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model.py
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model.py
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import torch
from torch import nn
import torch.nn.functional as F
import math
from backbone.repvgg import get_RepVGG_func_by_name
import utils
class SixDRepNet(nn.Module):
def __init__(self,
backbone_name, backbone_file, deploy,
bins=(1, 2, 3, 6),
droBatchNorm=nn.BatchNorm2d,
pretrained=True):
super(SixDRepNet, self).__init__()
repvgg_fn = get_RepVGG_func_by_name(backbone_name)
backbone = repvgg_fn(deploy)
if pretrained:
checkpoint = torch.load(backbone_file)
if 'state_dict' in checkpoint:
checkpoint = checkpoint['state_dict']
ckpt = {k.replace('module.', ''): v for k,
v in checkpoint.items()} # strip the names
backbone.load_state_dict(ckpt)
self.layer0, self.layer1, self.layer2, self.layer3, self.layer4 = backbone.stage0, backbone.stage1, backbone.stage2, backbone.stage3, backbone.stage4
self.gap = nn.AdaptiveAvgPool2d(output_size=1)
last_channel = 0
for n, m in self.layer4.named_modules():
if ('rbr_dense' in n or 'rbr_reparam' in n) and isinstance(m, nn.Conv2d):
last_channel = m.out_channels
fea_dim = last_channel
self.linear_reg = nn.Linear(fea_dim, 6)
def forward(self, x):
x = self.layer0(x)
x = self.layer1(x)
x = self.layer2(x)
x = self.layer3(x)
x = self.layer4(x)
x= self.gap(x)
x = torch.flatten(x, 1)
x = self.linear_reg(x)
return utils.compute_rotation_matrix_from_ortho6d(x)
class SixDRepNet2(nn.Module):
def __init__(self, block, layers, fc_layers=1):
self.inplanes = 64
super(SixDRepNet2, self).__init__()
self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=3,
bias=False)
self.bn1 = nn.BatchNorm2d(64)
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)
self.layer3 = self._make_layer(block, 256, layers[2], stride=2)
self.layer4 = self._make_layer(block, 512, layers[3], stride=2)
self.avgpool = nn.AvgPool2d(7)
self.linear_reg = nn.Linear(512*block.expansion,6)
# Vestigial layer from previous experiments
self.fc_finetune = nn.Linear(512 * block.expansion + 3, 3)
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, nn.BatchNorm2d):
m.weight.data.fill_(1)
m.bias.data.zero_()
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),
)
layers = []
layers.append(block(self.inplanes, planes, stride, downsample))
self.inplanes = planes * block.expansion
for i in range(1, blocks):
layers.append(block(self.inplanes, planes))
return nn.Sequential(*layers)
def forward(self, x):
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)
x = x.view(x.size(0), -1)
x = self.linear_reg(x)
out = utils.compute_rotation_matrix_from_ortho6d(x)
return out
__all__ = ['mobilenetv3_large', 'mobilenetv3_small']
def _make_divisible(v, divisor, min_value=None):
"""
This function is taken from the original tf repo.
It ensures that all layers have a channel number that is divisible by 8
It can be seen here:
https://github.com/tensorflow/models/blob/master/research/slim/nets/mobilenet/mobilenet.py
:param v:
:param divisor:
:param min_value:
:return:
"""
if min_value is None:
min_value = divisor
new_v = max(min_value, int(v + divisor / 2) // divisor * divisor)
# Make sure that round down does not go down by more than 10%.
if new_v < 0.9 * v:
new_v += divisor
return new_v
class h_sigmoid(nn.Module):
def __init__(self, inplace=True):
super(h_sigmoid, self).__init__()
self.relu = nn.ReLU6(inplace=inplace)
def forward(self, x):
return self.relu(x + 3) / 6
class h_swish(nn.Module):
def __init__(self, inplace=True):
super(h_swish, self).__init__()
self.sigmoid = h_sigmoid(inplace=inplace)
def forward(self, x):
return x * self.sigmoid(x)
class SELayer(nn.Module):
def __init__(self, channel, reduction=4):
super(SELayer, self).__init__()
self.avg_pool = nn.AdaptiveAvgPool2d(1)
self.fc = nn.Sequential(
nn.Linear(channel, _make_divisible(channel // reduction, 8)),
nn.ReLU(inplace=True),
nn.Linear(_make_divisible(channel // reduction, 8), channel),
h_sigmoid()
)
def forward(self, x):
b, c, _, _ = x.size()
y = self.avg_pool(x).view(b, c)
y = self.fc(y).view(b, c, 1, 1)
return x * y
def conv_3x3_bn(inp, oup, stride):
return nn.Sequential(
nn.Conv2d(inp, oup, 3, stride, 1, bias=False),
nn.BatchNorm2d(oup),
h_swish()
)
def conv_1x1_bn(inp, oup):
return nn.Sequential(
nn.Conv2d(inp, oup, 1, 1, 0, bias=False),
nn.BatchNorm2d(oup),
h_swish()
)
class InvertedResidual(nn.Module):
def __init__(self, inp, hidden_dim, oup, kernel_size, stride, use_se, use_hs):
super(InvertedResidual, self).__init__()
assert stride in [1, 2]
self.identity = stride == 1 and inp == oup
if inp == hidden_dim:
self.conv = nn.Sequential(
# dw
nn.Conv2d(hidden_dim, hidden_dim, kernel_size, stride, (kernel_size - 1) // 2, groups=hidden_dim, bias=False),
nn.BatchNorm2d(hidden_dim),
h_swish() if use_hs else nn.ReLU(inplace=True),
# Squeeze-and-Excite
SELayer(hidden_dim) if use_se else nn.Identity(),
# pw-linear
nn.Conv2d(hidden_dim, oup, 1, 1, 0, bias=False),
nn.BatchNorm2d(oup),
)
else:
self.conv = nn.Sequential(
# pw
nn.Conv2d(inp, hidden_dim, 1, 1, 0, bias=False),
nn.BatchNorm2d(hidden_dim),
h_swish() if use_hs else nn.ReLU(inplace=True),
# dw
nn.Conv2d(hidden_dim, hidden_dim, kernel_size, stride, (kernel_size - 1) // 2, groups=hidden_dim, bias=False),
nn.BatchNorm2d(hidden_dim),
# Squeeze-and-Excite
SELayer(hidden_dim) if use_se else nn.Identity(),
h_swish() if use_hs else nn.ReLU(inplace=True),
# pw-linear
nn.Conv2d(hidden_dim, oup, 1, 1, 0, bias=False),
nn.BatchNorm2d(oup),
)
def forward(self, x):
if self.identity:
return x + self.conv(x)
else:
return self.conv(x)
class SixDRepNet_Mobile(nn.Module):
def __init__(self, cfgs, mode, num_classes=1000, width_mult=1.):
super(SixDRepNet_Mobile, self).__init__()
# setting of inverted residual blocks
self.cfgs = cfgs
assert mode in ['large', 'small']
# building first layer
input_channel = _make_divisible(16 * width_mult, 8)
layers = [conv_3x3_bn(3, input_channel, 2)]
# building inverted residual blocks
block = InvertedResidual
for k, t, c, use_se, use_hs, s in self.cfgs:
output_channel = _make_divisible(c * width_mult, 8)
exp_size = _make_divisible(input_channel * t, 8)
layers.append(block(input_channel, exp_size, output_channel, k, s, use_se, use_hs))
input_channel = output_channel
self.features = nn.Sequential(*layers)
# building last several layers
self.conv = conv_1x1_bn(input_channel, exp_size)
self.avgpool = nn.AdaptiveAvgPool2d((1, 1))
output_channel = {'large': 1280, 'small': 1024}
output_channel = _make_divisible(output_channel[mode] * width_mult, 8) if width_mult > 1.0 else output_channel[mode]
self.linear_reg= nn.Sequential(
nn.Linear(exp_size, 6)
)
self._initialize_weights()
def forward(self, x):
x = self.features(x)
x = self.conv(x)
x = self.avgpool(x)
x = x.view(x.size(0), -1)
x = self.linear_reg(x)
return utils.compute_rotation_matrix_from_ortho6d(x)
def _initialize_weights(self):
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))
if m.bias is not None:
m.bias.data.zero_()
elif isinstance(m, nn.BatchNorm2d):
m.weight.data.fill_(1)
m.bias.data.zero_()
elif isinstance(m, nn.Linear):
m.weight.data.normal_(0, 0.01)
m.bias.data.zero_()
def sixdrepnet_mobile_large(**kwargs):
"""
Constructs a MobileNetV3-Large model
"""
cfgs = [
# k, t, c, SE, HS, s
[3, 1, 16, 0, 0, 1],
[3, 4, 24, 0, 0, 2],
[3, 3, 24, 0, 0, 1],
[5, 3, 40, 1, 0, 2],
[5, 3, 40, 1, 0, 1],
[5, 3, 40, 1, 0, 1],
[3, 6, 80, 0, 1, 2],
[3, 2.5, 80, 0, 1, 1],
[3, 2.3, 80, 0, 1, 1],
[3, 2.3, 80, 0, 1, 1],
[3, 6, 112, 1, 1, 1],
[3, 6, 112, 1, 1, 1],
[5, 6, 160, 1, 1, 2],
[5, 6, 160, 1, 1, 1],
[5, 6, 160, 1, 1, 1]
]
return SixDRepNet_Mobile(cfgs, mode='large', **kwargs)
def sixdrepnet_mobile_small(**kwargs):
"""
Constructs a MobileNetV3-Small model
"""
cfgs = [
# k, t, c, SE, HS, s
[3, 1, 16, 1, 0, 2],
[3, 4.5, 24, 0, 0, 2],
[3, 3.67, 24, 0, 0, 1],
[5, 4, 40, 1, 1, 2],
[5, 6, 40, 1, 1, 1],
[5, 6, 40, 1, 1, 1],
[5, 3, 48, 1, 1, 1],
[5, 3, 48, 1, 1, 1],
[5, 6, 96, 1, 1, 2],
[5, 6, 96, 1, 1, 1],
[5, 6, 96, 1, 1, 1],
]
return SixDRepNet_Mobile(cfgs, mode='small', **kwargs)