.DataLoader( dataset=dataset, batch_size=self.batch_size, shuffle=False ) return loader # can also return multiple dataloaders def test_dataloader(self): return [loader_a, loader_b, ..., loader_n]
Note
If you don’t need a test dataset and a
test_step()
, you don’t need to implement this method.Note
In the case where you return multiple test dataloaders, the
test_step()
will have an argumentdataloader_idx
which matches the order here.
-
train_dataloader
() Implement one or more PyTorch DataLoaders for training.
- Returns
A collection of
torch.utils.data.DataLoader
specifying training samples. In the case of multiple dataloaders, please see this section.
The dataloader you return will not be reloaded unless you set :paramref:`~pytorch_lightning.trainer.Trainer.reload_dataloaders_every_n_epochs` to a positive integer.
For data processing use the following pattern:
download in
prepare_data()
process and split in
setup()
However, the above are only necessary for distributed processing.
Warning
do not assign state in prepare_data
fit()
prepare_data()
setup()
Note
Lightning adds the correct sampler for distributed and arbitrary hardware. There is no need to set it yourself.
Example:
# single dataloader def train_dataloader(self): transform = transforms.Compose([transforms.ToTensor(), transforms.Normalize((0.5,), (1.0,))]) dataset = MNIST(root='/path/to/mnist/', train=True, transform=transform, download=True) loader = torch.utils.data.DataLoader( dataset=dataset, batch_size=self.batch_size, shuffle=True ) return loader # multiple dataloaders, return as list def train_dataloader(self): mnist = MNIST(...) cifar = CIFAR(...) mnist_loader = torch.utils.data.DataLoader( dataset=mnist, batch_size=self.batch_size, shuffle=True ) cifar_loader = torch.utils.data.DataLoader( dataset=cifar, batch_size=self.batch_size, shuffle=True ) # each batch will be a list of tensors: [batch_mnist, batch_cifar] return [mnist_loader, cifar_loader] # multiple dataloader, return as dict def train_dataloader(self): mnist = MNIST(...) cifar = CIFAR(...) mnist_loader = torch.utils.data.DataLoader( dataset=mnist, batch_size=self.batch_size, shuffle=True ) cifar_loader = torch.utils.data.DataLoader( dataset=cifar, batch_size=self.batch_size, shuffle=True ) # each batch will be a dict of tensors: {'mnist': batch_mnist, 'cifar': batch_cifar} return {'mnist': mnist_loader, 'cifar': cifar_loader}
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val_dataloader
() Implement one or multiple PyTorch DataLoaders for validation.
The dataloader you return will not be reloaded unless you set :paramref:`~pytorch_lightning.trainer.Trainer.reload_dataloaders_every_n_epochs` to a positive integer.
It’s recommended that all data downloads and preparation happen in
prepare_data()
.fit()
validate()
prepare_data()
setup()
Note
Lightning adds the correct sampler for distributed and arbitrary hardware There is no need to set it yourself.
- Returns
A
torch.utils.data.DataLoader
or a sequence of them specifying validation samples.
Examples:
def val_dataloader(self): transform = transforms.Compose([transforms.ToTensor(), transforms.Normalize((0.5,), (1.0,))]) dataset = MNIST(root='/path/to/mnist/', train=False, transform=transform, download=True) loader = torch.utils.data.DataLoader( dataset=dataset, batch_size=self.batch_size, shuffle=False ) return loader # can also return multiple dataloaders def val_dataloader(self): return [loader_a, loader_b, ..., loader_n]
Note
If you don’t need a validation dataset and a
validation_step()
, you don’t need to implement this method.Note
In the case where you return multiple validation dataloaders, the
validation_step()
will have an argumentdataloader_idx
which matches the order here.
Lightning model
Pytorch Lightning module
-
class
metavision_core_ml.event_to_video.lightning_model.
EventToVideoCallback
(data_module, video_result_every_n_epochs=2, show_window=False) callbacks to our model
-
on_train_epoch_end
(trainer, pl_module) Called when the train epoch ends.
To access all batch outputs at the end of the epoch, either:
Implement training_epoch_end in the LightningModule and access outputs via the module OR
Cache data across train batch hooks inside the callback implementation to post-process in this hook.
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-
class
metavision_core_ml.event_to_video.lightning_model.
EventToVideoLightningModel
(hparams: argparse.Namespace) EventToVideo: Train your EventToVideo
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configure_optimizers
() Choose what optimizers and learning-rate schedulers to use in your optimization. Normally you’d need one. But in the case of GANs or similar you might have multiple.
- Returns
Any of these 6 options.
Single optimizer.
List or Tuple of optimizers.
Two lists - The first list has multiple optimizers, and the second has multiple LR schedulers (or multiple
lr_scheduler_config
).Dictionary, with an
"optimizer"
key, and (optionally) a"lr_scheduler"
key whose value is a single LR scheduler orlr_scheduler_config
.Tuple of dictionaries as described above, with an optional
"frequency"
key.None - Fit will run without any optimizer.
The
lr_scheduler_config
is a dictionary which contains the scheduler and its associated configuration. The default configuration is shown below.lr_scheduler_config = { # REQUIRED: The scheduler instance "scheduler": lr_scheduler, # The unit of the scheduler's step size, could also be 'step'. # 'epoch' updates the scheduler on epoch end whereas 'step' # updates it after a optimizer update. "interval": "epoch", # How many epochs/steps should pass between calls to # `scheduler.step()`. 1 corresponds to updating the learning # rate after every epoch/step. "frequency": 1, # Metric to to monitor for schedulers like `ReduceLROnPlateau` "monitor": "val_loss", # If set to `True`, will enforce that the value specified 'monitor' # is available when the scheduler is updated, thus stopping # training if not found. If set to `False`, it will only produce a warning "strict": True, # If using the `LearningRateMonitor` callback to monitor the # learning rate progress, this keyword can be used to specify # a custom logged name "name": None, }
When there are schedulers in which the
.step()
method is conditioned on a value, such as thetorch.optim.lr_scheduler.ReduceLROnPlateau
scheduler, Lightning requires that thelr_scheduler_config
contains the keyword"monitor"
set to the metric name that the scheduler should be conditioned on.Metrics can be made available to monitor by simply logging it using
self.log('metric_to_track', metric_val)
in yourLightningModule
.Note
The
frequency
value specified in a dict along with theoptimizer
key is an int corresponding to the number of sequential batches optimized with the specific optimizer. It should be given to none or to all of the optimizers. There is a difference between passing multiple optimizers in a list, and passing multiple optimizers in dictionaries with a frequency of 1:In the former case, all optimizers will operate on the given batch in each optimization step.
In the latter, only one optimizer will operate on the given batch at every step.
This is different from the
frequency
value specified in thelr_scheduler_config
mentioned above.def configure_optimizers(self): optimizer_one = torch.optim.SGD(self.model.parameters(), lr=0.01) optimizer_two = torch.optim.SGD(self.model.parameters(), lr=0.01) return [ {"optimizer": optimizer_one, "frequency": 5}, {"optimizer": optimizer_two, "frequency": 10}, ]
In this example, the first optimizer will be used for the first 5 steps, the second optimizer for the next 10 steps and that cycle will continue. If an LR scheduler is specified for an optimizer using the
lr_scheduler
key in the above dict, the scheduler will only be updated when its optimizer is being used.Examples:
# most cases. no learning rate scheduler def configure_optimizers(self): return Adam(self.parameters(), lr=1e-3) # multiple optimizer case (e.g.: GAN) def configure_optimizers(self): gen_opt = Adam(self.model_gen.parameters(), lr=0.01) dis_opt = Adam(self.model_dis.parameters(), lr=0.02) return gen_opt, dis_opt # example with learning rate schedulers def configure_optimizers(self): gen_opt = Adam(self.model_gen.parameters(), lr=0.01) dis_opt = Adam(self.model_dis.parameters(), lr=0.02) dis_sch = CosineAnnealing(dis_opt, T_max=10) return [gen_opt, dis_opt], [dis_sch] # example with step-based learning rate schedulers # each optimizer has its own scheduler def configure_optimizers(self): gen_opt = Adam(self.model_gen.parameters(), lr=0.01) dis_opt = Adam(self.model_dis.parameters(), lr=0.02) gen_sch = { 'scheduler': ExponentialLR(gen_opt, 0.99), 'interval': 'step' # called after each training step } dis_sch = CosineAnnealing(dis_opt, T_max=10) # called every epoch return [gen_opt, dis_opt], [gen_sch, dis_sch] # example with optimizer frequencies # see training procedure in `Improved Training of Wasserstein GANs`, Algorithm 1 # https://arxiv.org/abs/1704.00028 def configure_optimizers(self): gen_opt = Adam(self.model_gen.parameters(), lr=0.01) dis_opt = Adam(self.model_dis.parameters(), lr=0.02) n_critic = 5 return ( {'optimizer': dis_opt, 'frequency': n_critic}, {'optimizer': gen_opt, 'frequency': 1} )
Note
Some things to know:
Lightning calls
.backward()
and.step()
on each optimizer as needed.If learning rate scheduler is specified in
configure_optimizers()
with key"interval"
(default “epoch”) in the scheduler configuration, Lightning will call the scheduler’s.step()
method automatically in case of automatic optimization.If you use 16-bit precision (
precision=16
), Lightning will automatically handle the optimizers.If you use multiple optimizers,
training_step()
will have an additionaloptimizer_idx
parameter.If you use
torch.optim.LBFGS
, Lightning handles the closure function automatically for you.If you use multiple optimizers, gradients will be calculated only for the parameters of current optimizer at each training step.
If you need to control how often those optimizers step or override the default
.step()
schedule, override theoptimizer_step()
hook.
-
forward
(x) Same as
torch.nn.Module.forward()
.- Parameters
*args – Whatever you decide to pass into the forward method.
**kwargs – Keyword arguments are also possible.
- Returns
Your model’s output
-
classmethod
load_from_checkpoint
(checkpoint_path) Primary way of loading a model from a checkpoint. When Lightning saves a checkpoint it stores the arguments passed to
__init__
in the checkpoint under"hyper_parameters"
.Any arguments specified through **kwargs will override args stored in
"hyper_parameters"
.- Parameters
checkpoint_path – Path to checkpoint. This can also be a URL, or file-like object
map_location – If your checkpoint saved a GPU model and you now load on CPUs or a different number of GPUs, use this to map to the new setup. The behaviour is the same as in
torch.load()
.hparams_file –
Optional path to a
.yaml
or.csv
file with hierarchical structure as in this example:drop_prob: 0.2 dataloader: batch_size: 32
You most likely won’t need this since Lightning will always save the hyperparameters to the checkpoint. However, if your checkpoint weights don’t have the hyperparameters saved, use this method to pass in a
.yaml
file with the hparams you’d like to use. These will be converted into adict
and passed into yourLightningModule
for use.If your model’s
hparams
argument isNamespace
and.yaml
file has hierarchical structure, you need to refactor your model to treathparams
asdict
.strict – Whether to strictly enforce that the keys in
checkpoint_path
match the keys returned by this module’s state dict.**kwargs – Any extra keyword args needed to init the model. Can also be used to override saved hyperparameter values.
- Returns
LightningModule
instance with loaded weights and hyperparameters (if available).
Note
load_from_checkpoint
is a class method. You should use yourLightningModule
class to call it instead of theLightningModule
instance.Example:
# load weights without mapping ... model = MyLightningModule.load_from_checkpoint('path/to/checkpoint.ckpt') # or load weights mapping all weights from GPU 1 to GPU 0 ... map_location = {'cuda:1':'cuda:0'} model = MyLightningModule.load_from_checkpoint( 'path/to/checkpoint.ckpt', map_location=map_location ) # or load weights and hyperparameters from separate files. model = MyLightningModule.load_from_checkpoint( 'path/to/checkpoint.ckpt', hparams_file='/path/to/hparams_file.yaml' ) # override some of the params with new values model = MyLightningModule.load_from_checkpoint( PATH, num_layers=128, pretrained_ckpt_path=NEW_PATH, ) # predict pretrained_model.eval() pretrained_model.freeze() y_hat = pretrained_model(x)
-
training_step
(batch, batch_nb) Here you compute and return the training loss and some additional metrics for e.g. the progress bar or logger.
- Parameters
batch (
Tensor
| (Tensor
, …) | [Tensor
, …]) – The output of yourDataLoader
. A tensor, tuple or list.batch_idx (
int
) – Integer displaying index of this batchoptimizer_idx (
int
) – When using multiple optimizers, this argument will also be present.hiddens (
Any
) – Passed in if :paramref:`~pytorch_lightning.core.module.LightningModule.truncated_bptt_steps` > 0.
- Returns
Any of.
Tensor
- The loss tensordict
- A dictionary. Can include any keys, but must include the key'loss'
None
- Training will skip to the next batch. This is only for automatic optimization.This is not supported for multi-GPU, TPU, IPU, or DeepSpeed.
In this step you’d normally do the forward pass and calculate the loss for a batch. You can also do fancier things like multiple forward passes or something model specific.
Example:
def training_step(self, batch, batch_idx): x, y, z = batch out = self.encoder(x) loss = self.loss(out, x) return loss
If you define multiple optimizers, this step will be called with an additional
optimizer_idx
parameter.# Multiple optimizers (e.g.: GANs) def training_step(self, batch, batch_idx, optimizer_idx): if optimizer_idx == 0: # do training_step with encoder ... if optimizer_idx == 1: # do training_step with decoder ...
If you add truncated back propagation through time you will also get an additional argument with the hidden states of the previous step.
# Truncated back-propagation through time def training_step(self, batch, batch_idx, hiddens): # hiddens are the hidden states from the previous truncated backprop step out, hiddens = self.lstm(data, hiddens) loss = ... return {"loss": loss, "hiddens": hiddens}
Note
The loss value shown in the progress bar is smoothed (averaged) over the last values, so it differs from the actual loss returned in train/validation step.
Note
When
accumulate_grad_batches
> 1, the loss returned here will be automatically normalized byaccumulate_grad_batches
internally.
-
validation_epoch_end
(outputs) Called at the end of the validation epoch with the outputs of all validation steps.
# the pseudocode for these calls val_outs = [] for val_batch in val_data: out = validation_step(val_batch) val_outs.append(out) validation_epoch_end(val_outs)
- Parameters
outputs – List of outputs you defined in
validation_step()
, or if there are multiple dataloaders, a list containing a list of outputs for each dataloader.- Returns
None
Note
If you didn’t define a
validation_step()
, this won’t be called.Examples
With a single dataloader:
def validation_epoch_end(self, val_step_outputs): for out in val_step_outputs: ...
With multiple dataloaders, outputs will be a list of lists. The outer list contains one entry per dataloader, while the inner list contains the individual outputs of each validation step for that dataloader.
def validation_epoch_end(self, outputs): for dataloader_output_result in outputs: dataloader_outs = dataloader_output_result.dataloader_i_outputs self.log("final_metric", final_value)
-
validation_step
(batch, batch_nb) Operates on a single batch of data from the validation set. In this step you’d might generate examples or calculate anything of interest like accuracy.
# the pseudocode for these calls val_outs = [] for val_batch in val_data: out = validation_step(val_batch) val_outs.append(out) validation_epoch_end(val_outs)
- Parameters
batch – The output of your
DataLoader
.batch_idx – The index of this batch.
dataloader_idx – The index of the dataloader that produced this batch. (only if multiple val dataloaders used)
- Returns
Any object or value
None
- Validation will skip to the next batch
# pseudocode of order val_outs = [] for val_batch in val_data: out = validation_step(val_batch) if defined("validation_step_end"): out = validation_step_end(out) val_outs.append(out) val_outs = validation_epoch_end(val_outs)
# if you have one val dataloader: def validation_step(self, batch, batch_idx): ... # if you have multiple val dataloaders: def validation_step(self, batch, batch_idx, dataloader_idx=0): ...
Examples:
# CASE 1: A single validation dataset def validation_step(self, batch, batch_idx): x, y = batch # implement your own out = self(x) loss = self.loss(out, y) # log 6 example images # or generated text... or whatever sample_imgs = x[:6] grid = torchvision.utils.make_grid(sample_imgs) self.logger.experiment.add_image('example_images', grid, 0) # calculate acc labels_hat = torch.argmax(out, dim=1) val_acc = torch.sum(y == labels_hat).item() / (len(y) * 1.0) # log the outputs! self.log_dict({'val_loss': loss, 'val_acc': val_acc})
If you pass in multiple val dataloaders,
validation_step()
will have an additional argument. We recommend setting the default value of 0 so that you can quickly switch between single and multiple dataloaders.# CASE 2: multiple validation dataloaders def validation_step(self, batch, batch_idx, dataloader_idx=0): # dataloader_idx tells you which dataset this is. ...
Note
If you don’t need to validate you don’t need to implement this method.
Note
When the
validation_step()
is called, the model has been put in eval mode and PyTorch gradients have been disabled. At the end of validation, the model goes back to training mode and gradients are enabled.
-