def testVonMisesSampleMoments(self):
locs_v = np.array([-2., -1., 0.3, 2.3])
concentrations_v = np.array([0.1, 1.0, 2.0, 10.0])
von_mises = tfd.VonMises(
self.make_tensor(locs_v), self.make_tensor(concentrations_v))
n = 10000
samples = von_mises.sample(n, seed=12345)
expected_mean = von_mises.mean()
actual_mean = tf.atan2(
tf.reduce_mean(tf.sin(samples), 0), tf.reduce_mean(tf.cos(samples), 0))
expected_variance = von_mises.variance()
standardized_samples = samples - tf.expand_dims(von_mises.mean(), 0)
actual_variance = 1. - tf.reduce_mean(tf.cos(standardized_samples), axis=0)
[
expected_mean_val, expected_variance_val, actual_mean_val,
actual_variance_val
] = self.evaluate(
[expected_mean, expected_variance, actual_mean, actual_variance])
self.assertAllClose(expected_mean_val, actual_mean_val, rtol=0.1)
self.assertAllClose(expected_variance_val, actual_variance_val, rtol=0.1)
np.log(200.0) + np.zeros(nl),
np.log(150.0),
np.log(300.0),
dtype=T)
log_prior += log_jac
# Frequency spacing
log_dnu_param, log_dnu, log_jac, log_dnu_range = get_bounded_variable(
"log_dnu", np.log(17.0), np.log(15.0), np.log(30.0), dtype=T)
log_prior += log_jac
# The phase for each mode
cp, sp = np.random.randn(2, nmodes)
phi_x, phi_y, cosphi, sinphi, log_jac = get_unit_vector("phi", cp, sp, dtype=T)
log_prior += log_jac
phi = tf.atan2(sinphi, cosphi)
# The parameters of the envelope
log_amp_param, log_amp, log_jac, log_amp_range = get_bounded_variable(
"log_amp",
np.log(np.random.uniform(0.015, 0.02, nl)),
np.log(0.01),
np.log(0.03),
dtype=T)
log_prior += log_jac
log_width = tf.Variable(np.log(25.0), dtype=T, name="log_width")
curve = tf.Variable(0.001, dtype=T, name="curve")
# Initialize
session.run(tf.global_variables_initializer())
cc.ops.reduceIndex(
pred_angle,
tf.expand_dims(tf.expand_dims(nla[i], axis=-1),
axis=-1)))
# with tf.device('/cpu:0'):
# softmax_linear = cc.layers.monitorGrads(softmax_linear)
# pred_angle = cc.layers.monitorGrads(pred_angle)
cross_entropy = tf.nn.sparse_softmax_cross_entropy_with_logits(
logits=softmax_linear,
labels=nla[i],
name='cross_entropy_per_example_' + str(i))
# nan2 = nan[i] - numpy.pi
angleDif = nan[i] - pred_angle
# angleDif2 = nan2 - pred_angle
normAngleDif = tf.abs(
tf.atan2(tf.sin(angleDif), tf.cos(angleDif)))
# normAngleDif2 = tf.abs(tf.atan2(tf.sin(angleDif2), tf.cos(angleDif2)))
# normAngleDif = tf.reduce_min(tf.stack([normAngleDif, normAngleDif2], axis=0), axis=0)
meanAnDif = tf.reduce_mean(normAngleDif,
name="angle_loss_" + str(i))
cross_entropy_mean = tf.reduce_mean(cross_entropy,
name='cross_entropy_' +
str(i))
tf.add_to_collection('x_entropies', cross_entropy_mean)
tf.add_to_collection('angle_losses', meanAnDif)
# softmax_linear, prob, weightDecayFactor = inference(next_example, batch_size, "train", first=True, resuse_batch_norm=False)
# cross_entropy = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=softmax_linear, labels=next_label, name='cross_entropy_per_example')
# cross_entropy_mean = tf.reduce_mean(cross_entropy, name='cross_entropy')
# tf.add_to_collection('losses', cross_entropy_mean)
def box_8c_to_box_3d(box_8c):
"""Computes the 3D bounding box corner positions from 8 corners.
To go back from 8-corner representation to box3D, we need to reverse
the transformation done in 'box_3d_to_box_8c'. The first thing we need
is orientation, this is estimated by calculating the midpoints of
P1 -> P2 and P3 -> P4. Connecting these midpoints, results to a vector
which gives us the direction of the corners. However note that y-axis
is facing downwards and hence we negate this orientation.
Next we calculate the centroids by taking the average of four corners
for x and z axes. We then translate the centroids back to the origin
and then multiply by the rotation matrix, however now we are rotating
the opposite direction, so the angle signs are reversed. After rotation
we can translate the corners back however, there is one additional step
before translation. Since we plan to regress corners, it is expected
for the corners to be skewed, i.e. resulting to non-rectangular shapes.
Hence we attempt to align the corners (by min/maxing the corners and
aligning them by the min and max values for each corner. After this step
we can translate back, and calculate length, width and height.
Args:
box_8c: An ndarray or a tensor of shape (N x 3 x 8) representing
the box corners.
Returns:
corners_3d: An ndarray or a tensor of shape (3 x 8) representing
the box as corners in this format -> [[x1,...,x8],[y1...,y8],
[z1,...,z8]].
"""
format_checker.check_box_8c_format(box_8c)
#######################
# calculate orientation
#######################
x_corners = box_8c[:, 0]
y_corners = box_8c[:, 1]
z_corners = box_8c[:, 2]
x12_midpoint = (x_corners[:, 0] + x_corners[:, 1]) / 2
z12_midpoint = (z_corners[:, 0] + z_corners[:, 1]) / 2
x34_midpoint = (x_corners[:, 2] + x_corners[:, 3]) / 2
z34_midpoint = (z_corners[:, 2] + z_corners[:, 3]) / 2
# We use the midpoints to get a vector to figure out
# the orientation
delta_x = x12_midpoint - x34_midpoint
delta_z = z12_midpoint - z34_midpoint
# negate the orientation since y is downwards
rys = -tf.atan2(delta_z, delta_x)
# Calcuate the centroid by averaging four corners
center_x = tf.reduce_mean(x_corners[:, 0:4], axis=1)
center_z = tf.reduce_mean(z_corners[:, 0:4], axis=1)
# Translate the centroid to the origin before rotation
translated_x = box_8c[:, 0] - tf.reshape(center_x, (-1, 1))
translated_z = box_8c[:, 2] - tf.reshape(center_z, (-1, 1))
# The sign for the angle needs to be flipped because we
# want to rotate back i.e. reverse rotation op we did during
# transforming box_3d -> box_8c
ry_sin = tf.sin(-rys)
ry_cos = tf.cos(-rys)
zeros = tf.zeros_like(rys, dtype=tf.float32)
ones = tf.ones_like(rys, dtype=tf.float32)
rotation_mats = tf.stack([
tf.stack([ry_cos, zeros, ry_sin], axis=1),
tf.stack([zeros, ones, zeros], axis=1),
tf.stack([-ry_sin, zeros, ry_cos], axis=1)
],
axis=2)
corners = tf.stack([translated_x, y_corners, translated_z], axis=1)
# Rotate the corners
corners_3d = tf.matmul(rotation_mats,
corners,
transpose_a=True,
transpose_b=False)
# Align the corners in case they are skewed
aligned_corners = align_boxes_8c(corners_3d)
# Translate the corners back
aligned_corners_x = aligned_corners[:, 0] + tf.reshape(center_x, (-1, 1))
aligned_corners_z = aligned_corners[:, 2] + tf.reshape(center_z, (-1, 1))
new_x_corners = aligned_corners_x
new_y_corners = aligned_corners[:, 1]
new_z_corners = aligned_corners_z
x_b_right = new_x_corners[:, 1]
x_b_left = new_x_corners[:, 2]
z_b_left = new_z_corners[:, 2]
z_t_left = new_z_corners[:, 3]
corner_y1 = new_y_corners[:, 0]
corner_y5 = new_y_corners[:, 4]
length = x_b_right - x_b_left
width = z_t_left - z_b_left
height = corner_y1 - corner_y5
# Re-calculate the centroid
center_x = tf.reduce_mean(new_x_corners[:, 0:4], axis=1)
center_z = tf.reduce_mean(new_z_corners[:, 0:4], axis=1)
center_y = corner_y1
box_3d = tf.stack(
[center_x, center_y, center_z, length, width, height, rys], axis=1)
return box_3d
# gradStrength = tf.sqrt(tpGrad[0]**2 + tpGrad[1]**2) # pooledGrads, indexes = tf.nn.max_pool_with_argmax(gradStrength, [1,3,3,1], [1,1,1,1], padding='SAME') # intIndeces = tf.cast(indexes, tf.int32) # pooledTpGrads = [cc.ops.poolByIndex(tpGrad[0], intIndeces), cc.ops.poolByIndex(tpGrad[1], intIndeces)] # avgrads = tf.concat(pooledTpGrads, axis=-1) avgrads = tf.concat(tpGrad, axis=-1) avgrads = tf.layers.average_pooling2d(avgrads*9, [5,5], [1,1], padding='SAME') # grads = tf.concat(grad, axis=-1) gradsRot = cc.transformations.rotateVectorField(avgrads, angle, irelevantAxisFirst=True) splitGradsRot = tf.split(gradsRot, 2, -1) gradStrength = tf.sqrt(splitGradsRot[0]**2 + splitGradsRot[1]**2) noSmall = [tf.where(tf.abs(gradStrength)<10e-2, tf.zeros_like(splitGradsRot[0]), splitGradsRot[0]), tf.where(tf.abs(gradStrength)<10e-2, tf.zeros_like(splitGradsRot[1]), splitGradsRot[1])] gamiesai = tf.concat(noSmall, axis=-1) # gradsRot = tf.contrib.image.rotate(grads, angle, interpolation="BILINEAR") ang = tf.atan2(noSmall[1],noSmall[0]) reMapped = tf.where(ang<-numpy.pi, ang+2*numpy.pi, ang) reMapped = tf.where(reMapped>=numpy.pi, reMapped-2*numpy.pi, reMapped) quantized = tf.round(reMapped/(numpy.pi/16)) rotInpt = tf.contrib.image.rotate(inpt, angle, interpolation="BILINEAR") # avRotInpt = tf.layers.average_pooling2d(rotInpt, [5,5], [1,1], padding='SAME') avRotInpt = rotInpt rotGrad = tf.image.image_gradients(avRotInpt) rottpGrad = [] rottpGrad.append(tf.nn.conv2d(rotGrad[0],wx,[1,1,1,1],"SAME")/2) rottpGrad.append(tf.nn.conv2d(rotGrad[1],wy,[1,1,1,1],"SAME")/2) # rotgradStrength = tf.sqrt(rottpGrad[0]**2 + rottpGrad[1]**2) # pooledRotGrads, rIndexes = tf.nn.max_pool_with_argmax(rotgradStrength, [1,3,3,1], [1,1,1,1], padding='SAME') # intRIndeces = tf.cast(rIndexes, tf.int32) # pooledRotTpGrads = [cc.ops.poolByIndex(rottpGrad[0], intRIndeces), cc.ops.poolByIndex(rottpGrad[1], intRIndeces)]
def __init__(self, import_dir=None, nDim_high=None, nDim_low=None, layers=[],
activations="tanh", encoder_activations=None, decoder_activations=None,
last_layer="linear", norm="None",
uniform_bias=False, uniform_weights=False, factor_bias=0.0, factor_weights=1.0,
mode_bias='FAN_AVG', mode_weights='FAN_AVG',
optimizer="Adam", learning_rate=.001, momentum=.1, objective="L2",
load=False, number=None, dtype="float", tensorboard=True):
"""
Args:
import_dir: string, path to directory which contains the saved model, all other arguments will be ignored except number and tensorboard
nDim_high: number of input dimension of the data
nDim_low: desired number of intermediate lowest dimensional representation
layers: list of int. Size of input, all hidden and encoding layer. Specify this or nDim_high/nDim_low, not both.
activations: to be used: relu, sigmoid, tanh, softsign, elu, selu, softmax, swish
encoder_activation: activation function in the encoding layer, see activations
last_layer: activation function for the last layer if given. The last layer has same size as output and performs one last transformation.
Put None if you do not wish to have a such last layer
norm: additional normalization; "None", "Layer",
weight/bias initialization parameter, see tf.contrib.layers.variance_scaling_initializer
uniform, factor, mode (default is xavier initialization, set to 1, FAN_IN to self normalizing initialization
optimizer: GradientDescent, Adam, Adagrad, Adadelta, Momentum
learning_rate: the learning rate
objective: the objective which is to be minimized, specify
L2: quadratic distance between in/- and output
CrossEntropy
load: whether to load this model or create new one (path is standardized)
number: which number to give the net, will give new number if None
dtype: data type to be used in tensorflow, "float" or "double"
tensorboard: whether to use the tensorboard
"""
if import_dir is not None:
self.sess = tf.Session()
self.sess.as_default()
tf.saved_model.loader.load(self.sess, ["main"], import_dir)
self.nLayer = self.sess.run("nLayer:0")
self.layers = self.sess.run("layers:0")
self.init = tf.global_variables_initializer()
else:
if dtype=="float":
dtype = tf.float32
else:
dtype = tf.float64
if not os.path.isdir("out"):
os.makedirs("out")
if not os.path.isdir("out/vid"):
os.makedirs("out/vid")
if tensorboard and not os.path.isdir("tmp"):
os.makedirs("tmp")
# self saves: layer, number, optimizer, ...?
self.tensorboard = tensorboard
# layer
layers = [nDim_high] + list(layers)
self.nLayer = len(layers) - 1
self.layers = layers
put_last_layer = last_layer is not None
if not encoder_activations is None and len(encoder_activations) != self.nLayer:
raise ValueError("Given length of encoder activations is invalid: {actlength} for size of {size}".format(actlength=len(encoder_activations), size=self.nLayer))
if not decoder_activations is None and len(decoder_activations) != self.nLayer:
raise ValueError("Given length of decoder activations is invalid: {actlength} for size of {size}".format(actlength=len(decoder_activations), size=self.nLayer))
tf.constant(put_last_layer, name="put_last_layer")
if not put_last_layer:
last_layer = "None"
tf.constant(last_layer, name="last_layer")
tf.constant(self.nLayer, name="nLayer") # Use this one to def nLayer when loading a tensorflow model: self.nLayer = sess.run("nLayer:0")
tf.constant(self.layers, name="layers") # Use this one to def layers when loading a tensorflow model: self.layers = sess.run("layers:0")
tf.constant(activations, name="activations")
tf.constant(norm, name="norm")
self.flag_name = ("cAE" + "_%d"*len(layers)) % tuple(layers)
self.save_path = "out/"+self.flag_name+".ckpt"
print("Encoder network layers (inclusive in/- and output): ", end="")
print(layers + [1])
# neural net: input
x = tf.placeholder(dtype, shape=[None,nDim_high], name="x")
y = tf.placeholder(dtype, shape=[None,nDim_low], name="y") # this is an "encoding" custom input node
freq = tf.constant([[1,1]], name='freq', dtype=dtype)
phase = tf.get_variable('trainable/phase', initializer=[np.pi/2,0], trainable=False)
if nDim_low == 1:
pass
elif nDim_low == 2:
capR = tf.get_variable('trainable/capR', dtype=tf.float32, initializer=[1.,1.], trainable=True)
else:
raise ValueError("Currently only nDim_low = 1 allowed!")
initializer_bias = lambda: tf.contrib.layers.variance_scaling_initializer(factor=factor_bias, mode=mode_bias, uniform=uniform_bias)
initializer_weights = lambda: tf.contrib.layers.variance_scaling_initializer(factor=factor_weights, mode=mode_weights, uniform=uniform_weights)
# encoder:
intermediate_layers = layers[1:]
weightNames = ["encoder_weights_d%d"%d for d in range(self.nLayer)]
biasNames = ["encoder_bias_d%d"%d for d in range(self.nLayer)]
activation_fn = [_get_activation(activations) for _ in range(self.nLayer)] if encoder_activations is None else [_get_activation(encoder_activations[d]) for d in range(self.nLayer)]
aname = ["encoder_act_d%d"%(d) for d in range(self.nLayer)]
layer_norm_name = ["encoder_layer_norm_d%d"%d for d in range(self.nLayer)]
enc = self._fully_connected_stack(x, weightNames, biasNames, intermediate_layers, activation_fn,
initializer_bias(), initializer_weights(), aname, norm=norm, layer_norm_name=layer_norm_name, reuse=False, transpose=False)
# tanh transformations
wx = tf.get_variable('trainable/encoder/wx', shape=[layers[-1],nDim_low + 1], initializer=initializer_weights())
bx = tf.get_variable('trainable/encoder/bx', shape=[nDim_low + 1], initializer=initializer_bias())
xxx = tf.add(tf.matmul(enc, wx), bx, name="xxx")
if nDim_low == 1:
phi = tf.reshape(tf.atan2(xxx[:,1], xxx[:,0]), [-1, 1], name='phi')
if nDim_low == 2:
# theta = tf.asin(tf.nn.sigmoid(xxx[:,2]))
theta = xxx[:,2]
cosTheta = tf.cos(theta)
sinTheta = tf.sin(theta)
phi1 = tf.reshape(tf.atan2(xxx[:,1]/(1 + cosTheta), xxx[:,0]/(1 + cosTheta)), [-1,1])
phi = tf.concat([tf.reshape(theta, [-1,1]), phi1], axis=1, name='phi')
# decoder:
# circularity
if nDim_low == 1:
circ = tf.sin(tf.matmul(phi, freq) + phase, name="circ")
circ_custom = tf.sin(tf.matmul(y, freq) + phase, name="circ_custom")
if nDim_low == 2:
xback_yback = (capR + tf.reshape(tf.tile(cosTheta, [2]), [-1,2]))*tf.sin(tf.matmul(phi1, freq) + phase)
circ = tf.transpose(tf.stack([xback_yback[:,0], xback_yback[:,1], sinTheta], name="circ"))
# custom
sinTheta_custom = tf.sin(y[:,1])
cosTheta_custom = tf.cos(y[:,1])
xback_yback_custom = (capR + tf.reshape(tf.tile(cosTheta_custom, [2]), [-1,2]))*tf.sin(tf.matmul(tf.reshape(y[:,0], [-1,1]), freq) + phase)
circ_custom = tf.transpose(tf.stack([xback_yback_custom[:,0], xback_yback_custom[:,1], sinTheta_custom], name="circ_custom"))
# rest
intermediate_layers = list(layers[self.nLayer - 1::-1])
wName = "decoder"
weightNames = ["%s_weights_d%d"%(wName,d) for d in range(self.nLayer - 1 + put_last_layer, -1, -1)]
biasNames = ["decoder_bias_d%d"%d for d in range(self.nLayer - 1 + put_last_layer, -1, -1)]
activation_fn = [_get_activation(activations) for d in range(self.nLayer - 1, -1, -1)] if decoder_activations is None else [_get_activation(decoder_activations[d]) for d in range(self.nLayer)]
aname = ["decoder_act_d%d"%(d) for d in range(self.nLayer - 1 + put_last_layer, -1, -1)]
layer_norm_name = ["decoder_layer_norm_d%d"%d for d in range(self.nLayer - 1 + put_last_layer, -1, -1)]
scope_name="trainable/%s"%wName
if put_last_layer:
intermediate_layers.append(layers[0])
activation_fn.append(_get_activation(last_layer))
dec = self._fully_connected_stack(circ, weightNames, biasNames, intermediate_layers, activation_fn,
initializer_bias(), initializer_weights(), aname, norm=norm, layer_norm_name=layer_norm_name, reuse=False, transpose=False, scope_name=scope_name)
# Now build one additional FULL path in the case where the user wants the decoding of his own latent space points
aname = ["decoder_act_custom_d%d"%(d) for d in range(self.nLayer - 1 + put_last_layer, -1, -1)]
decoder_custom = self._fully_connected_stack(circ_custom, weightNames, biasNames, intermediate_layers, activation_fn,
None, None, aname, norm=norm, layer_norm_name=layer_norm_name,
reuse=True, transpose=False, scope_name=scope_name)
# Quadratic loss, start learning from p=0
l2_loss = tf.reduce_mean(tf.square(x - dec), name="l2_loss")
# Reconstruction error
l2_loss_single = tf.reduce_mean(tf.square(x - dec), axis=1, name="l2_loss_single")
l2_loss_single_feature = tf.square(x - dec, name="l2_loss_single_feature")
# the optimizer, one for normal and one for the encoder
optimizerOp = _get_optimizer(optimizer, learning_rate, momentum)
optimizerEnc = _get_optimizer(optimizer, name=optimizer + "_encoder")
# the train step, one for each optimizer
train = optimizerOp.minimize(l2_loss, var_list=tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES), name="train")
train_enc = optimizerEnc.minimize(l2_loss, var_list=tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope="trainable/encoder"), name="train_encoder")
# Session and initialization
self.sess = tf.Session()
self.sess.as_default()
self.init = tf.global_variables_initializer()
# Tensorboard
if tensorboard:
# merged_p = []
tf.summary.scalar("l2_loss", l2_loss)
# Variable summaries
# tf.summary.histogram("w_encoder_%d" % p, self.variables[2*p,0])
# tf.summary.histogram("b_encoder_%d" % p, self.variables[2*p,1])
# tf.summary.histogram("w_decoder_%d" % p, self.variables[2*p+1,0])
# tf.summary.histogram("b_decoder_%d" % p, self.variables[2*p+1,1])
# Activation summaries
# Encoder
if nDim_low == 1:
tf.summary.histogram("a_encoder", phi)
# Decoder
# tf.summary.scalar("cross_entropy_%d" % p, self.cross_entropy[p])
#self.merged_p.append(tf.summary.merge(["l2_loss_%d" % p]))
pass
merged = tf.summary.merge_all()
if number is None and load:
self.number = self._get_number(last=False)
elif number is None:
self.number = self._get_number()
twriter_path = os.path.join(os.getcwd(), "tmp", "summary_" + self.flag_name + ("_%d" % self.number))
self.test_writer = tf.summary.FileWriter(twriter_path, self.sess.graph)
print("To use tensorboard, type:")
print("tensorboard --logdir='" + twriter_path + "'")
# Save and Load
self.saver = tf.train.Saver()
if load:
self.saver.restore(self.sess, self.save_path)
else:
# Initialize all variables
self.sess.run(self.init)
def phi(self):
"""
Azimuth.
"""
return tf.atan2(tf_non_zero(self.py(), self.epsilon), self.px())
def extract_descriptor(self,
image_shape):
""" Main function of this class, which extracts the descriptors from
a batch of images.
Args:
image_shape : Tuple(int, int).
A tuple (height, width) indicating the size of the input
images.
Returns:
(This explanation below is modified from scikit-image).
descs : 4D array of floats
Grid of DAISY descriptors for the given image as an array
dimensionality (N, P, Q, R) where
``N = len(images)``
``P = ceil((M - radius*2) / step)``
``Q = ceil((N - radius*2) / step)``
``R = (rings * histograms + 1) * orientations``
"""
images = tf.placeholder(
tf.float32, shape=[None, 1, image_shape[0], image_shape[1]])
images /= 255.0
dx = images[:, :, :, 1:] - images[:, :, :, :-1]
dx = tf.pad(
dx,
tf.constant([[0, 0], [0, 0], [0, 0], [0, 1]]))
dy = images[:, :, 1:, :] - images[:, :, :-1, :]
dy = tf.pad(
dy,
tf.constant([[0, 0], [0, 0], [0, 1], [0, 0]]))
# Compute gradient orientation and magnitude and their contribution
# to the histograms.
grad_mag = tf.sqrt(dx ** 2 + dy ** 2)
grad_ori = tf.atan2(dy, dx)
hist = tf.exp(self.orientation_kappa * tf.cos(
grad_ori - self.orientation_angles))
hist *= grad_mag
# Smooth orientation histograms for the center and all rings.
hist_smooth = self._compute_ring_histograms(hist)
# Assemble descriptor grid.
theta = np.array([2 * np.pi * j / self.histograms
for j in range(self.histograms)])
desc_dims = (self.rings * self.histograms + 1) * self.orientations
desc_shape = (images.shape[2] - 2 * self.radius,
images.shape[3] - 2 * self.radius)
idx = self.orientations
cos_theta = tf.cos(theta)
sin_theta = tf.sin(theta)
descs = [hist_smooth[
:, 0, :, self.radius:-self.radius, self.radius:-self.radius]]
for i in range(self.rings):
for j in range(self.histograms):
y_min = self.radius + tf.cast(tf.round(
self.ring_radii[i] * sin_theta[j]), tf.int32)
y_max = desc_shape[0] + y_min
x_min = self.radius + tf.cast(tf.round(
self.ring_radii[i] * cos_theta[j]), tf.int32)
x_max = desc_shape[1] + x_min
descs.append(hist_smooth[
:, i + 1, :, y_min:y_max, x_min:x_max])
idx += self.orientations
descs = tf.concat(descs, axis=1)
descs = descs[:, :, ::self.step, ::self.step]
descs = tf.transpose(descs, [0, 2, 3, 1])
# Normalize descriptors.
if self.normalization != 'off':
descs += 1e-10
if self.normalization == 'l1':
descs /= tf.reduce_sum(descs, axis=3, keepdims=True)
elif self.normalization == 'l2':
descs /= tf.sqrt(tf.reduce_sum(
tf.pow(descs, 2), axis=3, keepdims=True))
elif self.normalization == 'daisy':
for i in range(0, desc_dims, self.orientations):
norms = tf.sqrt(tf.reduce_sum(
tf.pow(descs[:, :, :, i:i + self.orientations], 2),
axis=3, keepdims=True))
descs[:, :, :, i:i + self.orientations] /= norms
return images, descs
from dnnlib import tflib
from training import dataset
tflib.init_tf()
minibatch_size = 1
training_set = dataset.TFRecordDataset('../datasets/car_labels_v7_oversample_filter')
interpolation_prob = 0.2
rotation_offset = 108
labels_original = training_set.get_random_labels_tf(minibatch_size)
# Mirror some labels to balance the rotatinos
random_vector = tf.random_uniform([minibatch_size]) < 0.5
rotation_cos = tf.expand_dims(labels_original[:, rotation_offset], axis=-1)
rotation_sin = tf.expand_dims(labels_original[:, rotation_offset + 1], axis=-1)
angle = tf.atan2(rotation_sin, rotation_cos)
new_rotation_cos = tf.cos(angle)
new_rotation_sin = tf.sin(angle) * -1
mirrored_labels = tf.concat([
labels_original[:, :rotation_offset],
new_rotation_cos,
new_rotation_sin,
labels_original[:, rotation_offset + 2:]
], axis=1)
labels = tf.where(random_vector, labels_original, mirrored_labels)
# Remove half of front left and front right to balance the rotation label
zero_rotation = tf.expand_dims(tf.zeros([minibatch_size]), axis=-1)
removed_labels = tf.concat([
labels[:, :rotation_offset],
zero_rotation,
def rayTraceSinglePass(
rays,
boundarySegments,
boundaryArcs,
targetSegments,
targetArcs,
materials,
epsilion=1e-6,
):
if boundarySegments is not None:
b_usingSegments = True
else:
b_usingSegments = False
if boundaryArcs is not None:
b_usingArcs = True
else:
b_usingArcs = False
with tf.name_scope("rayTraceSingle") as scope:
# rayRange is just a list of all ray indexes, useful for constructing index tensors to be used
# with gather
with tf.name_scope("rayRange") as scope:
rayRange = tf.range(
tf.shape(rays, out_type=tf.int64)[0], dtype=tf.int64, name="rayRange"
)
# join boundaries and targets, for the purposes of finding the closest intersection
with tf.name_scope("segmentTargetJoining") as scope:
if b_usingSegments:
opticalSegmentCount = tf.cast(
tf.shape(boundarySegments)[0], dtype=tf.int64
)
else:
opticalSegmentCount = 0
if targetSegments is not None:
targetSegments = tf.pad(targetSegments, [[0, 0], [0, 2]])
if b_usingSegments:
boundarySegments = tf.concat(
(boundarySegments, targetSegments),
0,
name="joinedBoundarySegments",
)
elif targetSegments.shape[0] != 0:
boundarySegments = targetSegments
b_usingSegments = True
with tf.name_scope("arcTargetJoining") as scope:
if b_usingArcs:
opticalArcCount = tf.cast(tf.shape(boundaryArcs)[0], dtype=tf.int64)
else:
opticalArcCount = 0
if targetArcs is not None:
targetArcs = tf.pad(targetArcs, [[0, 0], [0, 2]])
if b_usingArcs:
boundaryArcs = tf.concat(
(boundaryArcs, targetArcs), 0, name="joinedBoundaryArcs"
)
elif targetArcs.shape[0] != 0:
boundaryArcs = targetArcs
b_usingArcs = True
# slice the input rays into sections
with tf.name_scope("inputRaySlicing") as scope:
xstart = rays[:, 0]
ystart = rays[:, 1]
xend = rays[:, 2]
yend = rays[:, 3]
# intersect rays and boundary segments
if b_usingSegments:
with tf.name_scope("ray-SegmentIntersection") as scope:
with tf.name_scope("variableMeshing") as scope:
xa1, xb1 = tf.meshgrid(xstart, boundarySegments[:, 0])
ya1, yb1 = tf.meshgrid(ystart, boundarySegments[:, 1])
xa2, xb2 = tf.meshgrid(xend, boundarySegments[:, 2])
ya2, yb2 = tf.meshgrid(yend, boundarySegments[:, 3])
xa = xa2 - xa1
ya = ya2 - ya1
xb = xb2 - xb1
yb = yb2 - yb1
# v is the parameter of the intersection for B (bounds), and u is for A (rays). inf values signify
# that this pair of lines is parallel
with tf.name_scope("raw_v_parameter") as scope:
denominator = xa * yb - ya * xb
validSegmentIntersection = tf.greater_equal(
tf.abs(denominator), epsilion
)
safe_value = tf.ones_like(denominator)
safe_denominator = tf.where(
validSegmentIntersection, denominator, safe_value
)
segmentV = tf.where(
validSegmentIntersection,
(ya * (xb1 - xa1) - xa * (yb1 - ya1)) / safe_denominator,
safe_value,
)
with tf.name_scope("raw_u_parameter") as scope:
segmentU = tf.where(
validSegmentIntersection,
(xb * (ya1 - yb1) - yb * (xa1 - xb1)) / safe_denominator,
safe_value,
)
# Since B encodes line segments, not infinite lines, purge all occurances in v which are <=0 or >=1
# since these imply rays that did not actually strike the segment, only intersected with its
# infinite continuation.
# And since A encodes semi-infinite rays, purge all occurances in u which are <epsilion, since
# these are intersections that occur before the ray source. We need to compare to epsilion to take
# account of rays that are starting on a boundary
with tf.name_scope("selectClosestValidIntersection") as scope:
validSegmentIntersection = tf.logical_and(
validSegmentIntersection, tf.greater_equal(segmentV, -epsilion)
)
validSegmentIntersection = tf.logical_and(
validSegmentIntersection,
tf.less_equal(segmentV, 1.0 + epsilion),
)
validSegmentIntersection = tf.logical_and(
validSegmentIntersection, tf.greater_equal(segmentU, epsilion)
)
# true where a ray intersection was actually found (since raySegmentIndices = 0 if the ray
# intersects with boundary 0, or if there was no intersection
with tf.name_scope("raySegmentMask") as scope:
raySegmentMask = tf.reduce_any(validSegmentIntersection, axis=0)
# match segmentU to each ray
with tf.name_scope("segmentU") as scope:
# raySegmentIndices tells us which ray intersects with which boundary.
# raySegmentIndices[n]=m => ray n intersects boundary segment m
inf = 2 * tf.reduce_max(segmentU) * safe_value
segmentU = tf.where(validSegmentIntersection, segmentU, inf)
raySegmentIndices = tf.argmin(
segmentU, axis=0, name="raySegmentIndices"
)
# intersectIndicesSquare is a set of indices that can be used with gather_nd to select
# positions out of the grid tensors
intersectIndicesSquare = tf.transpose(
tf.stack([raySegmentIndices, rayRange])
)
# the u parameter for ray intersections, after filtering and processing
segmentU = tf.gather_nd(
segmentU, intersectIndicesSquare, name="segmentU"
)
# package and pair the boundary segments with the rays that intersect with them
boundarySegments = tf.gather(
boundarySegments, raySegmentIndices, name="boundarySegments"
)
# intersect rays and boundary arcs
if b_usingArcs:
with tf.name_scope("ray-ArcIntersection") as scope:
with tf.name_scope("inputMeshgrids") as scope:
x1, xc = tf.meshgrid(xstart, boundaryArcs[:, 0])
y1, yc = tf.meshgrid(ystart, boundaryArcs[:, 1])
x2, thetaStart = tf.meshgrid(xend, boundaryArcs[:, 2])
y2, thetaEnd = tf.meshgrid(yend, boundaryArcs[:, 3])
y2, r = tf.meshgrid(tf.reshape(yend, [-1]), boundaryArcs[:, 4])
# the reshape in the above line shouldn't be necessary, but I was getting some really wierd
# bugs that went away whenever I tried to read the damn tensor, and this fixes it for some
# reason.
# a, b, c here are parameters to a quadratic equation for u, so we have some special cases to deal
# with
# a = 0 => ray of length zero. This should never happen, but if it does, should invalidate
# the intersections
# rad < 0 => ray does not intersect circle
# ?????
# c = 0 => ray starts on circle => u = 0, -b/c
# c = 0 => ray ends on circle??? My mind has changed on this
with tf.name_scope("coordinateAdjusting") as scope:
xr = (x1 - xc) / r
yr = (y1 - yc) / r
xd = (x2 - x1) / r
yd = (y2 - y1) / r
with tf.name_scope("quadraticEquationParts") as scope:
with tf.name_scope("a") as scope:
a = xd * xd + yd * yd
with tf.name_scope("b") as scope:
b = 2.0 * xr * xd + 2.0 * yr * yd
with tf.name_scope("c") as scope:
c = xr * xr + yr * yr - 1.0
with tf.name_scope("rad") as scope:
rad = b * b - 4.0 * a * c
safe_value = tf.ones_like(a, name="safe_value")
with tf.name_scope("raw_u_parameter") as scope:
# u will be the parameter of the intersections along the ray
# rad < 0 special case
with tf.name_scope("specialCase_complex") as scope:
radLess = tf.less(rad, 0)
uminus_valid = uplus_valid = tf.logical_not(radLess)
safe_rad = tf.where(radLess, safe_value, rad)
uminus = tf.where(radLess, safe_value, (-b - tf.sqrt(safe_rad)))
uplus = tf.where(radLess, safe_value, (-b + tf.sqrt(safe_rad)))
# a = 0 special case
with tf.name_scope("specialCase_azero") as scope:
azero = tf.less(tf.abs(a), epsilion)
safe_a = tf.where(azero, safe_value, 2 * a)
uminus_valid = tf.logical_and(
uminus_valid, tf.logical_not(azero)
)
uminus = tf.where(azero, safe_value, uminus / safe_a)
uplus_valid = tf.logical_and(uplus_valid, tf.logical_not(azero))
uplus = tf.where(azero, safe_value, uplus / safe_a)
"""
czero = tf.less(tf.abs(c), epsilion)
safe_c = tf.where(czero, safe_value, c)
uplus_valid = tf.logical_and(uplus_valid, tf.logical_not(czero))
b_over_c = tf.where(czero, safe_value, b/safe_c)
uplus = tf.where(azero, -b_over_c, uplus/safe_a)
#uplus = tf.where(azero, -b/c, uplus/safe_a)"""
# cut out all of the rays that have a u < epsilion parameter, since we only want reactions
# ahead of the ray
with tf.name_scope("cullNegativeU") as scope:
uminus_valid = tf.logical_and(
uminus_valid, tf.greater_equal(uminus, epsilion)
)
uplus_valid = tf.logical_and(
uplus_valid, tf.greater_equal(uplus, epsilion)
)
with tf.name_scope("raw_v_parameter") as scope:
# determine the x,y coordinate of the intersections
with tf.name_scope("xminus") as scope:
xminus = x1 + (x2 - x1) * uminus
with tf.name_scope("xplus") as scope:
xplus = x1 + (x2 - x1) * uplus
with tf.name_scope("yminus") as scope:
yminus = y1 + (y2 - y1) * uminus
with tf.name_scope("yplus") as scope:
yplus = y1 + (y2 - y1) * uplus
# determine the angle along the arc (arc's parameter) where the intersection occurs
""" these atan2 calls seem to be f*****g up the gradient. So I have to do something
convoluted."""
"""
finiteUMinus = tf.debugging.is_finite(uminus)
finiteUPlus = tf.debugging.is_finite(uplus)
def safe_atan2(y, x, safe_mask):
with tf.name_scope("safe_atan") as scope:
safe_x = tf.where(safe_mask, x, tf.ones_like(x))
safe_y = tf.where(safe_mask, y, tf.ones_like(y))
return tf.where(safe_mask, tf.atan2(safe_y, safe_x), tf.zeros_like(safe_x))"""
vminus = tf.atan2(yminus - yc, xminus - xc)
# vminus = safe_atan2(yminus-yc, xminus-xc, finiteUMinus)
vminus = tf.floormod(vminus, 2 * PI)
vplus = tf.atan2(yplus - yc, xplus - xc)
# vplus = safe_atan2(yplus-yc, xplus-xc, finiteUPlus)
vplus = tf.floormod(vplus, 2 * PI)
# Cut out all cases where v does not fall within the angular extent of the arc
with tf.name_scope("selectValid_v") as scope:
# my angle in interval algorithm fails when the interval is full (0->2PI). So making the
# following adjustment to thetaStart
thetaStart = thetaStart + epsilion
vminus_valid = tf.less_equal(
tf.floormod(vminus - thetaStart, 2 * PI),
tf.floormod(thetaEnd - thetaStart, 2 * PI),
)
uminus_valid = tf.logical_and(vminus_valid, uminus_valid)
vplus_valid = tf.less_equal(
tf.floormod(vplus - thetaStart, 2 * PI),
tf.floormod(thetaEnd - thetaStart, 2 * PI),
)
uplus_valid = tf.logical_and(vplus_valid, uplus_valid)
# now we can finally select between the plus and minus cases
# arcU = tf.where(tf.less(uminus, uplus), uminus, uplus, name="arcU")
# arcV = tf.where(tf.less(uminus, uplus), vminus, vplus, name="arcV")
with tf.name_scope("choosePlusOrMinus") as scope:
# We have been keeping track of valid and invalid intersections in the u+/-_valid tensors. But
# now we need to compare the values in the u+/- tensors and prepare for the argmin call that
# finds only the closest intersections. To do this we now need to fill the invalid values in
# each tensor with some value that is larger than any valid value. Unfortunately we cannot
# use np.inf because that seems to mess with the gradient calculator.
inf = (
2
* safe_value
* tf.reduce_max([tf.reduce_max(uminus), tf.reduce_max(uplus)])
)
uminus = tf.where(uminus_valid, uminus, inf)
uplus = tf.where(uplus_valid, uplus, inf)
choose_uminus = tf.less(uminus, uplus)
uminus_valid = tf.logical_and(uminus_valid, choose_uminus)
uplus_valid = tf.logical_and(
uplus_valid, tf.logical_not(choose_uminus)
)
# rayArcMask will tell us which rays have found at least one valid arc intersection
rayArcMask = tf.logical_or(uminus_valid, uplus_valid)
rayArcMask = tf.reduce_any(rayArcMask, axis=0)
arcU = tf.where(choose_uminus, uminus, uplus)
arcV = tf.where(choose_uminus, vminus, vplus)
"""
# true where a ray intersection was actually found
with tf.name_scope("rayArcMask") as scope:
rayArcMask = tf.is_finite(arcU)
rayArcMask = tf.reduce_any(rayArcMask, axis=0)"""
# match arcU to each ray
with tf.name_scope("arcU_and_arcV") as scope:
# rayArcIndices tells us which ray intersects with which boundary.
# rayArcIndices[n]=m => ray n intersects boundary segment m
rayArcIndices = tf.argmin(arcU, axis=0, name="rayArcIndices")
# intersectIndicesSquare is a set of indices that can be used with gather_nd to select
# positions out of the grid tensors
intersectIndicesSquare = tf.transpose(
tf.stack([rayArcIndices, rayRange])
)
# the u parameter for ray intersections, after filtering and processing
arcU = tf.gather_nd(arcU, intersectIndicesSquare, name="arcU")
arcV = tf.gather_nd(arcV, intersectIndicesSquare, name="arcV")
# package and pair the boundary arcs with the rays that intersect with them
boundaryArcs = tf.gather(
boundaryArcs, rayArcIndices, name="boundaryArcs"
)
# determine which rays are dead
with tf.name_scope("deadRays") as scope:
if b_usingSegments and b_usingArcs:
deadRays = tf.boolean_mask(
rays,
tf.logical_not(tf.logical_or(rayArcMask, raySegmentMask)),
name="deadRays",
)
else:
if b_usingSegments:
deadRays = tf.boolean_mask(
rays, tf.logical_not(raySegmentMask), name="deadRays"
)
elif b_usingArcs:
deadRays = tf.boolean_mask(
rays, tf.logical_not(rayArcMask), name="deadRays"
)
else:
raise RuntimeError(
"rayTraceSinglePass: no boundaries provided for raytracing"
)
# select between segment and arc intersections
with tf.name_scope("arc_segment_selection") as scope:
if b_usingSegments and b_usingArcs:
chooseSegment = tf.logical_and(
tf.less(segmentU, arcU), raySegmentMask, name="chooseSegment"
)
chooseSegment = tf.logical_or(
chooseSegment,
tf.logical_and(raySegmentMask, tf.logical_not(rayArcMask)),
)
chooseArc = tf.logical_and(
tf.logical_not(chooseSegment), rayArcMask, name="chooseArc"
)
chooseArc = tf.logical_or(
chooseArc,
tf.logical_and(rayArcMask, tf.logical_not(raySegmentMask)),
)
else:
if b_usingSegments:
chooseSegment = raySegmentMask
if b_usingArcs:
chooseArc = rayArcMask
# project ALL rays into the boundaries. Rays that do not intersect with any boundaries will also be
# projected to zero length, but these will be filtered off later
with tf.name_scope("rayProjection") as scope:
if b_usingSegments:
with tf.name_scope("segments") as scope:
xstart = rays[:, 0]
ystart = rays[:, 1]
xend = rays[:, 2]
yend = rays[:, 3]
xend = xstart + (xend - xstart) * segmentU
yend = ystart + (yend - ystart) * segmentU
reactedRays_Segment = tf.stack(
[xstart, ystart, xend, yend, rays[:, 4], rays[:, 5]], axis=1
)
if b_usingArcs:
with tf.name_scope("arcs") as scope:
xstart = rays[:, 0]
ystart = rays[:, 1]
xend = rays[:, 2]
yend = rays[:, 3]
xend = xstart + (xend - xstart) * arcU
yend = ystart + (yend - ystart) * arcU
reactedRays_Arc = tf.stack(
[xstart, ystart, xend, yend, rays[:, 4], rays[:, 5]], axis=1
)
# determine which rays are finished
with tf.name_scope("finishedRays") as scope:
finishedRays = tf.zeros([0, 6], dtype=tf.float64)
if b_usingSegments:
finishedSegmentMask = tf.greater_equal(
raySegmentIndices, opticalSegmentCount, name="finishedSegmentMask"
)
fsMask = tf.logical_and(finishedSegmentMask, chooseSegment)
finishedRays_Segment = tf.boolean_mask(reactedRays_Segment, fsMask)
finishedRays = tf.cond(
tf.reduce_any(fsMask),
lambda: tf.concat([finishedRays, finishedRays_Segment], axis=0),
lambda: finishedRays,
)
if b_usingArcs:
finishedArcMask = tf.greater_equal(
rayArcIndices, opticalArcCount, name="finishedArcMask"
)
faMask = tf.logical_and(finishedArcMask, chooseArc)
finishedRays_Arc = tf.boolean_mask(reactedRays_Arc, faMask)
finishedRays = tf.cond(
tf.reduce_any(faMask),
lambda: tf.concat([finishedRays, finishedRays_Arc], axis=0),
lambda: finishedRays,
)
# conjugate to finished rays
with tf.name_scope("reactedRays") as scope:
reactedRays = tf.zeros([0, 6], dtype=tf.float64)
if b_usingSegments:
chooseSegment = tf.logical_and(
tf.logical_not(finishedSegmentMask), chooseSegment
)
reactedRays_Segment = tf.boolean_mask(
reactedRays_Segment, chooseSegment, name="reactedRays_Segment"
)
boundarySegments = tf.boolean_mask(
boundarySegments, chooseSegment, name="boundarySegments"
)
reactedRays = tf.cond(
tf.reduce_any(chooseSegment),
lambda: tf.concat([reactedRays, reactedRays_Segment], axis=0),
lambda: reactedRays,
)
if b_usingArcs:
chooseArc = tf.logical_and(tf.logical_not(finishedArcMask), chooseArc)
reactedRays_Arc = tf.boolean_mask(
reactedRays_Arc, chooseArc, name="reactedRays_Arc"
)
arcV = tf.boolean_mask(arcV, chooseArc, name="arcV")
boundaryArcs = tf.boolean_mask(
boundaryArcs, chooseArc, name="boundaryArcs"
)
reactedRays = tf.cond(
tf.reduce_any(chooseArc),
lambda: tf.concat([reactedRays, reactedRays_Arc], axis=0),
lambda: reactedRays,
)
# calculate the norm of the surface
with tf.name_scope("norm") as scope:
norm = tf.zeros([0], dtype=tf.float64)
if b_usingSegments:
normSegment = (
tf.atan2(
boundarySegments[:, 3] - boundarySegments[:, 1],
boundarySegments[:, 2] - boundarySegments[:, 0],
name="normSegment",
)
+ PI / 2
)
norm = tf.cond(
tf.reduce_any(chooseSegment),
lambda: tf.concat([norm, normSegment], axis=0),
lambda: norm,
)
if b_usingArcs:
normArc = tf.where(
tf.less(boundaryArcs[:, 4], 0), arcV + PI, arcV, name="normArc"
)
normArc = tf.floormod(normArc, 2 * PI)
norm = tf.cond(
tf.reduce_any(chooseArc),
lambda: tf.concat([norm, normArc], axis=0),
lambda: norm,
)
with tf.name_scope("refractiveIndex") as scope:
# calculate the refractive index for every material and ray
wavelengths = reactedRays[:, 4]
nstack = tf.stack(
[each(wavelengths) for each in materials], axis=1, name="nstack"
)
rayRange = tf.range(
tf.shape(reactedRays)[0], dtype=tf.int32, name="rayRange"
)
# select just the correct entry for n_in and n_out
if b_usingSegments and b_usingArcs:
n_in_indices = tf.concat(
[boundarySegments[:, 4], boundaryArcs[:, 5]],
axis=0,
name="n_in_indices",
)
else:
if b_usingSegments:
n_in_indices = boundarySegments[:, 4]
if b_usingArcs:
n_in_indices = boundaryArcs[:, 5]
n_in_indices = tf.cast(n_in_indices, tf.int32)
n_in_indices = tf.transpose(tf.stack([rayRange, n_in_indices]))
n_in = tf.gather_nd(nstack, n_in_indices, name="n_in")
if b_usingSegments and b_usingArcs:
n_out_indices = tf.concat(
[boundarySegments[:, 5], boundaryArcs[:, 6]],
axis=0,
name="n_out_indices",
)
else:
if b_usingSegments:
n_out_indices = boundarySegments[:, 5]
if b_usingArcs:
n_out_indices = boundaryArcs[:, 6]
n_out_indices = tf.cast(n_out_indices, tf.int32)
n_out_indices = tf.transpose(tf.stack([rayRange, n_out_indices]))
n_out = tf.gather_nd(nstack, n_out_indices, name="n_out")
activeRays = react(reactedRays, norm, n_in, n_out)
return reactedRays, activeRays, finishedRays, deadRays
def phi(self, **opts):
"""
Azimuth.
"""
return tf.atan2(tf_non_zero(self.py(**opts), self.epsilon),
self.px(**opts))
def model(self, features: Dict[str, tf.Tensor],
labels: Dict[str, tf.Tensor], mode: str) -> tf.Tensor:
"""
Define your model metrics and architecture, the logic is dependent on the mode.
:param features: A dictionary of potential inputs for your model
:param labels: Input label set
:param mode: Current training mode (train, test, predict)
:return: An estimator spec used by the higher level API
"""
# set flag if the model is currently training
is_training = mode == tf.estimator.ModeKeys.TRAIN
# initialise model architecture
seg_output, pos_output, cos_output, sin_output, width_output = self._create_model(
features['input'], is_training)
segmentation_classes = tf.argmax(input=seg_output,
axis=3,
output_type=tf.int32)
# TODO: update model predictions
predictions = {
'segmentation': tf.expand_dims(segmentation_classes, -1),
'segmentation_probabilities': tf.nn.softmax(seg_output),
}
#
if mode == tf.estimator.ModeKeys.PREDICT:
# TODO: update output during serving
export_outputs = {
'segmentation':
tf.estimator.export.ClassificationOutput(
scores=predictions['segmentation_probabilities'],
classes=tf.cast(predictions['segmentation'], tf.string))
}
return tf.estimator.EstimatorSpec(mode,
predictions=predictions,
export_outputs=export_outputs)
# calculate loss
# specify some class weightings
segmentation_class_weights = tf.constant([1, 5, 1, 5])
# specify the weights for each sample in the batch (without having to compute the onehot label matrix)
segmentation_weights = tf.gather(segmentation_class_weights,
labels['seg'])
seg_loss = tf.losses.sparse_softmax_cross_entropy(
labels=labels['seg'],
logits=seg_output,
weights=segmentation_weights)
# seg_loss = tf.losses.sparse_softmax_cross_entropy(labels=labels['seg'], logits=seg_output)
# tf.print(labels['grasps'], output_stream=sys.stdout)
# print(labels['grasps'])
# grasp_loss_mask = labels['quality']
grasp_loss_mask = tf.to_float(
tf.greater(labels['quality'], tf.zeros_like(labels['quality'])))
# quality_loss = tf.losses.mean_squared_error(labels=labels['quality'], predictions=pos_output)
quality_loss = tf.losses.sigmoid_cross_entropy(labels['quality'],
logits=pos_output)
sin_loss = tf.losses.mean_squared_error(labels=labels['angle_sin'],
predictions=sin_output,
weights=grasp_loss_mask)
cos_loss = tf.losses.mean_squared_error(labels=labels['angle_cos'],
predictions=cos_output,
weights=grasp_loss_mask)
width_loss = tf.losses.mean_squared_error(
labels=(labels['gripper_width'] / 150.0),
predictions=width_output,
weights=grasp_loss_mask)
angle = 0.5 * tf.atan2(sin_output, cos_output)
loss = seg_loss + quality_loss + sin_loss + cos_loss + width_loss
# TODO: update summaries for tensorboard
segmentations_class_colors = tf.convert_to_tensor(
[[0, 0, 0], [255, 0, 0], [0, 255, 0], [0, 0, 255]], dtype=tf.uint8)
segmentation_image = tf.gather(segmentations_class_colors,
segmentation_classes)
tf.summary.scalar('seg_loss', seg_loss)
tf.summary.scalar('quality_loss', quality_loss)
tf.summary.scalar('angle_sin_loss', sin_loss)
tf.summary.scalar('angle_cos_loss', cos_loss)
tf.summary.scalar('width_loss', width_loss)
tf.summary.scalar('loss', loss)
gaussian_blur_kernel = gaussian_kernel(5, 0.0, 1.0)
gaussian_blur_kernel = gaussian_blur_kernel[:, :, tf.newaxis,
tf.newaxis]
quality = tf.sigmoid(pos_output)
quality = tf.nn.conv2d(quality, gaussian_blur_kernel, [1, 1, 1, 1],
'SAME')
images = {
'input': tf.summary.image('input', features['input']),
'segmentation': tf.summary.image('segmentation',
segmentation_image),
'quality': tf.summary.image('quality', quality),
'angle_sin': tf.summary.image('angle_sin', sin_output),
'angle_cos': tf.summary.image('angle_cos', cos_output),
'width': tf.summary.image('width', width_output),
'angle': tf.summary.image('angle', angle)
}
# tf.summary.image('segmentation', tf.image.hsv_to_rgb(predictions['segmentation'] / 4.0))
# tf.summary.image('segmentation', tf.cast(predictions['segmentation'], tf.float32))
if mode == tf.estimator.ModeKeys.EVAL:
# TODO: update evaluation metrics
# output eval images
# eval_summary_hook = tf.train.SummarySaverHook(summary_op=images, save_secs=120)
summaries_dict = {
'val_mean_iou':
tf.metrics.mean_iou(labels['seg'],
predictions=predictions['segmentation'],
num_classes=4)
}
# summaries_dict.update(images)
# summaries_dict.update(get_estimator_eval_metric_ops)
b = tf.shape(quality)[0]
detection_grasps = self._create_detection_head(
quality, angle, width_output)
detection_evaluator = OAHODetectionEvaluator()
detection_visualizer = OAHODetectionVisualizer()
groundtruth_grasps = tf.reshape(
tf.sparse_tensor_to_dense(labels['grasps'], -1), (b, -1, 4))
groundtruth_segmentation_image = tf.gather(
segmentations_class_colors, tf.squeeze(labels['seg'], -1))
summaries_dict.update(
detection_evaluator.get_estimator_eval_metric_ops({
'image_id':
labels['id'],
'groundtruth_grasps':
groundtruth_grasps,
'detection_grasps':
detection_grasps
}))
normalized_depth = tf.image.convert_image_dtype(
features['input'] /
tf.reduce_max(features['input'], axis=[1, 2], keepdims=True),
dtype=tf.uint8)
summaries_dict.update(
detection_visualizer.get_estimator_eval_metric_ops({
'image_id':
labels['id'],
'depth':
normalized_depth,
'groundtruth_grasps':
groundtruth_grasps,
'detection_grasps':
detection_grasps,
'groundtruth_segmentation':
groundtruth_segmentation_image,
'detection_segmentation':
segmentation_image
}))
return tf.estimator.EstimatorSpec(
mode=mode,
loss=loss,
eval_metric_ops=
summaries_dict #, evaluation_hooks=[eval_summary_hook]
)
# assert only reach this point during training
assert mode == tf.estimator.ModeKeys.TRAIN
# create learning rate variable for hyper param tuning
lr = tf.Variable(initial_value=self.config['learning_rate'],
name='learning-rate')
# TODO: update optimiser
optimizer = tf.train.AdamOptimizer(lr)
train_op = optimizer.minimize(
loss,
global_step=tf.train.get_global_step(),
colocate_gradients_with_ops=True,
)
return tf.estimator.EstimatorSpec(mode, loss=loss, train_op=train_op)
rotatedWeightsL = []
for angle in angles:
rotatedWeightsL.append(cc.transformations.rotateVectorField(flatWeights, angle))
rotatedWeights = tf.stack(rotatedWeightsL, axis=0)
thetas = []
with tf.device('/gpu:0'):
weightShape = rotatedWeights.get_shape()
for angle in range(0, num_bins, num_bins//num_angles):
weightSet = tf.gather(rotatedWeights, angle + offset)
conv2 = cc.layers.conv_2tf(inpt, weightSet, c_i, c_o, 1, 1, "SAME")
conv0 = tf.nn.conv2d(inpt, weightSet, [1,1,1,1], "SAME")
angleMask = tf.logical_and(tf.abs(conv0)<1e-2, tf.abs(conv2)<1e-2)
conv0 = tf.where(angleMask, tf.zeros_like(conv0), conv0)
conv2 = tf.where(angleMask, tf.ones_like(conv2), conv2)
thetas.append(-tf.atan2(conv2, conv0))
angles2 = tf.concat(angles, axis=0)
thetas = tf.stack(thetas, axis=-1)
winner = tf.argmin(tf.abs(thetas), axis=-1, output_type=tf.int32)
thetas2 = cc.ops.reduceIndex(thetas, winner)
thetas2, convMask = cc.ops.offsetCorrect(thetas2, [numpy.pi/num_angles])
# myErrorGPU = tf.reduce_sum(tf.pow(groundTruth - convByIndexCudaRes,1))
# tfErrorGPU = tf.reduce_sum(tf.pow(groundTruth - flatConvCudaRes,1))
quantized = tf.cast(tf.round(thetas2*num_bins/(2*numpy.pi)), tf.int32) + tf.cast(winner * (num_bins//num_angles), tf.int32) + offset
convByIndexCudaRes = cc.ops.convByIndex(inpt, rotatedWeights, quantized, convMask, thetas2, [1,1,1,1], "SAME")
flatConvCudaResL = []
for rotation in range(num_bins+1):
rMask = tf.cast(tf.equal(quantized, rotation), tf.float32)
flatConvCudaResL.append(tf.nn.conv2d(inpt, rotatedWeightsL[rotation], [1,1,1,1], "SAME")*rMask)
flatConvCudaRes = tf.reduce_sum(tf.stack(flatConvCudaResL, axis=0), axis=0) * tf.cast(convMask, tf.float32)
myErrorGPU = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=tf.reduce_sum(convByIndexCudaRes, axis=[0,1,2]), labels=lab)
