NetsPresso tutorial for PIDNet compression

Order of the tutorial

0. Sign up
1. Install
2. Prepare the dataset
3. Training
4. Convert PIDNet to _torchfx.pt
5. Model compression with NetsPresso Python Package
6. Fine-tuning the compressed model
7. Evaluation
8. Custom inputs

0. Sign up

To get started with the NetsPresso Python package, you will need to sign up at NetsPresso.

1. Install

Clone repo, including PyTorch >= 1.11, < 2.0.

git clone https://github.com/Nota-NetsPresso/PIDNet_nota  # clone

2. Prepare the dataset

Download the Cityscapes and CamVid datasets and unzip them in data/cityscapes and data/camvid dirs.
Check if the paths contained in lists of data/list are correct for dataset images.

😺 Instruction for preparation of CamVid data (remains discussion) 😺

Download the images and annotations from Kaggle, where the resolution of images is 960x720 (original);
Unzip the data and put all the images and all the colored labels into data/camvid/images/ and data/camvid/labels, respectively;
Following the split of train, val and test sets used in SegNet-Tutorial, we have generated the dataset lists in data/list/camvid/;
Finished!!! (We have open an issue for everyone who's interested in CamVid to discuss where to download the data and if the split in SegNet-Tutorial is correct. BTW, do not directly use the split in Kaggle, which is wrong and will lead to unnormal high accuracy. We have revised the CamVid content in the paper and you will see the correct results after its announcement.)

3. Training

Download the ImageNet pretrained models and put them into pretrained_models/imagenet/ dir.
For example, train the PIDNet-S on Cityscapes with batch size of 12 on 2 GPUs:

python tools/train.py --cfg configs/cityscapes/pidnet_small_cityscapes.yaml GPUS (0,1) TRAIN.BATCH_SIZE_PER_GPU 6

Or train the PIDNet-L on Cityscapes using train and val sets simultaneously with batch size of 12 on 4 GPUs:

python tools/train.py --cfg configs/cityscapes/pidnet_large_cityscapes_trainval.yaml GPUS (0,1,2,3) TRAIN.BATCH_SIZE_PER_GPU 3

4. Convert PIDNet to _torchfx.pt

Download the finetuned models for Cityscapes and CamVid and put them into pretrained_models/cityscapes/ and pretrained_models/camvid/ dirs, respectively.
For example, convert the PIDNet-S on Cityscapes val set:

python tools/export_netspresso.py --cfg configs/cityscapes/pidnet_small_cityscapes.yaml \
                          TEST.MODEL_FILE pretrained_models/cityscapes/PIDNet_S_Cityscapes_val.pt

Executing this code will create 'model_modelfx.pt' and 'model_headfx.pt'.

5. Model compression with NetsPresso Python Package

Upload & compress your 'model_modelfx.pt' by using NetsPresso Python Package

5_1. Install NetsPresso Python Package

pip install netspresso

5_2. Upload & compress

First, import the packages and set a NetsPresso username and password.

from netspresso.compressor import ModelCompressor, Task, Framework, CompressionMethod, RecommendationMethod


EMAIL = "YOUR_EMAIL"
PASSWORD = "YOUR_PASSWORD"
compressor = ModelCompressor(email=EMAIL, password=PASSWORD)

Second, upload 'model_modelfx.pt', which is the model converted to torchfx in step 4, with the following code.

# Upload Model
UPLOAD_MODEL_NAME = "pidnet_model"
TASK = Task.SEMANTIC_SEGMENTATION
FRAMEWORK = Framework.PYTORCH
UPLOAD_MODEL_PATH = "./model_modelfx.pt"
INPUT_SHAPES = [{"batch": 1, "channel": 3, "dimension": [1024, 1024]}]
model = compressor.upload_model(
    model_name=UPLOAD_MODEL_NAME,
    task=TASK,
    framework=FRAMEWORK,
    file_path=UPLOAD_MODEL_PATH,
    input_shapes=INPUT_SHAPES,
)

Finally, you can compress the uploaded model with the desired options through the following code.

# Recommendation Compression
COMPRESSED_MODEL_NAME = "test_l2norm"
COMPRESSION_METHOD = CompressionMethod.PR_L2
RECOMMENDATION_METHOD = RecommendationMethod.SLAMP
RECOMMENDATION_RATIO = 0.6
OUTPUT_PATH = "./compressed_pidnet.pt"
compressed_model = compressor.recommendation_compression(
    model_id=model.model_id,
    model_name=COMPRESSED_MODEL_NAME,
    compression_method=COMPRESSION_METHOD,
    recommendation_method=RECOMMENDATION_METHOD,
    recommendation_ratio=RECOMMENDATION_RATIO,
    output_path=OUTPUT_PATH,
)

Click to check 'Full upload & compress code'

pip install netspresso

from netspresso.compressor import ModelCompressor, Task, Framework, CompressionMethod, RecommendationMethod


EMAIL = "YOUR_EMAIL"
PASSWORD = "YOUR_PASSWORD"
compressor = ModelCompressor(email=EMAIL, password=PASSWORD)

# Upload Model
UPLOAD_MODEL_NAME = "pidnet_model"
TASK = Task.SEMANTIC_SEGMENTATION
FRAMEWORK = Framework.PYTORCH
UPLOAD_MODEL_PATH = "./model_modelfx.pt"
INPUT_SHAPES = [{"batch": 1, "channel": 3, "dimension": [1024, 1024]}]
model = compressor.upload_model(
    model_name=UPLOAD_MODEL_NAME,
    task=TASK,
    framework=FRAMEWORK,
    file_path=UPLOAD_MODEL_PATH,
    input_layers=INPUT_SHAPES,
)

# Recommendation Compression
COMPRESSED_MODEL_NAME = "test_l2norm"
COMPRESSION_METHOD = CompressionMethod.PR_L2
RECOMMENDATION_METHOD = RecommendationMethod.SLAMP
RECOMMENDATION_RATIO = 0.6
OUTPUT_PATH = "./compressed_pidnet.pt"
compressed_model = compressor.recommendation_compression(
    model_id=model.model_id,
    model_name=COMPRESSED_MODEL_NAME,
    compression_method=COMPRESSION_METHOD,
    recommendation_method=RECOMMENDATION_METHOD,
    recommendation_ratio=RECOMMENDATION_RATIO,
    output_path=OUTPUT_PATH,
)

More commands can be found in the official NetsPresso Python Package docs: https://nota-netspresso.github.io/PyNetsPresso-docs

Alternatively, you can do the same as above through the GUI on our website: https://console.netspresso.ai/models

6. Fine-tuning the compressed model

After compression, retraining is necessary. You can retrain with the following code.
Along with the --netspresso option, you need to put the path of the compressed model in the --model option and the path of model_headfx.pt that came out while converting to torchfx in the --head option.

python tools/train.py --netspresso --model model_model.pt --head model_head.pt --cfg configs/cityscapes/pidnet_small_cityscapes.yaml

If you want to perform additional compression, compress x_model_model_pt from training as in Step 5. In the above command, put the path of the newly compressed model in the --model option. In the --head option, you need to change it to the path of x_model_head_pt that came out through retraining.

7. Evaluation

After retraining, files like x_model_model.pt and x_model_head.pt come out. You can run the model through eval.py.

python tools/eval.py --netspresso --model x_model_model.pt --head x_model_head.pt

8. Custom inputs

Also, you can put all your images in samples/ and then run the command below using compressed and retrained model for image format of .png:

python tools/custom.py --netspresso --model x_model_model.pt --t '.png'

You can use the compressed model however you like!

Contact

Join our Discussion Forum for providing feedback or sharing your use cases, and if you want to talk more with Nota, please contact us here.
Or you can also do it via email([email protected]) or phone(+82 2-555-8659)!

PIDNet: A Real-time Semantic Segmentation Network Inspired from PID Controller

This is the official repository for our recent work: PIDNet (PDF）

Highlights

Comparison of inference speed and accuracy for real-time models on test set of Cityscapes.

Towards Real-time Applications: PIDNet could be directly used for the real-time applications, such as autonomous vehicle and medical imaging.
A Novel Three-branch Network: Addtional boundary branch is introduced to two-branch network to mimic the PID controller architecture and remedy the overshoot issue of previous models.
More Accurate and Faster: PIDNet-S presents 78.6% mIOU with speed of 93.2 FPS on Cityscapes test set and 80.1% mIOU with speed of 153.7 FPS on CamVid test set. Also, PIDNet-L becomes the most accurate one (80.6% mIOU) among all the real-time networks for Cityscapes.

Updates

This paper was accepted by CVPR 2023, new version and associated materials will be available soon! (Apr/06/2023)
Fixed the data bug for Camvid and the new version of arXiv preprint will be available on Jun 13th. (Jun/09/2022)
Our paper was marked as state of the art in Papers with Code. (Jun/06/2022)
Our paper was submitted to arXiv for public access. (Jun/04/2022)
The training and testing codes and trained models for PIDNet are available here. (Jun/03/2022)

Demos

A demo of the segmentation performance of our proposed PIDNets: Original video (left) and predictions of PIDNet-S (middle) and PIDNet-L (right)

Cityscapes Stuttgart demo video #1

Cityscapes Stuttgart demo video #2

Overview

An overview of the basic architecture of our proposed Proportional-Integral-Derivative Network (PIDNet).

P, I and D branches are responsiable for detail preservation, context embedding and boundary detection, respectively.

Detailed Implementation

Instantiation of the PIDNet for semantic segmentation.

For operation, "OP, N, C" means operation OP with stride of N and the No. output channel is C; Output: output size given input size of 1024; mxRB: m residual basic blocks; 2xRBB: 2 residual bottleneck blocks; OP₁\OP₂: OP₁ is used for PIDNet-L while OP₁ is applied in PIDNet-M and PIDNet-S. (m,n,C) are scheduled to be (2,3,32), (2,3,64) and (3,4,64) for PIDNet-S, PIDNet-M and PIDNet-L, respectively.

Models

For simple reproduction, we provide the ImageNet pretrained models here.

Model (ImageNet)	PIDNet-S	PIDNet-M	PIDNet-L
Link	download	download	download

Also, the finetuned models on Cityscapes and Camvid are available for direct application in road scene parsing.

Model (Cityscapes)	Val (% mIOU)	Test (% mIOU)	FPS
PIDNet-S	78.8	78.6	93.2
PIDNet-M	79.9	79.8	42.2
PIDNet-L	80.9	80.6	31.1

Model (CamVid)	Val (% mIOU)	Test (% mIOU)	FPS
PIDNet-S	-	80.1	153.7
PIDNet-M	-	82.0	85.6

Prerequisites

This implementation is based on HRNet-Semantic-Segmentation. Please refer to their repository for installation and dataset preparation. The inference speed is tested on single RTX 3090 using the method introduced by SwiftNet. No third-party acceleration lib is used, so you can try TensorRT or other approaches for faster speed.

Usage

0. Prepare the dataset

Download the Cityscapes and CamVid datasets and unzip them in data/cityscapes and data/camvid dirs.
Check if the paths contained in lists of data/list are correct for dataset images.

😺 Instruction for preparation of CamVid data (remains discussion) 😺

Download the images and annotations from Kaggle, where the resolution of images is 960x720 (original);
Unzip the data and put all the images and all the colored labels into data/camvid/images/ and data/camvid/labels, respectively;
Following the split of train, val and test sets used in SegNet-Tutorial, we have generated the dataset lists in data/list/camvid/;
Finished!!! (We have open an issue for everyone who's interested in CamVid to discuss where to download the data and if the split in SegNet-Tutorial is correct. BTW, do not directly use the split in Kaggle, which is wrong and will lead to unnormal high accuracy. We have revised the CamVid content in the paper and you will see the correct results after its announcement.)

1. Training

Download the ImageNet pretrained models and put them into pretrained_models/imagenet/ dir.
For example, train the PIDNet-S on Cityscapes with batch size of 12 on 2 GPUs:

python tools/train.py --cfg configs/cityscapes/pidnet_small_cityscapes.yaml GPUS (0,1) TRAIN.BATCH_SIZE_PER_GPU 6

Or train the PIDNet-L on Cityscapes using train and val sets simultaneously with batch size of 12 on 4 GPUs:

python tools/train.py --cfg configs/cityscapes/pidnet_large_cityscapes_trainval.yaml GPUS (0,1,2,3) TRAIN.BATCH_SIZE_PER_GPU 3

2. Evaluation

Download the finetuned models for Cityscapes and CamVid and put them into pretrained_models/cityscapes/ and pretrained_models/camvid/ dirs, respectively.
For example, evaluate the PIDNet-S on Cityscapes val set:

python tools/eval.py --cfg configs/cityscapes/pidnet_small_cityscapes.yaml \
                          TEST.MODEL_FILE pretrained_models/cityscapes/PIDNet_S_Cityscapes_val.pt

Or, evaluate the PIDNet-M on CamVid test set:

python tools/eval.py --cfg configs/camvid/pidnet_medium_camvid.yaml \
                          TEST.MODEL_FILE pretrained_models/camvid/PIDNet_M_Camvid_Test.pt \
                          DATASET.TEST_SET list/camvid/test.lst

Generate the testing results of PIDNet-L on Cityscapes test set:

python tools/eval.py --cfg configs/cityscapes/pidnet_large_cityscapes_trainval.yaml \
                          TEST.MODEL_FILE pretrained_models/cityscapes/PIDNet_L_Cityscapes_test.pt \
                          DATASET.TEST_SET list/cityscapes/test.lst

3. Speed Measurement

Measure the inference speed of PIDNet-S for Cityscapes:

python models/speed/pidnet_speed.py --a 'pidnet-s' --c 19 --r 1024 2048

Measure the inference speed of PIDNet-M for CamVid:

python models/speed/pidnet_speed.py --a 'pidnet-m' --c 11 --r 720 960

4. Custom Inputs

Put all your images in samples/ and then run the command below using Cityscapes pretrained PIDNet-L for image format of .png:

python tools/custom.py --a 'pidnet-l' --p '../pretrained_models/cityscapes/PIDNet_L_Cityscapes_test.pt' --t '.png'

Citation

If you think this implementation is useful for your work, please cite our paper:

@misc{xu2022pidnet,
      title={PIDNet: A Real-time Semantic Segmentation Network Inspired from PID Controller}, 
      author={Jiacong Xu and Zixiang Xiong and Shankar P. Bhattacharyya},
      year={2022},
      eprint={2206.02066},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}

Acknowledgement

Our implementation is modified based on HRNet-Semantic-Segmentation.
Latency measurement code is borrowed from the DDRNet.
Thanks for their nice contribution.

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Repository files navigation

NetsPresso tutorial for PIDNet compression

Order of the tutorial

0. Sign up

1. Install

2. Prepare the dataset

😺 Instruction for preparation of CamVid data (remains discussion) 😺

3. Training

4. Convert PIDNet to _torchfx.pt

5. Model compression with NetsPresso Python Package

5_1. Install NetsPresso Python Package

5_2. Upload & compress

6. Fine-tuning the compressed model

7. Evaluation

8. Custom inputs

Contact

PIDNet: A Real-time Semantic Segmentation Network Inspired from PID Controller

Highlights

Updates

Demos

Overview

Detailed Implementation

Models

Prerequisites

Usage

0. Prepare the dataset

😺 Instruction for preparation of CamVid data (remains discussion) 😺

1. Training

2. Evaluation

3. Speed Measurement

4. Custom Inputs

Citation

Acknowledgement

About

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Name		Name	Last commit message	Last commit date
Latest commit History 110 Commits
configs		configs
data		data
datasets		datasets
figs		figs
models		models
pretrained_models		pretrained_models
samples		samples
tools		tools
utils		utils
LICENSE		LICENSE
README.md		README.md
auto_process.py		auto_process.py
requirements.txt		requirements.txt

License

Nota-NetsPresso/ModelZoo-PIDNet

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NetsPresso tutorial for PIDNet compression

Order of the tutorial

0. Sign up

1. Install

2. Prepare the dataset

😺 Instruction for preparation of CamVid data (remains discussion) 😺

3. Training

4. Convert PIDNet to _torchfx.pt

5. Model compression with NetsPresso Python Package

5_1. Install NetsPresso Python Package

5_2. Upload & compress

6. Fine-tuning the compressed model

7. Evaluation

8. Custom inputs

Contact

PIDNet: A Real-time Semantic Segmentation Network Inspired from PID Controller

Highlights

Updates

Demos

Overview

Detailed Implementation

Models

Prerequisites

Usage

0. Prepare the dataset

😺 Instruction for preparation of CamVid data (remains discussion) 😺

1. Training

2. Evaluation

3. Speed Measurement

4. Custom Inputs

Citation

Acknowledgement

About

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