third_party/ALIKE/alnet.py

import torch
from torch import nn
from torchvision.models import resnet
from typing import Optional, Callable


class ConvBlock(nn.Module):
    def __init__(
        self,
        in_channels,
        out_channels,
        gate: Optional[Callable[..., nn.Module]] = None,
        norm_layer: Optional[Callable[..., nn.Module]] = None,
    ):
        super().__init__()
        if gate is None:
            self.gate = nn.ReLU(inplace=True)
        else:
            self.gate = gate
        if norm_layer is None:
            norm_layer = nn.BatchNorm2d
        self.conv1 = resnet.conv3x3(in_channels, out_channels)
        self.bn1 = norm_layer(out_channels)
        self.conv2 = resnet.conv3x3(out_channels, out_channels)
        self.bn2 = norm_layer(out_channels)

    def forward(self, x):
        x = self.gate(self.bn1(self.conv1(x)))  # B x in_channels x H x W
        x = self.gate(self.bn2(self.conv2(x)))  # B x out_channels x H x W
        return x


# copied from torchvision\models\resnet.py#27->BasicBlock
class ResBlock(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,
        gate: Optional[Callable[..., nn.Module]] = None,
        norm_layer: Optional[Callable[..., nn.Module]] = None,
    ) -> None:
        super(ResBlock, self).__init__()
        if gate is None:
            self.gate = nn.ReLU(inplace=True)
        else:
            self.gate = gate
        if norm_layer is None:
            norm_layer = nn.BatchNorm2d
        if groups != 1 or base_width != 64:
            raise ValueError("ResBlock only supports groups=1 and base_width=64")
        if dilation > 1:
            raise NotImplementedError("Dilation > 1 not supported in ResBlock")
        # Both self.conv1 and self.downsample layers downsample the input when stride != 1
        self.conv1 = resnet.conv3x3(inplanes, planes, stride)
        self.bn1 = norm_layer(planes)
        self.conv2 = resnet.conv3x3(planes, planes)
        self.bn2 = norm_layer(planes)
        self.downsample = downsample
        self.stride = stride

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

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

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

        if self.downsample is not None:
            identity = self.downsample(x)

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

        return out


class ALNet(nn.Module):
    def __init__(
        self,
        c1: int = 32,
        c2: int = 64,
        c3: int = 128,
        c4: int = 128,
        dim: int = 128,
        single_head: bool = True,
    ):
        super().__init__()

        self.gate = nn.ReLU(inplace=True)

        self.pool2 = nn.MaxPool2d(kernel_size=2, stride=2)
        self.pool4 = nn.MaxPool2d(kernel_size=4, stride=4)

        self.block1 = ConvBlock(3, c1, self.gate, nn.BatchNorm2d)

        self.block2 = ResBlock(
            inplanes=c1,
            planes=c2,
            stride=1,
            downsample=nn.Conv2d(c1, c2, 1),
            gate=self.gate,
            norm_layer=nn.BatchNorm2d,
        )
        self.block3 = ResBlock(
            inplanes=c2,
            planes=c3,
            stride=1,
            downsample=nn.Conv2d(c2, c3, 1),
            gate=self.gate,
            norm_layer=nn.BatchNorm2d,
        )
        self.block4 = ResBlock(
            inplanes=c3,
            planes=c4,
            stride=1,
            downsample=nn.Conv2d(c3, c4, 1),
            gate=self.gate,
            norm_layer=nn.BatchNorm2d,
        )

        # ================================== feature aggregation
        self.conv1 = resnet.conv1x1(c1, dim // 4)
        self.conv2 = resnet.conv1x1(c2, dim // 4)
        self.conv3 = resnet.conv1x1(c3, dim // 4)
        self.conv4 = resnet.conv1x1(dim, dim // 4)
        self.upsample2 = nn.Upsample(
            scale_factor=2, mode="bilinear", align_corners=True
        )
        self.upsample4 = nn.Upsample(
            scale_factor=4, mode="bilinear", align_corners=True
        )
        self.upsample8 = nn.Upsample(
            scale_factor=8, mode="bilinear", align_corners=True
        )
        self.upsample32 = nn.Upsample(
            scale_factor=32, mode="bilinear", align_corners=True
        )

        # ================================== detector and descriptor head
        self.single_head = single_head
        if not self.single_head:
            self.convhead1 = resnet.conv1x1(dim, dim)
        self.convhead2 = resnet.conv1x1(dim, dim + 1)

    def forward(self, image):
        # ================================== feature encoder
        x1 = self.block1(image)  # B x c1 x H x W
        x2 = self.pool2(x1)
        x2 = self.block2(x2)  # B x c2 x H/2 x W/2
        x3 = self.pool4(x2)
        x3 = self.block3(x3)  # B x c3 x H/8 x W/8
        x4 = self.pool4(x3)
        x4 = self.block4(x4)  # B x dim x H/32 x W/32

        # ================================== feature aggregation
        x1 = self.gate(self.conv1(x1))  # B x dim//4 x H x W
        x2 = self.gate(self.conv2(x2))  # B x dim//4 x H//2 x W//2
        x3 = self.gate(self.conv3(x3))  # B x dim//4 x H//8 x W//8
        x4 = self.gate(self.conv4(x4))  # B x dim//4 x H//32 x W//32
        x2_up = self.upsample2(x2)  # B x dim//4 x H x W
        x3_up = self.upsample8(x3)  # B x dim//4 x H x W
        x4_up = self.upsample32(x4)  # B x dim//4 x H x W
        x1234 = torch.cat([x1, x2_up, x3_up, x4_up], dim=1)

        # ================================== detector and descriptor head
        if not self.single_head:
            x1234 = self.gate(self.convhead1(x1234))
        x = self.convhead2(x1234)  # B x dim+1 x H x W

        descriptor_map = x[:, :-1, :, :]
        scores_map = torch.sigmoid(x[:, -1, :, :]).unsqueeze(1)

        return scores_map, descriptor_map


if __name__ == "__main__":
    from thop import profile

    net = ALNet(c1=16, c2=32, c3=64, c4=128, dim=128, single_head=True)

    image = torch.randn(1, 3, 640, 480)
    flops, params = profile(net, inputs=(image,), verbose=False)
    print("{:<30}  {:<8} GFLops".format("Computational complexity: ", flops / 1e9))
    print("{:<30}  {:<8} KB".format("Number of parameters: ", params / 1e3))