pico_head.py

# Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved. 
#   
# 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.

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

import math
import numpy as np
import paddle
import paddle.nn as nn
import paddle.nn.functional as F
from paddle import ParamAttr
from paddle.nn.initializer import Normal, Constant

from ppdet.core.workspace import register
from ppdet.modeling.layers import ConvNormLayer
from ppdet.modeling.bbox_utils import batch_distance2bbox
from .simota_head import OTAVFLHead


@register
class PicoFeat(nn.Layer):
    """
    PicoFeat of PicoDet

    Args:
        feat_in (int): The channel number of input Tensor.
        feat_out (int): The channel number of output Tensor.
        num_convs (int): The convolution number of the LiteGFLFeat.
        norm_type (str): Normalization type, 'bn'/'sync_bn'/'gn'.
    """

    def __init__(self,
                 feat_in=256,
                 feat_out=96,
                 num_fpn_stride=3,
                 num_convs=2,
                 norm_type='bn',
                 share_cls_reg=False,
                 act='hard_swish'):
        super(PicoFeat, self).__init__()
        self.num_convs = num_convs
        self.norm_type = norm_type
        self.share_cls_reg = share_cls_reg
        self.act = act
        self.cls_convs = []
        self.reg_convs = []
        for stage_idx in range(num_fpn_stride):
            cls_subnet_convs = []
            reg_subnet_convs = []
            for i in range(self.num_convs):
                in_c = feat_in if i == 0 else feat_out
                cls_conv_dw = self.add_sublayer(
                    'cls_conv_dw{}.{}'.format(stage_idx, i),
                    ConvNormLayer(
                        ch_in=in_c,
                        ch_out=feat_out,
                        filter_size=5,
                        stride=1,
                        groups=feat_out,
                        norm_type=norm_type,
                        bias_on=False,
                        lr_scale=2.))
                cls_subnet_convs.append(cls_conv_dw)
                cls_conv_pw = self.add_sublayer(
                    'cls_conv_pw{}.{}'.format(stage_idx, i),
                    ConvNormLayer(
                        ch_in=in_c,
                        ch_out=feat_out,
                        filter_size=1,
                        stride=1,
                        norm_type=norm_type,
                        bias_on=False,
                        lr_scale=2.))
                cls_subnet_convs.append(cls_conv_pw)

                if not self.share_cls_reg:
                    reg_conv_dw = self.add_sublayer(
                        'reg_conv_dw{}.{}'.format(stage_idx, i),
                        ConvNormLayer(
                            ch_in=in_c,
                            ch_out=feat_out,
                            filter_size=5,
                            stride=1,
                            groups=feat_out,
                            norm_type=norm_type,
                            bias_on=False,
                            lr_scale=2.))
                    reg_subnet_convs.append(reg_conv_dw)
                    reg_conv_pw = self.add_sublayer(
                        'reg_conv_pw{}.{}'.format(stage_idx, i),
                        ConvNormLayer(
                            ch_in=in_c,
                            ch_out=feat_out,
                            filter_size=1,
                            stride=1,
                            norm_type=norm_type,
                            bias_on=False,
                            lr_scale=2.))
                    reg_subnet_convs.append(reg_conv_pw)
            self.cls_convs.append(cls_subnet_convs)
            self.reg_convs.append(reg_subnet_convs)

    def act_func(self, x):
        if self.act == "leaky_relu":
            x = F.leaky_relu(x)
        elif self.act == "hard_swish":
            x = F.hardswish(x)
        return x

    def forward(self, fpn_feat, stage_idx):
        assert stage_idx < len(self.cls_convs)
        cls_feat = fpn_feat
        reg_feat = fpn_feat
        for i in range(len(self.cls_convs[stage_idx])):
            cls_feat = self.act_func(self.cls_convs[stage_idx][i](cls_feat))
            if not self.share_cls_reg:
                reg_feat = self.act_func(self.reg_convs[stage_idx][i](reg_feat))
        return cls_feat, reg_feat


@register
class PicoHead(OTAVFLHead):
    """
    PicoHead
    Args:
        conv_feat (object): Instance of 'PicoFeat'
        num_classes (int): Number of classes
        fpn_stride (list): The stride of each FPN Layer
        prior_prob (float): Used to set the bias init for the class prediction layer
        loss_class (object): Instance of VariFocalLoss.
        loss_dfl (object): Instance of DistributionFocalLoss.
        loss_bbox (object): Instance of bbox loss.
        assigner (object): Instance of label assigner.
        reg_max: Max value of integral set :math: `{0, ..., reg_max}`
                n QFL setting. Default: 7.
    """
    __inject__ = [
        'conv_feat', 'dgqp_module', 'loss_class', 'loss_dfl', 'loss_bbox',
        'assigner', 'nms'
    ]
    __shared__ = ['num_classes']

    def __init__(self,
                 conv_feat='PicoFeat',
                 dgqp_module=None,
                 num_classes=80,
                 fpn_stride=[8, 16, 32],
                 prior_prob=0.01,
                 loss_class='VariFocalLoss',
                 loss_dfl='DistributionFocalLoss',
                 loss_bbox='GIoULoss',
                 assigner='SimOTAAssigner',
                 reg_max=16,
                 feat_in_chan=96,
                 nms=None,
                 nms_pre=1000,
                 cell_offset=0):
        super(PicoHead, self).__init__(
            conv_feat=conv_feat,
            dgqp_module=dgqp_module,
            num_classes=num_classes,
            fpn_stride=fpn_stride,
            prior_prob=prior_prob,
            loss_class=loss_class,
            loss_dfl=loss_dfl,
            loss_bbox=loss_bbox,
            assigner=assigner,
            reg_max=reg_max,
            feat_in_chan=feat_in_chan,
            nms=nms,
            nms_pre=nms_pre,
            cell_offset=cell_offset)
        self.conv_feat = conv_feat
        self.num_classes = num_classes
        self.fpn_stride = fpn_stride
        self.prior_prob = prior_prob
        self.loss_vfl = loss_class
        self.loss_dfl = loss_dfl
        self.loss_bbox = loss_bbox
        self.assigner = assigner
        self.reg_max = reg_max
        self.feat_in_chan = feat_in_chan
        self.nms = nms
        self.nms_pre = nms_pre
        self.cell_offset = cell_offset

        self.use_sigmoid = self.loss_vfl.use_sigmoid
        if self.use_sigmoid:
            self.cls_out_channels = self.num_classes
        else:
            self.cls_out_channels = self.num_classes + 1
        bias_init_value = -math.log((1 - self.prior_prob) / self.prior_prob)
        # Clear the super class initialization
        self.gfl_head_cls = None
        self.gfl_head_reg = None
        self.scales_regs = None

        self.head_cls_list = []
        self.head_reg_list = []
        for i in range(len(fpn_stride)):
            head_cls = self.add_sublayer(
                "head_cls" + str(i),
                nn.Conv2D(
                    in_channels=self.feat_in_chan,
                    out_channels=self.cls_out_channels + 4 * (self.reg_max + 1)
                    if self.conv_feat.share_cls_reg else self.cls_out_channels,
                    kernel_size=1,
                    stride=1,
                    padding=0,
                    weight_attr=ParamAttr(initializer=Normal(
                        mean=0., std=0.01)),
                    bias_attr=ParamAttr(
                        initializer=Constant(value=bias_init_value))))
            self.head_cls_list.append(head_cls)
            if not self.conv_feat.share_cls_reg:
                head_reg = self.add_sublayer(
                    "head_reg" + str(i),
                    nn.Conv2D(
                        in_channels=self.feat_in_chan,
                        out_channels=4 * (self.reg_max + 1),
                        kernel_size=1,
                        stride=1,
                        padding=0,
                        weight_attr=ParamAttr(initializer=Normal(
                            mean=0., std=0.01)),
                        bias_attr=ParamAttr(initializer=Constant(value=0))))
                self.head_reg_list.append(head_reg)

    def forward(self, fpn_feats, export_post_process=True):
        assert len(fpn_feats) == len(
            self.fpn_stride
        ), "The size of fpn_feats is not equal to size of fpn_stride"
        cls_logits_list = []
        bboxes_reg_list = []
        for i, fpn_feat in enumerate(fpn_feats):
            conv_cls_feat, conv_reg_feat = self.conv_feat(fpn_feat, i)
            if self.conv_feat.share_cls_reg:
                cls_logits = self.head_cls_list[i](conv_cls_feat)
                cls_score, bbox_pred = paddle.split(
                    cls_logits,
                    [self.cls_out_channels, 4 * (self.reg_max + 1)],
                    axis=1)
            else:
                cls_score = self.head_cls_list[i](conv_cls_feat)
                bbox_pred = self.head_reg_list[i](conv_reg_feat)

            if self.dgqp_module:
                quality_score = self.dgqp_module(bbox_pred)
                cls_score = F.sigmoid(cls_score) * quality_score

            if not export_post_process:
                # Now only supports batch size = 1 in deploy
                # TODO(ygh): support batch size > 1
                cls_score = F.sigmoid(cls_score).reshape(
                    [1, self.cls_out_channels, -1]).transpose([0, 2, 1])
                bbox_pred = bbox_pred.reshape([1, (self.reg_max + 1) * 4,
                                               -1]).transpose([0, 2, 1])
            elif not self.training:
                cls_score = F.sigmoid(cls_score.transpose([0, 2, 3, 1]))
                bbox_pred = bbox_pred.transpose([0, 2, 3, 1])
                stride = self.fpn_stride[i]
                b, cell_h, cell_w, _ = paddle.shape(cls_score)
                y, x = self.get_single_level_center_point(
                    [cell_h, cell_w], stride, cell_offset=self.cell_offset)
                center_points = paddle.stack([x, y], axis=-1)
                cls_score = cls_score.reshape([b, -1, self.cls_out_channels])
                bbox_pred = self.distribution_project(bbox_pred) * stride
                bbox_pred = bbox_pred.reshape([b, cell_h * cell_w, 4])

                # NOTE: If keep_ratio=False and image shape value that 
                # multiples of 32, distance2bbox not set max_shapes parameter
                # to speed up model prediction. If need to set max_shapes,
                # please use inputs['im_shape']. 
                bbox_pred = batch_distance2bbox(
                    center_points, bbox_pred, max_shapes=None)

            cls_logits_list.append(cls_score)
            bboxes_reg_list.append(bbox_pred)

        return (cls_logits_list, bboxes_reg_list)