train.py

# Copyright 2021 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Lint as: python3
"""Training script for Nerf."""

import functools
import gc
import time
from absl import app
from absl import flags
import flax
from flax.metrics import tensorboard
from flax.training import checkpoints
import jax
from jax import random
import jax.numpy as jnp
import numpy as np

from internal import datasets
from internal import math
from internal import models
from internal import utils
from internal import vis


FLAGS = flags.FLAGS
utils.define_common_flags()
flags.DEFINE_integer('render_every', 5000,
                     'The number of steps between test set image renderings.')

jax.config.parse_flags_with_absl()


def train_step(model, config, rng, state, batch, lr):
  """One optimization step.

  Args:
    model: The linen model.
    config: The configuration.
    rng: jnp.ndarray, random number generator.
    state: utils.TrainState, state of the model/optimizer.
    batch: dict, a mini-batch of data for training.
    lr: float, real-time learning rate.

  Returns:
    new_state: utils.TrainState, new training state.
    stats: list. [(loss, psnr), (loss_coarse, psnr_coarse)].
    rng: jnp.ndarray, updated random number generator.
  """
  rng, key = random.split(rng)

  def loss_fn(variables):

    def tree_sum_fn(fn):
      return jax.tree_util.tree_reduce(
          lambda x, y: x + fn(y), variables, initializer=0)

    weight_l2 = config.weight_decay_mult * (
        tree_sum_fn(lambda z: jnp.sum(z**2)) /
        tree_sum_fn(lambda z: jnp.prod(jnp.array(z.shape))))

    ret = model.apply(
        variables,
        key,
        batch['rays'],
        randomized=config.randomized,
        white_bkgd=config.white_bkgd)

    mask = batch['rays'].lossmult
    if config.disable_multiscale_loss:
      mask = jnp.ones_like(mask)

    losses = []
    for (rgb, _, _) in ret:
      losses.append(
          (mask * (rgb - batch['pixels'][..., :3])**2).sum() / mask.sum())
    losses = jnp.array(losses)

    loss = (
        config.coarse_loss_mult * jnp.sum(losses[:-1]) + losses[-1] + weight_l2)

    stats = utils.Stats(
        loss=loss,
        losses=losses,
        weight_l2=weight_l2,
        psnr=0.0,
        psnrs=0.0,
        grad_norm=0.0,
        grad_abs_max=0.0,
        grad_norm_clipped=0.0,
    )
    return loss, stats

  (_, stats), grad = (
      jax.value_and_grad(loss_fn, has_aux=True)(state.optimizer.target))
  grad = jax.lax.pmean(grad, axis_name='batch')
  stats = jax.lax.pmean(stats, axis_name='batch')

  def tree_norm(tree):
    return jnp.sqrt(
        jax.tree_util.tree_reduce(
            lambda x, y: x + jnp.sum(y**2), tree, initializer=0))

  if config.grad_max_val > 0:
    clip_fn = lambda z: jnp.clip(z, -config.grad_max_val, config.grad_max_val)
    grad = jax.tree_util.tree_map(clip_fn, grad)

  grad_abs_max = jax.tree_util.tree_reduce(
      lambda x, y: jnp.maximum(x, jnp.max(jnp.abs(y))), grad, initializer=0)

  grad_norm = tree_norm(grad)
  if config.grad_max_norm > 0:
    mult = jnp.minimum(1, config.grad_max_norm / (1e-7 + grad_norm))
    grad = jax.tree_util.tree_map(lambda z: mult * z, grad)
  grad_norm_clipped = tree_norm(grad)

  new_optimizer = state.optimizer.apply_gradient(grad, learning_rate=lr)
  new_state = state.replace(optimizer=new_optimizer)

  psnrs = math.mse_to_psnr(stats.losses)
  stats = utils.Stats(
      loss=stats.loss,
      losses=stats.losses,
      weight_l2=stats.weight_l2,
      psnr=psnrs[-1],
      psnrs=psnrs,
      grad_norm=grad_norm,
      grad_abs_max=grad_abs_max,
      grad_norm_clipped=grad_norm_clipped,
  )

  return new_state, stats, rng


def main(unused_argv):
  rng = random.PRNGKey(20200823)
  # Shift the numpy random seed by host_id() to shuffle data loaded by different
  # hosts.
  np.random.seed(20201473 + jax.host_id())

  config = utils.load_config()

  if config.batch_size % jax.device_count() != 0:
    raise ValueError('Batch size must be divisible by the number of devices.')

  dataset = datasets.get_dataset('train', FLAGS.data_dir, config)
  test_dataset = datasets.get_dataset('test', FLAGS.data_dir, config)

  rng, key = random.split(rng)
  model, variables = models.construct_mipnerf(key, dataset.peek())
  num_params = jax.tree_util.tree_reduce(
      lambda x, y: x + jnp.prod(jnp.array(y.shape)), variables, initializer=0)
  print(f'Number of parameters being optimized: {num_params}')
  optimizer = flax.optim.Adam(config.lr_init).create(variables)
  state = utils.TrainState(optimizer=optimizer)
  del optimizer, variables

  learning_rate_fn = functools.partial(
      math.learning_rate_decay,
      lr_init=config.lr_init,
      lr_final=config.lr_final,
      max_steps=config.max_steps,
      lr_delay_steps=config.lr_delay_steps,
      lr_delay_mult=config.lr_delay_mult)

  train_pstep = jax.pmap(
      functools.partial(train_step, model, config),
      axis_name='batch',
      in_axes=(0, 0, 0, None),
      donate_argnums=(2,))

  # Because this is only used for test set rendering, we disable randomization.
  def render_eval_fn(variables, _, rays):
    return jax.lax.all_gather(
        model.apply(
            variables,
            random.PRNGKey(0),  # Unused.
            rays,
            randomized=False,
            white_bkgd=config.white_bkgd),
        axis_name='batch')

  render_eval_pfn = jax.pmap(
      render_eval_fn,
      in_axes=(None, None, 0),  # Only distribute the data input.
      donate_argnums=(2,),
      axis_name='batch',
  )

  ssim_fn = jax.jit(functools.partial(math.compute_ssim, max_val=1.))

  if not utils.isdir(FLAGS.train_dir):
    utils.makedirs(FLAGS.train_dir)
  state = checkpoints.restore_checkpoint(FLAGS.train_dir, state)
  # Resume training a the step of the last checkpoint.
  init_step = state.optimizer.state.step + 1
  state = flax.jax_utils.replicate(state)

  if jax.host_id() == 0:
    summary_writer = tensorboard.SummaryWriter(FLAGS.train_dir)

  # Prefetch_buffer_size = 3 x batch_size
  pdataset = flax.jax_utils.prefetch_to_device(dataset, 3)
  rng = rng + jax.host_id()  # Make random seed separate across hosts.
  keys = random.split(rng, jax.local_device_count())  # For pmapping RNG keys.
  gc.disable()  # Disable automatic garbage collection for efficiency.
  stats_trace = []
  reset_timer = True
  for step, batch in zip(range(init_step, config.max_steps + 1), pdataset):
    if reset_timer:
      t_loop_start = time.time()
      reset_timer = False
    lr = learning_rate_fn(step)
    state, stats, keys = train_pstep(keys, state, batch, lr)
    if jax.host_id() == 0:
      stats_trace.append(stats)
    if step % config.gc_every == 0:
      gc.collect()

    # Log training summaries. This is put behind a host_id check because in
    # multi-host evaluation, all hosts need to run inference even though we
    # only use host 0 to record results.
    if jax.host_id() == 0:
      if step % config.print_every == 0:
        summary_writer.scalar('num_params', num_params, step)
        summary_writer.scalar('train_loss', stats.loss[0], step)
        summary_writer.scalar('train_psnr', stats.psnr[0], step)
        for i, l in enumerate(stats.losses[0]):
          summary_writer.scalar(f'train_losses_{i}', l, step)
        for i, p in enumerate(stats.psnrs[0]):
          summary_writer.scalar(f'train_psnrs_{i}', p, step)
        summary_writer.scalar('weight_l2', stats.weight_l2[0], step)
        avg_loss = np.mean(np.concatenate([s.loss for s in stats_trace]))
        avg_psnr = np.mean(np.concatenate([s.psnr for s in stats_trace]))
        max_grad_norm = np.max(
            np.concatenate([s.grad_norm for s in stats_trace]))
        avg_grad_norm = np.mean(
            np.concatenate([s.grad_norm for s in stats_trace]))
        max_clipped_grad_norm = np.max(
            np.concatenate([s.grad_norm_clipped for s in stats_trace]))
        max_grad_max = np.max(
            np.concatenate([s.grad_abs_max for s in stats_trace]))
        stats_trace = []
        summary_writer.scalar('train_avg_loss', avg_loss, step)
        summary_writer.scalar('train_avg_psnr', avg_psnr, step)
        summary_writer.scalar('train_max_grad_norm', max_grad_norm, step)
        summary_writer.scalar('train_avg_grad_norm', avg_grad_norm, step)
        summary_writer.scalar('train_max_clipped_grad_norm',
                              max_clipped_grad_norm, step)
        summary_writer.scalar('train_max_grad_max', max_grad_max, step)
        summary_writer.scalar('learning_rate', lr, step)
        steps_per_sec = config.print_every / (time.time() - t_loop_start)
        reset_timer = True
        rays_per_sec = config.batch_size * steps_per_sec
        summary_writer.scalar('train_steps_per_sec', steps_per_sec, step)
        summary_writer.scalar('train_rays_per_sec', rays_per_sec, step)
        precision = int(np.ceil(np.log10(config.max_steps))) + 1
        print(('{:' + '{:d}'.format(precision) + 'd}').format(step) +
              f'/{config.max_steps:d}: ' + f'i_loss={stats.loss[0]:0.4f}, ' +
              f'avg_loss={avg_loss:0.4f}, ' +
              f'weight_l2={stats.weight_l2[0]:0.2e}, ' + f'lr={lr:0.2e}, ' +
              f'{rays_per_sec:0.0f} rays/sec')
      if step % config.save_every == 0:
        state_to_save = jax.device_get(jax.tree_map(lambda x: x[0], state))
        checkpoints.save_checkpoint(
            FLAGS.train_dir, state_to_save, int(step), keep=100)

    # Test-set evaluation.
    if FLAGS.render_every > 0 and step % FLAGS.render_every == 0:
      # We reuse the same random number generator from the optimization step
      # here on purpose so that the visualization matches what happened in
      # training.
      t_eval_start = time.time()
      eval_variables = jax.device_get(jax.tree_map(lambda x: x[0],
                                                   state)).optimizer.target
      test_case = next(test_dataset)
      pred_color, pred_distance, pred_acc = models.render_image(
          functools.partial(render_eval_pfn, eval_variables),
          test_case['rays'],
          keys[0],
          chunk=FLAGS.chunk)

      vis_suite = vis.visualize_suite(pred_distance, pred_acc)

      # Log eval summaries on host 0.
      if jax.host_id() == 0:
        psnr = math.mse_to_psnr(((pred_color - test_case['pixels'])**2).mean())
        ssim = ssim_fn(pred_color, test_case['pixels'])
        eval_time = time.time() - t_eval_start
        num_rays = jnp.prod(jnp.array(test_case['rays'].directions.shape[:-1]))
        rays_per_sec = num_rays / eval_time
        summary_writer.scalar('test_rays_per_sec', rays_per_sec, step)
        print(f'Eval {step}: {eval_time:0.3f}s., {rays_per_sec:0.0f} rays/sec')
        summary_writer.scalar('test_psnr', psnr, step)
        summary_writer.scalar('test_ssim', ssim, step)
        summary_writer.image('test_pred_color', pred_color, step)
        for k, v in vis_suite.items():
          summary_writer.image('test_pred_' + k, v, step)
        summary_writer.image('test_pred_acc', pred_acc, step)
        summary_writer.image('test_target', test_case['pixels'], step)

  if config.max_steps % config.save_every != 0:
    state = jax.device_get(jax.tree_map(lambda x: x[0], state))
    checkpoints.save_checkpoint(
        FLAGS.train_dir, state, int(config.max_steps), keep=100)


if __name__ == '__main__':
  app.run(main)