# Copyright (c) 2020 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. import paddle import paddle.nn as nn import paddle.nn.functional as F from paddle import ParamAttr from paddle.nn.initializer import Constant, Uniform, Normal from paddle.regularizer import L2Decay from ppdet.core.workspace import register from ppdet.modeling.layers import DeformableConvV2, LiteConv import numpy as np @register class HMHead(nn.Layer): """ Args: ch_in (int): The channel number of input Tensor. ch_out (int): The channel number of output Tensor. num_classes (int): Number of classes. conv_num (int): The convolution number of hm_feat. dcn_head(bool): whether use dcn in head. False by default. lite_head(bool): whether use lite version. False by default. norm_type (string): norm type, 'sync_bn', 'bn', 'gn' are optional. bn by default Return: Heatmap head output """ __shared__ = ['num_classes', 'norm_type'] def __init__( self, ch_in, ch_out=128, num_classes=80, conv_num=2, dcn_head=False, lite_head=False, norm_type='bn', ): super(HMHead, self).__init__() head_conv = nn.Sequential() for i in range(conv_num): name = 'conv.{}'.format(i) if lite_head: lite_name = 'hm.' + name head_conv.add_sublayer( lite_name, LiteConv( in_channels=ch_in if i == 0 else ch_out, out_channels=ch_out, norm_type=norm_type)) head_conv.add_sublayer(lite_name + '.act', nn.ReLU6()) else: if dcn_head: head_conv.add_sublayer( name, DeformableConvV2( in_channels=ch_in if i == 0 else ch_out, out_channels=ch_out, kernel_size=3, weight_attr=ParamAttr(initializer=Normal(0, 0.01)))) else: head_conv.add_sublayer( name, nn.Conv2D( in_channels=ch_in if i == 0 else ch_out, out_channels=ch_out, kernel_size=3, padding=1, weight_attr=ParamAttr(initializer=Normal(0, 0.01)), bias_attr=ParamAttr( learning_rate=2., regularizer=L2Decay(0.)))) head_conv.add_sublayer(name + '.act', nn.ReLU()) self.feat = head_conv bias_init = float(-np.log((1 - 0.01) / 0.01)) weight_attr = None if lite_head else ParamAttr(initializer=Normal(0, 0.01)) self.head = nn.Conv2D( in_channels=ch_out, out_channels=num_classes, kernel_size=1, weight_attr=weight_attr, bias_attr=ParamAttr( learning_rate=2., regularizer=L2Decay(0.), initializer=Constant(bias_init))) def forward(self, feat): out = self.feat(feat) out = self.head(out) return out @register class WHHead(nn.Layer): """ Args: ch_in (int): The channel number of input Tensor. ch_out (int): The channel number of output Tensor. conv_num (int): The convolution number of wh_feat. dcn_head(bool): whether use dcn in head. False by default. lite_head(bool): whether use lite version. False by default. norm_type (string): norm type, 'sync_bn', 'bn', 'gn' are optional. bn by default Return: Width & Height head output """ __shared__ = ['norm_type'] def __init__(self, ch_in, ch_out=64, conv_num=2, dcn_head=False, lite_head=False, norm_type='bn'): super(WHHead, self).__init__() head_conv = nn.Sequential() for i in range(conv_num): name = 'conv.{}'.format(i) if lite_head: lite_name = 'wh.' + name head_conv.add_sublayer( lite_name, LiteConv( in_channels=ch_in if i == 0 else ch_out, out_channels=ch_out, norm_type=norm_type)) head_conv.add_sublayer(lite_name + '.act', nn.ReLU6()) else: if dcn_head: head_conv.add_sublayer( name, DeformableConvV2( in_channels=ch_in if i == 0 else ch_out, out_channels=ch_out, kernel_size=3, weight_attr=ParamAttr(initializer=Normal(0, 0.01)))) else: head_conv.add_sublayer( name, nn.Conv2D( in_channels=ch_in if i == 0 else ch_out, out_channels=ch_out, kernel_size=3, padding=1, weight_attr=ParamAttr(initializer=Normal(0, 0.01)), bias_attr=ParamAttr( learning_rate=2., regularizer=L2Decay(0.)))) head_conv.add_sublayer(name + '.act', nn.ReLU()) weight_attr = None if lite_head else ParamAttr(initializer=Normal(0, 0.01)) self.feat = head_conv self.head = nn.Conv2D( in_channels=ch_out, out_channels=4, kernel_size=1, weight_attr=weight_attr, bias_attr=ParamAttr( learning_rate=2., regularizer=L2Decay(0.))) def forward(self, feat): out = self.feat(feat) out = self.head(out) out = F.relu(out) return out @register class TTFHead(nn.Layer): """ TTFHead Args: in_channels (int): the channel number of input to TTFHead. num_classes (int): the number of classes, 80 by default. hm_head_planes (int): the channel number in heatmap head, 128 by default. wh_head_planes (int): the channel number in width & height head, 64 by default. hm_head_conv_num (int): the number of convolution in heatmap head, 2 by default. wh_head_conv_num (int): the number of convolution in width & height head, 2 by default. hm_loss (object): Instance of 'CTFocalLoss'. wh_loss (object): Instance of 'GIoULoss'. wh_offset_base (float): the base offset of width and height, 16.0 by default. down_ratio (int): the actual down_ratio is calculated by base_down_ratio (default 16) and the number of upsample layers. lite_head(bool): whether use lite version. False by default. norm_type (string): norm type, 'sync_bn', 'bn', 'gn' are optional. bn by default ags_module(bool): whether use AGS module to reweight location feature. false by default. """ __shared__ = ['num_classes', 'down_ratio', 'norm_type'] __inject__ = ['hm_loss', 'wh_loss'] def __init__(self, in_channels, num_classes=80, hm_head_planes=128, wh_head_planes=64, hm_head_conv_num=2, wh_head_conv_num=2, hm_loss='CTFocalLoss', wh_loss='GIoULoss', wh_offset_base=16., down_ratio=4, dcn_head=False, lite_head=False, norm_type='bn', ags_module=False): super(TTFHead, self).__init__() self.in_channels = in_channels self.hm_head = HMHead(in_channels, hm_head_planes, num_classes, hm_head_conv_num, dcn_head, lite_head, norm_type) self.wh_head = WHHead(in_channels, wh_head_planes, wh_head_conv_num, dcn_head, lite_head, norm_type) self.hm_loss = hm_loss self.wh_loss = wh_loss self.wh_offset_base = wh_offset_base self.down_ratio = down_ratio self.ags_module = ags_module @classmethod def from_config(cls, cfg, input_shape): if isinstance(input_shape, (list, tuple)): input_shape = input_shape[0] return {'in_channels': input_shape.channels, } def forward(self, feats): hm = self.hm_head(feats) wh = self.wh_head(feats) * self.wh_offset_base return hm, wh def filter_box_by_weight(self, pred, target, weight): """ Filter out boxes where ttf_reg_weight is 0, only keep positive samples. """ index = paddle.nonzero(weight > 0) index.stop_gradient = True weight = paddle.gather_nd(weight, index) pred = paddle.gather_nd(pred, index) target = paddle.gather_nd(target, index) return pred, target, weight def filter_loc_by_weight(self, score, weight): index = paddle.nonzero(weight > 0) index.stop_gradient = True score = paddle.gather_nd(score, index) return score def get_loss(self, pred_hm, pred_wh, target_hm, box_target, target_weight): pred_hm = paddle.clip(F.sigmoid(pred_hm), 1e-4, 1 - 1e-4) hm_loss = self.hm_loss(pred_hm, target_hm) H, W = target_hm.shape[2:] mask = paddle.reshape(target_weight, [-1, H, W]) avg_factor = paddle.sum(mask) + 1e-4 base_step = self.down_ratio shifts_x = paddle.arange(0, W * base_step, base_step, dtype='int32') shifts_y = paddle.arange(0, H * base_step, base_step, dtype='int32') shift_y, shift_x = paddle.tensor.meshgrid([shifts_y, shifts_x]) base_loc = paddle.stack([shift_x, shift_y], axis=0) base_loc.stop_gradient = True pred_boxes = paddle.concat( [0 - pred_wh[:, 0:2, :, :] + base_loc, pred_wh[:, 2:4] + base_loc], axis=1) pred_boxes = paddle.transpose(pred_boxes, [0, 2, 3, 1]) boxes = paddle.transpose(box_target, [0, 2, 3, 1]) boxes.stop_gradient = True if self.ags_module: pred_hm_max = paddle.max(pred_hm, axis=1, keepdim=True) pred_hm_max_softmax = F.softmax(pred_hm_max, axis=1) pred_hm_max_softmax = paddle.transpose(pred_hm_max_softmax, [0, 2, 3, 1]) pred_hm_max_softmax = self.filter_loc_by_weight(pred_hm_max_softmax, mask) else: pred_hm_max_softmax = None pred_boxes, boxes, mask = self.filter_box_by_weight(pred_boxes, boxes, mask) mask.stop_gradient = True wh_loss = self.wh_loss( pred_boxes, boxes, iou_weight=mask.unsqueeze(1), loc_reweight=pred_hm_max_softmax) wh_loss = wh_loss / avg_factor ttf_loss = {'hm_loss': hm_loss, 'wh_loss': wh_loss} return ttf_loss