train.py

# Copyright (c) Alibaba, Inc. and its affiliates.
import argparse
import logging
import math
import os
import random
import time
import warnings
from copy import deepcopy
from pathlib import Path
from threading import Thread

import numpy as np
import torch.distributed as dist
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import torch.optim.lr_scheduler as lr_scheduler
import torch.utils.data
import yaml
from torch.cuda import amp
from torch.nn.parallel import DistributedDataParallel as DDP
from torch.utils.tensorboard import SummaryWriter
from tqdm import tqdm
import shutil

import test  # import test.py to get mAP after each epoch
from models.experimental import attempt_load
from models.yolo import Model
from utils.autoanchor import check_anchors
from utils.datasets import create_dataloader, norm_imgs
from utils.general import labels_to_class_weights, increment_path, labels_to_image_weights, init_seeds, \
    fitness, strip_optimizer, get_latest_run, check_dataset, check_file, check_git_status, check_img_size, \
    check_requirements, print_mutation, set_logging, one_cycle, colorstr, target2mask, check_mask
from utils.google_utils import attempt_download
from utils.loss import ComputeLoss
from utils.plots import plot_images, plot_labels, plot_results, plot_evolution, plot_cluster
from utils.torch_utils import ModelEMA, select_device, intersect_dicts, torch_distributed_zero_first, de_parallel, time_synchronized
from utils.wandb_logging.wandb_utils import WandbLogger, check_wandb_resume

logger = logging.getLogger(__name__)

def train(hyp, opt, device, tb_writer=None):
    logger.info(colorstr('hyperparameters: ') + ', '.join(f'{k}={v}' for k, v in hyp.items()))
    save_dir, epochs, batch_size, total_batch_size, weights, rank = \
        Path(opt.save_dir), opt.epochs, opt.batch_size, opt.total_batch_size, opt.weights, opt.global_rank
    half_precision = not opt.disable_half

    # Directories
    wdir = save_dir / 'weights'
    wdir.mkdir(parents=True, exist_ok=True)  # make dir
    last = wdir / 'last.pt'
    best = wdir / 'best.pt'
    results_file = save_dir / 'results.txt'

    # Save run settings
    with open(save_dir / 'hyp.yaml', 'w') as f:
        yaml.safe_dump(hyp, f, sort_keys=False)
    with open(save_dir / 'opt.yaml', 'w') as f:
        yaml.safe_dump(vars(opt), f, sort_keys=False)
    if rank in [-1, 0] and not opt.resume:
        os.mkdir(save_dir / 'scripts')
        for file in ['train.py', 'test.py', 'utils/loss.py', 'utils/general.py', 'utils/datasets.py', 
                     'models/yolo.py', 'models/common.py', opt.cfg]:
            shutil.copyfile(file, save_dir / 'scripts' / os.path.basename(file))

    # Configure
    plots = not opt.evolve  # create plots
    cuda = device.type != 'cpu'
    init_seeds(2 + rank)
    with open(opt.data) as f:
        data_dict = yaml.safe_load(f)  # data dict

    # Logging- Doing this before checking the dataset. Might update data_dict
    loggers = {'wandb': None}  # loggers dict
    if rank in [-1, 0]:
        opt.hyp = hyp  # add hyperparameters
        run_id = torch.load(weights).get('wandb_id') if weights.endswith('.pt') and os.path.isfile(weights) else None
        wandb_logger = WandbLogger(opt, save_dir.stem, run_id, data_dict)
        loggers['wandb'] = wandb_logger.wandb
        data_dict = wandb_logger.data_dict
        if wandb_logger.wandb:
            weights, epochs, hyp = opt.weights, opt.epochs, opt.hyp  # WandbLogger might update weights, epochs if resuming

    nc = 1 if opt.single_cls else int(data_dict['nc'])  # number of classes
    names = ['item'] if opt.single_cls and len(data_dict['names']) != 1 else data_dict['names']  # class names
    assert len(names) == nc, '%g names found for nc=%g dataset in %s' % (len(names), nc, opt.data)  # check
    is_coco = opt.data.endswith('coco.yaml') and nc == 80  # COCO dataset

    # Model
    pretrained = weights.endswith('.pt')
    if pretrained:
        with torch_distributed_zero_first(rank):
            weights = attempt_download(weights)  # download if not found locally
        ckpt = torch.load(weights, map_location=device)  # load checkpoint
        model = Model(opt.cfg or ckpt['model'].yaml, ch=3, nc=nc, anchors=hyp.get('anchors')).to(device)  # create
        exclude = ['anchor'] if (opt.cfg or hyp.get('anchors')) and not opt.resume and not opt.freeze else []  # exclude keys
        state_dict = ckpt['model'].float().state_dict()  # to FP32
        state_dict = intersect_dicts(state_dict, model.state_dict(), exclude=exclude, cfg_path=opt.cfg)  # intersect
        model.load_state_dict(state_dict, strict=False)  # load
        logger.info('Transferred %g/%g items from %s' % (len(state_dict), len(model.state_dict()), weights))  # report
    else:
        model = Model(opt.cfg, ch=3, nc=nc, anchors=hyp.get('anchors')).to(device)  # create
    with torch_distributed_zero_first(rank):
        check_dataset(data_dict)  # check
    train_path = data_dict['train']
    test_path = data_dict['val']

    # Freeze
    freeze = []  # parameter names to freeze (full or partial)
    unfreeze = []
    if opt.freeze:
        raise NotImplementedError('Navigate to here to manually set the layers to freeze and uncomment this error.')
        hyp['weight_decay'] = 0.
        # freeze = ['model.{}.'.format(ii) for ii in range(8)]
        # print('freeze', freeze)
        unfreeze = ['model.5', 'model.6'] # DWConv and Segmenter
        print('unfreeze', unfreeze)
    for k, v in model.named_parameters():
        v.requires_grad = True  # train all layers
        if any(x in k for x in freeze) or (len(unfreeze) and all(x not in k for x in unfreeze)):
            # print('freezing %s' % k)
            v.requires_grad = False

    # Optimizer
    nbs = 64  # nominal batch size
    accumulate = max(round(nbs / total_batch_size), 1)  # accumulate loss before optimizing
    hyp['weight_decay'] *= total_batch_size * accumulate / nbs  # scale weight_decay
    logger.info(f"Scaled weight_decay = {hyp['weight_decay']}")

    pg0, pg1, pg2 = [], [], []  # optimizer parameter groups
    for k, v in model.named_modules():
        if hasattr(v, 'bias') and isinstance(v.bias, nn.Parameter) and (v.bias.requires_grad or True):
            pg2.append(v.bias)  # biases
        if (isinstance(v, nn.BatchNorm2d) or isinstance(v, nn.LayerNorm)) and (v.weight.requires_grad or True):
            pg0.append(v.weight)  # no decay
        elif hasattr(v, 'weight') and isinstance(v.weight, nn.Parameter) and (v.weight.requires_grad or True):
            pg1.append(v.weight)  # apply decay

    if opt.adam:
        # optimizer = optim.AdamW(pg0, lr=hyp['lr0'] * 0.02)  # adjust beta1 to momentum
        optimizer = optim.AdamW(pg0, lr=hyp['lr0'] * 0.1, betas=(hyp['momentum'], 0.999))  # adjust beta1 to momentum
    else:
        optimizer = optim.SGD(pg0, lr=hyp['lr0'], momentum=hyp['momentum'], nesterov=True)

    optimizer.add_param_group({'params': pg1, 'weight_decay': hyp['weight_decay']})  # add pg1 with weight_decay
    optimizer.add_param_group({'params': pg2})  # add pg2 (biases)
    logger.info('Optimizer groups: %g .bias, %g conv.weight, %g other' % (len(pg2), len(pg1), len(pg0)))
    del pg0, pg1, pg2

    # Scheduler https://arxiv.org/pdf/1812.01187.pdf
    # https://pytorch.org/docs/stable/_modules/torch/optim/lr_scheduler.html#OneCycleLR
    if opt.linear_lr:
        lf = lambda x: (1 - x / (epochs - 1)) * (1.0 - hyp['lrf']) + hyp['lrf']  # linear
    else:
        lf = one_cycle(1, hyp['lrf'], epochs)  # cosine 1->hyp['lrf']
    scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lf)
    # plot_lr_scheduler(optimizer, scheduler, epochs)

    # EMA
    ema = ModelEMA(model) if rank in [-1, 0] else None

    # Resume
    start_epoch, best_fitness = 0, 0.0
    if pretrained:  # TODO: freeze
        # Optimizer
        if opt.resume and ckpt['optimizer'] is not None:
            optimizer.load_state_dict(ckpt['optimizer'])
            best_fitness = ckpt['best_fitness']
            if rank in [-1, 0]:
                print('loaded optimizer, best_fitness = %.2f' % best_fitness)

        # EMA
        if opt.resume and ema and ckpt.get('ema'):
            ema.ema.load_state_dict(ckpt['ema'].float().state_dict())
            ema.updates = ckpt['updates']
            if rank in [-1, 0]:
                print('loaded ema, updates = %d' % ckpt['updates'])

        # Results
        if opt.resume and ckpt.get('training_results') is not None:
            results_file.write_text(ckpt['training_results'])  # write results.txt

        # Epochs
        if opt.resume:
            start_epoch = ckpt['epoch'] + 1
            assert start_epoch > 0, '%s training to %g epochs is finished, nothing to resume.' % (weights, epochs)
        if epochs > start_epoch > 0:
            logger.info('%s has been trained for %g epochs. Fine-tuning for %g additional epochs.' %
                        (weights, ckpt['epoch'], epochs - start_epoch))
            # epochs += start_epoch  # finetune additional epochs

        del ckpt, state_dict

    # Image sizes
    gs = max(int(model.stride.max()), 64)  # grid size (max stride)
    nl = model.model[-1].nl  # number of detection layers (used for scaling hyp['obj'])
    imgsz, imgsz_test = [check_img_size(x, gs) for x in opt.img_size]  # verify imgsz are gs-multiples

    # DP mode
    if cuda and rank == -1 and torch.cuda.device_count() > 1:
        model = torch.nn.DataParallel(model)

    # SyncBatchNorm
    if opt.sync_bn and cuda and rank != -1:
        model = torch.nn.SyncBatchNorm.convert_sync_batchnorm(model).to(device)
        logger.info('Using SyncBatchNorm()')

    # Trainloader
    dataloader, dataset = create_dataloader(train_path, imgsz, batch_size, gs, opt,
                                            hyp=hyp, augment=True, cache=opt.cache_images, rect=opt.rect, rank=rank,
                                            world_size=opt.world_size, workers=opt.workers,
                                            image_weights=opt.image_weights, quad=opt.quad, prefix=colorstr('train: '))
    mlc = np.concatenate(dataset.labels, 0)[:, 0].max()  # max label class
    nb = len(dataloader)  # number of batches
    assert mlc < nc, 'Label class %g exceeds nc=%g in %s. Possible class labels are 0-%g' % (mlc, nc, opt.data, nc - 1)

    # Process 0
    if rank in [-1, 0]:
        testloader = create_dataloader(test_path, imgsz_test, batch_size, gs, opt,  # testloader
                                       hyp=hyp, cache=opt.cache_images and not opt.notest, rect=True, rank=-1,
                                       world_size=opt.world_size, workers=opt.workers,
                                       pad=0., prefix=colorstr('val: '))[0]

        if not opt.resume:
            labels = np.concatenate(dataset.labels, 0)
            c = torch.tensor(labels[:, 0])  # classes
            # nc = np.array([len(c[c == ii]) for ii in range(int(c.max() + 1))])
            # cf = torch.bincount(c.long(), minlength=nc) + 1.  # frequency
            # model._initialize_biases(cf.to(device))
            if plots:
                # plot_labels(labels, names, save_dir, loggers)
                if tb_writer:
                    tb_writer.add_histogram('classes', c, 0)

            # Anchors
            if not opt.noautoanchor:
                check_anchors(dataset, model=model, thr=hyp['anchor_t'], imgsz=imgsz)
            model.half().float()  # pre-reduce anchor precision

    # DDP mode
    if cuda and rank != -1:
        find_unused_parameters = opt.hm_only or any(isinstance(layer, nn.MultiheadAttention) for layer in model.modules())
        model = DDP(model, device_ids=[opt.local_rank], output_device=opt.local_rank,
                    # nn.MultiheadAttention incompatibility with DDP https://github.com/pytorch/pytorch/issues/26698
                    find_unused_parameters=find_unused_parameters)

    # Model parameters
    hyp['box'] *= 3. / nl  # scale to layers
    hyp['cls'] *= nc / 80. * 3. / nl  # scale to classes and layers
    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
    model.gr = 1.0  # iou loss ratio (obj_loss = 1.0 or iou)
    model.class_weights = labels_to_class_weights(dataset.labels, nc).to(device) * nc  # attach class weights
    model.names = names

    # Start training
    t0 = time.time()
    # number of warmup iterations, max(3 epochs, 1k iterations)
    nw = round(hyp['warmup_epochs'] * nb) if hyp['warmup_epochs'] > 0 else -1
    # nw = max(round(hyp['warmup_epochs'] * nb), 1000) if hyp['warmup_epochs'] > 0 else -1
    # nw = min(nw, (epochs - start_epoch) / 2 * nb)  # limit warmup to < 1/2 of training
    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)
    scheduler.last_epoch = start_epoch - 1  # do not move
    scaler = amp.GradScaler(enabled=cuda)
    compute_loss = ComputeLoss(model)  # init loss class
    logger.info(f'Image sizes {imgsz} train, {imgsz_test} test\n'
                f'Using {dataloader.num_workers} dataloader workers\n'
                f'Logging results to {save_dir}\n'
                f'Starting training for {epochs} epochs...')
    for epoch in range(start_epoch, epochs):  # epoch ------------------------------------------------------------------
        use_gt = epoch < epochs * 0.6
        model.train()

        # Update image weights (optional)
        if opt.image_weights:
            # Generate indices
            if rank in [-1, 0]:
                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
            # Broadcast if DDP
            if rank != -1:
                indices = (torch.tensor(dataset.indices) if rank == 0 else torch.zeros(dataset.n)).int()
                dist.broadcast(indices, 0)
                if rank != 0:
                    dataset.indices = indices.cpu().numpy()

        # Update mosaic border
        # b = int(random.uniform(0.25 * imgsz, 0.75 * imgsz + gs) // gs * gs)
        # dataset.mosaic_border = [b - imgsz, -b]  # height, width borders

        mloss = torch.zeros(7, device=device)  # mean losses
        if rank != -1:
            dataloader.sampler.set_epoch(epoch)
        pbar = enumerate(dataloader)
        logger.info(('\n' + '%10s' * 11) %
                    ('Epoch', 'gpu_mem', 'box', 'obj', 'cls', 'pixl', 'area', 'dist', 'total', 'labels', 'img_size'))
        if rank in [-1, 0]:
            pbar = tqdm(pbar, total=nb)  # progress bar
        warmup_flag = False
        for i, (imgs, targets, masks, m_weights, paths, _) in pbar:  # batch -------------------------------------------------------------
            ni = i + nb * epoch  # number integrated batches (since train start)
            warmup_flag = ni <= nw
            imgs = imgs.to(device, non_blocking=True).float()
            # imgs /= 255.0  # uint8 to float32, 0-255 to 0.0-1.0
            imgs = norm_imgs(imgs, model)
            masks = masks.to(device, non_blocking=True).float()
            m_weights = m_weights.to(device, non_blocking=True).float()

            # Warmup
            if warmup_flag:
                xi = [0, nw]  # x interp
                # model.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 / total_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:
                raise NotImplementedError('Interplotation will destroy the heatmap labels')
                sz = random.randrange(imgsz * 0.75, 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)
                    mask_stride = imgs.size(2) // masks.size(2)
                    assert mask_stride == 8
                    imgs = F.interpolate(imgs, size=ns, mode='bilinear', align_corners=False)
                    masks = F.interpolate(masks, size=[_s // mask_stride for _s in ns], mode='nearest')

            # Forward
            with amp.autocast(enabled=cuda and half_precision):
                targets = targets.to(device)
                pred = model((imgs, [masks]) if (use_gt and warmup_flag) else imgs, hm_only=opt.hm_only)  # forward
                loss, loss_items = compute_loss(pred, targets, imgsz=imgs.shape, masks=masks, m_weights=m_weights)  # loss scaled by batch_size
                if rank != -1:
                    loss *= opt.world_size  # gradient averaged between devices in DDP mode
                if opt.quad:
                    loss *= 4.

            # Backward
            scaler.scale(loss).backward()

            # Optimize
            if ni % accumulate == 0:
                scaler.step(optimizer)  # optimizer.step
                scaler.update()
                optimizer.zero_grad()
                if ema:
                    ema.update(model)

            # Print
            if rank in [-1, 0]:
                mloss = (mloss * i + loss_items) / (i + 1)  # update mean losses
                mem = '%.3gG' % (torch.cuda.memory_reserved() / 1E9 if torch.cuda.is_available() else 0)  # (GB)
                s = ('%10s' * 2 + '%10.4g' * 9) % (
                    f'{epoch}/{epochs - 1}', mem, *mloss, targets.shape[0], imgs.shape[-1])
                pbar.set_description(s)

                # Plot
                if plots and ni < 3:
                    f = save_dir / f'train_batch{ni}.jpg'  # filename
                    Thread(target=plot_images, args=(imgs, targets, paths, f), daemon=True).start()
                    if tb_writer and ni == 0 and not opt.sync_bn:
                        with warnings.catch_warnings():
                            warnings.simplefilter('ignore')  # suppress jit trace warning
                            tb_writer.add_graph(torch.jit.trace(de_parallel(model), imgs, strict=False), [])  # graph
                elif plots and ni == 10 and wandb_logger.wandb:
                    wandb_logger.log({'Mosaics': [wandb_logger.wandb.Image(str(x), caption=x.name) for x in
                                                  save_dir.glob('train*.jpg') if x.exists()]})

            # end batch ------------------------------------------------------------------------------------------------
        # end epoch ----------------------------------------------------------------------------------------------------

        # Scheduler
        lr = [x['lr'] for x in optimizer.param_groups]  # for tensorboard
        scheduler.step()

        # DDP process 0 or single-GPU
        if rank in [-1, 0]:
            # mAP
            ema.update_attr(model, include=['yaml', 'nc', 'hyp', 'gr', 'names', 'stride', 'class_weights'])
            final_epoch = epoch + 1 == epochs
            if not opt.notest or final_epoch:  # Calculate mAP
                wandb_logger.current_epoch = epoch + 1
                results, maps, times = test.test(data_dict,
                                                 use_gt=use_gt and warmup_flag,
                                                 conf_thres=0.1 if warmup_flag else 0.001,
                                                 batch_size=batch_size * 2 if '_tr' not in opt.cfg else 1,
                                                 imgsz=imgsz_test,
                                                 model=ema.ema,
                                                 single_cls=opt.single_cls,
                                                 dataloader=testloader,
                                                 save_dir=save_dir,
                                                 save_json=is_coco and final_epoch,
                                                 verbose=nc < 50 and final_epoch,
                                                 plots=plots and final_epoch,
                                                 wandb_logger=wandb_logger,
                                                 compute_loss=compute_loss,
                                                 half_precision=half_precision,
                                                 hm_metric=opt.hm_metric,
                                                 is_coco=is_coco)

            # Write
            with open(results_file, 'a') as f:
                f.write(s + '%10.4g' * 12 % results + '\n')  # append metrics, val_loss

            # Log
            tags = ['train/box_loss', 'train/obj_loss', 'train/cls_loss',  # train loss
                    'train/pixl_loss', 'train/area_loss', 'train/dist_loss',  # train loss
                    'metrics/precision', 'metrics/recall', 'metrics/mAP_0.5', 'metrics/mAP_0.5:0.95',
                    'metrics/bestpr', 'metrics/occupy',
                    'val/box_loss', 'val/obj_loss', 'val/cls_loss',  # val loss
                    'val/pixl_loss', 'val/area_loss', 'val/dist_loss',  # train loss
                    'x/lr0', 'x/lr1', 'x/lr2']  # params
            for x, tag in zip(list(mloss[:-1]) + list(results) + lr, tags):
                if tb_writer:
                    tb_writer.add_scalar(tag, x, epoch)  # tensorboard
                if wandb_logger.wandb:
                    wandb_logger.log({tag: x})  # W&B

            # Update best mAP
            fi = fitness(np.array(results[:4]).reshape(1, -1))  # weighted combination of [P, R, mAP@.5, mAP@.5-.95]
            if fi > best_fitness:
                best_fitness = fi
            wandb_logger.end_epoch(best_result=best_fitness == fi)

            # Save model
            if (not opt.nosave) or (final_epoch and not opt.evolve):  # if save
                ckpt = {'epoch': epoch,
                        'best_fitness': best_fitness,
                        'training_results': results_file.read_text(),
                        'model': deepcopy(de_parallel(model)).half(),
                        'ema': deepcopy(ema.ema).half(),
                        'updates': ema.updates,
                        'optimizer': optimizer.state_dict(),
                        'wandb_id': wandb_logger.wandb_run.id if wandb_logger.wandb else None}

                # Save last, best and delete
                torch.save(ckpt, last)
                if best_fitness == fi:
                    torch.save(ckpt, best)
                if wandb_logger.wandb:
                    if ((epoch + 1) % opt.save_period == 0 and not final_epoch) and opt.save_period != -1:
                        wandb_logger.log_model(
                            last.parent, opt, epoch, fi, best_model=best_fitness == fi)
                del ckpt

        # end epoch ----------------------------------------------------------------------------------------------------
    # end training
    if rank in [-1, 0]:
        logger.info(f'{epoch - start_epoch + 1} epochs completed in {(time.time() - t0) / 3600:.3f} hours.\n')
        if plots:
            plot_results(save_dir=save_dir)  # save as results.png
            if wandb_logger.wandb:
                files = ['results.png', 'confusion_matrix.png', *[f'{x}_curve.png' for x in ('F1', 'PR', 'P', 'R')]]
                wandb_logger.log({"Results": [wandb_logger.wandb.Image(str(save_dir / f), caption=f) for f in files
                                              if (save_dir / f).exists()]})

        if not opt.evolve:
            if is_coco:  # COCO dataset
                for m in [last, best] if best.exists() else [last]:  # speed, mAP tests
                    results, _, _ = test.test(opt.data,
                                              batch_size=batch_size * 2 if '_tr' not in opt.cfg else 1,
                                              imgsz=imgsz_test,
                                              conf_thres=0.001,
                                              iou_thres=0.7,
                                              model=attempt_load(m, device).half(),
                                              single_cls=opt.single_cls,
                                              dataloader=testloader,
                                              save_dir=save_dir,
                                              save_json=True,
                                              plots=False,
                                              half_precision=half_precision,
                                              is_coco=is_coco)

            # Strip optimizers
            for f in last, best:
                if f.exists():
                    strip_optimizer(f)  # strip optimizers
            if wandb_logger.wandb:  # Log the stripped model
                wandb_logger.wandb.log_artifact(str(best if best.exists() else last), type='model',
                                                name='run_' + wandb_logger.wandb_run.id + '_model',
                                                aliases=['latest', 'best', 'stripped'])
        wandb_logger.finish_run()
    else:
        dist.destroy_process_group()
    torch.cuda.empty_cache()
    return results


if __name__ == '__main__':
    parser = argparse.ArgumentParser()
    parser.add_argument('--weights', type=str, default='yolov5s.pt', help='initial weights path')
    parser.add_argument('--cfg', type=str, default='', help='model.yaml path')
    parser.add_argument('--data', type=str, default='data/coco128.yaml', help='data.yaml path')
    parser.add_argument('--hyp', type=str, default='data/hyp.scratch.yaml', help='hyperparameters path')
    parser.add_argument('--epochs', type=int, default=300)
    parser.add_argument('--batch-size', type=int, default=16, help='total batch size for all GPUs')
    parser.add_argument('--img-size', nargs='+', type=int, default=[640, 640], help='[train, test] image sizes')
    parser.add_argument('--rect', action='store_true', help='rectangular training')
    parser.add_argument('--resume', nargs='?', const=True, default=False, help='resume most recent training')
    parser.add_argument('--nosave', action='store_true', help='only save final checkpoint')
    parser.add_argument('--notest', action='store_true', help='only test final epoch')
    parser.add_argument('--noautoanchor', action='store_true', help='disable autoanchor check')
    parser.add_argument('--evolve', action='store_true', help='evolve hyperparameters')
    parser.add_argument('--bucket', type=str, default='', help='gsutil bucket')
    parser.add_argument('--cache-images', action='store_true', help='cache images for faster training')
    parser.add_argument('--image-weights', action='store_true', help='use weighted image selection for training')
    parser.add_argument('--device', default='', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
    parser.add_argument('--multi-scale', action='store_true', help='vary img-size +/- 50%%')
    parser.add_argument('--single-cls', action='store_true', help='train multi-class data as single-class')
    parser.add_argument('--adam', action='store_true', help='use torch.optim.Adam() optimizer')
    parser.add_argument('--sync-bn', action='store_true', help='use SyncBatchNorm, only available in DDP mode')
    parser.add_argument('--local_rank', type=int, default=-1, help='DDP parameter, do not modify')
    parser.add_argument('--workers', type=int, default=8, help='maximum number of dataloader workers')
    parser.add_argument('--project', default='runs/train', help='save to project/name')
    parser.add_argument('--entity', default=None, help='W&B entity')
    parser.add_argument('--name', default='exp', help='save to project/name')
    parser.add_argument('--exist-ok', action='store_true', help='existing project/name ok, do not increment')
    parser.add_argument('--quad', action='store_true', help='quad dataloader')
    parser.add_argument('--linear-lr', action='store_true', help='linear LR')
    parser.add_argument('--label-smoothing', type=float, default=0.0, help='Label smoothing epsilon')
    parser.add_argument('--upload_dataset', action='store_true', help='Upload dataset as W&B artifact table')
    parser.add_argument('--bbox_interval', type=int, default=-1, help='Set bounding-box image logging interval for W&B')
    parser.add_argument('--save_period', type=int, default=-1, help='Log model after every "save_period" epoch')
    parser.add_argument('--artifact_alias', type=str, default="latest", help='version of dataset artifact to be used')
    parser.add_argument('--addition', action='store_true', help='additional training')
    parser.add_argument('--freeze', action='store_true', help='freeze shadow backbone for fine-tuning')
    parser.add_argument('--hm-only', action='store_true', help='training on heatmap prediction only')
    parser.add_argument('--hm-metric', action='store_true', help='use heatmap-related evaluation metrics')
    parser.add_argument('--disable-half', action='store_true', help='disable FP16 half-precision training')
    opt = parser.parse_args()

    # Set DDP variables
    opt.world_size = int(os.environ['WORLD_SIZE']) if 'WORLD_SIZE' in os.environ else 1
    opt.global_rank = int(os.environ['RANK']) if 'RANK' in os.environ else -1
    set_logging(opt.global_rank)
    if opt.global_rank in [-1, 0] and False:
        check_git_status()
        check_requirements(exclude=('pycocotools', 'thop'))

    # Resume
    wandb_run = check_wandb_resume(opt)
    if opt.resume and not wandb_run:  # resume an interrupted run
        ckpt = opt.resume if isinstance(opt.resume, str) else get_latest_run()  # specified or most recent path
        assert os.path.isfile(ckpt), 'ERROR: --resume checkpoint does not exist'
        apriori = opt.global_rank, opt.local_rank
        addition = opt.addition
        if addition:
            epochs, hyp = opt.epochs, opt.hyp
        with open(Path(ckpt).parent.parent / 'opt.yaml') as f:
            opt = argparse.Namespace(**yaml.safe_load(f))  # replace
        opt.cfg, opt.weights, opt.resume, opt.batch_size, opt.global_rank, opt.local_rank = \
            '', ckpt, True, opt.total_batch_size, *apriori  # reinstate
        if addition:
            opt.epochs, opt.hyp = opt.epochs * 0 + epochs, hyp  # TODO: epochs
        logger.info('Resuming training from %s' % ckpt)
    else:
        # opt.hyp = opt.hyp or ('hyp.finetune.yaml' if opt.weights else 'hyp.scratch.yaml')
        opt.data, opt.cfg, opt.hyp = check_file(opt.data), check_file(opt.cfg), check_file(opt.hyp)  # check files
        assert len(opt.cfg) or len(opt.weights), 'either --cfg or --weights must be specified'
        opt.img_size.extend([opt.img_size[-1]] * (2 - len(opt.img_size)))  # extend to 2 sizes (train, test)
        opt.name = 'evolve' if opt.evolve else opt.name
    opt.save_dir = str(increment_path(Path(opt.project) / opt.name, exist_ok=opt.exist_ok | opt.evolve))

    # DDP mode
    opt.total_batch_size = opt.batch_size
    device = select_device(opt.device, batch_size=opt.batch_size)
    if opt.local_rank != -1:
        assert torch.cuda.device_count() > opt.local_rank
        torch.cuda.set_device(opt.local_rank)
        device = torch.device('cuda', opt.local_rank)
        dist.init_process_group(backend='nccl', init_method='env://')  # distributed backend
        assert opt.batch_size % opt.world_size == 0, '--batch-size must be multiple of CUDA device count'
        assert not opt.image_weights, '--image-weights argument is not compatible with DDP training'
        opt.batch_size = opt.total_batch_size // opt.world_size

    # Hyperparameters
    with open(opt.hyp) as f:
        hyp = yaml.safe_load(f)  # load hyps

    # Train
    logger.info(opt)
    if not opt.evolve:
        tb_writer = None  # init loggers
        if opt.global_rank in [-1, 0] and False:
            prefix = colorstr('tensorboard: ')
            logger.info(f"{prefix}Start with 'tensorboard --logdir {opt.project}', view at http://localhost:6006/")
            tb_writer = SummaryWriter(opt.save_dir)  # Tensorboard
        
        # with torch.autograd.set_detect_anomaly(True):
        train(hyp, opt, device, tb_writer)

    # Evolve hyperparameters (optional)
    else:
        # Hyperparameter evolution metadata (mutation scale 0-1, lower_limit, upper_limit)
        meta = {'lr0': (1, 1e-5, 1e-1),  # initial learning rate (SGD=1E-2, Adam=1E-3)
                'lrf': (1, 0.01, 1.0),  # final OneCycleLR learning rate (lr0 * lrf)
                'momentum': (0.3, 0.6, 0.98),  # SGD momentum/Adam beta1
                'weight_decay': (1, 0.0, 0.001),  # optimizer weight decay
                'warmup_epochs': (1, 0.0, 5.0),  # warmup epochs (fractions ok)
                'warmup_momentum': (1, 0.0, 0.95),  # warmup initial momentum
                'warmup_bias_lr': (1, 0.0, 0.2),  # warmup initial bias lr
                'box': (1, 0.02, 0.2),  # box loss gain
                'cls': (1, 0.2, 4.0),  # cls loss gain
                'cls_pw': (1, 0.5, 2.0),  # cls BCELoss positive_weight
                'obj': (1, 0.2, 4.0),  # obj loss gain (scale with pixels)
                'obj_pw': (1, 0.5, 2.0),  # obj BCELoss positive_weight
                'iou_t': (0, 0.1, 0.7),  # IoU training threshold
                'anchor_t': (1, 2.0, 8.0),  # anchor-multiple threshold
                'anchors': (2, 2.0, 10.0),  # anchors per output grid (0 to ignore)
                'fl_gamma': (0, 0.0, 2.0),  # focal loss gamma (efficientDet default gamma=1.5)
                'hsv_h': (1, 0.0, 0.1),  # image HSV-Hue augmentation (fraction)
                'hsv_s': (1, 0.0, 0.9),  # image HSV-Saturation augmentation (fraction)
                'hsv_v': (1, 0.0, 0.9),  # image HSV-Value augmentation (fraction)
                'degrees': (1, 0.0, 45.0),  # image rotation (+/- deg)
                'translate': (1, 0.0, 0.9),  # image translation (+/- fraction)
                'scale': (1, 0.0, 0.9),  # image scale (+/- gain)
                'shear': (1, 0.0, 10.0),  # image shear (+/- deg)
                'perspective': (0, 0.0, 0.001),  # image perspective (+/- fraction), range 0-0.001
                'flipud': (1, 0.0, 1.0),  # image flip up-down (probability)
                'fliplr': (0, 0.0, 1.0),  # image flip left-right (probability)
                'mosaic': (1, 0.0, 1.0),  # image mixup (probability)
                'mixup': (1, 0.0, 1.0)}  # image mixup (probability)

        assert opt.local_rank == -1, 'DDP mode not implemented for --evolve'
        opt.notest, opt.nosave = True, True  # only test/save final epoch
        # ei = [isinstance(x, (int, float)) for x in hyp.values()]  # evolvable indices
        yaml_file = Path(opt.save_dir) / 'hyp_evolved.yaml'  # save best result here
        if opt.bucket:
            os.system('gsutil cp gs://%s/evolve.txt .' % opt.bucket)  # download evolve.txt if exists

        for _ in range(300):  # generations to evolve
            if Path('evolve.txt').exists():  # if evolve.txt exists: select best hyps and mutate
                # Select parent(s)
                parent = 'single'  # parent selection method: 'single' or 'weighted'
                x = np.loadtxt('evolve.txt', ndmin=2)
                n = min(5, len(x))  # number of previous results to consider
                x = x[np.argsort(-fitness(x))][:n]  # top n mutations
                w = fitness(x) - fitness(x).min()  # weights
                if parent == 'single' or len(x) == 1:
                    # x = x[random.randint(0, n - 1)]  # random selection
                    x = x[random.choices(range(n), weights=w)[0]]  # weighted selection
                elif parent == 'weighted':
                    x = (x * w.reshape(n, 1)).sum(0) / w.sum()  # weighted combination

                # Mutate
                mp, s = 0.8, 0.2  # mutation probability, sigma
                npr = np.random
                npr.seed(int(time.time()))
                g = np.array([x[0] for x in meta.values()])  # gains 0-1
                ng = len(meta)
                v = np.ones(ng)
                while all(v == 1):  # mutate until a change occurs (prevent duplicates)
                    v = (g * (npr.random(ng) < mp) * npr.randn(ng) * npr.random() * s + 1).clip(0.3, 3.0)
                for i, k in enumerate(hyp.keys()):  # plt.hist(v.ravel(), 300)
                    hyp[k] = float(x[i + 7] * v[i])  # mutate

            # Constrain to limits
            for k, v in meta.items():
                hyp[k] = max(hyp[k], v[1])  # lower limit
                hyp[k] = min(hyp[k], v[2])  # upper limit
                hyp[k] = round(hyp[k], 5)  # significant digits

            # Train mutation
            results = train(hyp.copy(), opt, device)

            # Write mutation results
            print_mutation(hyp.copy(), results, yaml_file, opt.bucket)

        # Plot results
        plot_evolution(yaml_file)
        print(f'Hyperparameter evolution complete. Best results saved as: {yaml_file}\n'
              f'Command to train a new model with these hyperparameters: $ python train.py --hyp {yaml_file}')