def __init__(self, sess):
self.num_epoch = 25
self.batch_size = 64
self.output_size = 32
self.sample_size = 64
self.image_size = 108
self.sess = sess
self.g_bn0 = batch_norm(name='g_bn0')
self.g_bn1 = batch_norm(name='g_bn1')
self.g_bn2 = batch_norm(name='g_bn2')
self.g_bn3 = batch_norm(name='g_bn3')
self.d_bn1 = batch_norm(name='d_bn1')
self.d_bn2 = batch_norm(name='d_bn2')
self.d_bn3 = batch_norm(name='d_bn3')
self.alpha = 20000
self.beta = 1
self.proj_dir = os.path.dirname(
os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
self.sample_dir = os.path.join(self.proj_dir, 'sample')
self.data_dir = os.path.join(self.proj_dir, 'data')
self.build_net()
def apply(self, inputs, mask, training):
with tf.variable_scope(self.name, reuse=tf.AUTO_REUSE) as scope:
# [K, T, 7] tensordot [7, units] = [K, T, units]
pointwise = tf.nn.relu(batch_norm(self.dense.apply(inputs), phase_train=training, name=self.name))
#n [K, 1, units]
aggregated = tf.reduce_max(pointwise, axis=1, keep_dims=True)
# [K, T, units]
repeated = tf.tile(aggregated, [1, cfg.VOXEL_POINT_COUNT, 1])
# [K, T, 2 * units]
concatenated = tf.concat([pointwise, repeated], axis=2)
mask = tf.tile(mask, [1, 1, 2 * self.units])
concatenated = tf.multiply(concatenated, tf.cast(mask, tf.float32))
return concatenated
def ConvMD(M,
Cin,
Cout,
k,
s,
p,
input,
training,
activation=True,
bn=True,
name='conv'):
temp_p = np.array(p)
temp_p = np.lib.pad(temp_p, (1, 1), 'constant', constant_values=(0, 0))
with tf.variable_scope(name) as scope:
if (M == 2):
paddings = (np.array(temp_p)).repeat(2).reshape(4, 2)
pad = tf.pad(input, paddings, "CONSTANT")
temp_conv = tf.layers.conv2d(
pad,
Cout,
k,
strides=s,
padding="valid",
reuse=tf.AUTO_REUSE,
name=scope,
kernel_initializer=tf.keras.initializers.he_normal(seed=None),
bias_initializer=tf.zeros_initializer())
if (M == 3):
paddings = (np.array(temp_p)).repeat(2).reshape(5, 2)
pad = tf.pad(input, paddings, "CONSTANT")
temp_conv = tf.layers.conv3d(
pad,
Cout,
k,
strides=s,
padding="valid",
reuse=tf.AUTO_REUSE,
name=scope,
kernel_initializer=tf.keras.initializers.he_normal(seed=None),
bias_initializer=tf.zeros_initializer())
if bn:
# temp_conv = tf.layers.batch_normalization(
# temp_conv, axis=-1, fused=True, training=training, reuse=tf.AUTO_REUSE, name=scope)
temp_conv = batch_norm(temp_conv, phase_train=training, name=name)
if activation:
return tf.nn.relu(temp_conv)
else:
return temp_conv
def __init__(self, training, batch_size, name=''):
super(FeatureNet, self).__init__()
self.training = training
self.name = name
# scalar
self.batch_size = batch_size
# [ΣK, 35/45, 7]
self.feature = tf.placeholder(
tf.float32, [None, cfg.VOXEL_POINT_COUNT, 7], name='feature')
# [ΣK]
self.number = tf.placeholder(tf.int64, [None], name='number')
# [ΣK, 4], each row stores (batch, d, h, w)
self.coordinate = tf.placeholder(
tf.int64, [None, 4], name='coordinate')
with tf.variable_scope(name, reuse=tf.AUTO_REUSE) as scope:
self.vfe1 = VFELayer(32, 'VFE-1')
self.vfe2 = VFELayer(128, 'VFE-2')
# YUN: Add this line to coincide with original paper and official code
self.dense = tf.layers.Dense(
128, None, name='dense', _reuse=tf.AUTO_REUSE, _scope=scope,
kernel_initializer=tf.keras.initializers.he_normal(seed=None),
bias_initializer=tf.zeros_initializer())
# YUN: Add this line to coincide with original paper and official code
# self.batch_norm = tf.layers.BatchNormalization(
# name='batch_norm', fused=True, _reuse=tf.AUTO_REUSE, _scope=scope)
# boolean mask [K, T, 2 * units]
mask = tf.not_equal(tf.reduce_max(
self.feature, axis=2, keep_dims=True), 0)
x = self.vfe1.apply(self.feature, mask, self.training)
x = self.vfe2.apply(x, mask, self.training)
# YUN: Add this line to coincide with original paper and official code
#FCN
x = self.dense.apply(x)
# YUN: Add this line to coincide with original paper and official code
# x = self.batch_norm.apply(x, self.training)
x = batch_norm(x, phase_train=self.training, name=name)
x = tf.nn.relu(x)
# [ΣK, 128]
voxelwise = tf.reduce_max(x, axis=1)
# car: [N * 10 * 400 * 352 * 128]
# pedestrian/cyclist: [N * 10 * 200 * 240 * 128]
self.outputs = tf.scatter_nd(
self.coordinate, voxelwise, [self.batch_size, 10, cfg.INPUT_HEIGHT, cfg.INPUT_WIDTH, 128])
def Deconv2D(Cin, Cout, k, s, p, input, training, bn=True, name='deconv'):
temp_p = np.array(p)
temp_p = np.lib.pad(temp_p, (1, 1), 'constant', constant_values=(0, 0))
paddings = (np.array(temp_p)).repeat(2).reshape(4, 2)
pad = tf.pad(input, paddings, "CONSTANT")
with tf.variable_scope(name) as scope:
temp_conv = tf.layers.conv2d_transpose(
pad,
Cout,
k,
strides=s,
padding="SAME",
reuse=tf.AUTO_REUSE,
name=scope,
kernel_initializer=tf.keras.initializers.he_normal(seed=None),
bias_initializer=tf.zeros_initializer())
if bn:
# temp_conv = tf.layers.batch_normalization(
# temp_conv, axis=-1, fused=True, training=training, reuse=tf.AUTO_REUSE, name=scope)
temp_conv = batch_norm(temp_conv, phase_train=training, name=name)
return tf.nn.relu(temp_conv)
def conv2d_block(inputs,
n_channels,
kernel_size=(3, 3),
strides=(2, 2),
mode='SAME',
use_batch_norm=True,
activation='relu',
is_training=True,
data_format='NHWC',
conv2d_hparams=None,
batch_norm_hparams=None,
name='conv2d'):
if not isinstance(conv2d_hparams, tf.contrib.training.HParams):
raise ValueError(
"The paramater `conv2d_hparams` is not of type `HParams`")
if not isinstance(batch_norm_hparams,
tf.contrib.training.HParams) and use_batch_norm:
raise ValueError(
"The paramater `conv2d_hparams` is not of type `HParams`")
with tf.variable_scope(name):
if mode != 'SAME_RESNET':
net = layers.conv2d(
inputs,
n_channels=n_channels,
kernel_size=kernel_size,
strides=strides,
padding=mode,
data_format=data_format,
use_bias=not use_batch_norm,
trainable=is_training,
kernel_initializer=conv2d_hparams.kernel_initializer,
bias_initializer=conv2d_hparams.bias_initializer,
)
else: # Special padding mode for ResNet models
if strides == (1, 1):
net = layers.conv2d(
inputs,
n_channels=n_channels,
kernel_size=kernel_size,
strides=strides,
padding='SAME',
data_format=data_format,
use_bias=not use_batch_norm,
trainable=is_training,
kernel_initializer=conv2d_hparams.kernel_initializer,
bias_initializer=conv2d_hparams.bias_initializer,
)
else:
rate = 1 # Unused (for 'a trous' convolutions)
kernel_height_effective = kernel_size[0] + (kernel_size[0] -
1) * (rate - 1)
pad_h_beg = (kernel_height_effective - 1) // 2
pad_h_end = kernel_height_effective - 1 - pad_h_beg
kernel_width_effective = kernel_size[1] + (kernel_size[1] -
1) * (rate - 1)
pad_w_beg = (kernel_width_effective - 1) // 2
pad_w_end = kernel_width_effective - 1 - pad_w_beg
padding = [[0, 0], [pad_h_beg, pad_h_end],
[pad_w_beg, pad_w_end], [0, 0]]
if data_format == 'NCHW':
padding = [padding[0], padding[3], padding[1], padding[2]]
padded_inputs = tf.pad(inputs, padding)
net = layers.conv2d(
padded_inputs, # inputs,
n_channels=n_channels,
kernel_size=kernel_size,
strides=strides,
padding='VALID',
data_format=data_format,
use_bias=not use_batch_norm,
trainable=is_training,
kernel_initializer=conv2d_hparams.kernel_initializer,
bias_initializer=conv2d_hparams.bias_initializer,
)
if use_batch_norm:
net = layers.batch_norm(
net,
decay=batch_norm_hparams.decay,
epsilon=batch_norm_hparams.epsilon,
scale=batch_norm_hparams.scale,
center=batch_norm_hparams.center,
is_training=is_training,
data_format=data_format,
param_initializers=batch_norm_hparams.param_initializers)
if activation == 'relu':
net = layers.relu(net, name='relu')
elif activation == 'tanh':
net = layers.tanh(net, name='tanh')
elif activation != 'linear' and activation is not None:
raise KeyError('Invalid activation type: `%s`' % activation)
return net
def conv2d_block(
inputs,
n_channels,
kernel_size=(3, 3),
strides=(2, 2),
mode='SAME',
use_batch_norm=True,
activation='relu',
is_training=True,
data_format='NHWC',
conv2d_hparams=None,
batch_norm_hparams=None,
name='conv2d',
cardinality=1,
):
if not isinstance(conv2d_hparams, tf.contrib.training.HParams):
raise ValueError(
"The paramater `conv2d_hparams` is not of type `HParams`")
if not isinstance(batch_norm_hparams,
tf.contrib.training.HParams) and use_batch_norm:
raise ValueError(
"The paramater `conv2d_hparams` is not of type `HParams`")
with tf.variable_scope(name):
if cardinality == 1:
net = layers.conv2d(
inputs,
n_channels=n_channels,
kernel_size=kernel_size,
strides=strides,
padding=mode,
data_format=data_format,
use_bias=not use_batch_norm,
trainable=is_training,
kernel_initializer=conv2d_hparams.kernel_initializer,
bias_initializer=conv2d_hparams.bias_initializer)
else:
group_filter = tf.get_variable(
name=name + 'group_filter',
shape=[3, 3, n_channels // cardinality, n_channels],
trainable=is_training,
dtype=tf.float32)
net = tf.nn.conv2d(inputs,
group_filter,
strides=strides,
padding='SAME',
data_format=data_format)
if use_batch_norm:
net = layers.batch_norm(
net,
decay=batch_norm_hparams.decay,
epsilon=batch_norm_hparams.epsilon,
scale=batch_norm_hparams.scale,
center=batch_norm_hparams.center,
is_training=is_training,
data_format=data_format,
param_initializers=batch_norm_hparams.param_initializers)
if activation == 'relu':
net = layers.relu(net, name='relu')
elif activation == 'tanh':
net = layers.tanh(net, name='tanh')
elif activation != 'linear' and activation is not None:
raise KeyError('Invalid activation type: `%s`' % activation)
return net