def __init__(self, out_planes, criterion, pretrained_model=None,
norm_layer=nn.BatchNorm2d):
super(CPNet, self).__init__()
self.backbone = resnet50(pretrained_model, norm_layer=norm_layer,
bn_eps=config.bn_eps,
bn_momentum=config.bn_momentum,
deep_stem=True, stem_width=64)
self.generate_dilation(self.backbone.layer3, dilation=2)
self.generate_dilation(self.backbone.layer4, dilation=4,
multi_grid=[1, 2, 4])
self.business_layer = []
self.context = ObjectContext(2048, 512, norm_layer)
self.head_layer = nn.Sequential(
ConvBnRelu(2048 + 512, 512, 3, 1, 1,
has_bn=True,
has_relu=True, has_bias=False, norm_layer=norm_layer),
nn.Dropout2d(0.1, inplace=False),
nn.Conv2d(512, out_planes, kernel_size=1)
)
self.aux_layer = nn.Sequential(
ConvBnRelu(1024, 512, 3, 1, 1,
has_bn=True,
has_relu=True, has_bias=False, norm_layer=norm_layer),
nn.Dropout2d(0.1, inplace=False),
nn.Conv2d(512, out_planes, kernel_size=1)
)
self.business_layer.append(self.context)
self.business_layer.append(self.head_layer)
self.business_layer.append(self.aux_layer)
self.criterion = criterion
def __init__(self, out_planes, criterion, pretrained_model=None,
norm_layer=nn.BatchNorm2d):
super(CPNet, self).__init__()
self.backbone = resnet50(pretrained_model, norm_layer=norm_layer,
bn_eps=config.bn_eps,
bn_momentum=config.bn_momentum,
deep_stem=True, stem_width=64)
self.backbone.layer3.apply(partial(self._nostride_dilate, dilate=2))
self.backbone.layer4.apply(partial(self._nostride_dilate, dilate=4))
self.business_layer = []
self.context = ObjectContext(2048, 512, norm_layer)
self.head_layer = nn.Sequential(
ConvBnRelu(2048 + 1024, 512, 3, 1, 1,
has_bn=True,
has_relu=True, has_bias=False, norm_layer=norm_layer),
nn.Dropout2d(0.1, inplace=False),
nn.Conv2d(512, out_planes, kernel_size=1)
)
self.aux_layer = nn.Sequential(
ConvBnRelu(1024, 512, 3, 1, 1,
has_bn=True,
has_relu=True, has_bias=False, norm_layer=norm_layer),
nn.Dropout2d(0.1, inplace=False),
nn.Conv2d(512, out_planes, kernel_size=1)
)
self.business_layer.append(self.context)
self.business_layer.append(self.head_layer)
self.business_layer.append(self.aux_layer)
self.criterion = criterion
self.bce_criterion = nn.BCELoss(reduction='mean')
def __init__(self,
out_planes,
criterion,
inplace=True,
pretrained_model=None,
norm_layer=nn.BatchNorm2d):
super(Network, self).__init__()
business_channel_num = config.business_channel_num
self.backbone = resnet50(pretrained_model,
inplace=inplace,
norm_layer=norm_layer,
bn_eps=config.bn_eps,
bn_momentum=config.bn_momentum,
deep_stem=True,
stem_width=64)
self.latent_layers = nn.ModuleList()
self.refine_layers = nn.ModuleList()
self.predict_layer = PredictHead(business_channel_num,
out_planes,
4,
norm_layer=norm_layer)
for idx, channel in enumerate(self.backbone.layer_channel_nums[::-1]):
self.latent_layers.append(
ConvBnRelu(channel,
business_channel_num,
3,
1,
1,
has_bn=False,
has_relu=False,
has_bias=False,
norm_layer=norm_layer))
self.refine_layers.append(
ConvBnRelu(business_channel_num,
business_channel_num,
1,
1,
0,
has_bn=False,
has_relu=False,
has_bias=False,
norm_layer=norm_layer))
self.business_layers = [
self.latent_layers, self.refine_layers, self.predict_layer
]
self.criterion = criterion
def __init__(self,
out_planes,
is_training,
criterion,
pretrained_model=None,
norm_layer=nn.BatchNorm2d):
super(conf, self).__init__()
self.is_training = is_training
self.business_layer = []
if is_training:
self.criterion = criterion
self.encoder = resnet50(pretrained_model,
norm_layer=norm_layer,
bn_eps=config.bn_eps,
bn_momentum=config.bn_momentum,
deep_stem=True,
stem_width=64)
self.context_ff = AttentionFusion(1024, 2048, 128)
self.spatial_conv = ConvBnRelu(256,
128,
1,
1,
0,
dilation=1,
has_bn=True,
norm_layer=norm_layer,
has_relu=True,
has_bias=False)
self.loc_conf = LocationConfidence(128 + 128, 1)
self.refine_block = RefineOutput(128, out_planes, 4)
self.spatial_refine_block = RefineOutput(128, out_planes, 4)
self.context_refine_block = RefineOutput(128, out_planes, 16)
self.business_layer.append(self.context_ff)
self.business_layer.append(self.loc_conf)
self.business_layer.append(self.spatial_conv)
self.business_layer.append(self.refine_block)
self.business_layer.append(self.spatial_refine_block)
self.business_layer.append(self.context_refine_block)
def __init__(self, out_planes, criterion, pretrained_model=None,
norm_layer=nn.BatchNorm2d):
super(PSPNet, self).__init__()
self.backbone = resnet50(pretrained_model, norm_layer=norm_layer,
bn_eps=config.bn_eps,
bn_momentum=config.bn_momentum,
deep_stem=True, stem_width=64)
self.backbone.layer3.apply(partial(self._nostride_dilate, dilate=2))
self.backbone.layer4.apply(partial(self._nostride_dilate, dilate=4))
self.business_layer = []
self.psa_layer = PointwiseSpatialAttention('psa', out_planes, 2048,
norm_layer=norm_layer)
self.aux_layer = nn.Sequential(
ConvBnRelu(1024, 1024, 3, 1, 1,
has_bn=True,
has_relu=True, has_bias=False, norm_layer=norm_layer),
nn.Dropout2d(0.1, inplace=False),
nn.Conv2d(1024, out_planes, kernel_size=1)
)
self.business_layer.append(self.psa_layer)
self.business_layer.append(self.aux_layer)
self.criterion = criterion
def __init__(self, out_planes, is_training, BN2D=BatchNorm2d):
super(Network_Res50, self).__init__()
self.layers = []
self.is_training = is_training
conv_channel = 128
# use base model of resnet 50 from resnet.py
self.context = resnet50(pretrained_model=None,
norm_layer=BN2D,
bn_eps=config.bn_eps,
bn_momentum=config.bn_momentum,
deep_stem=False,
stem_width=64)
self.context_refine = nn.Sequential(
nn.AdaptiveAvgPool2d(1),
ConvBnRelu(2048,
conv_channel,
1,
1,
0,
has_bn=True,
has_relu=True,
has_bias=False,
norm_layer=BN2D))
# ARM for ResBlock 2,3,4 of resnet output
arms = [
AttentionRefinement(2048, conv_channel, norm_layer=BN2D),
AttentionRefinement(1024, conv_channel, norm_layer=BN2D),
AttentionRefinement(512, conv_channel, norm_layer=BN2D)
]
# Refinement of corresponding output
refines = [
ConvBnRelu(conv_channel,
conv_channel,
3,
1,
1,
has_bn=True,
norm_layer=BN2D,
has_relu=True,
has_bias=False),
ConvBnRelu(conv_channel,
conv_channel,
3,
1,
1,
has_bn=True,
norm_layer=BN2D,
has_relu=True,
has_bias=False),
ConvBnRelu(conv_channel,
conv_channel,
3,
1,
1,
has_bn=True,
norm_layer=BN2D,
has_relu=True,
has_bias=False)
]
self.arms = nn.ModuleList(arms)
self.refines = nn.ModuleList(refines)
# Refinement on first layer of resnet output
self.res_top_refine = ConvBnRelu(256,
conv_channel,
3,
1,
1,
has_bn=True,
norm_layer=BN2D,
has_relu=True,
has_bias=False)
self.ffm = FeatureFusion(conv_channel * 2, conv_channel, 1, BN2D)
# classifier for final output
self.class_refine = nn.Sequential(
ConvBnRelu(conv_channel,
conv_channel // 2,
3,
1,
1,
has_bn=True,
has_relu=True,
has_bias=False,
norm_layer=BN2D),
nn.Conv2d(conv_channel // 2,
out_planes,
kernel_size=1,
stride=1,
padding=0))
self.layers.append(self.context)
self.layers.append(self.class_refine)
self.layers.append(self.context_refine)
self.layers.append(self.arms)
self.layers.append(self.ffm)
self.layers.append(self.refines)
self.layers.append(self.res_top_refine)
self.loss = nn.CrossEntropyLoss(reduction='mean', ignore_index=255)
def __init__(self, out_planes, criterion=None, pretrained_model=None,
norm_layer=nn.BatchNorm2d):
super(PSPNet, self).__init__()
self.backbone = resnet50(pretrained_model, norm_layer=norm_layer,
bn_eps=config.bn_eps,
bn_momentum=config.bn_momentum,
deep_stem=True, stem_width=64)
self.backbone.layer3.apply(partial(self._nostride_dilate, dilate=2))
self.backbone.layer4.apply(partial(self._nostride_dilate, dilate=4))
self.business_layer = []
self.psp_layer = PyramidPooling('psp', out_planes, 2048,
norm_layer=norm_layer)
self.aux_layer = nn.Sequential(
ConvBnRelu(1024, 1024, 3, 1, 1,
has_bn=True,
has_relu=True, has_bias=False, norm_layer=norm_layer),
nn.Dropout2d(0.1, inplace=False),
nn.Conv2d(1024, out_planes, kernel_size=1)
)
self.business_layer.append(self.psp_layer)
self.business_layer.append(self.aux_layer)
self.criterion = criterion
ngf = 64
ngf2 = ngf//2
use_selu = True
in_nc = 3
out_nc = 2
#------------road edge detection------------#
self.edge_conv1 = nn.Sequential(*self._conv_block(in_nc+out_nc, ngf2, norm_layer, use_selu, num_block=2))
self.side_edge_conv1 = nn.Conv2d(ngf2, out_nc, kernel_size=1, stride=1, bias=False)
self.edge_conv2 = nn.Sequential(*self._conv_block(ngf2, ngf2*2, norm_layer, use_selu, num_block=2))
self.side_edge_conv2 = nn.Conv2d(ngf2*2, out_nc, kernel_size=1, stride=1, bias=False)
self.edge_conv3 = nn.Sequential(*self._conv_block(ngf2*2, ngf2*4, norm_layer, use_selu, num_block=2))
self.side_edge_conv3 = nn.Conv2d(ngf2*4, out_nc, kernel_size=1, stride=1, bias=False)
self.edge_conv4 = nn.Sequential(*self._conv_block(ngf2*4, ngf2*8, norm_layer, use_selu, num_block=2))
self.side_edge_conv4 = nn.Conv2d(ngf2*8, out_nc, kernel_size=1, stride=1, bias=False)
self.fuse_edge_conv = nn.Conv2d(out_nc*4, out_nc, kernel_size=1, stride=1, bias=False)
#------------road centerline extraction------------#
self.centerline_conv1 = nn.Sequential(*self._conv_block(in_nc+out_nc, ngf2, norm_layer, use_selu, num_block=2))
self.side_centerline_conv1 = nn.Conv2d(ngf2, out_nc, kernel_size=1, stride=1, bias=False)
self.centerline_conv2 = nn.Sequential(*self._conv_block(ngf2, ngf2*2, norm_layer, use_selu, num_block=2))
self.side_centerline_conv2 = nn.Conv2d(ngf2*2, out_nc, kernel_size=1, stride=1, bias=False)
self.centerline_conv3 = nn.Sequential(*self._conv_block(ngf2*2, ngf2*4, norm_layer, use_selu, num_block=2))
self.side_centerline_conv3 = nn.Conv2d(ngf2*4, out_nc, kernel_size=1, stride=1, bias=False)
self.centerline_conv4 = nn.Sequential(*self._conv_block(ngf2*4, ngf2*8, norm_layer, use_selu, num_block=2))
self.side_centerline_conv4 = nn.Conv2d(ngf2*8, out_nc, kernel_size=1, stride=1, bias=False)
self.fuse_centerline_conv = nn.Conv2d(out_nc*4, out_nc, kernel_size=1, stride=1, bias=False)
self.maxpool = nn.MaxPool2d(2, stride=2)
self.business_layer.append(self.edge_conv1)
self.business_layer.append(self.edge_conv2)
self.business_layer.append(self.edge_conv3)
self.business_layer.append(self.edge_conv4)
self.business_layer.append(self.side_edge_conv1)
self.business_layer.append(self.side_edge_conv2)
self.business_layer.append(self.side_edge_conv3)
self.business_layer.append(self.side_edge_conv4)
self.business_layer.append(self.fuse_edge_conv)
self.business_layer.append(self.centerline_conv1)
self.business_layer.append(self.centerline_conv2)
self.business_layer.append(self.centerline_conv3)
self.business_layer.append(self.centerline_conv4)
self.business_layer.append(self.side_centerline_conv1)
self.business_layer.append(self.side_centerline_conv2)
self.business_layer.append(self.side_centerline_conv3)
self.business_layer.append(self.side_centerline_conv4)
self.business_layer.append(self.fuse_centerline_conv)
self.edge_criterion = nn.CrossEntropyLoss(reduction='mean', ignore_index=-1, weight=torch.Tensor([0.015, 0.985]))
self.centerline_criterion = nn.CrossEntropyLoss(reduction='mean', ignore_index=-1, weight=torch.Tensor([0.01, 0.99]))