def create_model(input_shape, num_class, k):
fgc_base = MobileNet(input_shape=input_shape,
include_top=False,
weights='imagenet',
alpha=1.)
fgc_base.trainable = True
# fgc_base.summary()
feature2 = fgc_base.get_layer("conv_pw_11_relu").output
fc_model = Model(fgc_base.inputs[0], [fgc_base.output, feature2])
fc_model.summary()
input_tensor = Input(shape=input_shape)
features = fc_model(input_tensor)
fc_obj = GlobalMaxPool2D()(features[0])
fc_obj = Dropout(0.7)(fc_obj)
fc_obj = Dense(num_class, activation="softmax")(fc_obj)
fc_part = Conv2D(filters=num_class * k,
kernel_size=(1, 1),
activation="relu")(features[1])
fc_part = GlobalMaxPool2D()(fc_part)
fc_part = Dropout(0.5)(fc_part)
fc_ccp = Lambda(lambda tmp: tf.expand_dims(tmp, axis=-1))(fc_part)
fc_ccp = AvgPool1D(pool_size=k)(fc_ccp)
fc_ccp = Lambda(lambda tmp: tf.squeeze(tmp, [-1]))(fc_ccp)
fc_ccp = Activation(activation="softmax")(fc_ccp)
fc_part = Dense(num_class, activation="softmax")(fc_part)
output = Concatenate(axis=-1)([fc_obj, fc_part, fc_ccp])
return Model(input_tensor, output)
def build_model():
input_tensor = Input(shape=(224, 224, 3))
base_model = MobileNet(include_top=False,
weights='imagenet',
input_tensor=input_tensor,
input_shape=(224, 224, 3),
pooling='avg')
base_model.trainable = True
for layer in base_model.layers:
layer.trainable = True # trainable has to be false in order to freeze the layers
op = Dense(224, activation='relu')(base_model.output)
op = Dropout(.25)(op)
##
# softmax: calculates a probability for every possible class.
#
# activation='softmax': return the highest probability;
# for example, if 'Coat' is the highest probability then the result would be
# something like [0,0,0,0,1,0,0,0,0,0] with 1 in index 5 indicate 'Coat' in our case.
##
output_tensor = Dense(1, activation='softmax')(op)
model = Model(inputs=input_tensor, outputs=output_tensor)
return model
def __init__(self, gpu_id=5):
os.environ["CUDA_VISIBLE_DEVICES"] = str(gpu_id)
num_class = 12
BATCH_SIZE = 32
k = 10
fgc_base = MobileNet(input_shape=(224, 224, 3),
include_top=False,
weights=None,
alpha=1.)
fgc_base.trainable = True
# fgc_base.summary()
feature2 = fgc_base.get_layer("conv_pw_11_relu").output
fc_model = Model(fgc_base.inputs[0], [fgc_base.output, feature2])
# fc_model.summary()
input_tensor = Input(shape=(224, 224, 3))
input_tensor_bn = BatchNormalization()(input_tensor)
features = fc_model(input_tensor_bn)
fc_obj = GlobalMaxPool2D()(features[0])
fc_obj = Dropout(0.7)(fc_obj)
fc_obj = Dense(12, activation="softmax")(fc_obj)
fc_part = Conv2D(filters=num_class * k,
kernel_size=(1, 1),
activation="relu")(features[1])
fc_part = GlobalMaxPool2D()(fc_part)
fc_part = Dropout(0.5)(fc_part)
fc_ccp = Lambda(lambda tmp: tf.expand_dims(tmp, axis=-1))(fc_part)
fc_ccp = AvgPool1D(pool_size=k)(fc_ccp)
fc_ccp = Lambda(lambda tmp: tf.squeeze(tmp, [-1]))(fc_ccp)
fc_ccp = Activation(activation="softmax")(fc_ccp)
fc_part = Dense(12, activation="softmax")(fc_part)
output = Concatenate(axis=-1)([fc_obj, fc_part, fc_ccp])
self.dfb_cnn = Model(input_tensor, output)
lr = 0.001
clip_value = 0.01
self.dfb_cnn.compile(optimizer=SGD(lr=lr,
momentum=0.9,
decay=1e-5,
nesterov=True,
clipvalue=clip_value),
loss=ctm_loss,
metrics=[ctm_acc1, ctm_acck])
path_prefix = "./datasets/model/escale/focal_loss_2_0.25/"
# path_prefix = "./datasets/focal_loss_2_0.25/"
self.dfb_cnn.load_weights(filepath=path_prefix + "weights.h5",
skip_mismatch=True) ######
def MobileNetmodel(no_classes, shape):
base_model = MobileNet(include_top=False,
weights='imagenet',
input_shape=shape)
# Freeze the base_model
base_model.trainable = False
inputs = Input(shape=shape)
x = base_model(inputs, training=False)
x = GlobalAveragePooling2D()(x)
x = Dense(1024, activation='relu')(x)
#x = Dropout(0.2)(x)
predictions = Dense(no_classes, activation='softmax',
name='predictions')(x)
model = Model(inputs, outputs=predictions)
return model
def _load_mobilenet():
global feature_extraction_model, mobilenet_activations
# Feature extraction module
feature_extraction_model = MobileNet(input_shape=(EMBEDDING_IMAGE_SIZE, EMBEDDING_IMAGE_SIZE, 3),
alpha=1.0,
depth_multiplier=1,
include_top=True,
weights='imagenet')
# Set it up so that we can do inference on MobileNet without training it by mistake
feature_extraction_model.graph = tf.get_default_graph()
feature_extraction_model.trainable = False
# Get the pre-softmax activations from MobileNet
mobilenet_activations = Model(feature_extraction_model.input, feature_extraction_model.layers[-3].output)
mobilenet_activations.trainable = False
from keras.models import Model
from keras.applications.mobilenet import MobileNet
from keras.layers import SeparableConv2D, Dropout, Dense, MaxPooling2D, Flatten, GlobalAveragePooling2D, Input
from keras.preprocessing.image import ImageDataGenerator
#model
base_model = MobileNet(alpha=0.25,
depth_multiplier=1,
dropout=1e-4,
weights='imagenet',
include_top=False)
base_model.trainable = False
x = base_model.output
x = GlobalAveragePooling2D()(x)
x = Dropout(0.3)(x)
x = Dense(64, activation='relu')(x)
x = Dropout(0.1)(x)
predictions = Dense(2, activation='softmax')(x)
model = Model(inputs=base_model.input, outputs=predictions)
model.compile(optimizer='adam',
loss='categorical_crossentropy',
metrics=['accuracy'])
#数据读入
train_datagen = ImageDataGenerator(
rescale=1. / 255,
# horizontal_flip=True,
# vertical_flip=True,
def create_posenet_mobilenet_v1(weights_path=None, trainable=True):
# create the base pre-trained model
if K.image_data_format() == 'channels_first':
image_input = Input(shape=(None, 3, 224, 224))
else:
image_input = Input(shape=(None, 224, 224, 3))
alpha = 1.0
dropout = 1e-3
if K.image_data_format() == 'channels_first':
input_shape = (3, 224, 224)
else:
input_shape = (224, 224, 3)
base_model = MobileNet(input_shape=input_shape,
alpha=alpha,
dropout=dropout,
weights='imagenet',
include_top=False)
base_model.trainable = False
# add top layer
model_output = TimeDistributed(base_model)(image_input)
if K.image_data_format() == 'channels_first':
shape = (int(1024 * alpha), 1, 1)
else:
shape = (1, 1, int(1024 * alpha))
model_output = TimeDistributed(GlobalAveragePooling2D())(model_output)
model_output = TimeDistributed(Reshape(shape,
name='reshape_1'))(model_output)
model_output = TimeDistributed(Dropout(dropout,
name='dropout'))(model_output)
conv_pose_xyz = TimeDistributed(
Conv2D(1024, (1, 1), padding='same',
name='conv_pose_xyz'))(model_output)
conv_pose_xyz_flat = TimeDistributed(Flatten())(conv_pose_xyz)
lstm_xyz = LSTM(256, return_sequences=True,
name='lstm_xyz')(conv_pose_xyz_flat)
lstm_dense_xyz = TimeDistributed(Dense(128, activation='relu'),
name='lstm_dense_xyz')(lstm_xyz)
lstm_pose_xyz = TimeDistributed(Dense(3),
name='lstm_pose_xyz')(lstm_dense_xyz)
conv_pose_wpqr = TimeDistributed(
Conv2D(1024, (1, 1), padding='same',
name='conv_pose_wpqr'))(model_output)
conv_pose_wpqr_flat = TimeDistributed(Flatten())(conv_pose_wpqr)
lstm_wpqr = LSTM(256, return_sequences=True,
name='lstm_wpqr')(conv_pose_wpqr_flat)
lstm_dense_wpqr = TimeDistributed(Dense(128, activation='relu'),
name='lstm_dense_wpqr')(lstm_wpqr)
lstm_pose_wpqr = TimeDistributed(Dense(4),
name='lstm_pose_wpqr')(lstm_dense_wpqr)
posenet = Model(inputs=image_input,
outputs=[lstm_pose_xyz, lstm_pose_wpqr])
if weights_path:
print("start load image network weights")
posenet.load_weights(weights_path, by_name=True)
print("finish load image network weights")
if not trainable:
for layer in posenet.layers:
layer.trainable = False
return posenet
def create_model_functional(X, Y0size=576, freeze_fac=0.75, quick_setup=False):
"""
accepts a 'large' grayscale image (or set of images), runs a convnet & pooling to shrink it in a learnable way
# this produces a smaller set of 3 'color' images for different features.
This newer model incorporates sigmoid activations for existence / noobj predictions, and uses an
"InterleaveColumns" layer to reorder the columns and produce output compatible with the previous model.
"""
print("Using functional API model, cf.basemodel =", cf.basemodel)
# First part of the model is to take the large grayscale image, shrink it, and
# add 3 conv operations to produce something akin to color channels to feed into the
# 'standard' models below:
kernel_size = (3, 3) # convolution kernel size
pool_size = (2, 2) # size of pooling area for max pooling
nfilters = 3 # adding 3 'color' channels
print("X[0].shape = ", X[0].shape)
inputs = Input(shape=X[0].shape)
x = inputs
x = Conv2D(nfilters,
kernel_size,
strides=(1, 1),
padding='same',
use_bias=False)(x) # give us 3 colors
x = AveragePooling2D(pool_size=pool_size)(x) # shrink image
# ResNet block:
x = BatchNormalization()(x)
x = LeakyReLU(alpha=0.1)(x)
#x = Activation('Mish')(x)
x = Conv2D(nfilters,
kernel_size,
strides=(1, 1),
padding='same',
use_bias=False)(x)
x = BatchNormalization()(x)
x = LeakyReLU(alpha=0.1)(x)
#x = Activation('Mish')(x)
x = Conv2D(nfilters,
kernel_size,
strides=(1, 1),
padding='same',
use_bias=False)(x)
x = BatchNormalization()(x)
x = Add()([x, AveragePooling2D(pool_size=pool_size)(inputs)
]) # residual skip connection on shrunk input
#x = Add()([x, id]) # residual skip connection on shrunk input
x = Dropout(0.1)(x)
# Finished with first part of the model
print("After initial convolutions & pooling, x.shape = ", x.shape)
# 'PreFab'/standard CNN middle section
#weights = 'imagenet' # None or 'imagenet'. Note: If you ever get "You are trying to load a model with __layers___", you need to add by_name=True in the load_weights call for your Prefab CNN
weights = None
weights = "imagenet"
base_model_class = str_to_class(cf.basemodel)
if cf.basemodel == 'MobileNet':
# with CustomObjectScope({'relu6': ReLU(6.),'DepthwiseConv2D': DepthwiseConv2D}): # newer keras
with CustomObjectScope({
'relu6':
keras.applications.mobilenet.relu6,
'DepthwiseConv2D':
keras.applications.mobilenet.DepthwiseConv2D,
'custom_loss':
custom_loss,
'tf':
tf
}): # older keras
input_shape = x.shape[1:4]
print("input_shape = ", input_shape)
print("input_shape[-1] = ", input_shape[-1])
base_model = MobileNet(
input_shape=input_shape,
weights=weights,
include_top=False,
input_tensor=x,
dropout=0.6) # Works well, VERY FAST! Needs img size 224x224
else:
base_model_class = getattr(
sys.modules[__name__],
cf.basemodel) # use basemodel string to load Keras model
# Note: this requires modifying keras file applications/<model_name>.py to add ", by_name=True" in the load_weights() line(s)
base_model = base_model_class(weights=None,
include_top=False,
input_tensor=x)
num_layers = len(base_model.layers)
freeze_layers = int(num_layers * freeze_fac)
print("Freezing ", freeze_layers, "/", num_layers, " layers of base_model")
if (freeze_fac == 1.0):
base_model.trainable = False
else:
base_model.trainable = True
# set the first N layers of the base model (e.g., p to the last conv block)
# to non-trainable (weights will not be updated)
# for fine-tuning, "freeze" most of the pre-trained model, and then unfreeze it later
if (freeze_layers > 0):
for i in range(freeze_layers):
base_model.layers[i].trainable = False
print("base_model.output_shape =", base_model.output_shape)
# Finally we stack on top, a 'flat' output
x = Flatten(input_shape=base_model.output_shape[1:])(base_model.output)
if cf.model_type == 'compound': # note, this is rarely used, instead we use either SelectiveSigmoid or just alter the loss function
if (Y0size % cf.vars_per_pred != 0):
raise ValueError("Y0size (=" + str(Y0size) +
") must be a multiple of cf.vars_per_pred (=" +
str(cf.vars_per_pred) + ")")
n_preds = int(Y0size / cf.vars_per_pred)
sigout = Dense(n_preds, activation='sigmoid',
name='SigmoidOutput')(x) # activation='sigmoid',
denseout = Dense(Y0size - n_preds, name='DenseOutput')(x)
top = Concatenate()([sigout, denseout])
top = InterleaveColumns(start_index=cf.ind_noobj,
name='FinalOutput')(top)
else:
top = Dense(Y0size, name='FinalOutput')(x)
''' # We'll handle 'same' loss function option in the loss routine itself
if cf.loss_type != 'same': # cf.model_type == 'ss':
print("**Adding SelectiveSigmoid**")
top = SelectiveSigmoid(name='ReallyFinalOutput')(top) # make the existence variables sigmoids
'''
model = Model(inputs=inputs, outputs=top)
if quick_setup:
return model
model = add_regularization(model)
print("After adding l2 regularization, model.losses =", model.losses)
# One more time just for good measure: Freeze base model
# set the first N layers of the base model (e.g., p to the last conv block)
# to non-trainable (weights will not be updated)
# for fine-tuning, "freeze" most of the pre-trained model, and then unfreeze it later
num_layers = len(base_model.layers)
freeze_layers = int(num_layers * freeze_fac)
if (freeze_layers > 0):
print("again: Freezing ", freeze_layers, "/", num_layers,
" layers of base_model")
for i in range(freeze_layers):
base_model.layers[i].trainable = False
# show how many trainable parameters there are
trainable_count = int(
np.sum([K.count_params(p) for p in set(model.trainable_weights)]))
non_trainable_count = int(
np.sum([K.count_params(p) for p in set(model.non_trainable_weights)]))
print('create_model_functional: Total params: {:,}'.format(
trainable_count + non_trainable_count))
print('create_model_functional: Trainable params: {:,}'.format(
trainable_count))
print('create_model_functional: Non-trainable params: {:,}'.format(
non_trainable_count))
return model
def train(self, pipeline):
"""
This fuction trains the model.
"""
print("Traing " + self.backbone)
if self.backbone == "inception":
if self.use_pretrained_weights:
backbone = InceptionV3(weights="imagenet",
include_top=False,
input_shape=(self.size, self.size, 3))
backbone.trainable = False
else:
backbone = InceptionV3(include_top=False,
input_shape=(self.size, self.size, 3))
backbone.trainable = True
elif self.backbone == "VGG16":
if self.use_pretrained_weights:
backbone = VGG16(weights="imagenet",
include_top=False,
input_shape=(self.size, self.size, 3))
backbone.trainable = False
else:
backbone = VGG16(include_top=False,
input_shape=(self.size, self.size, 3))
backbone.trainable = True
elif self.backbone == "MobileNet":
if self.use_pretrained_weights:
backbone = MobileNet(weights="imagenet",
include_top=False,
input_shape=(self.size, self.size, 3))
backbone.trainable = False
else:
backbone = MobileNet(include_top=False,
input_shape=(self.size, self.size, 3))
backbone.trainable = True
else:
raise NotImplementedError("Do not support this kind of backbone.")
model = Sequential([
backbone,
GlobalAveragePooling2D(),
Dropout(0.1),
Dense(1024, activation='relu'),
Dense(6, activation='softmax')
])
"""
This part can be modified to change learning rate schedule.
We will make it cleaner in the future. these messy code is because of the coming ddl.
"""
initial_learning_rate = 0.001
lr_schedule = keras.experimental.CosineDecay(initial_learning_rate,
decay_steps=1000,
alpha=0.0,
name=None)
opt = keras.optimizers.RMSprop(learning_rate=lr_schedule)
# opt=keras.optimizers.Adam(lr=0.001, beta_1=0.9, beta_2=0.999, epsilon=None, decay=0.1, amsgrad=False)
model.compile(loss="categorical_crossentropy",
optimizer=opt,
metrics=['accuracy'])
checkpoint = ModelCheckpoint(self.save_dir,
monitor='val_accuracy',
verbose=1,
save_best_only=True,
mode='max')
callbacks_list = [checkpoint]
steps_per_epoch = pipeline["train_pipeline"].n // self.bs
validation_steps = pipeline["val_pipeline"].n // self.bs
history = model.fit_generator(
generator=pipeline["train_pipeline"],
epochs=self.num_epoch,
steps_per_epoch=steps_per_epoch,
validation_data=pipeline["train_pipeline"],
validation_steps=validation_steps,
callbacks=callbacks_list)
# Here the log is saved, and the model is also saved.
with open(self.backbone + self.logname + 'train_log.txt', 'wb') as log:
pickle.dump(history.history, log)
log.close()
print('--> Starting evalutation...')
from keras.preprocessing.image import ImageDataGenerator
from keras import metrics
def in_top_k(y_true, y_pred):
return metrics.top_k_categorical_accuracy(y_true, y_pred, k=5)
val_datagen = ImageDataGenerator(preprocessing_function=preprocess_input)
validation_generator = val_datagen.flow_from_directory(
'./imagenet-data/validation',
target_size=(224, 224),
batch_size=10,
class_mode='categorical',
shuffle=False)
model.trainable = False
model.compile(loss='categorical_crossentropy',
optimizer='sgd',
metrics=['accuracy', in_top_k])
results = model.evaluate(validation_generator,
steps=5000,
workers=1,
max_queue_size=1)
print('--> Results for ' + sys.argv[1])
print(model.metrics_names)
print(results)
#########################################
np.asarray(Image.fromarray(X_test[i]).resize((224, 224)))
for i in range(0, len(X_test))
])
X_test_new = X_test_new.astype("float32")
# 測試資料的資料前處理
test_input = preprocess_input(X_test_new)
# 定義模型
model = Sequential()
model.add(mobilenet_model)
model.add(Dropout(0.5))
model.add(GlobalAveragePooling2D())
model.add(Dropout(0.5))
model.add(Dense(10, activation="softmax"))
model.summary() # 顯示模型摘要資訊
# 凍結上層模型
mobilenet_model.trainable = False
# 編譯模型
model.compile(loss="categorical_crossentropy",
optimizer="adam",
metrics=["accuracy"])
# 訓練模型
history = model.fit(train_input,
Y_train,
validation_data=(test_input, Y_test),
epochs=17,
batch_size=32,
verbose=2)
# 評估模型
print("\nTesting ...")
loss, accuracy = model.evaluate(test_input, Y_test)
print("測試資料集的準確度 = {:.2f}".format(accuracy))
valid_batches = ImageDataGenerator().flow_from_directory(
validation_dir,
target_size=(img_width, img_height),
classes=[
'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H', 'I', 'J', 'K', 'L', 'M', 'N',
'O', 'P', 'R', 'S', 'T', 'U', 'V', 'Y', 'Z', 'del', 'nothing', 'space'
],
batch_size=validBatchSize)
base_model = MobileNet(
weights='imagenet',
include_top=False,
input_shape=IMG_SHAPE,
pooling='avg',
)
base_model.trainable = True
model = Sequential()
model.add(base_model)
model.add(Dropout(0.25))
model.add(Dense(26, activation='softmax'))
model.summary()
stepsPerEpoch = numpy.ceil(train_batches.n / 4000)
validationSteps = numpy.ceil(valid_batches.n / 2000)
model.compile(Adam(lr=.0001),
loss='categorical_crossentropy',
metrics=['accuracy'])
checkDir = 'checkpoints'
checkpoint = ModelCheckpoint(
def create_posenet_mobilenet_v1(num_beacon,
image_beacon_weights_path=None,
trainable=True):
# create the base pre-trained model
if K.image_data_format() == 'channels_first':
image_input = Input(shape=(None, 3, 224, 224), name='input_1')
else:
image_input = Input(shape=(None, 224, 224, 3), name='input_1')
alpha = 1.0
dropout = 1e-3
if K.image_data_format() == 'channels_first':
input_shape = (3, 224, 224)
else:
input_shape = (224, 224, 3)
base_model = MobileNet(input_shape=input_shape,
alpha=alpha,
dropout=dropout,
weights='imagenet',
include_top=False)
base_model.trainable = False
# add top layer
model_output = TimeDistributed(base_model)(image_input)
if K.image_data_format() == 'channels_first':
shape = (int(1024 * alpha), 1, 1)
else:
shape = (1, 1, int(1024 * alpha))
model_output = TimeDistributed(GlobalAveragePooling2D())(model_output)
model_output = TimeDistributed(Reshape(shape,
name='reshape_1'))(model_output)
model_output = TimeDistributed(Dropout(dropout,
name='dropout'))(model_output)
image_conv_pose_xyz = TimeDistributed(
Conv2D(1024, (1, 1), padding='same',
name='conv_pose_xyz'))(model_output)
image_conv_pose_xyz_flat = TimeDistributed(Flatten())(image_conv_pose_xyz)
image_conv_pose_wpqr = TimeDistributed(
Conv2D(1024, (1, 1), padding='same',
name='conv_pose_wpqr'))(model_output)
image_conv_pose_wpqr_flat = TimeDistributed(
Flatten())(image_conv_pose_wpqr)
# beacon subnet 1
beacon_input = Input(shape=(None, num_beacon, 1, 1), name='input_2')
beacon_icp1_out1 = TimeDistributed(
Conv2D(16, (1, 1),
padding='same',
activation='relu',
name='beacon_icp1_out1'))(beacon_input)
beacon_icp1_out1.trainable = False
# beacon subnet 2
beacon_icp4_out1 = TimeDistributed(
Conv2D(16, (1, 1),
padding='same',
activation='relu',
name='beacon_icp4_out1'))(beacon_icp1_out1)
beacon_icp4_out1.trainable = False
# beacon subnet 3
beacon_icp7_out1 = TimeDistributed(
Conv2D(16, (1, 1),
padding='same',
activation='relu',
name='beacon_icp7_out1'))(beacon_icp4_out1)
beacon_icp7_out1.trainable = False
beacon_cls3_fc1_flat = TimeDistributed(Flatten())(beacon_icp7_out1)
beacon_cls3_fc1_flat.trainable = False
beacon_cls3_fc1_pose = TimeDistributed(
Dense(2048, activation='relu',
name='beacon_cls3_fc1_pose'))(beacon_cls3_fc1_flat)
beacon_cls3_fc1_pose.trainable = False
# image, beacon classify 3
image_beacon_cls3_fc1_pose_xyz = concatenate(
[image_conv_pose_xyz_flat, beacon_cls3_fc1_pose],
name='image_beacon_cls3_fc1_pose_xyz')
image_beacon_lstm_xyz = LSTM(
256, return_sequences=True,
name='image_beacon_lstm_xyz')(image_beacon_cls3_fc1_pose_xyz)
image_beacon_lstm_dense_xyz = TimeDistributed(
Dense(128, activation='relu'),
name='image_beacon_lstm_dense_xyz')(image_beacon_lstm_xyz)
image_beacon_lstm_pose_xyz = TimeDistributed(
Dense(3),
name='image_beacon_lstm_pose_xyz')(image_beacon_lstm_dense_xyz)
image_beacon_cls3_fc1_pose_wpqr = concatenate(
[image_conv_pose_wpqr_flat, beacon_cls3_fc1_pose],
name='image_beacon_cls3_fc1_pose_wpqr')
image_beacon_lstm_wpqr = LSTM(
256, return_sequences=True,
name='image_beacon_lstm_wpqr')(image_beacon_cls3_fc1_pose_wpqr)
image_beacon_lstm_dense_wpqr = TimeDistributed(
Dense(128, activation='relu'),
name='image_beacon_lstm_dense_wpqr')(image_beacon_lstm_wpqr)
image_beacon_lstm_pose_wpqr = TimeDistributed(
Dense(4),
name='image_beacon_lstm_pose_wpqr')(image_beacon_lstm_dense_wpqr)
image_beacon_posenet = Model(
inputs=[image_input, beacon_input],
outputs=[image_beacon_lstm_pose_xyz, image_beacon_lstm_pose_wpqr])
if image_beacon_weights_path:
print("start load image beacon network weights")
image_beacon_weights_path_ext = os.path.splitext(
image_beacon_weights_path)[-1]
if image_beacon_weights_path_ext == ".npy":
weights_data = np.load(image_beacon_weights_path).item()
for layer in image_beacon_posenet.layers:
if layer.name in weights_data.keys():
layer_weights = weights_data[layer.name]
layer.set_weights(
(layer_weights['weights'], layer_weights['biases']))
print("finish load imaege beacon network weights")
elif image_beacon_weights_path_ext == ".h5":
image_beacon_posenet.load_weights(image_beacon_weights_path,
by_name=True)
print("finish load image beacon network weights")
else:
print("invalid weight file : " + image_weights_path)
sys.exit()
if not trainable:
for layer in image_beacon_posenet.layers:
layer.trainable = False
return image_beacon_posenet
