CenterNet的骨干网络之DLASeg¶
DLA全称是Deep Layer Aggregation, 于2018年发表于CVPR。被CenterNet, FairMOT等框架所采用，其效果很不错，准确率和模型复杂度平衡的也比较好。
CenterNet中使用的DLASeg是在DLA-34的基础上添加了Deformable Convolution后的分割网络。
1. 简介¶
Aggretation聚合是目前设计网络结构的常用的一种技术。如何将不同深度，将不同stage、block之间的信息进行融合是本文探索的目标。
目前常见的聚合方式有skip connection, 如ResNet，这种融合方式仅限于块内部，并且融合方式仅限于简单的叠加。
本文提出了DLA的结构，能够迭代式地将网络结构的特征信息融合起来，让模型有更高的精度和更少的参数。
上图展示了DLA的设计思路，Dense Connections来自DenseNet，可以聚合语义信息。Feature Pyramids空间特征金字塔可以聚合空间信息。DLA则是将两者更好地结合起来从而可以更好的获取what和where的信息。仔细看一下DLA的其中一个模块，如下图所示：
研读过代码以后，可以看出这个花里胡哨的结构其实是按照树的结构进行组织的，红框框住的就是两个树，树之间又采用了类似ResNet的残差链接结构。
2. 核心¶
先来重新梳理一下上边提到的语义信息和空间信息，文章给出了详细解释：
- 语义融合：在通道方向进行的聚合，能够提高模型推断“是什么”的能力（what）
- 空间融合：在分辨率和尺度方向的融合，能够提高模型推断“在哪里”的能力（where）
Deep Layer Aggregation核心模块有两个IDA(Iterative Deep Aggregation)和HDA(Hierarchical Deep Aggregation)，如上图所示。
-
红色框代表的是用树结构链接的层次结构，能够更好地传播特征和梯度。
-
黄色链接代表的是IDA，负责链接相邻两个stage的特征让深层和浅层的表达能更好地融合。
- 蓝色连线代表进行了下采样，网络一开始也和ResNet一样进行了快速下采样。
论文中也给了公式推导，感兴趣的可以去理解一下。本文还是将重点放在代码实现上。
3. 实现¶
这部分代码复制自CenterNet官方实现，https://github.com/pprp/SimpleCVReproduction/blob/master/CenterNet/nets/dla34.py
3.1 基础模块¶
首先是三个模块，BasicBlock和Bottleneck和ResNet中的一致，BottleneckX实际上是ResNeXt中的基础模块，也可以作为DLA中的基础模块。DLA34中调用的依然是BasicBlock。
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
3.2 Root类¶
然后就是Root类，对应下图中的绿色模块
所有的Aggregation Node都是通过调用这个模块完成的，这个绿色结点也是其连接两个树的根，所以形象地称之为Root。下面是代码实现，forward函数中接受的是多个对象，用来聚合多个层的信息。
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
3.3 Tree类¶
Tree类对应图中的HDA模块，是最核心最复杂的地方，建议手动画一下。其核心就是递归调用的Tree类的构建，以下是代码。
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
经过笔者研究，这里涉及了两个比较重要的参数level和level root。
这个类有两个重要的成员变量tree1和tree2，是通过递归的方式迭代生成的，迭代层数通过level进行控制的，举两个例子，第一个是level为1，并且level root=True的情况，对照代码和下图可以理解得到：
也就是对应的是：
代码中的children参数是一个list，保存的是所有传给Root的成员，这些成员将作为其中的叶子结点。
第二个例子是level=2， level root=True的情况，如下图所示：
这部分代码对应的是：
粉色箭头是children对象，都交给Root进行聚合操作。
3.4 DLA¶
Tree是DLA最重要的模块，Tree搞定之后，DLA就按顺序拼装即可。
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 forward(self, x):
y = []
x = self.base_layer(x)
for i in range(6):
# 将几个level串联起来
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
4. DLASeg¶
DLASeg是在DLA的基础上使用Deformable Convolution和Upsample层组合进行信息提取，提升了空间分辨率。
class DLASeg(nn.Module):
'''
DLASeg('dla{}'.format(num_layers), heads,
pretrained=True,
down_ratio=down_ratio,
final_kernel=1,
last_level=5,
head_conv=head_conv)
'''
def __init__(self, base_name, heads, pretrained, down_ratio, final_kernel,
last_level, head_conv, out_channel=0):
super(DLASeg, self).__init__()
assert down_ratio in [2, 4, 8, 16]
self.first_level = int(np.log2(down_ratio))
self.last_level = last_level
# globals() 函数会以字典类型返回当前位置的全部全局变量。
# 所以这个base就相当于原来的DLA34
self.base = globals()[base_name](pretrained=pretrained)
channels = self.base.channels
scales = [2 ** i for i in range(len(channels[self.first_level:]))]
# first_level = 2 if down_ratio=4
# channels = [16, 32, 64, 128, 256, 512] to [64, 128, 256, 512]
# scales = [1, 2, 4, 8]
self.dla_up = DLAUp(self.first_level, channels[self.first_level:], scales)
if out_channel == 0:
out_channel = channels[self.first_level]
# 进行上采样
self.ida_up = IDAUp(out_channel, channels[self.first_level:self.last_level],
[2 ** i for i in range(self.last_level - self.first_level)])
self.heads = heads
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=final_kernel, stride=1,
padding=final_kernel // 2, 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=final_kernel, stride=1,
padding=final_kernel // 2, bias=True)
if 'hm' in head:
fc.bias.data.fill_(-2.19)
else:
fill_fc_weights(fc)
self.__setattr__(head, fc)
def forward(self, x):
x = self.base(x)
x = self.dla_up(x)
y = []
for i in range(self.last_level - self.first_level):
y.append(x[i].clone())
self.ida_up(y, 0, len(y))
z = {}
for head in self.heads:
z[head] = self.__getattr__(head)(y[-1])
return [z]
以上就是DLASeg的主要代码，其中负责上采样部分的是：
self.ida_up = IDAUp(out_channel, channels[self.first_level:self.last_level],
[2 ** i for i in range(self.last_level - self.first_level)])
这部分负责解码，将空间分辨率提高。
class IDAUp(nn.Module):
'''
IDAUp(channels[j], in_channels[j:], scales[j:] // scales[j])
ida(layers, len(layers) -i - 2, len(layers))
'''
def __init__(self, o, channels, up_f):
super(IDAUp, self).__init__()
for i in range(1, len(channels)):
c = channels[i]
f = int(up_f[i])
proj = DeformConv(c, o)
node = DeformConv(o, o)
up = nn.ConvTranspose2d(o, o, f * 2, stride=f,
padding=f // 2, output_padding=0,
groups=o, bias=False)
fill_up_weights(up)
setattr(self, 'proj_' + str(i), proj)
setattr(self, 'up_' + str(i), up)
setattr(self, 'node_' + str(i), node)
def forward(self, layers, startp, endp):
for i in range(startp + 1, endp):
upsample = getattr(self, 'up_' + str(i - startp))
project = getattr(self, 'proj_' + str(i - startp))
layers[i] = upsample(project(layers[i]))
node = getattr(self, 'node_' + str(i - startp))
layers[i] = node(layers[i] + layers[i - 1])
其核心是DLAUP和IDAUP, 这两个类中都使用了两个Deformable Convolution可变形卷积，然后使用ConvTranspose2d进行上采样，具体网络结构如下图所示。
5. Reference¶
https://arxiv.org/abs/1707.06484
https://github.com/pprp/SimpleCVReproduction/blob/master/CenterNet/nets/dla34.py
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