CenterNet/nets/dla34.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

import math
from os.path import join

import torch
from torch import nn
import torch.utils.model_zoo as model_zoo

import numpy as np

BatchNorm = nn.BatchNorm2d

def get_model_url(data='imagenet', name='dla34', hash='ba72cf86'):
    return join('http://dl.yf.io/dla/models', data, '{}-{}.pth'.format(name, hash))


def conv3x3(in_planes, out_planes, stride=1):
    "3x3 convolution with padding"
    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,
                     padding=1, bias=False)


class BasicBlock(nn.Module):
    def __init__(self, inplanes, planes, stride=1, dilation=1):
        super(BasicBlock, self).__init__()
        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=3,
                               stride=stride, padding=dilation,
                               bias=False, dilation=dilation)
        self.bn1 = BatchNorm(planes)
        self.relu = nn.ReLU(inplace=True)
        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3,
                               stride=1, padding=dilation,
                               bias=False, dilation=dilation)
        self.bn2 = BatchNorm(planes)
        self.stride = stride

    def forward(self, x, residual=None):
        if residual is None:
            residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)

        out += residual
        out = self.relu(out)

        return out


class Bottleneck(nn.Module):
    expansion = 2

    def __init__(self, inplanes, planes, stride=1, dilation=1):
        super(Bottleneck, self).__init__()
        expansion = Bottleneck.expansion
        bottle_planes = planes // expansion
        self.conv1 = nn.Conv2d(inplanes, bottle_planes,
                               kernel_size=1, bias=False)
        self.bn1 = BatchNorm(bottle_planes)
        self.conv2 = nn.Conv2d(bottle_planes, bottle_planes, kernel_size=3,
                               stride=stride, padding=dilation,
                               bias=False, dilation=dilation)
        self.bn2 = BatchNorm(bottle_planes)
        self.conv3 = nn.Conv2d(bottle_planes, planes,
                               kernel_size=1, bias=False)
        self.bn3 = BatchNorm(planes)
        self.relu = nn.ReLU(inplace=True)
        self.stride = stride

    def forward(self, x, residual=None):
        if residual is None:
            residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        out = self.relu(out)

        out = self.conv3(out)
        out = self.bn3(out)

        out += residual
        out = self.relu(out)

        return out


class BottleneckX(nn.Module):
    expansion = 2
    cardinality = 32

    def __init__(self, inplanes, planes, stride=1, dilation=1):
        super(BottleneckX, self).__init__()
        cardinality = BottleneckX.cardinality
        # dim = int(math.floor(planes * (BottleneckV5.expansion / 64.0)))
        # bottle_planes = dim * cardinality
        bottle_planes = planes * cardinality // 32
        self.conv1 = nn.Conv2d(inplanes, bottle_planes,
                               kernel_size=1, bias=False)
        self.bn1 = BatchNorm(bottle_planes)
        self.conv2 = nn.Conv2d(bottle_planes, bottle_planes, kernel_size=3,
                               stride=stride, padding=dilation, bias=False,
                               dilation=dilation, groups=cardinality)
        self.bn2 = BatchNorm(bottle_planes)
        self.conv3 = nn.Conv2d(bottle_planes, planes,
                               kernel_size=1, bias=False)
        self.bn3 = BatchNorm(planes)
        self.relu = nn.ReLU(inplace=True)
        self.stride = stride

    def forward(self, x, residual=None):
        if residual is None:
            residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        out = self.relu(out)

        out = self.conv3(out)
        out = self.bn3(out)

        out += residual
        out = self.relu(out)

        return out


class Root(nn.Module):
    def __init__(self, in_channels, out_channels, kernel_size, residual):
        super(Root, self).__init__()
        self.conv = nn.Conv2d(
            in_channels, out_channels, 1,
            stride=1, bias=False, padding=(kernel_size - 1) // 2)
        self.bn = BatchNorm(out_channels)
        self.relu = nn.ReLU(inplace=True)
        self.residual = residual

    def forward(self, *x):
        # 输入是多个层输出结果
        children = x
        x = self.conv(torch.cat(x, 1))
        x = self.bn(x)
        if self.residual:
            x += children[0]
        x = self.relu(x)

        return x


class Tree(nn.Module):
    '''
    self.level5 = Tree(levels[5], block, channels[4], channels[5], 2,
                    level_root=True, root_residual=residual_root)
    '''
    def __init__(self, levels, block, in_channels, out_channels, stride=1,
                 level_root=False, root_dim=0, root_kernel_size=1,
                 dilation=1, root_residual=False):
        super(Tree, self).__init__()
        if root_dim == 0:
            root_dim = 2 * out_channels
        if level_root:
            root_dim += in_channels
        if levels == 1:
            self.tree1 = block(in_channels, out_channels, stride,
                               dilation=dilation)
            self.tree2 = block(out_channels, out_channels, 1,
                               dilation=dilation)
        else:
            self.tree1 = Tree(levels - 1, block, in_channels, out_channels,
                              stride, root_dim=0,
                              root_kernel_size=root_kernel_size,
                              dilation=dilation, root_residual=root_residual)
            self.tree2 = Tree(levels - 1, block, out_channels, out_channels,
                              root_dim=root_dim + out_channels,
                              root_kernel_size=root_kernel_size,
                              dilation=dilation, root_residual=root_residual)
        if levels == 1:
            self.root = Root(root_dim, out_channels, root_kernel_size,
                             root_residual)
        self.level_root = level_root
        self.root_dim = root_dim
        self.downsample = None
        self.project = None
        self.levels = levels
        if stride > 1:
            self.downsample = nn.MaxPool2d(stride, stride=stride)
        if in_channels != out_channels:
            self.project = nn.Sequential(
                nn.Conv2d(in_channels, out_channels,
                          kernel_size=1, stride=1, bias=False),
                BatchNorm(out_channels)
            )

    def forward(self, x, residual=None, children=None):
        children = [] if children is None else children

        bottom = self.downsample(x) if self.downsample else x
        # project就是映射，如果输入输出通道数不同则将输入通道数映射到输出通道数
        residual = self.project(bottom) if self.project else bottom

        if self.level_root:
            children.append(bottom)

        x1 = self.tree1(x, residual)
        if self.levels == 1:
            x2 = self.tree2(x1)
            # root是出口
            x = self.root(x2, x1, *children)
        else:
            children.append(x1)
            x = self.tree2(x1, children=children)
        return x


class DLA(nn.Module):
    '''
    DLA([1, 1, 1, 2, 2, 1],
        [16, 32, 64, 128, 256, 512],
        block=BasicBlock, **kwargs)
    '''
    def __init__(self, levels, channels, num_classes=1000,
                 block=BasicBlock, residual_root=False, return_levels=False,
                 pool_size=7, linear_root=False):
        super(DLA, self).__init__()
        self.channels = channels
        self.return_levels = return_levels
        self.num_classes = num_classes
        self.base_layer = nn.Sequential(
            nn.Conv2d(3, channels[0], kernel_size=7, stride=1,
                      padding=3, bias=False),
            BatchNorm(channels[0]),
            nn.ReLU(inplace=True))
        # 在最初前两层仅仅使用卷积层
        self.level0 = self._make_conv_level(
            channels[0], channels[0], levels[0])
        self.level1 = self._make_conv_level(
            channels[0], channels[1], levels[1], stride=2)
        '''
        if level_root:
            root_dim += in_channels
        '''
        self.level2 = Tree(levels[2], block, channels[1], channels[2], 2,
                           level_root=False, root_residual=residual_root)
        self.level3 = Tree(levels[3], block, channels[2], channels[3], 2,
                           level_root=True, root_residual=residual_root)
        self.level4 = Tree(levels[4], block, channels[3], channels[4], 2,
                           level_root=True, root_residual=residual_root)
        self.level5 = Tree(levels[5], block, channels[4], channels[5], 2,
                           level_root=True, root_residual=residual_root)

        self.avgpool = nn.AvgPool2d(pool_size)
        self.fc = nn.Conv2d(channels[-1], num_classes, kernel_size=1,
                            stride=1, padding=0, bias=True)

        for m in self.modules():
            if isinstance(m, nn.Conv2d):
                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels
                m.weight.data.normal_(0, math.sqrt(2. / n))
            elif isinstance(m, BatchNorm):
                m.weight.data.fill_(1)
                m.bias.data.zero_()

    def _make_level(self, block, inplanes, planes, blocks, stride=1):
        downsample = None
        if stride != 1 or inplanes != planes:
            downsample = nn.Sequential(
                nn.MaxPool2d(stride, stride=stride),
                nn.Conv2d(inplanes, planes,
                          kernel_size=1, stride=1, bias=False),
                BatchNorm(planes),
            )

        layers = []
        layers.append(block(inplanes, planes, stride, downsample=downsample))
        for i in range(1, blocks):
            layers.append(block(inplanes, planes))

        return nn.Sequential(*layers)

    def _make_conv_level(self, inplanes, planes, convs, stride=1, dilation=1):
        modules = []
        for i in range(convs):
            modules.extend([
                nn.Conv2d(inplanes, planes, kernel_size=3,
                          stride=stride if i == 0 else 1,
                          padding=dilation, bias=False, dilation=dilation),
                BatchNorm(planes),
                nn.ReLU(inplace=True)])
            inplanes = planes
        return nn.Sequential(*modules)

    def forward(self, x):
        y = []
        x = self.base_layer(x)
        for i in range(6):
            x = getattr(self, 'level{}'.format(i))(x)
            y.append(x)
        if self.return_levels:
            return y
        else:
            x = self.avgpool(x)
            x = self.fc(x)
            x = x.view(x.size(0), -1)

            return x

    def load_pretrained_model(self,  data='imagenet', name='dla34', hash='ba72cf86'):
        fc = self.fc
        if name.endswith('.pth'):
            model_weights = torch.load(data + name)
        else:
            model_url = get_model_url(data, name, hash)
            model_weights = model_zoo.load_url(model_url)
        num_classes = len(model_weights[list(model_weights.keys())[-1]])
        self.fc = nn.Conv2d(
            self.channels[-1], num_classes,
            kernel_size=1, stride=1, padding=0, bias=True)
        self.load_state_dict(model_weights)
        self.fc = fc


def dla34(pretrained, **kwargs):  # DLA-34
    model = DLA([1, 1, 1, 2, 2, 1],
                [16, 32, 64, 128, 256, 512],
                block=BasicBlock, **kwargs)
    if pretrained:
        model.load_pretrained_model(data='imagenet', name='dla34', hash='ba72cf86')
    return model


def dla46_c(pretrained=None, **kwargs):  # DLA-46-C
    Bottleneck.expansion = 2
    model = DLA([1, 1, 1, 2, 2, 1],
                [16, 32, 64, 64, 128, 256],
                block=Bottleneck, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla46_c')
    return model


def dla46x_c(pretrained=None, **kwargs):  # DLA-X-46-C
    BottleneckX.expansion = 2
    model = DLA([1, 1, 1, 2, 2, 1],
                [16, 32, 64, 64, 128, 256],
                block=BottleneckX, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla46x_c')
    return model


def dla60x_c(pretrained, **kwargs):  # DLA-X-60-C
    BottleneckX.expansion = 2
    model = DLA([1, 1, 1, 2, 3, 1],
                [16, 32, 64, 64, 128, 256],
                block=BottleneckX, **kwargs)
    if pretrained:
        model.load_pretrained_model(data='imagenet', name='dla60x_c', hash='b870c45c')
    return model


def dla60(pretrained=None, **kwargs):  # DLA-60
    Bottleneck.expansion = 2
    model = DLA([1, 1, 1, 2, 3, 1],
                [16, 32, 128, 256, 512, 1024],
                block=Bottleneck, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla60')
    return model


def dla60x(pretrained=None, **kwargs):  # DLA-X-60
    BottleneckX.expansion = 2
    model = DLA([1, 1, 1, 2, 3, 1],
                [16, 32, 128, 256, 512, 1024],
                block=BottleneckX, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla60x')
    return model


def dla102(pretrained=None, **kwargs):  # DLA-102
    Bottleneck.expansion = 2
    model = DLA([1, 1, 1, 3, 4, 1], [16, 32, 128, 256, 512, 1024],
                block=Bottleneck, residual_root=True, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla102')
    return model


def dla102x(pretrained=None, **kwargs):  # DLA-X-102
    BottleneckX.expansion = 2
    model = DLA([1, 1, 1, 3, 4, 1], [16, 32, 128, 256, 512, 1024],
                block=BottleneckX, residual_root=True, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla102x')
    return model


def dla102x2(pretrained=None, **kwargs):  # DLA-X-102 64
    BottleneckX.cardinality = 64
    model = DLA([1, 1, 1, 3, 4, 1], [16, 32, 128, 256, 512, 1024],
                block=BottleneckX, residual_root=True, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla102x2')
    return model


def dla169(pretrained=None, **kwargs):  # DLA-169
    Bottleneck.expansion = 2
    model = DLA([1, 1, 2, 3, 5, 1], [16, 32, 128, 256, 512, 1024],
                block=Bottleneck, residual_root=True, **kwargs)
    if pretrained is not None:
        model.load_pretrained_model(pretrained, 'dla169')
    return model


def set_bn(bn):
    global BatchNorm
    BatchNorm = bn
    dla.BatchNorm = bn


class Identity(nn.Module):
    def __init__(self):
        super(Identity, self).__init__()

    def forward(self, x):
        return x


def fill_up_weights(up):
    w = up.weight.data
    f = math.ceil(w.size(2) / 2)
    c = (2 * f - 1 - f % 2) / (2. * f)
    for i in range(w.size(2)):
        for j in range(w.size(3)):
            w[0, 0, i, j] = \
                (1 - math.fabs(i / f - c)) * (1 - math.fabs(j / f - c))
    for c in range(1, w.size(0)):
        w[c, 0, :, :] = w[0, 0, :, :]


class IDAUp(nn.Module):
    def __init__(self, node_kernel, out_dim, channels, up_factors):
        super(IDAUp, self).__init__()
        self.channels = channels
        self.out_dim = out_dim
        for i, c in enumerate(channels):
            if c == out_dim:
                proj = Identity()
            else:
                proj = nn.Sequential(
                    nn.Conv2d(c, out_dim,
                              kernel_size=1, stride=1, bias=False),
                    BatchNorm(out_dim),
                    nn.ReLU(inplace=True))
            f = int(up_factors[i])
            if f == 1:
                up = Identity()
            else:
                up = nn.ConvTranspose2d(
                    out_dim, out_dim, f * 2, stride=f, padding=f // 2,
                    output_padding=0, groups=out_dim, bias=False)
                fill_up_weights(up)
            setattr(self, 'proj_' + str(i), proj)
            setattr(self, 'up_' + str(i), up)

        for i in range(1, len(channels)):
            node = nn.Sequential(
                nn.Conv2d(out_dim * 2, out_dim,
                          kernel_size=node_kernel, stride=1,
                          padding=node_kernel // 2, bias=False),
                BatchNorm(out_dim),
                nn.ReLU(inplace=True))
            setattr(self, 'node_' + str(i), node)

        for m in self.modules():
            if isinstance(m, nn.Conv2d):
                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels
                m.weight.data.normal_(0, math.sqrt(2. / n))
            elif isinstance(m, BatchNorm):
                m.weight.data.fill_(1)
                m.bias.data.zero_()

    def forward(self, layers):
        assert len(self.channels) == len(layers), \
            '{} vs {} layers'.format(len(self.channels), len(layers))
        layers = list(layers)
        for i, l in enumerate(layers):
            upsample = getattr(self, 'up_' + str(i))
            project = getattr(self, 'proj_' + str(i))
            layers[i] = upsample(project(l))
        x = layers[0]
        y = []
        for i in range(1, len(layers)):
            node = getattr(self, 'node_' + str(i))
            x = node(torch.cat([x, layers[i]], 1))
            y.append(x)
        return x, y


class DLAUp(nn.Module):
    def __init__(self, channels, scales=(1, 2, 4, 8, 16), in_channels=None):
        super(DLAUp, self).__init__()
        if in_channels is None:
            in_channels = channels
        self.channels = channels
        channels = list(channels)
        scales = np.array(scales, dtype=int)
        for i in range(len(channels) - 1):
            j = -i - 2
            setattr(self, 'ida_{}'.format(i),
                    IDAUp(3, channels[j], in_channels[j:],
                          scales[j:] // scales[j]))
            scales[j + 1:] = scales[j]
            in_channels[j + 1:] = [channels[j] for _ in channels[j + 1:]]

    def forward(self, layers):
        layers = list(layers)
        assert len(layers) > 1
        for i in range(len(layers) - 1):
            ida = getattr(self, 'ida_{}'.format(i))
            x, y = ida(layers[-i - 2:])
            layers[-i - 1:] = y
        return x

def fill_fc_weights(layers):
    for m in layers.modules():
        if isinstance(m, nn.Conv2d):
            nn.init.normal_(m.weight, std=0.001)
            # torch.nn.init.kaiming_normal_(m.weight.data, nonlinearity='relu')
            # torch.nn.init.xavier_normal_(m.weight.data)
            if m.bias is not None:
                nn.init.constant_(m.bias, 0)

class DLASeg(nn.Module):
    def __init__(self, base_name, heads,
                 pretrained=True, down_ratio=4, head_conv=256):
        super(DLASeg, self).__init__()
        assert down_ratio in [2, 4, 8, 16]
        self.heads = heads
        self.first_level = int(np.log2(down_ratio))
        self.base = globals()[base_name](
          pretrained=pretrained, return_levels=True)
        channels = self.base.channels
        scales = [2 ** i for i in range(len(channels[self.first_level:]))]
        self.dla_up = DLAUp(channels[self.first_level:], scales=scales)
        '''
        self.fc = nn.Sequential(
            nn.Conv2d(channels[self.first_level], classes, kernel_size=1,
                      stride=1, padding=0, bias=True)
        )
        '''

        for head in self.heads:
            classes = self.heads[head]
            if head_conv > 0:
                fc = nn.Sequential(
                  nn.Conv2d(channels[self.first_level], head_conv,
                    kernel_size=3, padding=1, bias=True),
                  nn.ReLU(inplace=True),
                  nn.Conv2d(head_conv, classes, 
                    kernel_size=1, stride=1, 
                    padding=0, bias=True))
                if 'hm' in head:
                    fc[-1].bias.data.fill_(-2.19)
                else:
                    fill_fc_weights(fc)
            else:
                fc = nn.Conv2d(channels[self.first_level], classes, 
                  kernel_size=1, stride=1, 
                  padding=0, bias=True)
                if 'hm' in head:
                    fc.bias.data.fill_(-2.19)
                else:
                    fill_fc_weights(fc)
            self.__setattr__(head, fc)

        '''
        up_factor = 2 ** self.first_level
        if up_factor > 1:
            up = nn.ConvTranspose2d(classes, classes, up_factor * 2,
                                    stride=up_factor, padding=up_factor // 2,
                                    output_padding=0, groups=classes,
                                    bias=False)
            fill_up_weights(up)
            up.weight.requires_grad = False
        else:
            up = Identity()
        self.up = up
        self.softmax = nn.LogSoftmax(dim=1)
        
        for m in self.fc.modules():
            if isinstance(m, nn.Conv2d):
                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels
                m.weight.data.normal_(0, math.sqrt(2. / n))
            elif isinstance(m, BatchNorm):
                m.weight.data.fill_(1)
                m.bias.data.zero_()
        '''

    def forward(self, x):
        x = self.base(x)
        x = self.dla_up(x[self.first_level:])
        # x = self.fc(x)
        # y = self.softmax(self.up(x))
        ret = {}
        for head in self.heads:
            ret[head] = self.__getattr__(head)(x)
        return [ret]

    '''
    def optim_parameters(self, memo=None):
        for param in self.base.parameters():
            yield param
        for param in self.dla_up.parameters():
            yield param
        for param in self.fc.parameters():
            yield param
    '''
'''
def dla34up(classes, pretrained_base=None, **kwargs):
    model = DLASeg('dla34', classes, pretrained_base=pretrained_base, **kwargs)
    return model
def dla60up(classes, pretrained_base=None, **kwargs):
    model = DLASeg('dla60', classes, pretrained_base=pretrained_base, **kwargs)
    return model
def dla102up(classes, pretrained_base=None, **kwargs):
    model = DLASeg('dla102', classes,
                   pretrained_base=pretrained_base, **kwargs)
    return model
def dla169up(classes, pretrained_base=None, **kwargs):
    model = DLASeg('dla169', classes,
                   pretrained_base=pretrained_base, **kwargs)
    return model
'''

def get_pose_net(num_layers, heads, head_conv=256, down_ratio=4):
  model = DLASeg('dla{}'.format(num_layers), heads,
                 pretrained=True,
                 down_ratio=down_ratio,
                 head_conv=head_conv)
  return model