File size: 17,832 Bytes
b213d84 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 |
# Copyright (c) Facebook, Inc. and its affiliates.
# ------------------------------------------------------------------------------
# Copyright (c) Microsoft
# Licensed under the MIT License.
# Written by Bin Xiao (leoxiaobin@gmail.com)
# Modified by Bowen Cheng (bcheng9@illinois.edu)
# Adapted from https://github.com/HRNet/Higher-HRNet-Human-Pose-Estimation/blob/master/lib/models/pose_higher_hrnet.py # noqa
# ------------------------------------------------------------------------------
from __future__ import absolute_import, division, print_function
import logging
import torch.nn as nn
from detectron2.layers import ShapeSpec
from detectron2.modeling.backbone import BACKBONE_REGISTRY
from detectron2.modeling.backbone.backbone import Backbone
BN_MOMENTUM = 0.1
logger = logging.getLogger(__name__)
__all__ = ["build_pose_hrnet_backbone", "PoseHigherResolutionNet"]
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):
expansion = 1
def __init__(self, inplanes, planes, stride=1, downsample=None):
super(BasicBlock, self).__init__()
self.conv1 = conv3x3(inplanes, planes, stride)
self.bn1 = nn.BatchNorm2d(planes, momentum=BN_MOMENTUM)
self.relu = nn.ReLU(inplace=True)
self.conv2 = conv3x3(planes, planes)
self.bn2 = nn.BatchNorm2d(planes, momentum=BN_MOMENTUM)
self.downsample = downsample
self.stride = stride
def forward(self, x):
residual = x
out = self.conv1(x)
out = self.bn1(out)
out = self.relu(out)
out = self.conv2(out)
out = self.bn2(out)
if self.downsample is not None:
residual = self.downsample(x)
out += residual
out = self.relu(out)
return out
class Bottleneck(nn.Module):
expansion = 4
def __init__(self, inplanes, planes, stride=1, downsample=None):
super(Bottleneck, self).__init__()
self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False)
self.bn1 = nn.BatchNorm2d(planes, momentum=BN_MOMENTUM)
self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride, padding=1, bias=False)
self.bn2 = nn.BatchNorm2d(planes, momentum=BN_MOMENTUM)
self.conv3 = nn.Conv2d(planes, planes * self.expansion, kernel_size=1, bias=False)
self.bn3 = nn.BatchNorm2d(planes * self.expansion, momentum=BN_MOMENTUM)
self.relu = nn.ReLU(inplace=True)
self.downsample = downsample
self.stride = stride
def forward(self, x):
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)
if self.downsample is not None:
residual = self.downsample(x)
out += residual
out = self.relu(out)
return out
class HighResolutionModule(nn.Module):
"""HighResolutionModule
Building block of the PoseHigherResolutionNet (see lower)
arXiv: https://arxiv.org/abs/1908.10357
Args:
num_branches (int): number of branches of the modyle
blocks (str): type of block of the module
num_blocks (int): number of blocks of the module
num_inchannels (int): number of input channels of the module
num_channels (list): number of channels of each branch
multi_scale_output (bool): only used by the last module of PoseHigherResolutionNet
"""
def __init__(
self,
num_branches,
blocks,
num_blocks,
num_inchannels,
num_channels,
multi_scale_output=True,
):
super(HighResolutionModule, self).__init__()
self._check_branches(num_branches, blocks, num_blocks, num_inchannels, num_channels)
self.num_inchannels = num_inchannels
self.num_branches = num_branches
self.multi_scale_output = multi_scale_output
self.branches = self._make_branches(num_branches, blocks, num_blocks, num_channels)
self.fuse_layers = self._make_fuse_layers()
self.relu = nn.ReLU(True)
def _check_branches(self, num_branches, blocks, num_blocks, num_inchannels, num_channels):
if num_branches != len(num_blocks):
error_msg = "NUM_BRANCHES({}) <> NUM_BLOCKS({})".format(num_branches, len(num_blocks))
logger.error(error_msg)
raise ValueError(error_msg)
if num_branches != len(num_channels):
error_msg = "NUM_BRANCHES({}) <> NUM_CHANNELS({})".format(
num_branches, len(num_channels)
)
logger.error(error_msg)
raise ValueError(error_msg)
if num_branches != len(num_inchannels):
error_msg = "NUM_BRANCHES({}) <> NUM_INCHANNELS({})".format(
num_branches, len(num_inchannels)
)
logger.error(error_msg)
raise ValueError(error_msg)
def _make_one_branch(self, branch_index, block, num_blocks, num_channels, stride=1):
downsample = None
if (
stride != 1
or self.num_inchannels[branch_index] != num_channels[branch_index] * block.expansion
):
downsample = nn.Sequential(
nn.Conv2d(
self.num_inchannels[branch_index],
num_channels[branch_index] * block.expansion,
kernel_size=1,
stride=stride,
bias=False,
),
nn.BatchNorm2d(num_channels[branch_index] * block.expansion, momentum=BN_MOMENTUM),
)
layers = []
layers.append(
block(self.num_inchannels[branch_index], num_channels[branch_index], stride, downsample)
)
self.num_inchannels[branch_index] = num_channels[branch_index] * block.expansion
for _ in range(1, num_blocks[branch_index]):
layers.append(block(self.num_inchannels[branch_index], num_channels[branch_index]))
return nn.Sequential(*layers)
def _make_branches(self, num_branches, block, num_blocks, num_channels):
branches = []
for i in range(num_branches):
branches.append(self._make_one_branch(i, block, num_blocks, num_channels))
return nn.ModuleList(branches)
def _make_fuse_layers(self):
if self.num_branches == 1:
return None
num_branches = self.num_branches
num_inchannels = self.num_inchannels
fuse_layers = []
for i in range(num_branches if self.multi_scale_output else 1):
fuse_layer = []
for j in range(num_branches):
if j > i:
fuse_layer.append(
nn.Sequential(
nn.Conv2d(num_inchannels[j], num_inchannels[i], 1, 1, 0, bias=False),
nn.BatchNorm2d(num_inchannels[i]),
nn.Upsample(scale_factor=2 ** (j - i), mode="nearest"),
)
)
elif j == i:
fuse_layer.append(None)
else:
conv3x3s = []
for k in range(i - j):
if k == i - j - 1:
num_outchannels_conv3x3 = num_inchannels[i]
conv3x3s.append(
nn.Sequential(
nn.Conv2d(
num_inchannels[j],
num_outchannels_conv3x3,
3,
2,
1,
bias=False,
),
nn.BatchNorm2d(num_outchannels_conv3x3),
)
)
else:
num_outchannels_conv3x3 = num_inchannels[j]
conv3x3s.append(
nn.Sequential(
nn.Conv2d(
num_inchannels[j],
num_outchannels_conv3x3,
3,
2,
1,
bias=False,
),
nn.BatchNorm2d(num_outchannels_conv3x3),
nn.ReLU(True),
)
)
fuse_layer.append(nn.Sequential(*conv3x3s))
fuse_layers.append(nn.ModuleList(fuse_layer))
return nn.ModuleList(fuse_layers)
def get_num_inchannels(self):
return self.num_inchannels
def forward(self, x):
if self.num_branches == 1:
return [self.branches[0](x[0])]
for i in range(self.num_branches):
x[i] = self.branches[i](x[i])
x_fuse = []
for i in range(len(self.fuse_layers)):
y = x[0] if i == 0 else self.fuse_layers[i][0](x[0])
for j in range(1, self.num_branches):
if i == j:
y = y + x[j]
else:
z = self.fuse_layers[i][j](x[j])[:, :, : y.shape[2], : y.shape[3]]
y = y + z
x_fuse.append(self.relu(y))
return x_fuse
blocks_dict = {"BASIC": BasicBlock, "BOTTLENECK": Bottleneck}
class PoseHigherResolutionNet(Backbone):
"""PoseHigherResolutionNet
Composed of several HighResolutionModule tied together with ConvNets
Adapted from the GitHub version to fit with HRFPN and the Detectron2 infrastructure
arXiv: https://arxiv.org/abs/1908.10357
"""
def __init__(self, cfg, **kwargs):
self.inplanes = cfg.MODEL.HRNET.STEM_INPLANES
super(PoseHigherResolutionNet, self).__init__()
# stem net
self.conv1 = nn.Conv2d(3, 64, kernel_size=3, stride=2, padding=1, bias=False)
self.bn1 = nn.BatchNorm2d(64, momentum=BN_MOMENTUM)
self.conv2 = nn.Conv2d(64, 64, kernel_size=3, stride=2, padding=1, bias=False)
self.bn2 = nn.BatchNorm2d(64, momentum=BN_MOMENTUM)
self.relu = nn.ReLU(inplace=True)
self.layer1 = self._make_layer(Bottleneck, 64, 4)
self.stage2_cfg = cfg.MODEL.HRNET.STAGE2
num_channels = self.stage2_cfg.NUM_CHANNELS
block = blocks_dict[self.stage2_cfg.BLOCK]
num_channels = [num_channels[i] * block.expansion for i in range(len(num_channels))]
self.transition1 = self._make_transition_layer([256], num_channels)
self.stage2, pre_stage_channels = self._make_stage(self.stage2_cfg, num_channels)
self.stage3_cfg = cfg.MODEL.HRNET.STAGE3
num_channels = self.stage3_cfg.NUM_CHANNELS
block = blocks_dict[self.stage3_cfg.BLOCK]
num_channels = [num_channels[i] * block.expansion for i in range(len(num_channels))]
self.transition2 = self._make_transition_layer(pre_stage_channels, num_channels)
self.stage3, pre_stage_channels = self._make_stage(self.stage3_cfg, num_channels)
self.stage4_cfg = cfg.MODEL.HRNET.STAGE4
num_channels = self.stage4_cfg.NUM_CHANNELS
block = blocks_dict[self.stage4_cfg.BLOCK]
num_channels = [num_channels[i] * block.expansion for i in range(len(num_channels))]
self.transition3 = self._make_transition_layer(pre_stage_channels, num_channels)
self.stage4, pre_stage_channels = self._make_stage(
self.stage4_cfg, num_channels, multi_scale_output=True
)
self._out_features = []
self._out_feature_channels = {}
self._out_feature_strides = {}
for i in range(cfg.MODEL.HRNET.STAGE4.NUM_BRANCHES):
self._out_features.append("p%d" % (i + 1))
self._out_feature_channels.update(
{self._out_features[-1]: cfg.MODEL.HRNET.STAGE4.NUM_CHANNELS[i]}
)
self._out_feature_strides.update({self._out_features[-1]: 1})
def _get_deconv_cfg(self, deconv_kernel):
if deconv_kernel == 4:
padding = 1
output_padding = 0
elif deconv_kernel == 3:
padding = 1
output_padding = 1
elif deconv_kernel == 2:
padding = 0
output_padding = 0
return deconv_kernel, padding, output_padding
def _make_transition_layer(self, num_channels_pre_layer, num_channels_cur_layer):
num_branches_cur = len(num_channels_cur_layer)
num_branches_pre = len(num_channels_pre_layer)
transition_layers = []
for i in range(num_branches_cur):
if i < num_branches_pre:
if num_channels_cur_layer[i] != num_channels_pre_layer[i]:
transition_layers.append(
nn.Sequential(
nn.Conv2d(
num_channels_pre_layer[i],
num_channels_cur_layer[i],
3,
1,
1,
bias=False,
),
nn.BatchNorm2d(num_channels_cur_layer[i]),
nn.ReLU(inplace=True),
)
)
else:
transition_layers.append(None)
else:
conv3x3s = []
for j in range(i + 1 - num_branches_pre):
inchannels = num_channels_pre_layer[-1]
outchannels = (
num_channels_cur_layer[i] if j == i - num_branches_pre else inchannels
)
conv3x3s.append(
nn.Sequential(
nn.Conv2d(inchannels, outchannels, 3, 2, 1, bias=False),
nn.BatchNorm2d(outchannels),
nn.ReLU(inplace=True),
)
)
transition_layers.append(nn.Sequential(*conv3x3s))
return nn.ModuleList(transition_layers)
def _make_layer(self, block, planes, blocks, stride=1):
downsample = None
if stride != 1 or self.inplanes != planes * block.expansion:
downsample = nn.Sequential(
nn.Conv2d(
self.inplanes,
planes * block.expansion,
kernel_size=1,
stride=stride,
bias=False,
),
nn.BatchNorm2d(planes * block.expansion, momentum=BN_MOMENTUM),
)
layers = []
layers.append(block(self.inplanes, planes, stride, downsample))
self.inplanes = planes * block.expansion
for _ in range(1, blocks):
layers.append(block(self.inplanes, planes))
return nn.Sequential(*layers)
def _make_stage(self, layer_config, num_inchannels, multi_scale_output=True):
num_modules = layer_config["NUM_MODULES"]
num_branches = layer_config["NUM_BRANCHES"]
num_blocks = layer_config["NUM_BLOCKS"]
num_channels = layer_config["NUM_CHANNELS"]
block = blocks_dict[layer_config["BLOCK"]]
modules = []
for i in range(num_modules):
# multi_scale_output is only used last module
if not multi_scale_output and i == num_modules - 1:
reset_multi_scale_output = False
else:
reset_multi_scale_output = True
modules.append(
HighResolutionModule(
num_branches,
block,
num_blocks,
num_inchannels,
num_channels,
reset_multi_scale_output,
)
)
num_inchannels = modules[-1].get_num_inchannels()
return nn.Sequential(*modules), num_inchannels
def forward(self, x):
x = self.conv1(x)
x = self.bn1(x)
x = self.relu(x)
x = self.conv2(x)
x = self.bn2(x)
x = self.relu(x)
x = self.layer1(x)
x_list = []
for i in range(self.stage2_cfg.NUM_BRANCHES):
if self.transition1[i] is not None:
x_list.append(self.transition1[i](x))
else:
x_list.append(x)
y_list = self.stage2(x_list)
x_list = []
for i in range(self.stage3_cfg.NUM_BRANCHES):
if self.transition2[i] is not None:
x_list.append(self.transition2[i](y_list[-1]))
else:
x_list.append(y_list[i])
y_list = self.stage3(x_list)
x_list = []
for i in range(self.stage4_cfg.NUM_BRANCHES):
if self.transition3[i] is not None:
x_list.append(self.transition3[i](y_list[-1]))
else:
x_list.append(y_list[i])
y_list = self.stage4(x_list)
assert len(self._out_features) == len(y_list)
return dict(zip(self._out_features, y_list)) # final_outputs
@BACKBONE_REGISTRY.register()
def build_pose_hrnet_backbone(cfg, input_shape: ShapeSpec):
model = PoseHigherResolutionNet(cfg)
return model
|