def check_equivariance(self, atol: float = 1e-7, rtol: float = 1e-5) -> List[Tuple[Any, float]]: _, parent_mapping, _ = self.in_type.gspace.restrict(self._id) c = self.in_type.size x = torch.randn(3, c, 10, 10) x = GeometricTensor(x, self.in_type) errors = [] for el in self.out_type.testing_elements: print(el) out1 = self(x).transform(el).tensor.detach().numpy() out2 = self(x.transform( parent_mapping(el))).tensor.detach().numpy() errs = out1 - out2 errs = np.abs(errs).reshape(-1) print(el, errs.max(), errs.mean(), errs.var()) assert np.allclose(out1, out2, atol=atol, rtol=rtol), \ 'The error found during equivariance check with element "{}" is too high: max = {}, mean = {} var ={}' \ .format(el, errs.max(), errs.mean(), errs.var()) errors.append((el, errs.mean())) return errors
def _retrieve_subfiber(self, input: GeometricTensor, l: str) -> GeometricTensor: r""" Return a new GeometricTensor containg the portion of memory of the input tensor corresponding to the fields the input non-linearity acts on. The method automatically deals with the continuity of these fields, using either indexing or slicing. The resulting tensor is returned wrapped in a GeometricTensor with the proper representation Args: input (GeometricTensor): the input tensor l (str): the label to consider Returns: (GeometricTensor): the sub-tensor containing the fields belonging to the input label """ indices = getattr(self, f"indices_{l}") if self._contiguous[l]: # if the fields are contiguous, use slicing data = input.tensor[:, indices[0]:indices[1], ...] else: # otherwise, use indexing data = input.tensor[:, indices, ...] # wrap the result in a GeometricTensor return GeometricTensor(data, self.out_type[l])
def forward(self, input: GeometricTensor) -> GeometricTensor: assert input.type == self.in_type assert input.tensor.shape[2:] == self.mask.shape[2:] out = input.tensor * self.mask return GeometricTensor(out, self.out_type)
def forward(self, input: Dict[str, GeometricTensor]) -> GeometricTensor: r""" Apply each module to the corresponding input tensors and stack the results Args: input (dict): a dictionary mapping each label to a GeometricTensor Returns: the concatenation of the output of each module """ # compute the output shape out_shape = self.evaluate_output_shape( **{l: t.tensor.shape for l, t in input.items()}) device = list(input.values())[0].tensor.device # pre-allocate the output tensor output = torch.empty(out_shape, dtype=torch.float, device=device) last_channel = 0 # iterate through the modules for i, labels in enumerate(self._labels): module = getattr(self, f"submodule_{i}") # retrieve the corresponding sub-tensor output[:, last_channel:last_channel + module.out_type.size, ...] = module(*[input[l] for l in labels]).tensor last_channel += module.out_type.size return GeometricTensor(output, self.out_type)
def cat(gtensors: Iterable[GeometricTensor], *args, **kwargs) -> GeometricTensor: tensors = [t.tensor for t in gtensors] tensors_cat = torch.cat(tensors, *args, **kwargs) feature_type = sum([t.type for t in gtensors[1:]], start=gtensors[0].type) return GeometricTensor(tensors_cat, feature_type)
def forward(self, x): x = GeometricTensor(x, self.input_type) x = self.model(x) x = self.pool(x) x = x.tensor x = self.final(x) return x
def forward(self, input: GeometricTensor): r""" Convolve the input with the expanded filter and bias. Args: input (GeometricTensor): input feature field transforming according to ``in_type`` Returns: output feature field transforming according to ``out_type`` """ assert input.type == self.in_type if not self.training: filter = self.filter bias = self.expanded_bias else: # retrieve the filter and the bias filter, bias = self.expand_parameters() # use it for convolution and return the result output = conv2d(input.tensor, filter, padding=self.padding, stride=self.stride, dilation=self.dilation, groups=self.groups, bias=bias) return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type # evaluate the max operation densely (stride = 1) output = F.max_pool2d(input.tensor, self.kernel_size, 1, self.padding, self.dilation, self.ceil_mode) output = F.conv2d(output, self.filter, stride=self.stride, padding=self._pad, groups=output.shape[1]) # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def check_equivariance(self, atol: float = 1e-6, rtol: float = 1e-5) -> List[Tuple[Any, float]]: c = self.in_type.size x = torch.randn(3, c, 10, 10) x = GeometricTensor(x, self.in_type) errors = [] for el in self.space.testing_elements: out1 = self(x).transform_fibers(el) out2 = self(x.transform_fibers(el)) errs = (out1.tensor - out2.tensor).detach().numpy() errs = np.abs(errs).reshape(-1) print(el, errs.max(), errs.mean(), errs.var()) assert torch.allclose(out1.tensor, out2.tensor, atol=atol, rtol=rtol), \ 'The error found during equivariance check with element "{}" is too high: max = {}, mean = {} var ={}' \ .format(el, errs.max(), errs.mean(), errs.var()) errors.append((el, errs.mean())) return errors
def forward(self, input: GeometricTensor, inverse=False): r""" Convolve the input with the expanded filter and bias. Args: input (GeometricTensor): input feature field transforming according to ``in_type`` Returns: output feature field transforming according to ``out_type`` """ assert input.type == self.in_type if not self.training: _filter = self.filter _bias = self.expanded_bias else: # retrieve the filter and the bias _filter, _bias = self.expand_parameters() if inverse: ipdb.set_trace() _filter = -_filter #Inverse is just negative of the Matrix Exp # use it for convolution and return the result output = input.tensor product = input.tensor if self.padding_mode == 'zeros': for i in range(1, self.terms + 1): product = conv2d(product, _filter, padding=self.padding, stride=self.stride, dilation=self.dilation, groups=self.groups, bias=_bias) / i output = output + product if self.dynamic_truncation != 0 and i > 5: if product.abs().max().item() < dynamic_truncation: break else: for i in range(1, self.terms + 1): product = conv2d( pad(product, self._reversed_padding_repeated_twice, self.padding_mode), _filter, stride=self.stride, dilation=self.dilation, padding=(0, 0), groups=self.groups, bias=_bias) / i output = output + product if self.dynamic_truncation != 0 and i > 5: if product.abs().max().item() < dynamic_truncation: break return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor): assert input.type == self.in_type # retrieve the values from the input using the permutation of the indices computed before data = input.tensor[:, self.indices, ...] return GeometricTensor(data, self.out_type)
def forward(self, input: GeometricTensor): r""" Convolve the input with the expanded filter and bias. Args: input (GeometricTensor): input feature field transforming according to ``in_type`` Returns: output feature field transforming according to ``out_type`` """ if torch.is_tensor(input): input = GeometricTensor(input, self.in_type) assert input.type == self.in_type if not self.training: _filter = self.filter _bias = self.expanded_bias else: # retrieve the filter and the bias _filter, _bias = self.expand_parameters() # self.filter = _filter # self.bias = _bias # self.filter = self._update_u_v() # use it for convolution and return the result if self.padding_mode == 'zeros': output = conv2d(input.tensor, _filter, stride=self.stride, padding=self.padding, dilation=self.dilation, groups=self.groups, bias=_bias) else: output = conv2d(pad(input.tensor, self._reversed_padding_repeated_twice, self.padding_mode), _filter, stride=self.stride, dilation=self.dilation, padding=(0,0), groups=self.groups, bias=_bias) return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type if not self.training: return input input = input.tensor if not self.inplace: output = torch.empty_like(input) # iterate through all field sizes for s in self._order: indices = getattr(self, f"indices_{s}") shape = input.shape[:1] + (self._nfields[s], s) + input.shape[2:] if self._contiguous[s]: # if the fields are contiguous, we can use slicing out = dropout_field( input[:, indices[0]:indices[1], ...].view(shape), self.p, self.training, self.inplace) if not self.inplace: shape = input.shape[:1] + (self._nfields[s] * s, ) + input.shape[2:] output[:, indices[0]:indices[1], ...] = out.view(shape) else: # otherwise we have to use indexing out = dropout_field(input[:, indices, ...].view(shape), self.p, self.training, self.inplace) if not self.inplace: shape = input.shape[:1] + (self._nfields[s] * s, ) + input.shape[2:] output[:, indices, ...] = out.view(shape) if self.inplace: output = input # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Applies ReLU function on the input fields Args: input (GeometricTensor): the input feature map Returns: the resulting feature map after relu has been applied """ assert input.type == self.in_type, "Error! the type of the input does not match the input type of this module" return GeometricTensor(F.relu(input.tensor, inplace=self._inplace), self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Applies ELU function on the input fields Args: input (GeometricTensor): the input feature map Returns: the resulting feature map after elu has been applied """ assert input.type == self.in_type return GeometricTensor(F.elu(input.tensor, inplace=self._inplace), self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type output = F.dropout(input.tensor, self.p, self.training, self.inplace) # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Apply the Norm Pooling to the input feature map. Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type input = input.tensor b, c, h, w = input.shape output = torch.empty(self.evaluate_output_shape(input.shape), device=input.device, dtype=torch.float) for id, contiguous in self._contiguous.items(): size, subfield_size = id n_subfields = size // subfield_size in_indices = getattr(self, f"in_indices_{id}") out_indices = getattr(self, f"out_indices_{id}") if contiguous: fm = input[:, in_indices[0]:in_indices[1], ...] else: fm = input[:, in_indices, ...] # split the channel dimension in 2 dimensions, separating fields fm, _ = fm.view(b, -1, n_subfields, subfield_size, h, w).norm(dim=3).max(dim=2) if contiguous: output[:, out_indices[0]:out_indices[1], ...] = fm else: output[:, out_indices, ...] = fm # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Apply the VectorField non-linearity to the input feature map. Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type b, c, h, w = input.tensor.shape # split the channel dimension in 2 dimensions, separating fields fm = input.tensor.view(b, -1, self._rotations, h, w) # evaluate the base rotation associated with the group action base_angle = 2 * np.pi / self._rotations # for each field, retrieve the maximum activation (and the argmax) max_activations, argmaxes = torch.max(fm, 2) max_activations = torch.relu_(max_activations) # compute the angles from the index of the maximum activation in the field max_angles = argmaxes.to(dtype=torch.float) * base_angle # build the output tensor output = torch.empty(b, self.out_type.size, h, w, dtype=torch.float, device=input.tensor.device) # to build the output vectors, take the cosine and the sine of the argmax angle # and multiply the 2-dimensional vector by the activation value output[:, ::2, ...] = torch.cos(max_angles) * max_activations output[:, 1::2, ...] = torch.sin(max_angles) * max_activations # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Applies the pointwise activation function on the input fields Args: input (GeometricTensor): the input feature map Returns: the resulting feature map after the non-linearities have been applied """ assert input.type == self.in_type # TODO - remove the 'contiguous()' call as soon as PyTorch's error is fixed # return GeometricTensor(self._function(input.tensor.contiguous()), self.out_type) return GeometricTensor(self._function(input.tensor), self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type # run the common avg-pooling output = F.adaptive_avg_pool2d(input.tensor, self.output_size) # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Applies ReLU function on the input fields Args: input (GeometricTensor): the input feature map Returns: the resulting feature map after relu has been applied """ assert input.type == self.in_type, "Error! the type of the input does not match the input type of this module" return GeometricTensor( (input.tensor * torch.sigmoid_(input.tensor * F.softplus(self.beta))).div_(1.1), self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Apply Group Pooling to the input feature map. Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type input = input.tensor b, c, h, w = input.shape output = torch.empty(self.evaluate_output_shape(input.shape), device=input.device, dtype=torch.float) for s, contiguous in self._contiguous.items(): in_indices = getattr(self, "in_indices_{}".format(s)) out_indices = getattr(self, "out_indices_{}".format(s)) if contiguous: fm = input[:, in_indices[0]:in_indices[1], ...] else: fm = input[:, in_indices, ...] # split the channel dimension in 2 dimensions, separating fields fm = fm.view(b, -1, s, h, w) max_activations, _ = torch.max(fm, 2) if contiguous: output[:, out_indices[0]:out_indices[1], ...] = max_activations else: output[:, out_indices, ...] = max_activations # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type # run the common max-pooling output = F.max_pool2d(input.tensor, self.kernel_size, self.stride, self.padding, self.dilation, self.ceil_mode) # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def check_equivariance(self, atol: float = 1e-7, rtol: float = 1e-5) -> List[Tuple[Any, float]]: r""" Method that automatically tests the equivariance of the current module. The default implementation of this method relies on :meth:`e2cnn.nn.GeometricTensor.transform` and uses the the group elements in :attr:`~e2cnn.nn.FieldType.testing_elements`. This method can be overwritten for custom tests. Returns: a list containing containing for each testing element a pair with that element and the corresponding equivariance error """ c = self.in_type.size x = torch.randn(3, c, 10, 10) x = GeometricTensor(x, self.in_type) errors = [] for el in self.out_type.testing_elements: print(el) out1 = self(x).transform(el).tensor.detach().numpy() out2 = self(x.transform(el)).tensor.detach().numpy() errs = out1 - out2 errs = np.abs(errs).reshape(-1) print(el, errs.max(), errs.mean(), errs.var()) assert np.allclose(out1, out2, atol=atol, rtol=rtol), \ 'The error found during equivariance check with element "{}" is too high: max = {}, mean = {} var ={}'\ .format(el, errs.max(), errs.mean(), errs.var()) errors.append((el, errs.mean())) return errors
def forward(self, input: GeometricTensor): assert input.type == self.in_type if not self.training: filter = self.filter bias = self.expanded_bias else: # retrieve the filter and the bias filter, bias = self.expand_parameters() # use it for convolution and return the result output = conv_transpose2d(input.tensor, filter, padding=self.padding, output_padding=self.output_padding, stride=self.stride, dilation=self.dilation, groups=self.groups, bias=bias) return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type output = F.conv2d(input.tensor, self.filter, stride=self.stride, padding=self.padding, groups=input.shape[1]) # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def check_equivariance(self, atol: float = 2e-6, rtol: float = 1e-5, full_space_action: bool = True) -> List[Tuple[Any, float]]: if full_space_action: return super(MultipleModule, self).check_equivariance(atol=atol, rtol=rtol) else: c = self.in_type.size x = torch.randn(10, c, 9, 9) print(c, self.out_type.size) print([r.name for r in self.in_type.representations]) print([r.name for r in self.out_type.representations]) x = GeometricTensor(x, self.in_type) errors = [] for el in self.gspace.testing_elements: out1 = self(x).transform_fibers(el) out2 = self(x.transform_fibers(el)) errs = (out1.tensor - out2.tensor).detach().numpy() errs = np.abs(errs).reshape(-1) print(el, errs.max(), errs.mean(), errs.var()) if not torch.allclose(out1.tensor, out2.tensor, atol=atol, rtol=rtol): tmp = np.abs((out1.tensor - out2.tensor).detach().numpy()) tmp = tmp.reshape(out1.tensor.shape[0], out1.tensor.shape[1], -1).max(axis=2)#.mean(axis=0) np.set_printoptions(precision=2, threshold=200000000, suppress=True, linewidth=500) print(tmp.shape) print(tmp) assert torch.allclose(out1.tensor, out2.tensor, atol=atol, rtol=rtol), \ 'The error found during equivariance check with element "{}" is too high: max = {}, mean = {} var ={}' \ .format(el, errs.max(), errs.mean(), errs.var()) errors.append((el, errs.mean())) return errors
def forward(self, input: GeometricTensor) -> GeometricTensor: assert input.type == self.in_type input = input.tensor b, c, w, h = input.shape output = torch.empty_like(input) # for each different representation in the fiber for repr_name in self._order: contiguous = self._contiguous[repr_name] fiber_indices = getattr(self, f"fiber_indices_{repr_name}") # retrieve the associated change of basis cob = getattr(self, f"change_of_basis_{repr_name}") # retrieve the associated fields from the input tensor if contiguous: input_fields = input[:, fiber_indices[0]:fiber_indices[1], ...] else: input_fields = input[:, fiber_indices, ...] # reshape to align all the fields in order to exploit broadcasting input_fields = input_fields.view(b, self._nfields[repr_name], self._sizes[repr_name], w, h) # TODO: can we exploit the fact the change of basis is a permutation matrix? # transform all the fields with the change of basis transformed_fields = torch.einsum("oi,bciwh->bcowh", (cob, input_fields)).reshape(b, -1, w, h) # insert the transformed fields in the output tensor if contiguous: output[:, fiber_indices[0]:fiber_indices[1], ...] = transformed_fields else: output[:, fiber_indices, ...] = transformed_fields return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: assert input.type == self.in_type b, c, w, h = input.tensor.shape # build the output tensor output = torch.empty(b, 2 * c, w, h, dtype=torch.float, device=input.tensor.device) # each channels is transformed to 2 channels: # first, apply the non-linearity to its value output[:, ::2, ...] = self._function(input.tensor) # then, apply the non-linearity to its values with the sign inverted output[:, 1::2, ...] = self._function(-1 * input.tensor) # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)
def forward(self, input: GeometricTensor) -> GeometricTensor: r""" Args: input (GeometricTensor): the input feature map Returns: the resulting feature map """ assert input.type == self.in_type b, c, h, w = input.tensor.shape output = torch.empty_like(input.tensor) # iterate through all field sizes for s, contiguous in self._contiguous.items(): indices = getattr(self, f"indices_{s}") batchnorm = getattr(self, f'batch_norm_[{s}]') if contiguous: # if the fields were contiguous, we can use slicing output[:, indices[0]:indices[1], :, :] = batchnorm( input.tensor[:, indices[0]:indices[1], :, :].view( b, -1, s, h, w)).view(b, -1, h, w) else: # otherwise we have to use indexing output[:, indices, :, :] = batchnorm( input.tensor[:, indices, :, :].view(b, -1, s, h, w)).view(b, -1, h, w) # wrap the result in a GeometricTensor return GeometricTensor(output, self.out_type)