def fuse_conv_and_bn(conv, bn):
# Fuse convolution and batchnorm layers https://tehnokv.com/posts/fusing-batchnorm-and-conv/
fusedconv = nn.Conv2d(conv.in_channels,
conv.out_channels,
kernel_size=conv.kernel_size,
stride=conv.stride,
padding=conv.padding,
groups=conv.groups,
bias=True)
# prepare filters
w_conv = conv.weight.clone().view(conv.out_channels, -1)
w_bn = jt.diag(bn.weight / (jt.sqrt(bn.eps + bn.running_var)))
fusedconv.weight.assign(
jt.matmul(w_bn, w_conv).view(fusedconv.weight.shape))
# prepare spatial bias
b_conv = jt.zeros(
(conv.weight.shape[0], )) if conv.bias is None else conv.bias
b_bn = bn.bias - bn.weight * bn.running_mean / jt.sqrt(bn.running_var +
bn.eps)
fusedconv.bias.assign(
jt.matmul(w_bn, b_conv.reshape(-1, 1)).reshape(-1) + b_bn)
return fusedconv
def execute(self, x):
if len(x.shape) == 3:
dims = [0, 2]
else:
dims = [0]
if self.is_train:
xmean = jt.mean(x, dims=dims, keepdims=1)
x2mean = jt.mean(x * x, dims=dims, keepdims=1)
if self.sync and jt.in_mpi:
xmean = xmean.mpi_all_reduce("mean")
x2mean = x2mean.mpi_all_reduce("mean")
xvar = x2mean - xmean * xmean
norm_x = (x - xmean) / jt.sqrt(xvar + self.eps)
self.running_mean.update(self.running_mean +
(xmean.sum(dims) - self.running_mean) *
self.momentum)
self.running_var.update(self.running_var +
(xvar.sum(dims) - self.running_var) *
self.momentum)
else:
running_mean = self.running_mean.broadcast(x, dims)
running_var = self.running_var.broadcast(x, dims)
norm_x = (x - running_mean) / jt.sqrt(running_var + self.eps)
if not self.affine:
return norm_x
w = self.weight.broadcast(x, dims)
b = self.bias.broadcast(x, dims)
return norm_x * w + b
def execute(self, x):
dims = [0] + list(range(2, x.ndim))
####### centering calibration begin ####### $
x += self.center_weight * self.stas(x)
####### centering calibration end ####### $
if self.is_train:
xmean = jt.mean(x, dims=dims)
x2mean = jt.mean(x * x, dims=dims)
if self.sync and jt.in_mpi:
xmean = xmean.mpi_all_reduce("mean")
x2mean = x2mean.mpi_all_reduce("mean")
xvar = (x2mean - xmean * xmean).maximum(0.0)
w = 1.0 / jt.sqrt(xvar + self.eps)
b = -xmean * w
norm_x = x * w.broadcast(x, dims) + b.broadcast(x, dims)
self.running_mean.update(self.running_mean + (xmean.reshape(
(-1, )) - self.running_mean) * self.momentum)
self.running_var.update(self.running_var +
(xvar.reshape((-1, )) - self.running_var) *
self.momentum)
else:
w = 1.0 / jt.sqrt(self.running_var + self.eps)
b = -self.running_mean * w
norm_x = x * w.broadcast(x, dims) + b.broadcast(x, dims)
####### scaling calibration begin ####### $
scale_factor = jt.sigmoid(self.scale_weight * self.stas(norm_x) +
self.scale_bias)
####### scaling calibration end ####### $
return self.weight * scale_factor * norm_x + self.bias
def step(self, loss):
ps = self.parameters
gs = jt.grad(loss, ps)
self.adam_step += 1
n, (b0, b1) = float(self.adam_step), self.betas
for p, g, v, m in zip(ps, gs, self.values, self.m):
m.assign(b0 * m + (1-b0) * g)
v.assign(b1 * v + (1-b1) * g * g)
step_size = self.lr * jt.sqrt(1-b1**n) / (1-b0 ** n)
p -= m * step_size / (jt.sqrt(v) + self.eps)
p.detach_inplace()
jt.sync(self.no_grad_parameters)
def step(self, loss):
self.pre_step(loss)
n = float(self.n_step)
for pg in self.param_groups:
# get arguments from each param_groups
lr = pg.get("lr", self.lr)
eps = pg.get("eps", self.eps)
b0, b1 = pg.get("betas", self.betas)
for p, g, v, m in zip(pg["params"], pg["grads"], pg["values"], pg["m"]):
m.assign(b0 * m + (1-b0) * g)
v.assign(b1 * v + (1-b1) * g * g)
step_size = lr * jt.sqrt(1-b1**n) / (1-b0 ** n)
p -= m * step_size / (jt.sqrt(v) + eps)
p.detach_inplace()
def adam(model, loss, lr=3e-4, betas=[0.9, 0.999], eps=1e-8):
ps = jt.find_vars(model)
gs = jt.grad(loss, ps)
with jt.var_scope('_'.join([model, 'adam']), unique=True):
adam_step = jt.make_var([1], init=jt.zeros)
adam_step += 1
for p,g in zip(ps,gs):
m = jt.make_var(p.shape, init=jt.zeros)
v = jt.make_var(p.shape, init=jt.zeros)
m.assign(betas[0] * m + (1-betas[0]) * g)
v.assign(betas[1] * v + (1-betas[1]) * g * g)
step_size = lr * jt.sqrt(1-betas[1]**adam_step) / (1-betas[0] ** adam_step)
p -= m * step_size / (jt.sqrt(v) + eps)
def step(self, loss):
self.pre_step(loss)
n = float(self.n_step)
for pg in self.param_groups:
# get arguments from each param_groups
lr = pg.get("lr", self.lr)
eps = pg.get("eps", self.eps)
b0, b1 = pg.get("betas", self.betas)
for p, g, v, m in zip(pg["params"], pg["grads"], pg["values"],
pg["m"]):
if p.is_stop_grad(): continue
m.update(b0 * m + (1 - b0) * g)
v.update(b1 * v + (1 - b1) * g * g)
step_size = lr * jt.sqrt(1 - b1**n) / (1 - b0**n)
p.update(p - m * step_size / (jt.sqrt(v) + eps))
def execute(self, x):
if self.is_train:
xmean = jt.mean(x, dims=[0,2,3], keepdims=1)
x2mean = jt.mean(x*x, dims=[0,2,3], keepdims=1)
xvar = x2mean-xmean*xmean
norm_x = (x-xmean)/jt.sqrt(xvar+self.eps)
self.running_mean += (xmean.sum([0,2,3])-self.running_mean)*self.momentum
self.running_var += (xvar.sum([0,2,3])-self.running_var)*self.momentum
else:
running_mean = self.running_mean.broadcast(x, [0,2,3])
running_var = self.running_var.broadcast(x, [0,2,3])
norm_x = (x-running_mean)/jt.sqrt(running_var+self.eps)
w = self.weight.broadcast(x, [0,2,3])
b = self.bias.broadcast(x, [0,2,3])
return norm_x * w + b
def change(gt, priors):
"""
Compute the d_change metric proposed in Box2Pix:
https://lmb.informatik.uni-freiburg.de/Publications/2018/UB18/paper-box2pix.pdf
Input should be in point form (xmin, ymin, xmax, ymax).
Output is of shape [num_gt, num_priors]
Note this returns -change so it can be a drop in replacement for
"""
num_priors = priors.shape[0]
num_gt = gt.shape[0]
gt_w = (gt[:, 2] - gt[:, 0]).unsqueeze(1).expand(num_gt, num_priors)
gt_h = (gt[:, 3] - gt[:, 1]).unsqueeze(1).expand(num_gt, num_priors)
gt_mat = gt.unsqueeze(1).expand(num_gt, num_priors, 4)
pr_mat = priors.unsqueeze(0).expand(num_gt, num_priors, 4)
diff = gt_mat - pr_mat
diff[:, :, 0] /= gt_w
diff[:, :, 2] /= gt_w
diff[:, :, 1] /= gt_h
diff[:, :, 3] /= gt_h
return -jt.sqrt((diff.sqr()).sum(dim=2))
def check(self, h, w, cs, rs, pa, rtp, dim):
a = jt.random([h, w])
a.data
with jt.log_capture_scope(
log_v=0,
log_vprefix="tuner_manager=100",
# this value is used for force compile
compile_options={"test_reduce_tuner": 1}) as logs:
amean = jt.mean(a, dims=[dim], keepdims=1)
a2mean = jt.mean(a * a, dims=[dim], keepdims=1)
norm_aa = (a - amean.broadcast_var(a)) / (
jt.sqrt(a2mean - amean * amean).broadcast_var(a))
norm_aa.data
logs = find_log_with_re(
logs,
"Run tuner reduce: confidence\\((20)\\) candidates\\((.*)\\)$")
assert len(logs) == 1, logs
assert logs[0][0] == "20", "confidence of reorder should be 20"
candidates = simple_parser(logs[0][1])
assert candidates == {
"order0": [
0,
],
"order1": [
1,
],
"order2": [
0,
],
"split1": [
2048,
],
}
def pullaway_loss(embeddings):
norm = jt.sqrt((embeddings ** 2).sum(1,keepdims=True))
normalized_emb = embeddings / norm
similarity = jt.matmul(normalized_emb, normalized_emb.transpose(1, 0))
batch_size = embeddings.size(0)
loss_pt = (jt.sum(similarity) - batch_size) / (batch_size * (batch_size - 1))
return loss_pt
def compute_gradient_penalty(D, real_samples, fake_samples):
'Calculates the gradient penalty loss for WGAN GP'
alpha = jt.array(np.random.random((real_samples.shape[0], 1, 1, 1)).astype('float32'))
interpolates = ((alpha * real_samples) + ((1 - alpha) * fake_samples))
d_interpolates = D(interpolates)
gradients = jt.grad(d_interpolates, interpolates)
gradients = gradients.reshape((gradients.shape[0], (- 1)))
gp =((jt.sqrt((gradients.sqr()).sum(1))-1).sqr()).mean()
return gp
def step(self, loss):
self.adam_step += 1
ps = self.parameters
gs = jt.grad(loss, ps)
if jt.mpi:
for g in gs:
g.assign(g.mpi_all_reduce("mean"))
if self.adam_step % self.param_sync_iter == 0:
for p in ps:
p.assign(p.mpi_all_reduce("mean"))
n, (b0, b1) = float(self.adam_step), self.betas
for p, g, v, m in zip(ps, gs, self.values, self.m):
m.assign(b0 * m + (1 - b0) * g)
v.assign(b1 * v + (1 - b1) * g * g)
step_size = self.lr * jt.sqrt(1 - b1**n) / (1 - b0**n)
p -= m * step_size / (jt.sqrt(v) + self.eps)
p.detach_inplace()
jt.sync(self.no_grad_parameters)
def execute(self, x):
dims = [-i for i in range(len(self.normalized_shape), 0, -1)]
mean = jt.mean(x, dims=dims, keepdims=1)
numerator = x - mean
variance = jt.mean(numerator.sqr(), dims=dims, keepdims=1)
denominator = jt.sqrt(variance + self.eps)
norm_x = numerator / denominator
if self.elementwise_affine:
norm_x = norm_x * self.weight + self.bias
return norm_x
def batch_norm(x):
xmean = jt.mean(x, dims=[0, 2, 3], keepdims=1)
x2mean = jt.mean(x * x, dims=[0, 2, 3], keepdims=1)
norm_x = (x - xmean.broadcast_var(x)) / (
jt.sqrt(x2mean - xmean * xmean + jt.float32(1e-5)).broadcast_var(x))
w = jt.make_var([x.shape[1]], init=get_init_var)
b = jt.make_var([x.shape[1]], init=get_init_var)
w = w.broadcast([1, w.shape[0], 1, 1], [0, 2, 3])
b = b.broadcast([1, b.shape[0], 1, 1], [0, 2, 3])
return norm_x * w + b
def step(self, loss):
self.pre_step(loss)
for pg in self.param_groups:
# get arguments from each param_groups
lr = pg.get("lr", self.lr)
eps = pg.get("eps", self.eps)
alpha = pg.get("alpha", self.alpha)
for p, g, v in zip(pg["params"], pg["grads"], pg["values"]):
if p.is_stop_grad(): continue
v.update(alpha * v + (1 - alpha) * g * g)
p.update(p - lr * g / (jt.sqrt(v) + eps))
def calc_gradient_penalty(netD, real_data, generated_data):
LAMBDA = 10
b_size = real_data.shape[0]
alpha = jt.random([b_size, 1, 1, 1])
alpha = alpha.broadcast(real_data)
interpolated = ((alpha * real_data.data) +
((1 - alpha) * generated_data.data))
prob_interpolated = netD(interpolated)
gradients = jt.grad(prob_interpolated, interpolated)
gradients = jt.reshape(gradients, [b_size, -1])
gradients_norm = jt.sqrt((jt.sum((gradients**2), dim=1) + 1e-12))
return (LAMBDA * ((gradients_norm - 1)**2).mean())
def execute(self, x):
xmean = jt.mean(x, dims=[2, 3], keepdims=1)
x2mean = jt.mean(x * x, dims=[2, 3], keepdims=1)
if self.sync and jt.in_mpi:
xmean = xmean.mpi_all_reduce("mean")
x2mean = x2mean.mpi_all_reduce("mean")
xvar = jt.maximum(x2mean - xmean * xmean, 0)
norm_x = (x - xmean) / jt.sqrt(xvar + self.eps)
w = self.weight.broadcast(x, [0, 2, 3])
b = self.bias.broadcast(x, [0, 2, 3])
return norm_x * w + b
def execute(self, x):
N, C, H, W = x.shape
assert C == self.num_channels
assert C % self.num_groups == 0
x = x.reshape((N, self.num_groups, int(C / self.num_groups), H * W))
xmean = jt.mean(x, dims=[2, 3], keepdims=1)
x2mean = jt.mean(x * x, dims=[2, 3], keepdims=1)
xvar = jt.maximum(x2mean - xmean * xmean, 0)
norm_x = (x - xmean) / jt.sqrt(xvar + self.eps)
w = self.weight.reshape((1, self.num_groups, C // self.num_groups, 1))
b = self.bias.reshape((1, self.num_groups, C // self.num_groups, 1))
return (norm_x * w + b).reshape((N, C, H, W))
def execute(self, x):
if self.is_train:
xmean = jt.mean(x, dims=[0,2,3], keepdims=1)
x2mean = jt.mean(x*x, dims=[0,2,3], keepdims=1)
if self.sync and jt.in_mpi:
xmean = xmean.mpi_all_reduce("mean")
x2mean = x2mean.mpi_all_reduce("mean")
xvar = x2mean-xmean*xmean
norm_x = (x-xmean)/jt.sqrt(xvar+self.eps)
self.running_mean.update(self.running_mean +
(xmean.reshape((-1,)) - self.running_mean) * self.momentum)
self.running_var.update(self.running_var +
(xvar.reshape((-1,))-self.running_var)*self.momentum)
else:
running_mean = self.running_mean.broadcast(x, [0,2,3])
running_var = self.running_var.broadcast(x, [0,2,3])
norm_x = (x-running_mean)/jt.sqrt(running_var+self.eps)
w = self.weight.broadcast(x, [0,2,3])
b = self.bias.broadcast(x, [0,2,3])
return norm_x * w + b
def __call__(self, boxlists):
"""
Arguments:
boxlists (list[BoxList])
"""
# Compute level ids
s = jt.sqrt(cat([boxlist.area() for boxlist in boxlists]))
# Eqn.(1) in FPN paper
target_lvls = jt.floor(self.lvl0 + jt.log2(s / self.s0 + self.eps))
target_lvls = jt.clamp(target_lvls, min_v=self.k_min, max_v=self.k_max)
return target_lvls.int32() - self.k_min
def batch_norm(x, is_train, eps=1e-5, momentum=0.1):
w = jt.make_var([x.shape[1]], init=lambda *a: init.constant(*a, 1.0))
b = jt.make_var([x.shape[1]], init=lambda *a: init.constant(*a, 0.0))
running_mean = jt.make_var([x.shape[1]], init=lambda *a: init.constant(*a, 0.0))
running_var = jt.make_var([x.shape[1]], init=lambda *a: init.constant(*a, 1.0))
w = w.broadcast(x, [0,2,3])
b = b.broadcast(x, [0,2,3])
if is_train:
xmean = jt.mean(x, dims=[0,2,3], keepdims=1)
x2mean = jt.mean(x*x, dims=[0,2,3], keepdims=1)
xvar = x2mean-xmean*xmean
norm_x = (x-xmean)/jt.sqrt(xvar+eps)
running_mean += (xmean.sum([0,2,3])-running_mean)*momentum
running_var += (xvar.sum([0,2,3])-running_var)*momentum
else:
running_mean = running_mean.broadcast(x, [0,2,3])
running_var = running_var.broadcast(x, [0,2,3])
norm_x = (x-running_mean)/jt.sqrt(running_var+eps)
return norm_x * w + b
def step(self, loss=None):
if loss is not None:
self.pre_step(loss)
n = float(self.n_step)
for pg in self.param_groups:
# get arguments from each param_groups
lr = pg.get("lr", self.lr)
eps = pg.get("eps", self.eps)
weight_decay = pg.get("weight_decay", self.weight_decay)
b0, b1 = pg.get("betas", self.betas)
for p, g, v, m in zip(pg["params"], pg["grads"], pg["values"],
pg["m"]):
if p.is_stop_grad(): continue
p.update(p * (1 - lr * weight_decay))
bias_correction1 = 1 - b0**n
bias_correction2 = 1 - b1**n
m.update(b0 * m + (1 - b0) * g) #exp_avg
v.update(b1 * v + (1 - b1) * g * g) #exp_avg_sq
denom = jt.sqrt(v) / jt.sqrt(bias_correction2) + eps
step_size = lr / bias_correction1
p.update(p - step_size * m / denom)
self.zero_grad()
def projection(vertices, K, R, t, dist_coeffs, orig_size, eps=1e-9):
'''
Calculate projective transformation of vertices given a projection matrix
Input parameters:
K: batch_size * 3 * 3 intrinsic camera matrix
R, t: batch_size * 3 * 3, batch_size * 1 * 3 extrinsic calibration parameters
dist_coeffs: vector of distortion coefficients
orig_size: original size of image captured by the camera
Returns: For each point [X,Y,Z] in world coordinates [u,v,z] where u,v are the coordinates of the projection in
pixels and z is the depth
'''
# instead of P*x we compute x'*P'
vertices = jt.matmul(vertices, R.transpose((0, 2, 1))[0]) + t
x, y, z = vertices[:, :, 0], vertices[:, :, 1], vertices[:, :, 2]
x_ = x / (z + eps)
y_ = y / (z + eps)
# Get distortion coefficients from vector
k1 = dist_coeffs[:, 0].unsqueeze(1)
k2 = dist_coeffs[:, 1].unsqueeze(1)
p1 = dist_coeffs[:, 2].unsqueeze(1)
p2 = dist_coeffs[:, 3].unsqueeze(1)
k3 = dist_coeffs[:, 4].unsqueeze(1)
# we use x_ for x' and x__ for x'' etc.
x_2 = x_.sqr()
y_2 = y_.sqr()
r = jt.sqrt(x_2 + y_2)
r2 = r.sqr()
r4 = r2.sqr()
r6 = r4 * r2
tmp = k1 * (r2) + k2 * (r4) + k3 * (r6) + 1
x__ = x_ * tmp + 2 * p1 * x_ * y_ + p2 * (r2 + 2 * x_2)
y__ = y_ * tmp + p1 * (r2 + 2 * y_2) + 2 * p2 * x_ * y_
vertices = jt.stack([x__, y__, jt.ones(z.shape)], dim=-1)
vertices = jt.matmul(vertices, K.transpose((0, 2, 1))[0])
u, v = vertices[:, :, 0], vertices[:, :, 1]
v = orig_size - v
# map u,v from [0, img_size] to [-1, 1] to use by the renderer
u = 2 * (u - orig_size / 2.) / orig_size
v = 2 * (v - orig_size / 2.) / orig_size
vertices = jt.stack([u, v, z], dim=-1)
return vertices
def execute(self, x):
N = x.shape[0]
C = self.num_channels
output_shape = (N, -1)
# TODO: 3d group norm
if x.ndim == 4:
output_shape = x.shape
assert C % self.num_groups == 0
x = x.reshape((N, self.num_groups, int(C / self.num_groups), -1))
xmean = jt.mean(x, dims=[2, 3], keepdims=1)
x2mean = jt.mean(x * x, dims=[2, 3], keepdims=1)
xvar = jt.maximum(x2mean - xmean * xmean, 0)
norm_x = (x - xmean) / jt.sqrt(xvar + self.eps)
if not self.affine:
return norm_x.reshape(output_shape)
w = self.weight.reshape((1, self.num_groups, C // self.num_groups, 1))
b = self.bias.reshape((1, self.num_groups, C // self.num_groups, 1))
return (norm_x * w + b).reshape(output_shape)
def check(self, h, w, cs, rs, pa, rtp, dim):
a = jt.random([h, w])
a.sync()
with jt.log_capture_scope(
log_v=0,
log_vprefix="tuner_manager=100",
# this value is used for force compile
compile_options={"test_new_fused_op": 1}) as logs:
amean = jt.mean(a, dims=[dim], keepdims=1)
a2mean = jt.mean(a * a, dims=[dim], keepdims=1)
norm_aa = (a - amean.broadcast_var(a)) / (
jt.sqrt(a2mean - amean * amean).broadcast_var(a))
norm_aa.sync()
logs = find_log_with_re(
logs,
"Run tuner reduce: confidence\\((.*)\\) candidates\\((.*)\\)$")
assert len(logs) == 3, logs
def execute(self, input, step=0, alpha=-1):
for i in range(step, -1, -1):
index = self.n_layer - i - 1
if i == step:
out = self.from_rgb[index](input)
if i == 0:
out_std = jt.sqrt(out.var + 1e-8)
mean_std = out_std.mean()
mean_std = mean_std.expand(out.size(0), 1, 4, 4)
out = jt.cat([out, mean_std], 1)
out = self.progression[index](out)
if i > 0:
if i == step and 0 <= alpha < 1:
skip_rgb = nn.pool(input, 2)
skip_rgb = self.from_rgb[index + 1](skip_rgb)
out = (1 - alpha) * skip_rgb + alpha * out
out = out.squeeze(2).squeeze(2)
out = self.linear(out)
return out
def hypot(a,b):
return jt.sqrt(a.sqr()+b.sqr())
def compute_centerness_targets(self, reg_targets):
left_right = reg_targets[:, [0, 2]]
top_bottom = reg_targets[:, [1, 3]]
centerness = (left_right.min(dim=-1)[0] / left_right.max(dim=-1)[0]) * \
(top_bottom.min(dim=-1)[0] / top_bottom.max(dim=-1)[0])
return jt.sqrt(centerness)
def norm(x, k, dim):
assert k == 2 or k == 1
if k == 1:
return x.abs().sum(dim)
if k == 2:
return jt.sqrt((x.sqr()).sum(dim).maximum(1e-6))
