pose_estimation/models/networks.py

"""This script defines deep neural networks for Deep3DFaceRecon_pytorch
"""

import os
import numpy as np
import torch.nn.functional as F
from torch.nn import init
import functools
from torch.optim import lr_scheduler
import torch
from torch import Tensor
import torch.nn as nn
try:
    from torch.hub import load_state_dict_from_url
except ImportError:
    from torch.utils.model_zoo import load_url as load_state_dict_from_url
from typing import Type, Any, Callable, Union, List, Optional
from .arcface_torch.backbones import get_model
from kornia.geometry import warp_affine

def resize_n_crop(image, M, dsize=112):
    # image: (b, c, h, w)
    # M   :  (b, 2, 3)
    return warp_affine(image, M, dsize=(dsize, dsize))

def filter_state_dict(state_dict, remove_name='fc'):
    new_state_dict = {}
    for key in state_dict:
        if remove_name in key:
            continue
        new_state_dict[key] = state_dict[key]
    return new_state_dict

def get_scheduler(optimizer, opt):
    """Return a learning rate scheduler

    Parameters:
        optimizer          -- the optimizer of the network
        opt (option class) -- stores all the experiment flags; needs to be a subclass of BaseOptions．　
                              opt.lr_policy is the name of learning rate policy: linear | step | plateau | cosine

    For other schedulers (step, plateau, and cosine), we use the default PyTorch schedulers.
    See https://pytorch.org/docs/stable/optim.html for more details.
    """
    if opt.lr_policy == 'linear':
        def lambda_rule(epoch):
            lr_l = 1.0 - max(0, epoch + opt.epoch_count - opt.n_epochs) / float(opt.n_epochs + 1)
            return lr_l
        scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lambda_rule)
    elif opt.lr_policy == 'step':
        scheduler = lr_scheduler.StepLR(optimizer, step_size=opt.lr_decay_epochs, gamma=0.2)
    elif opt.lr_policy == 'plateau':
        scheduler = lr_scheduler.ReduceLROnPlateau(optimizer, mode='min', factor=0.2, threshold=0.01, patience=5)
    elif opt.lr_policy == 'cosine':
        scheduler = lr_scheduler.CosineAnnealingLR(optimizer, T_max=opt.n_epochs, eta_min=0)
    else:
        return NotImplementedError('learning rate policy [%s] is not implemented', opt.lr_policy)
    return scheduler


def define_net_recon(net_recon, use_last_fc=False, init_path=None):
    return ReconNetWrapper(net_recon, use_last_fc=use_last_fc, init_path=init_path)

def define_net_recog(net_recog, pretrained_path=None):
    net = RecogNetWrapper(net_recog=net_recog, pretrained_path=pretrained_path)
    net.eval()
    return net

class ReconNetWrapper(nn.Module):
    fc_dim=257
    def __init__(self, net_recon, use_last_fc=False, init_path=None):
        super(ReconNetWrapper, self).__init__()
        self.use_last_fc = use_last_fc
        if net_recon not in func_dict:
            return  NotImplementedError('network [%s] is not implemented', net_recon)
        func, last_dim = func_dict[net_recon]
        backbone = func(use_last_fc=use_last_fc, num_classes=self.fc_dim)
        if init_path and os.path.isfile(init_path):
            state_dict = filter_state_dict(torch.load(init_path, map_location='cpu'))
            backbone.load_state_dict(state_dict)
            print("loading init net_recon %s from %s" %(net_recon, init_path))
        self.backbone = backbone
        if not use_last_fc:
            self.final_layers = nn.ModuleList([
                conv1x1(last_dim, 80, bias=True), # id layer
                conv1x1(last_dim, 64, bias=True), # exp layer
                conv1x1(last_dim, 80, bias=True), # tex layer
                conv1x1(last_dim, 3, bias=True),  # angle layer
                conv1x1(last_dim, 27, bias=True), # gamma layer
                conv1x1(last_dim, 2, bias=True),  # tx, ty
                conv1x1(last_dim, 1, bias=True)   # tz
            ])
            for m in self.final_layers:
                nn.init.constant_(m.weight, 0.)
                nn.init.constant_(m.bias, 0.)

    def forward(self, x):
        x = self.backbone(x)
        if not self.use_last_fc:
            output = []
            for layer in self.final_layers:
                output.append(layer(x))
            x = torch.flatten(torch.cat(output, dim=1), 1)
        return x


class RecogNetWrapper(nn.Module):
    def __init__(self, net_recog, pretrained_path=None, input_size=112):
        super(RecogNetWrapper, self).__init__()
        net = get_model(name=net_recog, fp16=False)
        if pretrained_path:
            state_dict = torch.load(pretrained_path, map_location='cpu')
            net.load_state_dict(state_dict)
            print("loading pretrained net_recog %s from %s" %(net_recog, pretrained_path))
        for param in net.parameters():
            param.requires_grad = False
        self.net = net
        self.preprocess = lambda x: 2 * x - 1
        self.input_size=input_size
        
    def forward(self, image, M):
        image = self.preprocess(resize_n_crop(image, M, self.input_size))
        id_feature = F.normalize(self.net(image), dim=-1, p=2)
        return id_feature


# adapted from https://github.com/pytorch/vision/edit/master/torchvision/models/resnet.py
__all__ = ['ResNet', 'resnet18', 'resnet34', 'resnet50', 'resnet101',
           'resnet152', 'resnext50_32x4d', 'resnext101_32x8d',
           'wide_resnet50_2', 'wide_resnet101_2']


model_urls = {
    'resnet18': 'https://download.pytorch.org/models/resnet18-f37072fd.pth',
    'resnet34': 'https://download.pytorch.org/models/resnet34-b627a593.pth',
    'resnet50': 'https://download.pytorch.org/models/resnet50-0676ba61.pth',
    'resnet101': 'https://download.pytorch.org/models/resnet101-63fe2227.pth',
    'resnet152': 'https://download.pytorch.org/models/resnet152-394f9c45.pth',
    'resnext50_32x4d': 'https://download.pytorch.org/models/resnext50_32x4d-7cdf4587.pth',
    'resnext101_32x8d': 'https://download.pytorch.org/models/resnext101_32x8d-8ba56ff5.pth',
    'wide_resnet50_2': 'https://download.pytorch.org/models/wide_resnet50_2-95faca4d.pth',
    'wide_resnet101_2': 'https://download.pytorch.org/models/wide_resnet101_2-32ee1156.pth',
}


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


def conv1x1(in_planes: int, out_planes: int, stride: int = 1, bias: bool = False) -> nn.Conv2d:
    """1x1 convolution"""
    return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=bias)


class BasicBlock(nn.Module):
    expansion: int = 1

    def __init__(
        self,
        inplanes: int,
        planes: int,
        stride: int = 1,
        downsample: Optional[nn.Module] = None,
        groups: int = 1,
        base_width: int = 64,
        dilation: int = 1,
        norm_layer: Optional[Callable[..., nn.Module]] = None
    ) -> None:
        super(BasicBlock, self).__init__()
        if norm_layer is None:
            norm_layer = nn.BatchNorm2d
        if groups != 1 or base_width != 64:
            raise ValueError('BasicBlock only supports groups=1 and base_width=64')
        if dilation > 1:
            raise NotImplementedError("Dilation > 1 not supported in BasicBlock")
        # Both self.conv1 and self.downsample layers downsample the input when stride != 1
        self.conv1 = conv3x3(inplanes, planes, stride)
        self.bn1 = norm_layer(planes)
        self.relu = nn.ReLU(inplace=True)
        self.conv2 = conv3x3(planes, planes)
        self.bn2 = norm_layer(planes)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x: Tensor) -> Tensor:
        identity = 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:
            identity = self.downsample(x)

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

        return out


class Bottleneck(nn.Module):
    # Bottleneck in torchvision places the stride for downsampling at 3x3 convolution(self.conv2)
    # while original implementation places the stride at the first 1x1 convolution(self.conv1)
    # according to "Deep residual learning for image recognition"https://arxiv.org/abs/1512.03385.
    # This variant is also known as ResNet V1.5 and improves accuracy according to
    # https://ngc.nvidia.com/catalog/model-scripts/nvidia:resnet_50_v1_5_for_pytorch.

    expansion: int = 4

    def __init__(
        self,
        inplanes: int,
        planes: int,
        stride: int = 1,
        downsample: Optional[nn.Module] = None,
        groups: int = 1,
        base_width: int = 64,
        dilation: int = 1,
        norm_layer: Optional[Callable[..., nn.Module]] = None
    ) -> None:
        super(Bottleneck, self).__init__()
        if norm_layer is None:
            norm_layer = nn.BatchNorm2d
        width = int(planes * (base_width / 64.)) * groups
        # Both self.conv2 and self.downsample layers downsample the input when stride != 1
        self.conv1 = conv1x1(inplanes, width)
        self.bn1 = norm_layer(width)
        self.conv2 = conv3x3(width, width, stride, groups, dilation)
        self.bn2 = norm_layer(width)
        self.conv3 = conv1x1(width, planes * self.expansion)
        self.bn3 = norm_layer(planes * self.expansion)
        self.relu = nn.ReLU(inplace=True)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x: Tensor) -> Tensor:
        identity = 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:
            identity = self.downsample(x)

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

        return out


class ResNet(nn.Module):

    def __init__(
        self,
        block: Type[Union[BasicBlock, Bottleneck]],
        layers: List[int],
        num_classes: int = 1000,
        zero_init_residual: bool = False,
        use_last_fc: bool = False,
        groups: int = 1,
        width_per_group: int = 64,
        replace_stride_with_dilation: Optional[List[bool]] = None,
        norm_layer: Optional[Callable[..., nn.Module]] = None
    ) -> None:
        super(ResNet, self).__init__()
        if norm_layer is None:
            norm_layer = nn.BatchNorm2d
        self._norm_layer = norm_layer

        self.inplanes = 64
        self.dilation = 1
        if replace_stride_with_dilation is None:
            # each element in the tuple indicates if we should replace
            # the 2x2 stride with a dilated convolution instead
            replace_stride_with_dilation = [False, False, False]
        if len(replace_stride_with_dilation) != 3:
            raise ValueError("replace_stride_with_dilation should be None "
                             "or a 3-element tuple, got {}".format(replace_stride_with_dilation))
        self.use_last_fc = use_last_fc
        self.groups = groups
        self.base_width = width_per_group
        self.conv1 = nn.Conv2d(3, self.inplanes, kernel_size=7, stride=2, padding=3,
                               bias=False)
        self.bn1 = norm_layer(self.inplanes)
        self.relu = nn.ReLU(inplace=True)
        self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1)
        self.layer1 = self._make_layer(block, 64, layers[0])
        self.layer2 = self._make_layer(block, 128, layers[1], stride=2,
                                       dilate=replace_stride_with_dilation[0])
        self.layer3 = self._make_layer(block, 256, layers[2], stride=2,
                                       dilate=replace_stride_with_dilation[1])
        self.layer4 = self._make_layer(block, 512, layers[3], stride=2,
                                       dilate=replace_stride_with_dilation[2])
        self.avgpool = nn.AdaptiveAvgPool2d((1, 1))
        
        if self.use_last_fc:
            self.fc = nn.Linear(512 * block.expansion, num_classes)

        for m in self.modules():
            if isinstance(m, nn.Conv2d):
                nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')
            elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)):
                nn.init.constant_(m.weight, 1)
                nn.init.constant_(m.bias, 0)



        # Zero-initialize the last BN in each residual branch,
        # so that the residual branch starts with zeros, and each residual block behaves like an identity.
        # This improves the model by 0.2~0.3% according to https://arxiv.org/abs/1706.02677
        if zero_init_residual:
            for m in self.modules():
                if isinstance(m, Bottleneck):
                    nn.init.constant_(m.bn3.weight, 0)  # type: ignore[arg-type]
                elif isinstance(m, BasicBlock):
                    nn.init.constant_(m.bn2.weight, 0)  # type: ignore[arg-type]

    def _make_layer(self, block: Type[Union[BasicBlock, Bottleneck]], planes: int, blocks: int,
                    stride: int = 1, dilate: bool = False) -> nn.Sequential:
        norm_layer = self._norm_layer
        downsample = None
        previous_dilation = self.dilation
        if dilate:
            self.dilation *= stride
            stride = 1
        if stride != 1 or self.inplanes != planes * block.expansion:
            downsample = nn.Sequential(
                conv1x1(self.inplanes, planes * block.expansion, stride),
                norm_layer(planes * block.expansion),
            )

        layers = []
        layers.append(block(self.inplanes, planes, stride, downsample, self.groups,
                            self.base_width, previous_dilation, norm_layer))
        self.inplanes = planes * block.expansion
        for _ in range(1, blocks):
            layers.append(block(self.inplanes, planes, groups=self.groups,
                                base_width=self.base_width, dilation=self.dilation,
                                norm_layer=norm_layer))

        return nn.Sequential(*layers)

    def _forward_impl(self, x: Tensor) -> Tensor:
        # See note [TorchScript super()]
        x = self.conv1(x)
        x = self.bn1(x)
        x = self.relu(x)
        x = self.maxpool(x)

        x = self.layer1(x)
        x = self.layer2(x)
        x = self.layer3(x)
        x = self.layer4(x)

        x = self.avgpool(x)
        if self.use_last_fc:
            x = torch.flatten(x, 1)
            x = self.fc(x)
        return x

    def forward(self, x: Tensor) -> Tensor:
        return self._forward_impl(x)


def _resnet(
    arch: str,
    block: Type[Union[BasicBlock, Bottleneck]],
    layers: List[int],
    pretrained: bool,
    progress: bool,
    **kwargs: Any
) -> ResNet:
    model = ResNet(block, layers, **kwargs)
    if pretrained:
        state_dict = load_state_dict_from_url(model_urls[arch],
                                              progress=progress)
        model.load_state_dict(state_dict)
    return model


def resnet18(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""ResNet-18 model from
    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    return _resnet('resnet18', BasicBlock, [2, 2, 2, 2], pretrained, progress,
                   **kwargs)


def resnet34(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""ResNet-34 model from
    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    return _resnet('resnet34', BasicBlock, [3, 4, 6, 3], pretrained, progress,
                   **kwargs)


def resnet50(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""ResNet-50 model from
    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    return _resnet('resnet50', Bottleneck, [3, 4, 6, 3], pretrained, progress,
                   **kwargs)


def resnet101(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""ResNet-101 model from
    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    return _resnet('resnet101', Bottleneck, [3, 4, 23, 3], pretrained, progress,
                   **kwargs)


def resnet152(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""ResNet-152 model from
    `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    return _resnet('resnet152', Bottleneck, [3, 8, 36, 3], pretrained, progress,
                   **kwargs)


def resnext50_32x4d(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""ResNeXt-50 32x4d model from
    `"Aggregated Residual Transformation for Deep Neural Networks" <https://arxiv.org/pdf/1611.05431.pdf>`_.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    kwargs['groups'] = 32
    kwargs['width_per_group'] = 4
    return _resnet('resnext50_32x4d', Bottleneck, [3, 4, 6, 3],
                   pretrained, progress, **kwargs)


def resnext101_32x8d(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""ResNeXt-101 32x8d model from
    `"Aggregated Residual Transformation for Deep Neural Networks" <https://arxiv.org/pdf/1611.05431.pdf>`_.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    kwargs['groups'] = 32
    kwargs['width_per_group'] = 8
    return _resnet('resnext101_32x8d', Bottleneck, [3, 4, 23, 3],
                   pretrained, progress, **kwargs)


def wide_resnet50_2(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""Wide ResNet-50-2 model from
    `"Wide Residual Networks" <https://arxiv.org/pdf/1605.07146.pdf>`_.

    The model is the same as ResNet except for the bottleneck number of channels
    which is twice larger in every block. The number of channels in outer 1x1
    convolutions is the same, e.g. last block in ResNet-50 has 2048-512-2048
    channels, and in Wide ResNet-50-2 has 2048-1024-2048.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    kwargs['width_per_group'] = 64 * 2
    return _resnet('wide_resnet50_2', Bottleneck, [3, 4, 6, 3],
                   pretrained, progress, **kwargs)


def wide_resnet101_2(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet:
    r"""Wide ResNet-101-2 model from
    `"Wide Residual Networks" <https://arxiv.org/pdf/1605.07146.pdf>`_.

    The model is the same as ResNet except for the bottleneck number of channels
    which is twice larger in every block. The number of channels in outer 1x1
    convolutions is the same, e.g. last block in ResNet-50 has 2048-512-2048
    channels, and in Wide ResNet-50-2 has 2048-1024-2048.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
        progress (bool): If True, displays a progress bar of the download to stderr
    """
    kwargs['width_per_group'] = 64 * 2
    return _resnet('wide_resnet101_2', Bottleneck, [3, 4, 23, 3],
                   pretrained, progress, **kwargs)


func_dict = {
    'resnet18': (resnet18, 512),
    'resnet50': (resnet50, 2048)
}