def __init__(self,
classes,
num_rels,
mode='sgdet',
embed_dim=200,
pooling_dim=4096,
use_bias=True):
super(EndCell, self).__init__()
self.classes = classes
self.num_rels = num_rels
assert mode in MODES
self.embed_dim = embed_dim
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.mode = mode
self.ort_embedding = torch.autograd.Variable(
get_ort_embeds(self.num_classes, self.embed_dim).cuda())
self.context = LC(classes=self.classes,
mode=self.mode,
embed_dim=self.embed_dim,
obj_dim=self.pooling_dim)
self.union_boxes = UnionBoxesAndFeats(pooling_size=7,
stride=16,
dim=512)
self.pooling_size = 7
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
self.post_lstm = nn.Linear(self.pooling_dim + self.embed_dim + 5,
self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.pooling_dim))
self.post_lstm.bias.data.zero_()
self.post_emb = nn.Linear(self.pooling_dim + self.embed_dim + 5,
self.pooling_dim * 2)
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
def __init__(self,
train_data,
mode='sgdet',
num_gpus=1,
require_overlap_det=True,
use_bias=False,
test_bias=False,
detector_model='baseline',
RELS_PER_IMG=1024):
"""
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param require_overlap_det: Whether two objects must intersect
"""
super(RelModelBase, self).__init__()
self.classes = train_data.ind_to_classes
self.rel_classes = train_data.ind_to_predicates
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.detector_model = detector_model
self.RELS_PER_IMG = RELS_PER_IMG
self.pooling_size = 7
self.stride = 16
self.obj_dim = 4096
self.use_bias = use_bias
self.test_bias = test_bias
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
if self.detector_model == 'mrcnn':
print('\nLoading COCO pretrained model maskrcnn_resnet50_fpn...\n')
# See https://pytorch.org/tutorials/intermediate/torchvision_tutorial.html
self.detector = torchvision.models.detection.maskrcnn_resnet50_fpn(
pretrained=True,
box_detections_per_img=50,
box_score_thresh=0.2)
in_features = self.detector.roi_heads.box_predictor.cls_score.in_features
# replace the pre-trained head with a new one
self.detector.roi_heads.box_predictor = FastRCNNPredictor(
in_features, len(self.classes))
self.detector.roi_heads.mask_predictor = None
self.union_boxes = UnionBoxesAndFeats(
pooling_size=self.pooling_size,
stride=self.stride,
dim=256 if self.detector_model == 'mrcnn' else 512)
if self.detector_model == 'mrcnn':
layers = list(self.detector.roi_heads.children())[:2]
self.roi_fmap_obj = copy.deepcopy(layers[1])
self.roi_fmap = copy.deepcopy(layers[1])
self.multiscale_roi_pool = copy.deepcopy(layers[0])
else:
raise NotImplementedError(self.detector_model)
if self.use_bias:
self.freq_bias = FrequencyBias(train_data)
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.hook_for_grad = False
self.gradients = []
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.ort_embedding = torch.autograd.Variable(
get_ort_embeds(self.num_classes, 200).cuda())
embed_vecs = obj_edge_vectors(self.classes, wv_dim=self.embed_dim)
self.obj_embed = nn.Embedding(self.num_classes, self.embed_dim)
self.obj_embed.weight.data = embed_vecs.clone()
# This probably doesn't help it much
self.pos_embed = nn.Sequential(*[
nn.BatchNorm1d(4, momentum=BATCHNORM_MOMENTUM / 10.0),
nn.Linear(4, 128),
nn.ReLU(inplace=True),
nn.Dropout(0.1),
])
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
self.merge_obj_feats = nn.Sequential(
nn.Linear(self.obj_dim + self.embed_dim + 128, self.hidden_dim),
nn.ReLU())
# self.trans = nn.Sequential(nn.Linear(self.hidden_dim, self.hidden_dim//4),
# LayerNorm(self.hidden_dim//4), nn.ReLU(),
# nn.Linear(self.hidden_dim//4, self.hidden_dim))
self.get_phr_feats = nn.Linear(self.pooling_dim, self.hidden_dim)
self.embeddings4lstm = nn.Embedding(self.num_classes, self.embed_dim)
self.lstm = nn.LSTM(input_size=self.hidden_dim + self.embed_dim,
hidden_size=self.hidden_dim,
num_layers=1)
self.obj_mps1 = Message_Passing4OBJ(self.hidden_dim)
# self.obj_mps2 = Message_Passing4OBJ(self.hidden_dim)
self.get_boxes_encode = Boxes_Encode(64)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
# self.obj_classify_head = nn.Linear(self.pooling_dim, self.num_classes)
# self.post_emb_s = nn.Linear(self.pooling_dim, self.pooling_dim//2)
# self.post_emb_s.weight = torch.nn.init.xavier_normal(self.post_emb_s.weight, gain=1.0)
# self.post_emb_o = nn.Linear(self.pooling_dim, self.pooling_dim//2)
# self.post_emb_o.weight = torch.nn.init.xavier_normal(self.post_emb_o.weight, gain=1.0)
# self.merge_obj_high = nn.Linear(self.hidden_dim, self.pooling_dim//2)
# self.merge_obj_high.weight = torch.nn.init.xavier_normal(self.merge_obj_high.weight, gain=1.0)
# self.merge_obj_low = nn.Linear(self.pooling_dim + 5 + self.embed_dim, self.pooling_dim//2)
# self.merge_obj_low.weight = torch.nn.init.xavier_normal(self.merge_obj_low.weight, gain=1.0)
# self.rel_compress = nn.Linear(self.pooling_dim//2 + 64, self.num_rels, bias=True)
# self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
# self.freq_gate = nn.Linear(self.pooling_dim//2 + 64, self.num_rels, bias=True)
# self.freq_gate.weight = torch.nn.init.xavier_normal(self.freq_gate.weight, gain=1.0)
self.post_emb_s = nn.Linear(self.pooling_dim, self.pooling_dim)
self.post_emb_s.weight = torch.nn.init.xavier_normal(
self.post_emb_s.weight, gain=1.0)
self.post_emb_o = nn.Linear(self.pooling_dim, self.pooling_dim)
self.post_emb_o.weight = torch.nn.init.xavier_normal(
self.post_emb_o.weight, gain=1.0)
self.merge_obj_high = nn.Linear(self.hidden_dim, self.pooling_dim)
self.merge_obj_high.weight = torch.nn.init.xavier_normal(
self.merge_obj_high.weight, gain=1.0)
self.merge_obj_low = nn.Linear(self.pooling_dim + 5 + self.embed_dim,
self.pooling_dim)
self.merge_obj_low.weight = torch.nn.init.xavier_normal(
self.merge_obj_low.weight, gain=1.0)
self.rel_compress = nn.Linear(self.pooling_dim + 64,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
self.freq_gate = nn.Linear(self.pooling_dim + 64,
self.num_rels,
bias=True)
self.freq_gate.weight = torch.nn.init.xavier_normal(
self.freq_gate.weight, gain=1.0)
# self.ranking_module = nn.Sequential(nn.Linear(self.pooling_dim + 64, self.hidden_dim), nn.ReLU(), nn.Linear(self.hidden_dim, 1))
if self.use_bias:
self.freq_bias = FrequencyBias()
class RelModel(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.hook_for_grad = False
self.gradients = []
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.ort_embedding = torch.autograd.Variable(
get_ort_embeds(self.num_classes, 200).cuda())
embed_vecs = obj_edge_vectors(self.classes, wv_dim=self.embed_dim)
self.obj_embed = nn.Embedding(self.num_classes, self.embed_dim)
self.obj_embed.weight.data = embed_vecs.clone()
# This probably doesn't help it much
self.pos_embed = nn.Sequential(*[
nn.BatchNorm1d(4, momentum=BATCHNORM_MOMENTUM / 10.0),
nn.Linear(4, 128),
nn.ReLU(inplace=True),
nn.Dropout(0.1),
])
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
self.merge_obj_feats = nn.Sequential(
nn.Linear(self.obj_dim + self.embed_dim + 128, self.hidden_dim),
nn.ReLU())
# self.trans = nn.Sequential(nn.Linear(self.hidden_dim, self.hidden_dim//4),
# LayerNorm(self.hidden_dim//4), nn.ReLU(),
# nn.Linear(self.hidden_dim//4, self.hidden_dim))
self.get_phr_feats = nn.Linear(self.pooling_dim, self.hidden_dim)
self.embeddings4lstm = nn.Embedding(self.num_classes, self.embed_dim)
self.lstm = nn.LSTM(input_size=self.hidden_dim + self.embed_dim,
hidden_size=self.hidden_dim,
num_layers=1)
self.obj_mps1 = Message_Passing4OBJ(self.hidden_dim)
# self.obj_mps2 = Message_Passing4OBJ(self.hidden_dim)
self.get_boxes_encode = Boxes_Encode(64)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
# self.obj_classify_head = nn.Linear(self.pooling_dim, self.num_classes)
# self.post_emb_s = nn.Linear(self.pooling_dim, self.pooling_dim//2)
# self.post_emb_s.weight = torch.nn.init.xavier_normal(self.post_emb_s.weight, gain=1.0)
# self.post_emb_o = nn.Linear(self.pooling_dim, self.pooling_dim//2)
# self.post_emb_o.weight = torch.nn.init.xavier_normal(self.post_emb_o.weight, gain=1.0)
# self.merge_obj_high = nn.Linear(self.hidden_dim, self.pooling_dim//2)
# self.merge_obj_high.weight = torch.nn.init.xavier_normal(self.merge_obj_high.weight, gain=1.0)
# self.merge_obj_low = nn.Linear(self.pooling_dim + 5 + self.embed_dim, self.pooling_dim//2)
# self.merge_obj_low.weight = torch.nn.init.xavier_normal(self.merge_obj_low.weight, gain=1.0)
# self.rel_compress = nn.Linear(self.pooling_dim//2 + 64, self.num_rels, bias=True)
# self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
# self.freq_gate = nn.Linear(self.pooling_dim//2 + 64, self.num_rels, bias=True)
# self.freq_gate.weight = torch.nn.init.xavier_normal(self.freq_gate.weight, gain=1.0)
self.post_emb_s = nn.Linear(self.pooling_dim, self.pooling_dim)
self.post_emb_s.weight = torch.nn.init.xavier_normal(
self.post_emb_s.weight, gain=1.0)
self.post_emb_o = nn.Linear(self.pooling_dim, self.pooling_dim)
self.post_emb_o.weight = torch.nn.init.xavier_normal(
self.post_emb_o.weight, gain=1.0)
self.merge_obj_high = nn.Linear(self.hidden_dim, self.pooling_dim)
self.merge_obj_high.weight = torch.nn.init.xavier_normal(
self.merge_obj_high.weight, gain=1.0)
self.merge_obj_low = nn.Linear(self.pooling_dim + 5 + self.embed_dim,
self.pooling_dim)
self.merge_obj_low.weight = torch.nn.init.xavier_normal(
self.merge_obj_low.weight, gain=1.0)
self.rel_compress = nn.Linear(self.pooling_dim + 64,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
self.freq_gate = nn.Linear(self.pooling_dim + 64,
self.num_rels,
bias=True)
self.freq_gate.weight = torch.nn.init.xavier_normal(
self.freq_gate.weight, gain=1.0)
# self.ranking_module = nn.Sequential(nn.Linear(self.pooling_dim + 64, self.hidden_dim), nn.ReLU(), nn.Linear(self.hidden_dim, 1))
if self.use_bias:
self.freq_bias = FrequencyBias()
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
# def fixed_obj_modules(self):
# for p in self.detector.parameters():
# p.requires_grad = False
# for p in self.obj_embed.parameters():
# p.requires_grad = False
# for p in self.pos_embed.parameters():
# p.requires_grad = False
# for p in self.context.parameters():
# p.requires_grad = False
# for p in self.union_boxes.parameters():
# p.requires_grad = False
# for p in self.merge_obj_feats.parameters():
# p.requires_grad = False
# for p in self.get_phr_feats.parameters():
# p.requires_grad = False
# for p in self.embeddings4lstm.parameters():
# p.requires_grad = False
# for p in self.lstm.parameters():
# p.requires_grad = False
# for p in self.obj_mps1.parameters():
# p.requires_grad = False
# for p in self.roi_fmap_obj.parameters():
# p.requires_grad = False
# for p in self.roi_fmap.parameters():
# p.requires_grad = False
def save_grad(self, grad):
self.gradients.append(grad)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def visual_obj(self, features, rois, pair_inds):
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return uboxes
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat(
(im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def union_pairs(self, im_inds):
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
rel_inds = rel_cands.nonzero()
rel_inds = torch.cat((im_inds[rel_inds[:, 0]][:, None].data, rel_inds),
-1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size,
self.pooling_size,
spatial_scale=1 / 16)(features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def forward(self,
x,
im_sizes,
image_offset,
gt_boxes=None,
gt_classes=None,
gt_rels=None,
proposals=None,
train_anchor_inds=None,
return_fmap=False):
"""
Forward pass for detection
:param x: Images@[batch_size, 3, IM_SIZE, IM_SIZE]
:param im_sizes: A numpy array of (h, w, scale) for each image.
:param image_offset: Offset onto what image we're on for MGPU training (if single GPU this is 0)
:param gt_boxes:
Training parameters:
:param gt_boxes: [num_gt, 4] GT boxes over the batch.
:param gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
:param train_anchor_inds: a [num_train, 2] array of indices for the anchors that will
be used to compute the training loss. Each (img_ind, fpn_idx)
:return: If train:
scores, boxdeltas, labels, boxes, boxtargets, rpnscores, rpnboxes, rellabels
if test:
prob dists, boxes, img inds, maxscores, classes
"""
result = self.detector(x,
im_sizes,
image_offset,
gt_boxes,
gt_classes,
gt_rels,
proposals,
train_anchor_inds,
return_fmap=True)
# rel_feat = self.relationship_feat.feature_map(x)
if result.is_none():
return ValueError("heck")
im_inds = result.im_inds - image_offset
boxes = result.rm_box_priors
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet'
result.rel_labels = rel_assignments(im_inds.data,
boxes.data,
result.rm_obj_labels.data,
gt_boxes.data,
gt_classes.data,
gt_rels.data,
image_offset,
filter_non_overlap=True,
num_sample_per_gt=1)
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes)
spt_feats = self.get_boxes_encode(boxes, rel_inds)
pair_inds = self.union_pairs(im_inds)
if self.hook_for_grad:
rel_inds = gt_rels[:, :-1].data
if self.hook_for_grad:
fmap = result.fmap
fmap.register_hook(self.save_grad)
else:
fmap = result.fmap.detach()
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
result.obj_fmap = self.obj_feature_map(fmap, rois)
# result.obj_dists_head = self.obj_classify_head(obj_fmap_rel)
obj_embed = F.softmax(result.rm_obj_dists,
dim=1) @ self.obj_embed.weight
obj_embed_lstm = F.softmax(result.rm_obj_dists,
dim=1) @ self.embeddings4lstm.weight
pos_embed = self.pos_embed(Variable(center_size(boxes.data)))
obj_pre_rep = torch.cat((result.obj_fmap, obj_embed, pos_embed), 1)
obj_feats = self.merge_obj_feats(obj_pre_rep)
# obj_feats=self.trans(obj_feats)
obj_feats_lstm = torch.cat(
(obj_feats, obj_embed_lstm),
-1).contiguous().view(1, obj_feats.size(0), -1)
# obj_feats = F.relu(obj_feats)
phr_ori = self.visual_rep(fmap, rois, pair_inds[:, 1:])
vr_indices = torch.from_numpy(
intersect_2d(rel_inds[:, 1:].cpu().numpy(),
pair_inds[:, 1:].cpu().numpy()).astype(
np.uint8)).cuda().max(-1)[1]
vr = phr_ori[vr_indices]
phr_feats_high = self.get_phr_feats(phr_ori)
obj_feats_lstm_output, (obj_hidden_states,
obj_cell_states) = self.lstm(obj_feats_lstm)
rm_obj_dists1 = result.rm_obj_dists + self.context.decoder_lin(
obj_feats_lstm_output.squeeze())
obj_feats_output = self.obj_mps1(obj_feats_lstm_output.view(-1, obj_feats_lstm_output.size(-1)), \
phr_feats_high, im_inds, pair_inds)
obj_embed_lstm1 = F.softmax(rm_obj_dists1,
dim=1) @ self.embeddings4lstm.weight
obj_feats_lstm1 = torch.cat((obj_feats_output, obj_embed_lstm1), -1).contiguous().view(1, \
obj_feats_output.size(0), -1)
obj_feats_lstm_output, _ = self.lstm(
obj_feats_lstm1, (obj_hidden_states, obj_cell_states))
rm_obj_dists2 = rm_obj_dists1 + self.context.decoder_lin(
obj_feats_lstm_output.squeeze())
obj_feats_output = self.obj_mps1(obj_feats_lstm_output.view(-1, obj_feats_lstm_output.size(-1)), \
phr_feats_high, im_inds, pair_inds)
# Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists, result.obj_preds = self.context(
rm_obj_dists2, obj_feats_output, result.rm_obj_labels
if self.training or self.mode == 'predcls' else None, boxes.data,
result.boxes_all)
obj_dtype = result.obj_fmap.data.type()
obj_preds_embeds = torch.index_select(self.ort_embedding, 0,
result.obj_preds).type(obj_dtype)
tranfered_boxes = torch.stack(
(boxes[:, 0] / IM_SCALE, boxes[:, 3] / IM_SCALE,
boxes[:, 2] / IM_SCALE, boxes[:, 1] / IM_SCALE,
((boxes[:, 2] - boxes[:, 0]) * (boxes[:, 3] - boxes[:, 1])) /
(IM_SCALE**2)), -1).type(obj_dtype)
obj_features = torch.cat(
(result.obj_fmap, obj_preds_embeds, tranfered_boxes), -1)
obj_features_merge = self.merge_obj_low(
obj_features) + self.merge_obj_high(obj_feats_output)
# Split into subject and object representations
result.subj_rep = self.post_emb_s(obj_features_merge)[rel_inds[:, 1]]
result.obj_rep = self.post_emb_o(obj_features_merge)[rel_inds[:, 2]]
prod_rep = result.subj_rep * result.obj_rep
# obj_pools = self.visual_obj(result.fmap.detach(), rois, rel_inds[:, 1:])
# rel_pools = self.relationship_feat.union_rel_pooling(rel_feat, rois, rel_inds[:, 1:])
# context_pools = torch.cat([obj_pools, rel_pools], 1)
# merge_pool = self.merge_feat(context_pools)
# vr = self.roi_fmap(merge_pool)
# vr = self.rel_refine(vr)
prod_rep = prod_rep * vr
if self.use_tanh:
prod_rep = F.tanh(prod_rep)
prod_rep = torch.cat((prod_rep, spt_feats), -1)
freq_gate = self.freq_gate(prod_rep)
freq_gate = F.sigmoid(freq_gate)
result.rel_dists = self.rel_compress(prod_rep)
# result.rank_factor = self.ranking_module(prod_rep).view(-1)
if self.use_bias:
result.rel_dists = result.rel_dists + freq_gate * self.freq_bias.index_with_labels(
torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
if self.training:
return result
twod_inds = arange(
result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists,
dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(
result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
# rel_rep = smooth_one_hot(rel_rep)
# rank_factor = F.sigmoid(result.rank_factor)
return filter_dets(bboxes, result.obj_scores, result.obj_preds,
rel_inds[:, 1:], rel_rep)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self,
devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(
replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
class RelModel(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self, classes, rel_classes, mode='sgdet', num_gpus=1, use_vision=True, require_overlap_det=True,
embed_dim=200, hidden_dim=256, pooling_dim=2048,
nl_obj=1, nl_edge=2, use_resnet=False, order='confidence', thresh=0.01,
use_proposals=False, pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True, rec_dropout=0.0, use_bias=True, use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision=limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels') if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(self.classes, self.rel_classes, mode=self.mode,
embed_dim=self.embed_dim, hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj, nl_edge=nl_edge, dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size, stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False, use_relu=False, use_linear=pooling_dim == 4096, pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes, self.pooling_dim*2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim, self.num_rels, bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
# not too large; because in the same img, rel class is mostly 0; if too large, most neg rel is repeated
self.neg_num = 1
"""
self.embdim = 100
self.obj1_fc= nn.Sequential(
nn.BatchNorm1d(4096),
nn.ReLU(inplace=True),
nn.Linear(4096, self.num_classes * self.embdim, bias=True),
nn.BatchNorm1d(self.num_classes * self.embdim),
nn.ReLU(inplace=True),
)
self.obj2_fc= nn.Sequential(
nn.BatchNorm1d(4096),
nn.ReLU(inplace=True),
nn.Linear(4096, self.num_classes * self.embdim, bias=True),
nn.BatchNorm1d(self.num_classes * self.embdim),
nn.ReLU(inplace=True),
)
self.rel_seq = nn.Sequential(
nn.BatchNorm1d(4096),
nn.ReLU(inplace=True),
nn.Linear(4096, self.num_rels * self.embdim, bias=True),
nn.BatchNorm1d(self.num_rels * self.embdim),
nn.ReLU(inplace=True),
)
#self.new_roi_fmap_obj = load_vgg(pretrained=False).classifier
"""
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat((im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size, self.pooling_size, spatial_scale=1 / 16)(
features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1)) # vgg.classifier
def new_obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size, self.pooling_size, spatial_scale=1 / 16)(
features, rois)
return self.new_roi_fmap_obj(feature_pool.view(rois.size(0), -1)) # vgg.classifier
def get_neg_examples(self, rel_labels):
"""
Given relationship combination (positive examples), return the negative examples.
:param rel_labels: [num_rels, 4] (img ind, box0 ind, box1ind, rel type)
:return: neg_rel_labels: [num_rels, 4] (img ind, box0 ind, box1ind, rel type)
"""
neg_rel_labels = []
num_im = rel_labels.data[:,0].max()+1
im_inds = rel_labels.data.cpu().numpy()[:,0]
rel_type = rel_labels.data.cpu().numpy()[:,3]
box_pairs = rel_labels.data.cpu().numpy()[:,:3]
for im_ind in range(num_im):
pred_ind = np.where(im_inds == im_ind)[0]
rel_type_i = rel_type[pred_ind]
rel_labels_i = box_pairs[pred_ind][:,None,:]
row_num = rel_labels_i.shape[0]
rel_labels_i = torch.LongTensor(rel_labels_i).expand_as(torch.Tensor(row_num, self.neg_num, 3))
neg_pairs_i = rel_labels_i.contiguous().view(-1, 3).cpu().numpy()
neg_rel_type_i = np.zeros(self.neg_num)
for k in range(rel_type_i.shape[0]):
neg_rel_type_k = np.delete(rel_type_i, np.where(rel_type_i == rel_type_i[k])[0]) # delete same rel class
#assert neg_rel_type_k.shape[0] != 0
if neg_rel_type_k.shape[0] != 0:
neg_rel_type_k = np.random.choice(neg_rel_type_k, size=self.neg_num, replace=True)
neg_rel_type_i = np.concatenate((neg_rel_type_i,neg_rel_type_k),axis=0)
else:
orig_cls = np.arange(self.num_rels)
cls_pool = np.delete(orig_cls, np.where( orig_cls == rel_type_i[k] )[0])
neg_rel_type_k = np.random.choice(cls_pool, size=self.neg_num, replace=False)
neg_rel_type_i = np.concatenate((neg_rel_type_i,neg_rel_type_k),axis=0)
neg_rel_type_i = np.delete(neg_rel_type_i, np.arange(self.neg_num)) # delete the first few rows
assert neg_pairs_i.shape[0] == neg_rel_type_i.shape[0]
neg_rel_labels.append(np.column_stack((neg_pairs_i,neg_rel_type_i)))
neg_rel_labels = torch.LongTensor(np.concatenate(np.array(neg_rel_labels), 0))
neg_rel_labels = neg_rel_labels.cuda(rel_labels.get_device(), async=True)
return neg_rel_labels
def forward(self, x, im_sizes, image_offset,
gt_boxes=None, gt_classes=None, gt_rels=None, proposals=None, train_anchor_inds=None,
return_fmap=False):
"""
Forward pass for detection
:param x: Images@[batch_size, 3, IM_SIZE, IM_SIZE]
:param im_sizes: A numpy array of (h, w, scale) for each image.
:param image_offset: Offset onto what image we're on for MGPU training (if single GPU this is 0)
:param gt_boxes:
Training parameters:
:param gt_boxes: [num_gt, 4] GT boxes over the batch.
:param gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
:param train_anchor_inds: a [num_train, 2] array of indices for the anchors that will
be used to compute the training loss. Each (img_ind, fpn_idx)
:return: If train:
scores, boxdeltas, labels, boxes, boxtargets, rpnscores, rpnboxes, rellabels
if test:
prob dists, boxes, img inds, maxscores, classes
"""
# Detector
result = self.detector(x, im_sizes, image_offset, gt_boxes, gt_classes, gt_rels, proposals,
train_anchor_inds, return_fmap=True)
if result.is_none():
return ValueError("heck")
im_inds = result.im_inds - image_offset
# boxes: [#boxes, 4], without box deltas; where narrow error comes from, should .detach()
boxes = result.rm_box_priors.detach()
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet' # sgcls's result.rel_labels is gt and not None
# rel_labels: [num_rels, 4] (img ind, box0 ind, box1ind, rel type)
result.rel_labels = rel_assignments(im_inds.data, boxes.data, result.rm_obj_labels.data,
gt_boxes.data, gt_classes.data, gt_rels.data,
image_offset, filter_non_overlap=True,
num_sample_per_gt=1)
rel_labels_neg = self.get_neg_examples(result.rel_labels)
rel_inds_neg = rel_labels_neg[:,:3]
#torch.cat((result.rel_labels[:,0].contiguous().view(236,1),result.rm_obj_labels[result.rel_labels[:,1]].view(236,1),result.rm_obj_labels[result.rel_labels[:,2]].view(236,1),result.rel_labels[:,3].contiguous().view(236,1)),-1)
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes) #[275,3], [im_inds, box1_inds, box2_inds]
# rois: [#boxes, 5]
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
# result.rm_obj_fmap: [384, 4096]
#result.rm_obj_fmap = self.obj_feature_map(result.fmap.detach(), rois) # detach: prevent backforward flowing
result.rm_obj_fmap = self.obj_feature_map(result.fmap.detach(), rois.detach()) # detach: prevent backforward flowing
# BiLSTM
result.rm_obj_dists, result.rm_obj_preds, edge_ctx = self.context(
result.rm_obj_fmap, # has been detached above
# rm_obj_dists: [#boxes, 151]; Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists.detach(), # .detach:Returns a new Variable, detached from the current graph
im_inds, result.rm_obj_labels if self.training or self.mode == 'predcls' else None,
boxes.data, result.boxes_all.detach() if self.mode == 'sgdet' else result.boxes_all)
# Post Processing
# nl_egde <= 0
if edge_ctx is None:
edge_rep = self.post_emb(result.rm_obj_preds)
# nl_edge > 0
else:
edge_rep = self.post_lstm(edge_ctx) # [384, 4096*2]
# Split into subject and object representations
edge_rep = edge_rep.view(edge_rep.size(0), 2, self.pooling_dim) #[384,2,4096]
subj_rep = edge_rep[:, 0] # [384,4096]
obj_rep = edge_rep[:, 1] # [384,4096]
prod_rep = subj_rep[rel_inds[:, 1]] * obj_rep[rel_inds[:, 2]] # prod_rep, rel_inds: [275,4096], [275,3]
if self.use_vision: # True when sgdet
# union rois: fmap.detach--RoIAlignFunction--roifmap--vr [275,4096]
vr = self.visual_rep(result.fmap.detach(), rois, rel_inds[:, 1:])
if self.limit_vision: # False when sgdet
# exact value TBD
prod_rep = torch.cat((prod_rep[:,:2048] * vr[:,:2048], prod_rep[:,2048:]), 1)
else:
prod_rep = prod_rep * vr # [275,4096]
if self.training:
vr_neg = self.visual_rep(result.fmap.detach(), rois, rel_inds_neg[:, 1:])
prod_rep_neg = subj_rep[rel_inds_neg[:, 1]].detach() * obj_rep[rel_inds_neg[:, 2]].detach() * vr_neg
rel_dists_neg = self.rel_compress(prod_rep_neg)
if self.use_tanh: # False when sgdet
prod_rep = F.tanh(prod_rep)
result.rel_dists = self.rel_compress(prod_rep) # [275,51]
if self.use_bias: # True when sgdet
result.rel_dists = result.rel_dists + self.freq_bias.index_with_labels(torch.stack((
result.rm_obj_preds[rel_inds[:, 1]],
result.rm_obj_preds[rel_inds[:, 2]],
), 1))
if self.training:
judge = result.rel_labels.data[:,3] != 0
if judge.sum() != 0: # gt_rel exit in rel_inds
select_rel_inds = torch.arange(rel_inds.size(0)).view(-1,1).long().cuda()[result.rel_labels.data[:,3] != 0]
com_rel_inds = rel_inds[select_rel_inds]
twod_inds = arange(result.rm_obj_preds.data) * self.num_classes + result.rm_obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists.detach(), dim=1).view(-1)[twod_inds] # only 1/4 of 384 obj_dists will be updated; because only 1/4 objs's labels are not 0
# positive overall score
obj_scores0 = result.obj_scores[com_rel_inds[:,1]]
obj_scores1 = result.obj_scores[com_rel_inds[:,2]]
rel_rep = F.softmax(result.rel_dists[select_rel_inds], dim=1) # result.rel_dists has grad
_, pred_classes_argmax = rel_rep.data[:,:].max(1) # all classes
max_rel_score = rel_rep.gather(1, Variable(pred_classes_argmax.view(-1,1))).squeeze() # SqueezeBackward, GatherBackward
score_list = torch.cat((com_rel_inds[:,0].float().contiguous().view(-1,1), obj_scores0.data.view(-1,1), obj_scores1.data.view(-1,1), max_rel_score.data.view(-1,1)), 1)
prob_score = max_rel_score * obj_scores0.detach() * obj_scores1.detach()
#pos_prob[:,1][result.rel_labels.data[:,3] == 0] = 0 # treat most rel_labels as neg because their rel cls is 0 "unknown"
# negative overall score
obj_scores0_neg = result.obj_scores[rel_inds_neg[:,1]]
obj_scores1_neg = result.obj_scores[rel_inds_neg[:,2]]
rel_rep_neg = F.softmax(rel_dists_neg, dim=1) # rel_dists_neg has grad
_, pred_classes_argmax_neg = rel_rep_neg.data[:,:].max(1) # all classes
max_rel_score_neg = rel_rep_neg.gather(1, Variable(pred_classes_argmax_neg.view(-1,1))).squeeze() # SqueezeBackward, GatherBackward
score_list_neg = torch.cat((rel_inds_neg[:,0].float().contiguous().view(-1,1), obj_scores0_neg.data.view(-1,1), obj_scores1_neg.data.view(-1,1), max_rel_score_neg.data.view(-1,1)), 1)
prob_score_neg = max_rel_score_neg * obj_scores0_neg.detach() * obj_scores1_neg.detach()
# use all rel_inds, already irrelavant with im_inds, which is only use to extract region from img and produce rel_inds
# 384 boxes---(rel_inds)(rel_inds_neg)--->prob_score,prob_score_neg
all_rel_inds = torch.cat((result.rel_labels.data[select_rel_inds], rel_labels_neg), 0) # [#pos_inds+#neg_inds, 4]
flag = torch.cat((torch.ones(prob_score.size(0),1).cuda(),torch.zeros(prob_score_neg.size(0),1).cuda()),0)
score_list_all = torch.cat((score_list,score_list_neg), 0)
all_prob = torch.cat((prob_score,prob_score_neg), 0) # Variable, [#pos_inds+#neg_inds, 1]
_, sort_prob_inds = torch.sort(all_prob.data, dim=0, descending=True)
sorted_rel_inds = all_rel_inds[sort_prob_inds]
sorted_flag = flag[sort_prob_inds].squeeze() # can be used to check distribution of pos and neg
sorted_score_list_all = score_list_all[sort_prob_inds]
sorted_all_prob = all_prob[sort_prob_inds] # Variable
# positive triplet and score list
pos_sorted_inds = sorted_rel_inds.masked_select(sorted_flag.view(-1,1).expand(-1,4).cuda() == 1).view(-1,4)
pos_trips = torch.cat((pos_sorted_inds[:,0].contiguous().view(-1,1), result.rm_obj_labels.data.view(-1,1)[pos_sorted_inds[:,1]], result.rm_obj_labels.data.view(-1,1)[pos_sorted_inds[:,2]], pos_sorted_inds[:,3].contiguous().view(-1,1)), 1)
pos_score_list = sorted_score_list_all.masked_select(sorted_flag.view(-1,1).expand(-1,4).cuda() == 1).view(-1,4)
pos_exp = sorted_all_prob[sorted_flag == 1] # Variable
# negative triplet and score list
neg_sorted_inds = sorted_rel_inds.masked_select(sorted_flag.view(-1,1).expand(-1,4).cuda() == 0).view(-1,4)
neg_trips = torch.cat((neg_sorted_inds[:,0].contiguous().view(-1,1), result.rm_obj_labels.data.view(-1,1)[neg_sorted_inds[:,1]], result.rm_obj_labels.data.view(-1,1)[neg_sorted_inds[:,2]], neg_sorted_inds[:,3].contiguous().view(-1,1)), 1)
neg_score_list = sorted_score_list_all.masked_select(sorted_flag.view(-1,1).expand(-1,4).cuda() == 0).view(-1,4)
neg_exp = sorted_all_prob[sorted_flag == 0] # Variable
int_part = neg_exp.size(0) // pos_exp.size(0)
decimal_part = neg_exp.size(0) % pos_exp.size(0)
int_inds = torch.arange(pos_exp.size(0))[:,None].expand_as(torch.Tensor(pos_exp.size(0), int_part)).contiguous().view(-1)
int_part_inds = (int(pos_exp.size(0) -1) - int_inds).long().cuda() # use minimum pos to correspond maximum negative
if decimal_part == 0:
expand_inds = int_part_inds
else:
expand_inds = torch.cat((torch.arange(pos_exp.size(0))[(pos_exp.size(0) - decimal_part):].long().cuda(), int_part_inds), 0)
result.pos = pos_exp[expand_inds]
result.neg = neg_exp
result.anchor = Variable(torch.zeros(result.pos.size(0)).cuda())
# some variables .register_hook(extract_grad)
return result
else: # no gt_rel in rel_inds
print("no gt_rel in rel_inds!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
twod_inds = arange(result.rm_obj_preds.data) * self.num_classes + result.rm_obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists.detach(), dim=1).view(-1)[twod_inds]
# positive overall score
obj_scores0 = result.obj_scores[rel_inds[:,1]]
obj_scores1 = result.obj_scores[rel_inds[:,2]]
rel_rep = F.softmax(result.rel_dists, dim=1) # [275, 51]
_, pred_classes_argmax = rel_rep.data[:,:].max(1) # all classes
max_rel_score = rel_rep.gather(1, Variable(pred_classes_argmax.view(-1,1))).squeeze() # SqueezeBackward, GatherBackward
prob_score = max_rel_score * obj_scores0.detach() * obj_scores1.detach()
#pos_prob[:,1][result.rel_labels.data[:,3] == 0] = 0 # treat most rel_labels as neg because their rel cls is 0 "unknown"
# negative overall score
obj_scores0_neg = result.obj_scores[rel_inds_neg[:,1]]
obj_scores1_neg = result.obj_scores[rel_inds_neg[:,2]]
rel_rep_neg = F.softmax(rel_dists_neg, dim=1)
_, pred_classes_argmax_neg = rel_rep_neg.data[:,:].max(1) # all classes
max_rel_score_neg = rel_rep_neg.gather(1, Variable(pred_classes_argmax_neg.view(-1,1))).squeeze() # SqueezeBackward, GatherBackward
prob_score_neg = max_rel_score_neg * obj_scores0_neg.detach() * obj_scores1_neg.detach()
# use all rel_inds, already irrelavant with im_inds, which is only use to extract region from img and produce rel_inds
# 384 boxes---(rel_inds)(rel_inds_neg)--->prob_score,prob_score_neg
all_rel_inds = torch.cat((result.rel_labels.data, rel_labels_neg), 0) # [#pos_inds+#neg_inds, 4]
flag = torch.cat((torch.ones(prob_score.size(0),1).cuda(),torch.zeros(prob_score_neg.size(0),1).cuda()),0)
all_prob = torch.cat((prob_score,prob_score_neg), 0) # Variable, [#pos_inds+#neg_inds, 1]
_, sort_prob_inds = torch.sort(all_prob.data, dim=0, descending=True)
sorted_rel_inds = all_rel_inds[sort_prob_inds]
sorted_flag = flag[sort_prob_inds].squeeze() # can be used to check distribution of pos and neg
sorted_all_prob = all_prob[sort_prob_inds] # Variable
pos_sorted_inds = sorted_rel_inds.masked_select(sorted_flag.view(-1,1).expand(-1,4).cuda() == 1).view(-1,4)
neg_sorted_inds = sorted_rel_inds.masked_select(sorted_flag.view(-1,1).expand(-1,4).cuda() == 0).view(-1,4)
pos_exp = sorted_all_prob[sorted_flag == 1] # Variable
neg_exp = sorted_all_prob[sorted_flag == 0] # Variable
int_part = neg_exp.size(0) // pos_exp.size(0)
decimal_part = neg_exp.size(0) % pos_exp.size(0)
int_inds = torch.arange(pos_exp.data.size(0))[:,None].expand_as(torch.Tensor(pos_exp.data.size(0), int_part)).contiguous().view(-1)
int_part_inds = (int(pos_exp.data.size(0) -1) - int_inds).long().cuda() # use minimum pos to correspond maximum negative
if decimal_part == 0:
expand_inds = int_part_inds
else:
expand_inds = torch.cat((torch.arange(pos_exp.size(0))[(pos_exp.size(0) - decimal_part):].long().cuda(), int_part_inds), 0)
result.pos = pos_exp[expand_inds]
result.neg = neg_exp
result.anchor = Variable(torch.zeros(result.pos.size(0)).cuda())
return result
###################### Testing ###########################
# extract corrsponding scores according to the box's preds
twod_inds = arange(result.rm_obj_preds.data) * self.num_classes + result.rm_obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists, dim=1).view(-1)[twod_inds] # [384]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1) # [275, 51]
# sort product of obj1 * obj2 * rel
return filter_dets(bboxes, result.obj_scores,
result.rm_obj_preds, rel_inds[:, 1:],
rel_rep)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self, devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
def __init__(self,
classes,
rel_classes,
embed_dim,
obj_dim,
inputs_dim,
hidden_dim,
pooling_dim,
recurrent_dropout_probability=0.2,
use_highway=True,
use_input_projection_bias=True,
use_vision=True,
use_bias=True,
use_tanh=True,
limit_vision=True,
sl_pretrain=False,
num_iter=-1):
"""
Initializes the RNN
:param embed_dim: Dimension of the embeddings
:param encoder_hidden_dim: Hidden dim of the encoder, for attention purposes
:param hidden_dim: Hidden dim of the decoder
:param vocab_size: Number of words in the vocab
:param bos_token: To use during decoding (non teacher forcing mode))
:param bos: beginning of sentence token
:param unk: unknown token (not used)
"""
super(DecoderRNN, self).__init__()
self.rel_embedding_dim = 100
self.classes = classes
self.rel_classes = rel_classes
embed_vecs = obj_edge_vectors(['start'] + self.classes, wv_dim=100)
self.obj_embed = nn.Embedding(len(self.classes), embed_dim)
self.obj_embed.weight.data = embed_vecs
embed_rels = obj_edge_vectors(self.rel_classes,
wv_dim=self.rel_embedding_dim)
self.rel_embed = nn.Embedding(len(self.rel_classes),
self.rel_embedding_dim)
self.rel_embed.weight.data = embed_rels
self.embed_dim = embed_dim
self.obj_dim = obj_dim
self.hidden_size = hidden_dim
self.inputs_dim = inputs_dim
self.pooling_dim = pooling_dim
self.nms_thresh = 0.3
self.use_vision = use_vision
self.use_bias = use_bias
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.sl_pretrain = sl_pretrain
self.num_iter = num_iter
self.recurrent_dropout_probability = recurrent_dropout_probability
self.use_highway = use_highway
# We do the projections for all the gates all at once, so if we are
# using highway layers, we need some extra projections, which is
# why the sizes of the Linear layers change here depending on this flag.
if use_highway:
self.input_linearity = torch.nn.Linear(
self.input_size,
6 * self.hidden_size,
bias=use_input_projection_bias)
self.state_linearity = torch.nn.Linear(self.hidden_size,
5 * self.hidden_size,
bias=True)
else:
self.input_linearity = torch.nn.Linear(
self.input_size,
4 * self.hidden_size,
bias=use_input_projection_bias)
self.state_linearity = torch.nn.Linear(self.hidden_size,
4 * self.hidden_size,
bias=True)
# self.obj_in_lin = torch.nn.Linear(self.rel_embedding_dim, self.rel_embedding_dim, bias=True)
self.out = nn.Linear(self.hidden_size, len(self.classes))
self.reset_parameters()
# For relation predication
embed_vecs2 = obj_edge_vectors(self.classes, wv_dim=embed_dim)
self.obj_embed2 = nn.Embedding(self.num_classes, embed_dim)
self.obj_embed2.weight.data = embed_vecs2.clone()
# self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
self.post_lstm = nn.Linear(self.obj_dim + 2 * self.embed_dim + 128,
self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_size)
) ######## there may need more consideration
self.post_lstm.bias.data.zero_()
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
# simple relation model
from dataloaders.visual_genome import VG
from lib.get_dataset_counts import get_counts, box_filter
fg_matrix, bg_matrix = get_counts(train_data=VG.splits(
num_val_im=5000,
filter_non_overlap=True,
filter_duplicate_rels=True,
use_proposals=False)[0],
must_overlap=True)
prob_matrix = fg_matrix.astype(np.float32)
prob_matrix[:, :, 0] = bg_matrix
# TRYING SOMETHING NEW.
prob_matrix[:, :, 0] += 1
prob_matrix /= np.sum(prob_matrix, 2)[:, :, None]
# prob_matrix /= float(fg_matrix.max())
prob_matrix[:, :, 0] = 0 # Zero out BG
self.prob_matrix = prob_matrix
class RelModel(RelModelBase):
"""
Depth-Fusion relation detection model
"""
# -- Different components' FC layer size
FC_SIZE_VISUAL = 512
FC_SIZE_CLASS = 64
FC_SIZE_LOC = 20
FC_SIZE_DEPTH = 4096
LOC_INPUT_SIZE = 8
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=False,
require_overlap_det=True,
embed_dim=200,
hidden_dim=4096,
use_resnet=False,
thresh=0.01,
use_proposals=False,
use_bias=True,
limit_vision=True,
depth_model=None,
pretrained_depth=False,
active_features=None,
frozen_features=None,
use_embed=False,
**kwargs):
"""
:param classes: object classes
:param rel_classes: relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: enable the contribution of union of bounding boxes
:param require_overlap_det: whether two objects must intersect
:param embed_dim: word2vec embeddings dimension
:param hidden_dim: dimension of the fusion hidden layer
:param use_resnet: use resnet as faster-rcnn's backbone
:param thresh: faster-rcnn related threshold (Threshold for calling it a good box)
:param use_proposals: whether to use region proposal candidates
:param use_bias: enable frequency bias
:param limit_vision: use truncated version of UoBB features
:param depth_model: provided architecture for depth feature extraction
:param pretrained_depth: whether the depth feature extractor should be initialized with ImageNet weights
:param active_features: what set of features should be enabled (e.g. 'vdl' : visual, depth, and location features)
:param frozen_features: what set of features should be frozen (e.g. 'd' : depth)
:param use_embed: use word2vec embeddings
"""
RelModelBase.__init__(self, classes, rel_classes, mode, num_gpus,
require_overlap_det, active_features,
frozen_features)
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.use_vision = use_vision
self.use_bias = use_bias
self.limit_vision = limit_vision
# -- Store depth related parameters
assert depth_model in DEPTH_MODELS
self.depth_model = depth_model
self.pretrained_depth = pretrained_depth
self.depth_pooling_dim = DEPTH_DIMS[self.depth_model]
self.use_embed = use_embed
self.detector = nn.Module()
features_size = 0
# -- Check whether ResNet is selected as faster-rcnn's backbone
if use_resnet:
raise ValueError(
"The current model does not support ResNet as the Faster-RCNN's backbone."
)
""" *** DIFFERENT COMPONENTS OF THE PROPOSED ARCHITECTURE ***
This is the part where the different components of the proposed relation detection
architecture are defined. In the case of RGB images, we have class probability distribution
features, visual features, and the location ones. If we are considering depth images as well,
we augment depth features too. """
# -- Visual features
if self.has_visual:
# -- Define faster R-CNN network and it's related feature extractors
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
# -- Define union features
if self.use_vision:
# -- UoBB pooling module
self.union_boxes = UnionBoxesAndFeats(
pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
# -- UoBB feature extractor
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=self.hidden_dim == 4096,
pretrained=False).classifier,
]
if self.hidden_dim != 4096:
roi_fmap.append(nn.Linear(4096, self.hidden_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
# -- Define visual features hidden layer
self.visual_hlayer = nn.Sequential(*[
xavier_init(nn.Linear(self.obj_dim * 2, self.FC_SIZE_VISUAL)),
nn.ReLU(inplace=True),
nn.Dropout(0.8)
])
self.visual_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_VISUAL
# -- Location features
if self.has_loc:
# -- Define location features hidden layer
self.location_hlayer = nn.Sequential(*[
xavier_init(nn.Linear(self.LOC_INPUT_SIZE, self.FC_SIZE_LOC)),
nn.ReLU(inplace=True),
nn.Dropout(0.1)
])
self.location_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_LOC
# -- Class features
if self.has_class:
if self.use_embed:
# -- Define class embeddings
embed_vecs = obj_edge_vectors(self.classes,
wv_dim=self.embed_dim)
self.obj_embed = nn.Embedding(self.num_classes, self.embed_dim)
self.obj_embed.weight.data = embed_vecs.clone()
classme_input_dim = self.embed_dim if self.use_embed else self.num_classes
# -- Define Class features hidden layer
self.classme_hlayer = nn.Sequential(*[
xavier_init(
nn.Linear(classme_input_dim * 2, self.FC_SIZE_CLASS)),
nn.ReLU(inplace=True),
nn.Dropout(0.1)
])
self.classme_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_CLASS
# -- Depth features
if self.has_depth:
# -- Initialize depth backbone
self.depth_backbone = DepthCNN(depth_model=self.depth_model,
pretrained=self.pretrained_depth)
# -- Create a relation head which is used to carry on the feature extraction
# from RoIs of depth features
self.depth_rel_head = self.depth_backbone.get_classifier()
# -- Define depth features hidden layer
self.depth_rel_hlayer = nn.Sequential(*[
xavier_init(
nn.Linear(self.depth_pooling_dim * 2, self.FC_SIZE_DEPTH)),
nn.ReLU(inplace=True),
nn.Dropout(0.6),
])
self.depth_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_DEPTH
# -- Initialize frequency bias if needed
if self.use_bias:
self.freq_bias = FrequencyBias()
# -- *** Fusion layer *** --
# -- A hidden layer for concatenated features (fusion features)
self.fusion_hlayer = nn.Sequential(*[
xavier_init(nn.Linear(features_size, self.hidden_dim)),
nn.ReLU(inplace=True),
nn.Dropout(0.1)
])
# -- Final FC layer which predicts the relations
self.rel_out = xavier_init(
nn.Linear(self.hidden_dim, self.num_rels, bias=True))
# -- Freeze the user specified features
if self.frz_visual:
self.freeze_module(self.detector)
self.freeze_module(self.roi_fmap_obj)
self.freeze_module(self.visual_hlayer)
if self.use_vision:
self.freeze_module(self.roi_fmap)
self.freeze_module(self.union_boxes.conv)
if self.frz_class:
self.freeze_module(self.classme_hlayer)
if self.frz_loc:
self.freeze_module(self.location_hlayer)
if self.frz_depth:
self.freeze_module(self.depth_backbone)
self.freeze_module(self.depth_rel_head)
self.freeze_module(self.depth_rel_hlayer)
def get_roi_features(self, features, rois):
"""
Gets ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlign((self.pooling_size, self.pooling_size),
spatial_scale=1 / 16,
sampling_ratio=-1)(features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def get_union_features(self, features, rois, pair_inds):
"""
Gets UoBB features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds: inds to use when predicting
:return: UoBB features
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_roi_features_depth(self, features, rois):
"""
Gets ROI features (depth)
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlign((self.pooling_size, self.pooling_size),
spatial_scale=1 / 16,
sampling_ratio=-1)(features, rois)
# -- Flatten the layer if the model is not RESNET/SQZNET
if self.depth_model not in ('resnet18', 'resnet50', 'sqznet'):
feature_pool = feature_pool.view(rois.size(0), -1)
return self.depth_rel_head(feature_pool)
@staticmethod
def get_loc_features(boxes, subj_inds, obj_inds):
"""
Calculate the scale-invariant location feature
:param boxes: ground-truth/detected boxes
:param subj_inds: subject indices
:param obj_inds: object indices
:return: location_feature
"""
boxes_centered = center_size(boxes.data)
# -- Determine box's center and size (subj's box)
center_subj = boxes_centered[subj_inds][:, 0:2]
size_subj = boxes_centered[subj_inds][:, 2:4]
# -- Determine box's center and size (obj's box)
center_obj = boxes_centered[obj_inds][:, 0:2]
size_obj = boxes_centered[obj_inds][:, 2:4]
# -- Calculate the scale-invariant location features of the subject
t_coord_subj = (center_subj - center_obj) / size_obj
t_size_subj = torch.log(size_subj / size_obj)
# -- Calculate the scale-invariant location features of the object
t_coord_obj = (center_obj - center_subj) / size_subj
t_size_obj = torch.log(size_obj / size_subj)
# -- Put everything together
location_feature = Variable(
torch.cat((t_coord_subj, t_size_subj, t_coord_obj, t_size_obj), 1))
return location_feature
def forward(self,
x,
im_sizes,
image_offset,
gt_boxes=None,
gt_classes=None,
gt_rels=None,
proposals=None,
train_anchor_inds=None,
return_fmap=False,
depth_imgs=None):
"""
Forward pass for relation detection
:param x: Images@[batch_size, 3, IM_SIZE, IM_SIZE]
:param im_sizes: a numpy array of (h, w, scale) for each image.
:param image_offset: offset onto what image we're on for MGPU training (if single GPU this is 0)
:param gt_boxes: [num_gt, 4] GT boxes over the batch.
:param gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
:param gt_rels: [] gt relations
:param proposals: region proposals retrieved from file
:param train_anchor_inds: a [num_train, 2] array of indices for the anchors that will
be used to compute the training loss. Each (img_ind, fpn_idx)
:param return_fmap: if the object detector must return the extracted feature maps
:param depth_imgs: depth images [batch_size, 1, IM_SIZE, IM_SIZE]
:return: If train:
scores, boxdeltas, labels, boxes, boxtargets, rpnscores, rpnboxes, rellabels
if test:
prob dists, boxes, img inds, maxscores, classes
"""
if self.has_visual:
# -- Feed forward the rgb images to Faster-RCNN
result = self.detector(x,
im_sizes,
image_offset,
gt_boxes,
gt_classes,
gt_rels,
proposals,
train_anchor_inds,
return_fmap=True)
else:
# -- Get prior `result` object (instead of calling faster-rcnn's detector)
result = self.get_prior_results(image_offset, gt_boxes, gt_classes,
gt_rels)
# -- Get RoI and relations
rois, rel_inds = self.get_rois_and_rels(result, image_offset, gt_boxes,
gt_classes, gt_rels)
boxes = result.rm_box_priors
# -- Determine subject and object indices
subj_inds = rel_inds[:, 1]
obj_inds = rel_inds[:, 2]
# -- Prepare object predictions vector (PredCLS)
# replace with ground truth labels
result.obj_preds = result.rm_obj_labels
# replace with one-hot distribution of ground truth labels
result.rm_obj_dists = F.one_hot(result.rm_obj_labels.data,
self.num_classes).float()
obj_cls = result.rm_obj_dists
result.rm_obj_dists = result.rm_obj_dists * 1000 + (
1 - result.rm_obj_dists) * (-1000)
rel_features = []
# -- Extract RGB features
if self.has_visual:
# Feed the extracted features from first conv layers to the last 'classifier' layers (VGG)
# Here, only the last 3 layers of VGG are being trained. Everything else (in self.detector)
# is frozen.
result.obj_fmap = self.get_roi_features(result.fmap.detach(), rois)
# -- Create a pairwise relation vector out of visual features
rel_visual = torch.cat(
(result.obj_fmap[subj_inds], result.obj_fmap[obj_inds]), 1)
rel_visual_fc = self.visual_hlayer(rel_visual)
rel_visual_scale = self.visual_scale(rel_visual_fc)
rel_features.append(rel_visual_scale)
# -- Extract Location features
if self.has_loc:
# -- Create a pairwise relation vector out of location features
rel_location = self.get_loc_features(boxes, subj_inds, obj_inds)
rel_location_fc = self.location_hlayer(rel_location)
rel_location_scale = self.location_scale(rel_location_fc)
rel_features.append(rel_location_scale)
# -- Extract Class features
if self.has_class:
if self.use_embed:
obj_cls = obj_cls @ self.obj_embed.weight
# -- Create a pairwise relation vector out of class features
rel_classme = torch.cat((obj_cls[subj_inds], obj_cls[obj_inds]), 1)
rel_classme_fc = self.classme_hlayer(rel_classme)
rel_classme_scale = self.classme_scale(rel_classme_fc)
rel_features.append(rel_classme_scale)
# -- Extract Depth features
if self.has_depth:
# -- Extract features from depth backbone
depth_features = self.depth_backbone(depth_imgs)
depth_rois_features = self.get_roi_features_depth(
depth_features, rois)
# -- Create a pairwise relation vector out of location features
rel_depth = torch.cat((depth_rois_features[subj_inds],
depth_rois_features[obj_inds]), 1)
rel_depth_fc = self.depth_rel_hlayer(rel_depth)
rel_depth_scale = self.depth_scale(rel_depth_fc)
rel_features.append(rel_depth_scale)
# -- Create concatenated feature vector
rel_fusion = torch.cat(rel_features, 1)
# -- Extract relation embeddings (penultimate layer)
rel_embeddings = self.fusion_hlayer(rel_fusion)
# -- Mix relation embeddings with UoBB features
if self.has_visual and self.use_vision:
uobb_features = self.get_union_features(result.fmap.detach(), rois,
rel_inds[:, 1:])
if self.limit_vision:
# exact value TBD
uobb_limit = int(self.hidden_dim / 2)
rel_embeddings = torch.cat((rel_embeddings[:, :uobb_limit] *
uobb_features[:, :uobb_limit],
rel_embeddings[:, uobb_limit:]), 1)
else:
rel_embeddings = rel_embeddings * uobb_features
# -- Predict relation distances
result.rel_dists = self.rel_out(rel_embeddings)
# -- Frequency bias
if self.use_bias:
result.rel_dists = result.rel_dists + self.freq_bias.index_with_labels(
torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
if self.training:
return result
# --- *** END OF ARCHITECTURE *** ---#
twod_inds = arange(
result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists,
dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(
result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
# Filtering: Subject_Score * Pred_score * Obj_score, sorted and ranked
return filter_dets(bboxes, result.obj_scores, result.obj_preds,
rel_inds[:, 1:], rel_rep)
class RelModel(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self, classes, rel_classes, mode='sgdet', num_gpus=1, use_vision=True, require_overlap_det=True,
embed_dim=200, hidden_dim=256, pooling_dim=2048,
nl_obj=1, nl_edge=2, use_resnet=False, order='confidence', thresh=0.01,
use_proposals=False, pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True, rec_dropout=0.0, use_bias=True, use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision=limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
# print('REL MODEL CONSTRUCTOR: 1')
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels') if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
# print('REL MODEL CONSTRUCTOR: 2')
self.context = LinearizedContext(self.classes, self.rel_classes, mode=self.mode,
embed_dim=self.embed_dim, hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj, nl_edge=nl_edge, dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size, stride=16,
dim=1024 if use_resnet else 512)
# print('REL MODEL CONSTRUCTOR: 3')
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False, use_relu=False, use_linear=pooling_dim == 4096, pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
# print('REL MODEL CONSTRUCTOR: 4')
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
# print('REL MODEL CONSTRUCTOR: 5')
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes, self.pooling_dim*2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim, self.num_rels, bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
# print('REL MODEL CONSTRUCTOR: over')
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat((im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size, self.pooling_size, spatial_scale=1 / 16)(
features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def forward(self, x, im_sizes, image_offset,
gt_boxes=None, gt_classes=None, gt_rels=None, proposals=None, train_anchor_inds=None,
return_fmap=False):
"""
Forward pass for detection
:param x: Images@[batch_size, 3, IM_SIZE, IM_SIZE]
:param im_sizes: A numpy array of (h, w, scale) for each image.
:param image_offset: Offset onto what image we're on for MGPU training (if single GPU this is 0)
:param gt_boxes:
Training parameters:
:param gt_boxes: [num_gt, 4] GT boxes over the batch.
:param gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
:param train_anchor_inds: a [num_train, 2] array of indices for the anchors that will
be used to compute the training loss. Each (img_ind, fpn_idx)
:return: If train:
scores, boxdeltas, labels, boxes, boxtargets, rpnscores, rpnboxes, rellabels
if test:
prob dists, boxes, img inds, maxscores, classes
"""
result = self.detector(x, im_sizes, image_offset, gt_boxes, gt_classes, gt_rels, proposals,
train_anchor_inds, return_fmap=True)
if result.is_none():
return ValueError("heck")
im_inds = result.im_inds - image_offset
boxes = result.rm_box_priors
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet'
result.rel_labels = rel_assignments(im_inds.data, boxes.data, result.rm_obj_labels.data,
gt_boxes.data, gt_classes.data, gt_rels.data,
image_offset, filter_non_overlap=True,
num_sample_per_gt=1)
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes)
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
result.obj_fmap = self.obj_feature_map(result.fmap.detach(), rois)
# Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists, result.obj_preds, edge_ctx = self.context(
result.obj_fmap,
result.rm_obj_dists.detach(),
im_inds, result.rm_obj_labels if self.training or self.mode == 'predcls' else None,
boxes.data, result.boxes_all)
if edge_ctx is None:
edge_rep = self.post_emb(result.obj_preds)
else:
edge_rep = self.post_lstm(edge_ctx)
# Split into subject and object representations
edge_rep = edge_rep.view(edge_rep.size(0), 2, self.pooling_dim)
subj_rep = edge_rep[:, 0]
obj_rep = edge_rep[:, 1]
prod_rep = subj_rep[rel_inds[:, 1]] * obj_rep[rel_inds[:, 2]]
if self.use_vision:
vr = self.visual_rep(result.fmap.detach(), rois, rel_inds[:, 1:])
if self.limit_vision:
# exact value TBD
prod_rep = torch.cat((prod_rep[:,:2048] * vr[:,:2048], prod_rep[:,2048:]), 1)
else:
prod_rep = prod_rep * vr
if self.use_tanh:
prod_rep = F.tanh(prod_rep)
result.rel_dists = self.rel_compress(prod_rep)
if self.use_bias:
result.rel_dists = result.rel_dists + self.freq_bias.index_with_labels(torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
if self.training:
return result
twod_inds = arange(result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists, dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
return filter_dets(bboxes, result.obj_scores,
result.obj_preds, rel_inds[:, 1:], rel_rep)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self, devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
gnn=True,
reachability=False,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.reachability = reachability
self.gnn = gnn
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.global_embedding = EmbeddingImagenet(4096)
self.global_logist = nn.Linear(4096, 151,
bias=True) # CosineLinear(4096,150)#
self.global_logist.weight = torch.nn.init.xavier_normal(
self.global_logist.weight, gain=1.0)
self.disc_center = DiscCentroidsLoss(self.num_rels,
self.pooling_dim + 256)
self.meta_classify = MetaEmbedding_Classifier(
feat_dim=self.pooling_dim + 256, num_classes=self.num_rels)
# self.global_rel_logist = nn.Linear(4096, 50 , bias=True)
# self.global_rel_logist.weight = torch.nn.init.xavier_normal(self.global_rel_logist.weight, gain=1.0)
# self.global_logist = CosineLinear(4096,150)
self.global_sub_additive = nn.Linear(4096, 1, bias=True)
self.global_obj_additive = nn.Linear(4096, 1, bias=True)
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
self.edge_coordinate_embedding = nn.Sequential(*[
nn.BatchNorm1d(5, momentum=BATCHNORM_MOMENTUM / 10.0),
nn.Linear(5, 256),
nn.ReLU(inplace=True),
nn.Dropout(0.1),
])
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes,
self.pooling_dim * 2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(4096 + 256, 51, bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
self.node_transform = nn.Linear(4096, 256, bias=True)
self.edge_transform = nn.Linear(4096, 256, bias=True)
# self.rel_compress = CosineLinear(self.pooling_dim+256, self.num_rels)
# self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
if self.gnn:
self.graph_network_node = GraphNetwork(4096)
self.graph_network_edge = GraphNetwork()
if self.training:
self.graph_network_node.train()
self.graph_network_edge.train()
else:
self.graph_network_node.eval()
self.graph_network_edge.eval()
self.edge_sim_network = nn.Linear(4096, 1, bias=True)
self.metric_net = MetricLearning()
class RelModel(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
model_path='',
reachability=False,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
init_center=False,
limit_vision=True):
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.init_center = init_center
self.pooling_size = 7
self.model_path = model_path
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.centroids = None
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.global_embedding = EmbeddingImagenet(4096)
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
self.disc_center = DiscCentroidsLoss(self.num_rels, self.pooling_dim)
self.meta_classify = MetaEmbedding_Classifier(
feat_dim=self.pooling_dim, num_classes=self.num_rels)
self.disc_center_g = DiscCentroidsLoss(self.num_classes,
self.pooling_dim)
self.meta_classify_g = MetaEmbedding_Classifier(
feat_dim=self.pooling_dim, num_classes=self.num_classes)
self.global_sub_additive = nn.Linear(4096, 1, bias=True)
self.global_obj_additive = nn.Linear(4096, 1, bias=True)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
self.global_logist = nn.Linear(self.pooling_dim,
self.num_classes,
bias=True) # CosineLinear(4096,150)#
self.global_logist.weight = torch.nn.init.xavier_normal(
self.global_logist.weight, gain=1.0)
self.post_emb = nn.Embedding(self.num_classes, self.pooling_dim * 2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
self.class_num = torch.zeros(len(self.classes))
self.centroids = torch.zeros(len(self.classes),
self.pooling_dim).cuda()
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
def visual_rep(self, features, rois, pair_inds):
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat(
(im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def _to_one_hot(self, y, n_dims, dtype=torch.cuda.FloatTensor):
scatter_dim = len(y.size())
y_tensor = y.type(torch.cuda.LongTensor).view(*y.size(), -1)
zeros = torch.zeros(*y.size(), n_dims).type(dtype)
return zeros.scatter(scatter_dim, y_tensor, 1)
def obj_feature_map(self, features, rois):
feature_pool = RoIAlignFunction(self.pooling_size,
self.pooling_size,
spatial_scale=1 / 16)(features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def center_calulate(self, feature, labels):
for idx, i in enumerate(labels):
self.centroids[i] += feature[idx]
self.class_num[i] += 1
def forward(self,
x,
im_sizes,
image_offset,
gt_boxes=None,
gt_classes=None,
gt_rels=None,
proposals=None,
train_anchor_inds=None,
return_fmap=False):
result = self.detector(x,
im_sizes,
image_offset,
gt_boxes,
gt_classes,
gt_rels,
proposals,
train_anchor_inds,
return_fmap=True)
if result.is_none():
return ValueError("heck")
im_inds = result.im_inds - image_offset
boxes = result.rm_box_priors
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet'
result.rel_labels = rel_assignments(im_inds.data,
boxes.data,
result.rm_obj_labels.data,
gt_boxes.data,
gt_classes.data,
gt_rels.data,
image_offset,
filter_non_overlap=True,
num_sample_per_gt=1)
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes)
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
result.obj_fmap = self.obj_feature_map(result.fmap.detach(), rois)
# Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists, result.obj_preds, node_rep0 = self.context(
result.obj_fmap, result.rm_obj_dists.detach(), im_inds,
result.rm_obj_labels if self.training or self.mode == 'predcls'
else None, boxes.data, result.boxes_all)
edge_rep = node_rep0.repeat(1, 2)
edge_rep = edge_rep.view(edge_rep.size(0), 2, -1)
global_feature = self.global_embedding(result.fmap.detach())
result.global_dists = self.global_logist(global_feature)
one_hot_multi = torch.zeros(
(result.global_dists.shape[0], self.num_classes))
one_hot_multi[im_inds, result.rm_obj_labels] = 1.0
result.multi_hot = one_hot_multi.float().cuda()
subj_global_additive_attention = F.relu(
self.global_sub_additive(edge_rep[:, 0] + global_feature[im_inds]))
obj_global_additive_attention = F.relu(
self.global_obj_additive(edge_rep[:, 1] + global_feature[im_inds]))
subj_rep = edge_rep[:,
0] + subj_global_additive_attention * global_feature[
im_inds]
obj_rep = edge_rep[:,
1] + obj_global_additive_attention * global_feature[
im_inds]
if self.training:
self.centroids = self.disc_center.centroids.data
# if edge_ctx is None:
# edge_rep = self.post_emb(result.obj_preds)
# else:
# edge_rep = self.post_lstm(edge_ctx)
# Split into subject and object representations
# edge_rep = edge_rep.view(edge_rep.size(0), 2, self.pooling_dim)
#
# subj_rep = edge_rep[:, 0]
# obj_rep = edge_rep[:, 1]
prod_rep = subj_rep[rel_inds[:, 1]] * obj_rep[rel_inds[:, 2]]
vr = self.visual_rep(result.fmap.detach(), rois, rel_inds[:, 1:])
prod_rep = prod_rep * vr
prod_rep = F.tanh(prod_rep)
logits, self.direct_memory_feature = self.meta_classify(
prod_rep, self.centroids)
# result.rel_dists = self.rel_compress(prod_rep)
result.rel_dists = logits
result.rel_dists2 = self.direct_memory_feature[-1]
# result.hallucinate_logits = self.direct_memory_feature[-1]
if self.training:
result.center_loss = self.disc_center(
prod_rep, result.rel_labels[:, -1]) * 0.01
if self.use_bias:
result.rel_dists = result.rel_dists + 1.0 * self.freq_bias.index_with_labels(
torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
if self.training:
return result
twod_inds = arange(
result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists,
dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(
result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
return filter_dets(bboxes, result.obj_scores, result.obj_preds,
rel_inds[:, 1:], rel_rep)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self,
devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(
replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
class EndCell(nn.Module):
def __init__(self,
classes,
num_rels,
mode='sgdet',
embed_dim=200,
pooling_dim=4096,
use_bias=True):
super(EndCell, self).__init__()
self.classes = classes
self.num_rels = num_rels
assert mode in MODES
self.embed_dim = embed_dim
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.mode = mode
self.ort_embedding = torch.autograd.Variable(
get_ort_embeds(self.num_classes, self.embed_dim).cuda())
self.context = LC(classes=self.classes,
mode=self.mode,
embed_dim=self.embed_dim,
obj_dim=self.pooling_dim)
self.union_boxes = UnionBoxesAndFeats(pooling_size=7,
stride=16,
dim=512)
self.pooling_size = 7
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
self.post_lstm = nn.Linear(self.pooling_dim + self.embed_dim + 5,
self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.pooling_dim))
self.post_lstm.bias.data.zero_()
self.post_emb = nn.Linear(self.pooling_dim + self.embed_dim + 5,
self.pooling_dim * 2)
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
@property
def num_classes(self):
return len(self.classes)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def visual_obj(self, features, rois, pair_inds):
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return uboxes
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat(
(im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size,
self.pooling_size,
spatial_scale=1 / 16)(features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def forward(self, last_outputs, obj_dists, rel_inds, im_inds, rois, boxes):
twod_inds = arange(last_outputs.obj_preds.data
) * self.num_classes + last_outputs.obj_preds.data
obj_scores = F.softmax(last_outputs.rm_obj_dists,
dim=1).view(-1)[twod_inds]
rel_rep, _ = F.softmax(last_outputs.rel_dists, dim=1)[:, 1:].max(1)
rel_scores_argmaxed = rel_rep * obj_scores[
rel_inds[:, 0]] * obj_scores[rel_inds[:, 1]]
_, rel_scores_idx = torch.sort(rel_scores_argmaxed.view(-1),
dim=0,
descending=True)
rel_scores_idx = rel_scores_idx[:100]
filtered_rel_inds = rel_inds[rel_scores_idx.data]
obj_fmap = self.obj_feature_map(last_outputs.fmap.detach(), rois)
rm_obj_dists, obj_preds = self.context(
obj_fmap, obj_dists.detach(), im_inds,
last_outputs.rm_obj_labels if self.mode == 'predcls' else None,
boxes.data, last_outputs.boxes_all)
obj_dtype = obj_fmap.data.type()
obj_preds_embeds = torch.index_select(self.ort_embedding, 0,
obj_preds).type(obj_dtype)
transfered_boxes = torch.stack(
(boxes[:, 0] / IM_SCALE, boxes[:, 3] / IM_SCALE,
boxes[:, 2] / IM_SCALE, boxes[:, 1] / IM_SCALE,
((boxes[:, 2] - boxes[:, 0]) * (boxes[:, 3] - boxes[:, 1])) /
(IM_SCALE**2)), -1).type(obj_dtype)
obj_features = torch.cat(
(obj_fmap, obj_preds_embeds, transfered_boxes), -1)
edge_rep = self.post_emb(obj_features)
edge_rep = edge_rep.view(edge_rep.size(0), 2, self.pooling_dim)
subj_rep = edge_rep[:, 0][filtered_rel_inds[:, 1]]
obj_rep = edge_rep[:, 1][filtered_rel_inds[:, 2]]
prod_rep = subj_rep * obj_rep
vr = self.visual_rep(last_outputs.fmap.detach(), rois,
filtered_rel_inds[:, 1:])
prod_rep = prod_rep * vr
rel_dists = self.rel_compress(prod_rep)
if self.use_bias:
rel_dists = rel_dists + self.freq_bias.index_with_labels(
torch.stack((
obj_preds[filtered_rel_inds[:, 1]],
obj_preds[filtered_rel_inds[:, 2]],
), 1))
return filtered_rel_inds, rm_obj_dists, obj_preds, rel_dists
def __init__(self, classes, rel_classes, mode='sgdet', use_vision=True,
embed_dim=200, hidden_dim=256, obj_dim=2048, pooling_dim=2048,
pooling_size=7, dropout_rate=0.2, use_bias=True, use_tanh=True,
limit_vision=True, sl_pretrain=False, num_iter=-1, use_resnet=False,
reduce_input=False, debug_type=None, post_nms_thresh=0.5):
super(DynamicFilterContext, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
assert mode in MODES
self.mode = mode
self.use_vision = use_vision
self.use_bias = use_bias
self.use_tanh = use_tanh
self.use_highway = True
self.limit_vision = limit_vision
self.pooling_dim = pooling_dim
self.pooling_size = pooling_size
self.nms_thresh = post_nms_thresh
self.obj_compress = myNNLinear(self.pooling_dim, self.num_classes, bias=True)
# self.roi_fmap_obj = load_vgg(pretrained=False).classifier
roi_fmap_obj = [myNNLinear(512*self.pooling_size*self.pooling_size, 4096, bias=True),
nn.ReLU(inplace=True),
nn.Dropout(p=0.5),
myNNLinear(4096, 4096, bias=True),
nn.ReLU(inplace=True),
nn.Dropout(p=0.5)]
self.roi_fmap_obj = nn.Sequential(*roi_fmap_obj)
if self.use_bias:
self.freq_bias = FrequencyBias()
self.reduce_dim = 256
self.reduce_obj_fmaps = nn.Conv2d(512, self.reduce_dim, kernel_size=1)
similar_fun = [myNNLinear(self.reduce_dim*2, self.reduce_dim),
nn.ReLU(inplace=True),
myNNLinear(self.reduce_dim, 1)]
self.similar_fun = nn.Sequential(*similar_fun)
# roi_fmap = [Flattener(),
# load_vgg(use_dropout=False, use_relu=False, use_linear=self.pooling_dim == 4096, pretrained=False).classifier,]
# if self.pooling_dim != 4096:
# roi_fmap.append(nn.Linear(4096, self.pooling_dim))
# self.roi_fmap = nn.Sequential(*roi_fmap)
roi_fmap = [Flattener(),
nn.Linear(self.reduce_dim*2*self.pooling_size*self.pooling_size, 4096, bias=True),
nn.ReLU(inplace=True),
nn.Dropout(p=0.5),
nn.Linear(4096, 4096, bias=True)]
self.roi_fmap = nn.Sequential(*roi_fmap)
self.hidden_dim = hidden_dim
self.rel_compress = myNNLinear(self.hidden_dim*3, self.num_rels)
self.post_obj = myNNLinear(self.pooling_dim, self.hidden_dim*2)
self.mapping_x = myNNLinear(self.hidden_dim*2, self.hidden_dim*3)
self.reduce_rel_input = myNNLinear(self.pooling_dim, self.hidden_dim*3)
class DynamicFilterContext(nn.Module):
def __init__(self, classes, rel_classes, mode='sgdet', use_vision=True,
embed_dim=200, hidden_dim=256, obj_dim=2048, pooling_dim=2048,
pooling_size=7, dropout_rate=0.2, use_bias=True, use_tanh=True,
limit_vision=True, sl_pretrain=False, num_iter=-1, use_resnet=False,
reduce_input=False, debug_type=None, post_nms_thresh=0.5):
super(DynamicFilterContext, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
assert mode in MODES
self.mode = mode
self.use_vision = use_vision
self.use_bias = use_bias
self.use_tanh = use_tanh
self.use_highway = True
self.limit_vision = limit_vision
self.pooling_dim = pooling_dim
self.pooling_size = pooling_size
self.nms_thresh = post_nms_thresh
self.obj_compress = myNNLinear(self.pooling_dim, self.num_classes, bias=True)
# self.roi_fmap_obj = load_vgg(pretrained=False).classifier
roi_fmap_obj = [myNNLinear(512*self.pooling_size*self.pooling_size, 4096, bias=True),
nn.ReLU(inplace=True),
nn.Dropout(p=0.5),
myNNLinear(4096, 4096, bias=True),
nn.ReLU(inplace=True),
nn.Dropout(p=0.5)]
self.roi_fmap_obj = nn.Sequential(*roi_fmap_obj)
if self.use_bias:
self.freq_bias = FrequencyBias()
self.reduce_dim = 256
self.reduce_obj_fmaps = nn.Conv2d(512, self.reduce_dim, kernel_size=1)
similar_fun = [myNNLinear(self.reduce_dim*2, self.reduce_dim),
nn.ReLU(inplace=True),
myNNLinear(self.reduce_dim, 1)]
self.similar_fun = nn.Sequential(*similar_fun)
# roi_fmap = [Flattener(),
# load_vgg(use_dropout=False, use_relu=False, use_linear=self.pooling_dim == 4096, pretrained=False).classifier,]
# if self.pooling_dim != 4096:
# roi_fmap.append(nn.Linear(4096, self.pooling_dim))
# self.roi_fmap = nn.Sequential(*roi_fmap)
roi_fmap = [Flattener(),
nn.Linear(self.reduce_dim*2*self.pooling_size*self.pooling_size, 4096, bias=True),
nn.ReLU(inplace=True),
nn.Dropout(p=0.5),
nn.Linear(4096, 4096, bias=True)]
self.roi_fmap = nn.Sequential(*roi_fmap)
self.hidden_dim = hidden_dim
self.rel_compress = myNNLinear(self.hidden_dim*3, self.num_rels)
self.post_obj = myNNLinear(self.pooling_dim, self.hidden_dim*2)
self.mapping_x = myNNLinear(self.hidden_dim*2, self.hidden_dim*3)
self.reduce_rel_input = myNNLinear(self.pooling_dim, self.hidden_dim*3)
def obj_feature_map(self, features, rois):
feature_pool = RoIAlignFunction(self.pooling_size, self.pooling_size, spatial_scale=1 / 16)(
features, rois)
return feature_pool
# return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
@property
def is_sgdet(self):
return self.mode == 'sgdet'
@property
def is_sgcls(self):
return self.mode == 'sgcls'
def forward(self, *args, **kwargs):
results = self.base_forward(*args, **kwargs)
return results
def base_forward(self, fmaps, obj_logits, im_inds, rel_inds, msg_rel_inds, reward_rel_inds, im_sizes, boxes_priors=None, boxes_deltas=None, boxes_per_cls=None, obj_labels=None):
assert self.mode == 'sgcls'
num_objs = obj_logits.shape[0]
num_rels = rel_inds.shape[0]
rois = torch.cat((im_inds[:, None].float(), boxes_priors), 1)
obj_fmaps = self.obj_feature_map(fmaps, rois)
reduce_obj_fmaps = self.reduce_obj_fmaps(obj_fmaps)
S_fmaps = reduce_obj_fmaps[rel_inds[:, 1]]
O_fmaps = reduce_obj_fmaps[rel_inds[:, 2]]
if conf.debug_type in ['test1_0']:
last_SO_fmaps = torch.cat((S_fmaps, O_fmaps), dim=1)
elif conf.debug_type in ['test1_1']:
S_fmaps_trans = S_fmaps.view(num_rels, self.reduce_dim, self.pooling_size*self.pooling_size).transpose(2, 1)
O_fmaps_trans = O_fmaps.view(num_rels, self.reduce_dim, self.pooling_size*self.pooling_size).transpose(2, 1)
pooling_size_sq = self.pooling_size*self.pooling_size
S_fmaps_extend = S_fmaps_trans.repeat(1, 1, pooling_size_sq).view(num_rels, pooling_size_sq*pooling_size_sq, self.reduce_dim)
O_fmaps_extend = O_fmaps_trans.repeat(1, pooling_size_sq, 1)
SO_fmaps_extend = torch.cat((S_fmaps_extend, O_fmaps_extend), dim=2)
SO_fmaps_logits = self.similar_fun(SO_fmaps_extend)
SO_fmaps_logits = SO_fmaps_logits.view(num_rels, pooling_size_sq, pooling_size_sq) # (first dim is S_fmaps, second dim is O_fmaps)
SO_fmaps_scores = F.softmax(SO_fmaps_logits, dim=1)
weighted_S_fmaps = torch.matmul(SO_fmaps_scores.transpose(2, 1), S_fmaps_trans) # (num_rels, 49, 49) x (num_rels, 49, self.reduce_dim)
last_SO_fmaps = torch.cat((weighted_S_fmaps, O_fmaps_trans), dim=2)
last_SO_fmaps = last_SO_fmaps.transpose(2, 1).contiguous().view(num_rels, self.reduce_dim*2, self.pooling_size, self.pooling_size)
else:
raise ValueError
# for object classification
obj_feats = self.roi_fmap_obj(obj_fmaps.view(rois.size(0), -1))
obj_logits = self.obj_compress(obj_feats)
obj_dists = F.softmax(obj_logits, dim=1)
pred_obj_cls = obj_dists[:, 1:].max(1)[1] + 1
# for relationship classification
rel_input = self.roi_fmap(last_SO_fmaps)
subobj_rep = self.post_obj(obj_feats)
sub_rep = subobj_rep[:, :self.hidden_dim][rel_inds[:, 1]]
obj_rep = subobj_rep[:, self.hidden_dim:][rel_inds[:, 2]]
last_rel_input = self.reduce_rel_input(rel_input)
last_obj_input = self.mapping_x(torch.cat((sub_rep, obj_rep), 1))
triple_rep = nn.ReLU(inplace=True)(last_obj_input + last_rel_input) - (last_obj_input - last_rel_input).pow(2)
rel_logits = self.rel_compress(triple_rep)
# follow neural-motifs paper
if self.use_bias:
if self.mode in ['sgcls', 'sgdet']:
rel_logits = rel_logits + self.freq_bias.index_with_labels(
torch.stack((
pred_obj_cls[rel_inds[:, 1]],
pred_obj_cls[rel_inds[:, 2]],
), 1))
elif self.mode == 'predcls':
rel_logits = rel_logits + self.freq_bias.index_with_labels(
torch.stack((
obj_labels[rel_inds[:, 1]],
obj_labels[rel_inds[:, 2]],
), 1))
else:
raise NotImplementedError
return pred_obj_cls, obj_logits, rel_logits
def __init__(self,
train_data,
mode='sgcls',
require_overlap_det=True,
use_bias=False,
test_bias=False,
backbone='vgg16',
RELS_PER_IMG=1024,
min_size=None,
max_size=None,
edge_model='motifs'):
"""
Base class for an SGG model
:param mode: (sgcls, predcls, or sgdet)
:param require_overlap_det: Whether two objects must intersect
"""
super(RelModelBase, self).__init__()
self.classes = train_data.ind_to_classes
self.rel_classes = train_data.ind_to_predicates
self.mode = mode
self.backbone = backbone
self.RELS_PER_IMG = RELS_PER_IMG
self.pool_sz = 7
self.stride = 16
self.use_bias = use_bias
self.test_bias = test_bias
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
if self.backbone == 'resnet50':
self.obj_dim = 1024
self.fmap_sz = 21
if min_size is None:
min_size = 1333
if max_size is None:
max_size = 1333
print('\nLoading COCO pretrained model maskrcnn_resnet50_fpn...\n')
# See https://pytorch.org/tutorials/intermediate/torchvision_tutorial.html
self.detector = torchvision.models.detection.maskrcnn_resnet50_fpn(
pretrained=True,
min_size=min_size,
max_size=max_size,
box_detections_per_img=50,
box_score_thresh=0.2)
in_features = self.detector.roi_heads.box_predictor.cls_score.in_features
# replace the pre-trained head with a new one
self.detector.roi_heads.box_predictor = FastRCNNPredictor(
in_features, len(self.classes))
self.detector.roi_heads.mask_predictor = None
layers = list(self.detector.roi_heads.children())[:2]
self.roi_fmap_obj = copy.deepcopy(layers[1])
self.roi_fmap = copy.deepcopy(layers[1])
self.roi_pool = copy.deepcopy(layers[0])
elif self.backbone == 'vgg16':
self.obj_dim = 4096
self.fmap_sz = 38
if min_size is None:
min_size = IM_SCALE
if max_size is None:
max_size = IM_SCALE
vgg = load_vgg(use_dropout=False,
use_relu=False,
use_linear=True,
pretrained=False)
vgg.features.out_channels = 512
anchor_generator = AnchorGenerator(sizes=((32, 64, 128, 256,
512), ),
aspect_ratios=((0.5, 1.0,
2.0), ))
roi_pooler = torchvision.ops.MultiScaleRoIAlign(
featmap_names=['0'],
output_size=self.pool_sz,
sampling_ratio=2)
self.detector = FasterRCNN(vgg.features,
min_size=min_size,
max_size=max_size,
rpn_anchor_generator=anchor_generator,
box_head=TwoMLPHead(
vgg.features.out_channels *
self.pool_sz**2, self.obj_dim),
box_predictor=FastRCNNPredictor(
self.obj_dim,
len(train_data.ind_to_classes)),
box_roi_pool=roi_pooler,
box_detections_per_img=50,
box_score_thresh=0.2)
self.roi_fmap = nn.Sequential(nn.Flatten(), vgg.classifier)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
self.roi_pool = copy.deepcopy(
list(self.detector.roi_heads.children())[0])
else:
raise NotImplementedError(self.backbone)
self.edge_dim = self.detector.backbone.out_channels
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pool_sz,
stride=self.stride,
dim=self.edge_dim,
edge_model=edge_model)
if self.use_bias:
self.freq_bias = FrequencyBias(train_data)
class RelModelLinknet(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=4096,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModelLinknet, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.ctx_dim = 1024 if use_resnet else 512
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
pooling_dim=self.pooling_dim,
ctx_dim=self.ctx_dim)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
# Global Context Encoding
self.GCE = GlobalContextEncoding(num_classes=self.num_classes,
ctx_dim=self.ctx_dim)
###################################
# K2
self.pos_embed = nn.Sequential(*[
nn.BatchNorm1d(4, momentum=BATCHNORM_MOMENTUM / 10.0),
nn.Linear(4, 128),
nn.ReLU(inplace=True),
nn.Dropout(0.1),
])
# fc4
self.rel_compress = nn.Linear(self.pooling_dim + 128,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat(
(im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size,
self.pooling_size,
spatial_scale=1 / 16)(features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def geo_layout_enc(self, box_priors, rel_inds):
"""
Geometric Layout Encoding
:param box_priors: [num_rois, 4] of (xmin, ymin, xmax, ymax)
:param rel_inds: [num_rels, 3] of (img ind, box0 ind, box1 ind)
:return: bos: [num_rois*(num_rois-1), 4] encoded relative geometric layout: bo|s
"""
cxcywh = center_size(box_priors.data) # convert to (cx, cy, w, h)
box_s = cxcywh[rel_inds[:, 1]]
box_o = cxcywh[rel_inds[:, 2]]
# relative location
rlt_loc_x = torch.div((box_o[:, 0] - box_s[:, 0]),
box_s[:, 2]).view(-1, 1)
rlt_loc_y = torch.div((box_o[:, 1] - box_s[:, 1]),
box_s[:, 3]).view(-1, 1)
# scale information
scl_info_w = torch.log(torch.div(box_o[:, 2], box_s[:, 2])).view(-1, 1)
scl_info_h = torch.log(torch.div(box_o[:, 3], box_s[:, 3])).view(-1, 1)
bos = torch.cat((rlt_loc_x, rlt_loc_y, scl_info_w, scl_info_h), 1)
return bos
def glb_context_enc(self, features, im_inds, gt_classes, image_offset):
"""
Global Context Encoding
:param features: [batch_size, ctx_dim, IM_SIZE/4, IM_SIZE/4] fmap features
:param im_ind: [num_rois] image index
:param gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
:param image_offset: Offset onto what image we're on for MGPU training (if single GPU this is 0)
:return: context_features: [num_rois, ctx_dim] stacked context_feature c according to im_ind
gce_obj_dists: [batch_size, num_classes] softmax of predicted multi-label distribution: M
gce_obj_labels: [batch_size, num_classes] ground truth multi-labels
"""
context_feature, gce_obj_dists = self.GCE(features)
context_features = context_feature[im_inds]
gce_obj_labels = torch.zeros_like(gce_obj_dists)
gce_obj_labels[gt_classes[:, 0] - image_offset, gt_classes[:, 1]] = 1
return context_features, gce_obj_dists, gce_obj_labels
def forward(self,
x,
im_sizes,
image_offset,
gt_boxes=None,
gt_classes=None,
gt_rels=None,
proposals=None,
train_anchor_inds=None,
return_fmap=False):
"""
Forward pass for relationship
:param x: Images@[batch_size, 3, IM_SIZE, IM_SIZE]
:param im_sizes: A numpy array of (h, w, scale) for each image.
:param image_offset: Offset onto what image we're on for MGPU training (if single GPU this is 0)
:param gt_boxes:
Training parameters:
:param gt_boxes: [num_gt, 4] GT boxes over the batch.
:param gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
:param train_anchor_inds: a [num_train, 2] array of indices for the anchors that will
be used to compute the training loss. Each (img_ind, fpn_idx)
:return: If train:
scores, boxdeltas, labels, boxes, boxtargets, rpnscores, rpnboxes, rellabels
if test:
prob dists, boxes, img inds, maxscores, classes
"""
result = self.detector(x,
im_sizes,
image_offset,
gt_boxes,
gt_classes,
gt_rels,
proposals,
train_anchor_inds,
return_fmap=True)
if result.is_none():
return ValueError("heck")
im_inds = result.im_inds - image_offset
boxes = result.rm_box_priors
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet'
result.rel_labels = rel_assignments(im_inds.data,
boxes.data,
result.rm_obj_labels.data,
gt_boxes.data,
gt_classes.data,
gt_rels.data,
image_offset,
filter_non_overlap=True,
num_sample_per_gt=1)
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes)
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
result.obj_fmap = self.obj_feature_map(result.fmap.detach(), rois)
# c M
context_features, result.gce_obj_dists, result.gce_obj_labels = self.glb_context_enc(
result.fmap.detach(), im_inds.data, gt_classes.data, image_offset)
# Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists, result.obj_preds, edge_rep = self.context(
result.obj_fmap, result.rm_obj_dists.detach(),
context_features.detach(), result.rm_obj_labels if self.training
or self.mode == 'predcls' else None, result.boxes_all)
# Split into subject and object representations
edge_rep = edge_rep.view(edge_rep.size(0), 2, self.pooling_dim) # E1
subj_rep = edge_rep[:, 0] # E1_s
obj_rep = edge_rep[:, 1] # E1_o
prod_rep = subj_rep[rel_inds[:, 1]] * obj_rep[rel_inds[:, 2]] # G0
if self.use_vision:
vr = self.visual_rep(result.fmap.detach(), rois, rel_inds[:,
1:]) # F
if self.limit_vision:
# exact value TBD
prod_rep = torch.cat(
(prod_rep[:, :2048] * vr[:, :2048], prod_rep[:, 2048:]), 1)
else:
prod_rep = prod_rep * vr
if self.use_tanh:
prod_rep = F.tanh(prod_rep)
bos = self.geo_layout_enc(boxes, rel_inds) # bo|s
pos_embed = self.pos_embed(Variable(bos))
result.rel_dists = self.rel_compress(
torch.cat((prod_rep, pos_embed), 1)) # G2
if self.use_bias:
result.rel_dists = result.rel_dists + self.freq_bias.index_with_labels(
torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
if self.training:
return result
twod_inds = arange(
result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists,
dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(
result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
return filter_dets(bboxes, result.obj_scores, result.obj_preds,
rel_inds[:, 1:], rel_rep)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self,
devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(
replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
model_path='',
reachability=False,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
init_center=False,
limit_vision=True):
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.init_center = init_center
self.pooling_size = 7
self.model_path = model_path
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.centroids = None
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.global_embedding = EmbeddingImagenet(4096)
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
self.disc_center = DiscCentroidsLoss(self.num_rels, self.pooling_dim)
self.meta_classify = MetaEmbedding_Classifier(
feat_dim=self.pooling_dim, num_classes=self.num_rels)
self.disc_center_g = DiscCentroidsLoss(self.num_classes,
self.pooling_dim)
self.meta_classify_g = MetaEmbedding_Classifier(
feat_dim=self.pooling_dim, num_classes=self.num_classes)
self.global_sub_additive = nn.Linear(4096, 1, bias=True)
self.global_obj_additive = nn.Linear(4096, 1, bias=True)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
self.global_logist = nn.Linear(self.pooling_dim,
self.num_classes,
bias=True) # CosineLinear(4096,150)#
self.global_logist.weight = torch.nn.init.xavier_normal(
self.global_logist.weight, gain=1.0)
self.post_emb = nn.Embedding(self.num_classes, self.pooling_dim * 2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
self.class_num = torch.zeros(len(self.classes))
self.centroids = torch.zeros(len(self.classes),
self.pooling_dim).cuda()
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=4096,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModelLinknet, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.ctx_dim = 1024 if use_resnet else 512
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
pooling_dim=self.pooling_dim,
ctx_dim=self.ctx_dim)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
# Global Context Encoding
self.GCE = GlobalContextEncoding(num_classes=self.num_classes,
ctx_dim=self.ctx_dim)
###################################
# K2
self.pos_embed = nn.Sequential(*[
nn.BatchNorm1d(4, momentum=BATCHNORM_MOMENTUM / 10.0),
nn.Linear(4, 128),
nn.ReLU(inplace=True),
nn.Dropout(0.1),
])
# fc4
self.rel_compress = nn.Linear(self.pooling_dim + 128,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
class RelModel(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
Args:
classes: list, list of 151 object class names(including background)
rel_classes: list, list of 51 predicate names( including background(norelationship))
mode: string, 'sgdet', 'predcls' or 'sgcls'
num_gpus: integer, number of GPUs to use
use_vision: boolean, whether to use vision in the final product
require_overlap_det: boolean, whether two object must intersect
embed_dim: integer, number of dimension for all embeddings
hidden_dim: integer, hidden size of LSTM
pooling_dim: integer, outputsize of vgg fc layer
nl_obj: integer, number of object context layer, 2 in paper
nl_edge: integer, number of edge context layer, 4 in paper
use_resnet: integer, use resnet for backbone
order: string, value must be in ('size', 'confidence', 'random', 'leftright'), order of RoIs
thresh: float, threshold for scores of boxes
if score of box smaller than thresh, then it will be abandoned
use_proposals: boolean, whether to use proposals
pass_in_obj_feats_to_decoder: boolean, whether to pass object features to decoder RNN
pass_in_obj_feats_to_edge: boolean, whether to pass object features to edge context RNN
rec_dropout: float, dropout rate in RNN
use_bias: boolean,
use_tanh: boolean,
limit_vision: boolean,
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes,
self.pooling_dim * 2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat(
(im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size,
self.pooling_size,
spatial_scale=1 / 16)(features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def forward(self,
x,
im_sizes,
image_offset,
gt_boxes=None,
gt_classes=None,
gt_rels=None,
proposals=None,
train_anchor_inds=None,
return_fmap=False):
"""Forward pass for detection
Args:
x: Images@[batch_size, 3, IM_SIZE, IM_SIZE]
im_sizes: A numpy array of (h, w, scale) for each image.
image_offset: Offset onto what image we're on for MGPU training (if single GPU this is 0)
Training parameters:
gt_boxes: [num_gt, 4] GT boxes over the batch.
gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
gt_rels:
proposals:
train_anchor_inds: a [num_train, 2] array of indices for the anchors that will
be used to compute the training loss. Each (img_ind, fpn_idx)
return_fmap:
Returns:
If train:
scores, boxdeltas, labels, boxes, boxtargets, rpnscores, rpnboxes, rellabels
If test:
prob dists, boxes, img inds, maxscores, classes
"""
result = self.detector(x,
im_sizes,
image_offset,
gt_boxes,
gt_classes,
gt_rels,
proposals,
train_anchor_inds,
return_fmap=True)
"""
Results attributes:
od_obj_dists: digits after score_fc in RCNN
rm_obj_dists: od_obj_dists after nms
obj_scores: nmn
obj_preds=None,
obj_fmap=None,
od_box_deltas=None,
rm_box_deltas=None,
od_box_targets=None,
rm_box_targets=None,
od_box_priors: proposal before nms
rm_box_priors: proposal after nms
boxes_assigned=None,
boxes_all=None,
od_obj_labels=None,
rm_obj_labels=None,
rpn_scores=None,
rpn_box_deltas=None,
rel_labels=None,
im_inds: image index of every proposals
fmap=None,
rel_dists=None,
rel_inds=None,
rel_rep=None
one example:
sgcls task:
result.fmap: torch.Size([6, 512, 37, 37])
result.im_inds: torch.Size([44])
result.obj_fmap: torch.Size([44, 4096])
result.od_box_priors: torch.Size([44, 4])
result.od_obj_dists: torch.Size([44, 151])
result.od_obj_labels: torch.Size([44])
result.rel_labels: torch.Size([316, 4])
result.rm_box_priors: torch.Size([44, 4])
result.rm_obj_dists: torch.Size([44, 151])
result.rm_obj_labels: torch.Size([44])
"""
if result.is_none():
return ValueError("heck")
# image_offset refer to Blob
# self.batch_size_per_gpu * index
im_inds = result.im_inds - image_offset
boxes = result.rm_box_priors
#embed(header='rel_model.py before rel_assignments')
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet'
# only in sgdet mode
# shapes:
# im_inds: (box_num,)
# boxes: (box_num, 4)
# rm_obj_labels: (box_num,)
# gt_boxes: (box_num, 4)
# gt_classes: (box_num, 2) maybe[im_ind, class_ind]
# gt_rels: (rel_num, 4)
# image_offset: integer
result.rel_labels = rel_assignments(im_inds.data,
boxes.data,
result.rm_obj_labels.data,
gt_boxes.data,
gt_classes.data,
gt_rels.data,
image_offset,
filter_non_overlap=True,
num_sample_per_gt=1)
#embed(header='rel_model.py after rel_assignments')
# rel_labels[:, :3] if sgcls
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes)
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
# obj_fmap: (NumOfRoI, 4096)
# RoIAlign
result.obj_fmap = self.obj_feature_map(result.fmap.detach(), rois)
# Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists, result.obj_preds, edge_ctx = self.context(
result.obj_fmap, result.rm_obj_dists.detach(), im_inds,
result.rm_obj_labels if self.training or self.mode == 'predcls'
else None, boxes.data, result.boxes_all)
if edge_ctx is None:
edge_rep = self.post_emb(result.obj_preds)
else:
edge_rep = self.post_lstm(edge_ctx)
# Split into subject and object representations
edge_rep = edge_rep.view(edge_rep.size(0), 2, self.pooling_dim)
subj_rep = edge_rep[:, 0]
obj_rep = edge_rep[:, 1]
prod_rep = subj_rep[rel_inds[:, 1]] * obj_rep[rel_inds[:, 2]]
# embed(header='rel_model.py prod_rep')
if self.use_vision:
vr = self.visual_rep(result.fmap.detach(), rois, rel_inds[:, 1:])
if self.limit_vision:
# exact value TBD
prod_rep = torch.cat(
(prod_rep[:, :2048] * vr[:, :2048], prod_rep[:, 2048:]), 1)
else:
prod_rep = prod_rep * vr
if self.use_tanh:
prod_rep = F.tanh(prod_rep)
result.rel_dists = self.rel_compress(prod_rep)
if self.use_bias:
result.rel_dists = result.rel_dists + self.freq_bias.index_with_labels(
torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
#embed(header='rel model return ')
if self.training:
# embed(header='rel_model.py before return')
# what will be useful:
# rm_obj_dists, rm_obj_labels
# rel_labels, rel_dists
return result
twod_inds = arange(
result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists,
dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(
result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
#embed(header='rel_model.py before return')
return filter_dets(bboxes, result.obj_scores, result.obj_preds,
rel_inds[:, 1:], rel_rep)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self,
devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(
replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
class RelModel(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
gnn=True,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.gnn = gnn
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.global_embedding = EmbeddingImagenet(4096)
self.global_logist = nn.Linear(4096, 151,
bias=True) # CosineLinear(4096,150)#
self.global_logist.weight = torch.nn.init.xavier_normal(
self.global_logist.weight, gain=1.0)
# self.global_rel_logist = nn.Linear(4096, 50 , bias=True)
# self.global_rel_logist.weight = torch.nn.init.xavier_normal(self.global_rel_logist.weight, gain=1.0)
# self.global_logist = CosineLinear(4096,150)
self.global_sub_additive = nn.Linear(4096, 1, bias=True)
self.global_obj_additive = nn.Linear(4096, 1, bias=True)
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
self.edge_coordinate_embedding = nn.Sequential(*[
nn.BatchNorm1d(5, momentum=BATCHNORM_MOMENTUM / 10.0),
nn.Linear(5, 256),
nn.ReLU(inplace=True),
nn.Dropout(0.1),
])
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes,
self.pooling_dim * 2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(4096 + 256, 51, bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
self.node_transform = nn.Linear(4096, 256, bias=True)
self.edge_transform = nn.Linear(4096, 256, bias=True)
# self.rel_compress = CosineLinear(self.pooling_dim+256, self.num_rels)
# self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
if self.gnn:
self.graph_network_node = GraphNetwork(4096)
self.graph_network_edge = GraphNetwork()
if self.training:
self.graph_network_node.train()
self.graph_network_edge.train()
else:
self.graph_network_node.eval()
self.graph_network_edge.eval()
self.edge_sim_network = nn.Linear(4096, 1, bias=True)
self.metric_net = MetricLearning()
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat(
(im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size,
self.pooling_size,
spatial_scale=1 / 16)(features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def coordinate_feats(self, boxes, rel_inds):
coordinate_rep = {}
coordinate_rep['center'] = center_size(boxes)
coordinate_rep['point'] = torch.cat(
(boxes, coordinate_rep['center'][:, 2:]), 1)
sub_coordnate = {}
sub_coordnate['center'] = coordinate_rep['center'][rel_inds[:, 1]]
sub_coordnate['point'] = coordinate_rep['point'][rel_inds[:, 1]]
obj_coordnate = {}
obj_coordnate['center'] = coordinate_rep['center'][rel_inds[:, 2]]
obj_coordnate['point'] = coordinate_rep['point'][rel_inds[:, 2]]
edge_of_coordinate_rep = torch.zeros(sub_coordnate['center'].size(0),
5).cuda().float()
edge_of_coordinate_rep[:, 0] = (sub_coordnate['point'][:, 0] - obj_coordnate['center'][:, 0]) * 1.0 / \
obj_coordnate['center'][:, 2]
edge_of_coordinate_rep[:, 1] = (sub_coordnate['point'][:, 1] - obj_coordnate['center'][:, 1]) * 1.0 / \
obj_coordnate['center'][:, 3]
edge_of_coordinate_rep[:, 2] = (sub_coordnate['point'][:, 2] - obj_coordnate['center'][:, 0]) * 1.0 / \
obj_coordnate['center'][:, 2]
edge_of_coordinate_rep[:, 3] = (sub_coordnate['point'][:, 3] - obj_coordnate['center'][:, 1]) * 1.0 / \
obj_coordnate['center'][:, 3]
edge_of_coordinate_rep[:, 4] = sub_coordnate['point'][:, 4] * sub_coordnate['point'][:, 5] * 1.0 / \
obj_coordnate['center'][:, 2] \
/ obj_coordnate['center'][:, 3]
return edge_of_coordinate_rep
def forward(self,
x,
im_sizes,
image_offset,
gt_boxes=None,
gt_classes=None,
gt_rels=None,
proposals=None,
train_anchor_inds=None,
return_fmap=False):
result = self.detector(x,
im_sizes,
image_offset,
gt_boxes,
gt_classes,
gt_rels,
proposals,
train_anchor_inds,
return_fmap=True)
if result.is_none():
return ValueError("heck")
im_inds = result.im_inds - image_offset
boxes = result.rm_box_priors
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet'
result.rel_labels = rel_assignments(im_inds.data,
boxes.data,
result.rm_obj_labels.data,
gt_boxes.data,
gt_classes.data,
gt_rels.data,
image_offset,
filter_non_overlap=True,
num_sample_per_gt=1)
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes)
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
global_feature = self.global_embedding(result.fmap.detach())
result.global_dists = self.global_logist(global_feature)
# print(result.global_dists)
# result.global_rel_dists = F.sigmoid(self.global_rel_logist(global_feature))
result.obj_fmap = self.obj_feature_map(result.fmap.detach(), rois)
# Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists, result.obj_preds, node_rep0 = self.context(
result.obj_fmap, result.rm_obj_dists.detach(), im_inds,
result.rm_obj_labels if self.training or self.mode == 'predcls'
else None, boxes.data, result.boxes_all)
one_hot_multi = torch.zeros(
(result.global_dists.shape[0], self.num_classes))
one_hot_multi[im_inds, result.rm_obj_labels] = 1.0
result.multi_hot = one_hot_multi.float().cuda()
edge_rep = node_rep0.repeat(1, 2)
edge_rep = edge_rep.view(edge_rep.size(0), 2, -1)
global_feature_re = global_feature[im_inds]
subj_global_additive_attention = F.relu(
self.global_sub_additive(edge_rep[:, 0] + global_feature_re))
obj_global_additive_attention = F.relu(
torch.sigmoid(
self.global_obj_additive(edge_rep[:, 1] + global_feature_re)))
subj_rep = edge_rep[:,
0] + subj_global_additive_attention * global_feature_re
obj_rep = edge_rep[:,
1] + obj_global_additive_attention * global_feature_re
edge_of_coordinate_rep = self.coordinate_feats(boxes.data, rel_inds)
e_ij_coordinate_rep = self.edge_coordinate_embedding(
edge_of_coordinate_rep)
union_rep = self.visual_rep(result.fmap.detach(), rois, rel_inds[:,
1:])
edge_feat_init = union_rep
prod_rep = subj_rep[rel_inds[:, 1]] * obj_rep[
rel_inds[:, 2]] * edge_feat_init
prod_rep = torch.cat((prod_rep, e_ij_coordinate_rep), 1)
if self.use_tanh:
prod_rep = F.tanh(prod_rep)
result.rel_dists = self.rel_compress(prod_rep)
if self.use_bias:
result.rel_dists = result.rel_dists + self.freq_bias.index_with_labels(
torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
if self.training:
return result
twod_inds = arange(
result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists,
dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(
result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
return filter_dets(bboxes, result.obj_scores, result.obj_preds,
rel_inds[:, 1:], rel_rep)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self,
devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(
replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=True,
require_overlap_det=True,
embed_dim=200,
hidden_dim=256,
pooling_dim=2048,
nl_obj=1,
nl_edge=2,
use_resnet=False,
order='confidence',
thresh=0.01,
use_proposals=False,
pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True,
rec_dropout=0.0,
use_bias=True,
use_tanh=True,
limit_vision=True):
"""
Args:
classes: list, list of 151 object class names(including background)
rel_classes: list, list of 51 predicate names( including background(norelationship))
mode: string, 'sgdet', 'predcls' or 'sgcls'
num_gpus: integer, number of GPUs to use
use_vision: boolean, whether to use vision in the final product
require_overlap_det: boolean, whether two object must intersect
embed_dim: integer, number of dimension for all embeddings
hidden_dim: integer, hidden size of LSTM
pooling_dim: integer, outputsize of vgg fc layer
nl_obj: integer, number of object context layer, 2 in paper
nl_edge: integer, number of edge context layer, 4 in paper
use_resnet: integer, use resnet for backbone
order: string, value must be in ('size', 'confidence', 'random', 'leftright'), order of RoIs
thresh: float, threshold for scores of boxes
if score of box smaller than thresh, then it will be abandoned
use_proposals: boolean, whether to use proposals
pass_in_obj_feats_to_decoder: boolean, whether to pass object features to decoder RNN
pass_in_obj_feats_to_edge: boolean, whether to pass object features to edge context RNN
rec_dropout: float, dropout rate in RNN
use_bias: boolean,
use_tanh: boolean,
limit_vision: boolean,
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.context = LinearizedContext(
self.classes,
self.rel_classes,
mode=self.mode,
embed_dim=self.embed_dim,
hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj,
nl_edge=nl_edge,
dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=pooling_dim == 4096,
pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes,
self.pooling_dim * 2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
def __init__(self, classes, rel_classes, mode='sgdet', num_gpus=1, use_vision=True, require_overlap_det=True,
embed_dim=200, hidden_dim=256, pooling_dim=2048,
nl_obj=1, nl_edge=2, use_resnet=False, order='confidence', thresh=0.01,
use_proposals=False, pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True, rec_dropout=0.0, use_bias=True, use_tanh=True,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.limit_vision=limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
# print('REL MODEL CONSTRUCTOR: 1')
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels') if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
# print('REL MODEL CONSTRUCTOR: 2')
self.context = LinearizedContext(self.classes, self.rel_classes, mode=self.mode,
embed_dim=self.embed_dim, hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj, nl_edge=nl_edge, dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size, stride=16,
dim=1024 if use_resnet else 512)
# print('REL MODEL CONSTRUCTOR: 3')
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False, use_relu=False, use_linear=pooling_dim == 4096, pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
# print('REL MODEL CONSTRUCTOR: 4')
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
# print('REL MODEL CONSTRUCTOR: 5')
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes, self.pooling_dim*2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim, self.num_rels, bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
class RelModel(nn.Module):
"""
RELATIONSHIPS
"""
def __init__(self, classes, rel_classes, mode='sgdet', num_gpus=1, use_vision=True, require_overlap_det=True,
embed_dim=200, hidden_dim=256, pooling_dim=2048,
nl_obj=1, nl_edge=2, use_resnet=False, order='confidence', thresh=0.01,
use_proposals=False, pass_in_obj_feats_to_decoder=True,
pass_in_obj_feats_to_edge=True, rec_dropout=0.1, use_bias=True, use_tanh=True, use_encoded_box=True, use_rl_tree=True, draw_tree=False,
limit_vision=True):
"""
:param classes: Object classes
:param rel_classes: Relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: Whether to use vision in the final product
:param require_overlap_det: Whether two objects must intersect
:param embed_dim: Dimension for all embeddings
:param hidden_dim: LSTM hidden size
:param obj_dim:
"""
super(RelModel, self).__init__()
self.classes = classes
self.rel_classes = rel_classes
self.num_gpus = num_gpus
assert mode in MODES
self.mode = mode
self.co_occour = np.load(CO_OCCOUR_PATH)
self.co_occour = self.co_occour / self.co_occour.sum()
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.pooling_dim = pooling_dim
self.use_bias = use_bias
self.use_vision = use_vision
self.use_tanh = use_tanh
self.use_encoded_box = use_encoded_box
self.use_rl_tree = use_rl_tree
self.draw_tree = draw_tree
self.limit_vision=limit_vision
self.require_overlap = require_overlap_det and self.mode == 'sgdet'
self.rl_train = False
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels') if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
use_rl_tree = self.use_rl_tree
)
self.context = LinearizedContext(self.classes, self.rel_classes, mode=self.mode,
embed_dim=self.embed_dim, hidden_dim=self.hidden_dim,
obj_dim=self.obj_dim,
nl_obj=nl_obj, nl_edge=nl_edge, dropout_rate=rec_dropout,
order=order,
pass_in_obj_feats_to_decoder=pass_in_obj_feats_to_decoder,
pass_in_obj_feats_to_edge=pass_in_obj_feats_to_edge,
use_rl_tree=self.use_rl_tree,
draw_tree = self.draw_tree)
# Image Feats (You'll have to disable if you want to turn off the features from here)
self.union_boxes = UnionBoxesAndFeats(pooling_size=self.pooling_size, stride=16,
dim=1024 if use_resnet else 512)
if use_resnet:
self.roi_fmap = nn.Sequential(
resnet_l4(relu_end=False),
nn.AvgPool2d(self.pooling_size),
Flattener(),
)
else:
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False, use_relu=False, use_linear=pooling_dim == 4096, pretrained=False).classifier,
]
if pooling_dim != 4096:
roi_fmap.append(nn.Linear(4096, pooling_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
self.roi_fmap_obj = load_vgg(use_dropout=False, pretrained=False).classifier
###################################
self.post_lstm = nn.Linear(self.hidden_dim, self.hidden_dim * 2)
self.post_cat = nn.Linear(self.hidden_dim * 2, self.pooling_dim)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(0, 10.0 * math.sqrt(1.0 / self.hidden_dim))
self.post_lstm.bias.data.zero_()
self.post_cat.weight = torch.nn.init.xavier_normal(self.post_cat.weight, gain=1.0)
self.post_cat.bias.data.zero_()
if self.use_encoded_box:
# encode spatial info
self.encode_spatial_1 = nn.Linear(32, 512)
self.encode_spatial_2 = nn.Linear(512, self.pooling_dim)
self.encode_spatial_1.weight.data.normal_(0, 1.0)
self.encode_spatial_1.bias.data.zero_()
self.encode_spatial_2.weight.data.normal_(0, 0.1)
self.encode_spatial_2.bias.data.zero_()
if nl_edge == 0:
self.post_emb = nn.Embedding(self.num_classes, self.pooling_dim*2)
self.post_emb.weight.data.normal_(0, math.sqrt(1.0))
self.rel_compress = nn.Linear(self.pooling_dim, self.num_rels, bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
def visual_rep(self, features, rois, pair_inds):
"""
Classify the features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4]
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:param pair_inds inds to use when predicting
:return: score_pred, a [num_rois, num_classes] array
box_pred, a [num_rois, num_classes, 4] array
"""
assert pair_inds.size(1) == 2
uboxes = self.union_boxes(features, rois, pair_inds)
return self.roi_fmap(uboxes)
def get_rel_inds(self, rel_labels, im_inds, box_priors):
# Get the relationship candidates
if self.training and not self.use_rl_tree:
rel_inds = rel_labels[:, :3].data.clone()
else:
rel_cands = im_inds.data[:, None] == im_inds.data[None]
rel_cands.view(-1)[diagonal_inds(rel_cands)] = 0
# Require overlap for detection
if self.require_overlap:
rel_cands = rel_cands & (bbox_overlaps(box_priors.data,
box_priors.data) > 0)
# if there are fewer then 100 things then we might as well add some?
amt_to_add = 100 - rel_cands.long().sum()
rel_cands = rel_cands.nonzero()
if rel_cands.dim() == 0:
rel_cands = im_inds.data.new(1, 2).fill_(0)
rel_inds = torch.cat((im_inds.data[rel_cands[:, 0]][:, None], rel_cands), 1)
return rel_inds
def obj_feature_map(self, features, rois):
"""
Gets the ROI features
:param features: [batch_size, dim, IM_SIZE/4, IM_SIZE/4] (features at level p2)
:param rois: [num_rois, 5] array of [img_num, x0, y0, x1, y1].
:return: [num_rois, #dim] array
"""
feature_pool = RoIAlignFunction(self.pooling_size, self.pooling_size, spatial_scale=1 / 16)(
features, rois)
return self.roi_fmap_obj(feature_pool.view(rois.size(0), -1))
def get_rel_label(self, im_inds, gt_rels, rel_inds):
np_im_inds = im_inds.data.cpu().numpy()
np_gt_rels = gt_rels.long().data.cpu().numpy()
np_rel_inds = rel_inds.long().cpu().numpy()
num_obj = int(im_inds.shape[0])
sub_id = np_rel_inds[:, 1]
obj_id = np_rel_inds[:, 2]
select_id = sub_id * num_obj + obj_id
count = 0
offset = 0
slicedInds = np.where(np_im_inds == count)[0]
label = np.array([0]*num_obj*num_obj, dtype=int)
while(len(slicedInds) > 0):
slice_len = len(slicedInds)
selectInds = np.where(np_gt_rels[:,0] == count)[0]
slicedRels = np_gt_rels[selectInds,:]
flattenID = (slicedRels[:,1] + offset) * num_obj + (slicedRels[:,2] + offset)
slicedLabel = slicedRels[:,3]
label[flattenID] = slicedLabel
count += 1
offset += slice_len
slicedInds = np.where(np_im_inds == count)[0]
return Variable(torch.from_numpy(label[select_id]).long().cuda())
def forward(self, x, im_sizes, image_offset,
gt_boxes=None, gt_classes=None, gt_rels=None, proposals=None, train_anchor_inds=None,
return_fmap=False):
"""
Forward pass for detection
:param x: Images@[batch_size, 3, IM_SIZE, IM_SIZE]
:param im_sizes: A numpy array of (h, w, scale) for each image.
:param image_offset: Offset onto what image we're on for MGPU training (if single GPU this is 0)
:param gt_boxes:
Training parameters:
:param gt_boxes: [num_gt, 4] GT boxes over the batch.
:param gt_classes: [num_gt, 2] gt boxes where each one is (img_id, class)
:param train_anchor_inds: a [num_train, 2] array of indices for the anchors that will
be used to compute the training loss. Each (img_ind, fpn_idx)
:return: If train:
scores, boxdeltas, labels, boxes, boxtargets, rpnscores, rpnboxes, rellabels
if test:
prob dists, boxes, img inds, maxscores, classes
"""
result = self.detector(x, im_sizes, image_offset, gt_boxes, gt_classes, gt_rels, proposals,
train_anchor_inds, return_fmap=True)
if result.is_none():
return ValueError("heck")
im_inds = result.im_inds - image_offset
boxes = result.rm_box_priors
if self.training and result.rel_labels is None:
assert self.mode == 'sgdet'
result.rel_labels, fg_rel_labels = rel_assignments(im_inds.data, boxes.data, result.rm_obj_labels.data,
gt_boxes.data, gt_classes.data, gt_rels.data,
image_offset, filter_non_overlap=True,
num_sample_per_gt=1)
#if self.training and (not self.use_rl_tree):
# generate arbitrary forest according to graph
# arbitrary_forest = graph_to_trees(self.co_occour, result.rel_labels, gt_classes)
#else:
arbitrary_forest = None
rel_inds = self.get_rel_inds(result.rel_labels, im_inds, boxes)
if self.use_rl_tree:
result.rel_label_tkh = self.get_rel_label(im_inds, gt_rels, rel_inds)
rois = torch.cat((im_inds[:, None].float(), boxes), 1)
result.obj_fmap = self.obj_feature_map(result.fmap.detach(), rois)
# whole image feature, used for virtual node
batch_size = result.fmap.shape[0]
image_rois = Variable(torch.randn(batch_size, 5).fill_(0).cuda())
for i in range(batch_size):
image_rois[i, 0] = i
image_rois[i, 1] = 0
image_rois[i, 2] = 0
image_rois[i, 3] = IM_SCALE
image_rois[i, 4] = IM_SCALE
image_fmap = self.obj_feature_map(result.fmap.detach(), image_rois)
if self.mode != 'sgdet' and self.training:
fg_rel_labels = result.rel_labels
# Prevent gradients from flowing back into score_fc from elsewhere
result.rm_obj_dists, result.obj_preds, edge_ctx, result.gen_tree_loss, result.entropy_loss, result.pair_gate, result.pair_gt = self.context(
result.obj_fmap,
result.rm_obj_dists.detach(),
im_inds, result.rm_obj_labels if self.training or self.mode == 'predcls' else None,
boxes.data, result.boxes_all,
arbitrary_forest,
image_rois,
image_fmap,
self.co_occour,
fg_rel_labels if self.training else None,
x)
if edge_ctx is None:
edge_rep = self.post_emb(result.obj_preds)
else:
edge_rep = self.post_lstm(edge_ctx)
# Split into subject and object representations
edge_rep = edge_rep.view(edge_rep.size(0), 2, self.hidden_dim)
subj_rep = edge_rep[:, 0]
obj_rep = edge_rep[:, 1]
prod_rep = torch.cat((subj_rep[rel_inds[:, 1]], obj_rep[rel_inds[:, 2]]), 1)
prod_rep = self.post_cat(prod_rep)
if self.use_encoded_box:
# encode spatial info
assert(boxes.shape[1] == 4)
# encoded_boxes: [box_num, (x1,y1,x2,y2,cx,cy,w,h)]
encoded_boxes = tree_utils.get_box_info(boxes)
# encoded_boxes_pair: [batch_szie, (box1, box2, unionbox, intersectionbox)]
encoded_boxes_pair = tree_utils.get_box_pair_info(encoded_boxes[rel_inds[:, 1]], encoded_boxes[rel_inds[:, 2]])
# encoded_spatial_rep
spatial_rep = F.relu(self.encode_spatial_2(F.relu(self.encode_spatial_1(encoded_boxes_pair))))
# element-wise multiply with prod_rep
prod_rep = prod_rep * spatial_rep
if self.use_vision:
vr = self.visual_rep(result.fmap.detach(), rois, rel_inds[:, 1:])
if self.limit_vision:
# exact value TBD
prod_rep = torch.cat((prod_rep[:,:2048] * vr[:,:2048], prod_rep[:,2048:]), 1)
else:
prod_rep = prod_rep * vr
if self.use_tanh:
prod_rep = F.tanh(prod_rep)
result.rel_dists = self.rel_compress(prod_rep)
if self.use_bias:
result.rel_dists = result.rel_dists + self.freq_bias.index_with_labels(torch.stack((
result.obj_preds[rel_inds[:, 1]],
result.obj_preds[rel_inds[:, 2]],
), 1))
if self.training and (not self.rl_train):
return result
twod_inds = arange(result.obj_preds.data) * self.num_classes + result.obj_preds.data
result.obj_scores = F.softmax(result.rm_obj_dists, dim=1).view(-1)[twod_inds]
# Bbox regression
if self.mode == 'sgdet':
bboxes = result.boxes_all.view(-1, 4)[twod_inds].view(result.boxes_all.size(0), 4)
else:
# Boxes will get fixed by filter_dets function.
bboxes = result.rm_box_priors
rel_rep = F.softmax(result.rel_dists, dim=1)
if not self.rl_train:
return filter_dets(bboxes, result.obj_scores,
result.obj_preds, rel_inds[:, 1:], rel_rep, gt_boxes, gt_classes, gt_rels)
else:
return result, filter_dets(bboxes, result.obj_scores, result.obj_preds, rel_inds[:, 1:], rel_rep, gt_boxes, gt_classes, gt_rels)
def __getitem__(self, batch):
""" Hack to do multi-GPU training"""
batch.scatter()
if self.num_gpus == 1:
return self(*batch[0])
replicas = nn.parallel.replicate(self, devices=list(range(self.num_gpus)))
outputs = nn.parallel.parallel_apply(replicas, [batch[i] for i in range(self.num_gpus)])
if self.training:
return gather_res(outputs, 0, dim=0)
return outputs
def __init__(self,
classes,
rel_classes,
mode='sgdet',
num_gpus=1,
use_vision=False,
require_overlap_det=True,
embed_dim=200,
hidden_dim=4096,
use_resnet=False,
thresh=0.01,
use_proposals=False,
use_bias=True,
limit_vision=True,
depth_model=None,
pretrained_depth=False,
active_features=None,
frozen_features=None,
use_embed=False,
**kwargs):
"""
:param classes: object classes
:param rel_classes: relationship classes. None if were not using rel mode
:param mode: (sgcls, predcls, or sgdet)
:param num_gpus: how many GPUS 2 use
:param use_vision: enable the contribution of union of bounding boxes
:param require_overlap_det: whether two objects must intersect
:param embed_dim: word2vec embeddings dimension
:param hidden_dim: dimension of the fusion hidden layer
:param use_resnet: use resnet as faster-rcnn's backbone
:param thresh: faster-rcnn related threshold (Threshold for calling it a good box)
:param use_proposals: whether to use region proposal candidates
:param use_bias: enable frequency bias
:param limit_vision: use truncated version of UoBB features
:param depth_model: provided architecture for depth feature extraction
:param pretrained_depth: whether the depth feature extractor should be initialized with ImageNet weights
:param active_features: what set of features should be enabled (e.g. 'vdl' : visual, depth, and location features)
:param frozen_features: what set of features should be frozen (e.g. 'd' : depth)
:param use_embed: use word2vec embeddings
"""
RelModelBase.__init__(self, classes, rel_classes, mode, num_gpus,
require_overlap_det, active_features,
frozen_features)
self.pooling_size = 7
self.embed_dim = embed_dim
self.hidden_dim = hidden_dim
self.obj_dim = 2048 if use_resnet else 4096
self.use_vision = use_vision
self.use_bias = use_bias
self.limit_vision = limit_vision
# -- Store depth related parameters
assert depth_model in DEPTH_MODELS
self.depth_model = depth_model
self.pretrained_depth = pretrained_depth
self.depth_pooling_dim = DEPTH_DIMS[self.depth_model]
self.use_embed = use_embed
self.detector = nn.Module()
features_size = 0
# -- Check whether ResNet is selected as faster-rcnn's backbone
if use_resnet:
raise ValueError(
"The current model does not support ResNet as the Faster-RCNN's backbone."
)
""" *** DIFFERENT COMPONENTS OF THE PROPOSED ARCHITECTURE ***
This is the part where the different components of the proposed relation detection
architecture are defined. In the case of RGB images, we have class probability distribution
features, visual features, and the location ones. If we are considering depth images as well,
we augment depth features too. """
# -- Visual features
if self.has_visual:
# -- Define faster R-CNN network and it's related feature extractors
self.detector = ObjectDetector(
classes=classes,
mode=('proposals' if use_proposals else 'refinerels')
if mode == 'sgdet' else 'gtbox',
use_resnet=use_resnet,
thresh=thresh,
max_per_img=64,
)
self.roi_fmap_obj = load_vgg(pretrained=False).classifier
# -- Define union features
if self.use_vision:
# -- UoBB pooling module
self.union_boxes = UnionBoxesAndFeats(
pooling_size=self.pooling_size,
stride=16,
dim=1024 if use_resnet else 512)
# -- UoBB feature extractor
roi_fmap = [
Flattener(),
load_vgg(use_dropout=False,
use_relu=False,
use_linear=self.hidden_dim == 4096,
pretrained=False).classifier,
]
if self.hidden_dim != 4096:
roi_fmap.append(nn.Linear(4096, self.hidden_dim))
self.roi_fmap = nn.Sequential(*roi_fmap)
# -- Define visual features hidden layer
self.visual_hlayer = nn.Sequential(*[
xavier_init(nn.Linear(self.obj_dim * 2, self.FC_SIZE_VISUAL)),
nn.ReLU(inplace=True),
nn.Dropout(0.8)
])
self.visual_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_VISUAL
# -- Location features
if self.has_loc:
# -- Define location features hidden layer
self.location_hlayer = nn.Sequential(*[
xavier_init(nn.Linear(self.LOC_INPUT_SIZE, self.FC_SIZE_LOC)),
nn.ReLU(inplace=True),
nn.Dropout(0.1)
])
self.location_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_LOC
# -- Class features
if self.has_class:
if self.use_embed:
# -- Define class embeddings
embed_vecs = obj_edge_vectors(self.classes,
wv_dim=self.embed_dim)
self.obj_embed = nn.Embedding(self.num_classes, self.embed_dim)
self.obj_embed.weight.data = embed_vecs.clone()
classme_input_dim = self.embed_dim if self.use_embed else self.num_classes
# -- Define Class features hidden layer
self.classme_hlayer = nn.Sequential(*[
xavier_init(
nn.Linear(classme_input_dim * 2, self.FC_SIZE_CLASS)),
nn.ReLU(inplace=True),
nn.Dropout(0.1)
])
self.classme_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_CLASS
# -- Depth features
if self.has_depth:
# -- Initialize depth backbone
self.depth_backbone = DepthCNN(depth_model=self.depth_model,
pretrained=self.pretrained_depth)
# -- Create a relation head which is used to carry on the feature extraction
# from RoIs of depth features
self.depth_rel_head = self.depth_backbone.get_classifier()
# -- Define depth features hidden layer
self.depth_rel_hlayer = nn.Sequential(*[
xavier_init(
nn.Linear(self.depth_pooling_dim * 2, self.FC_SIZE_DEPTH)),
nn.ReLU(inplace=True),
nn.Dropout(0.6),
])
self.depth_scale = ScaleLayer(1.0)
features_size += self.FC_SIZE_DEPTH
# -- Initialize frequency bias if needed
if self.use_bias:
self.freq_bias = FrequencyBias()
# -- *** Fusion layer *** --
# -- A hidden layer for concatenated features (fusion features)
self.fusion_hlayer = nn.Sequential(*[
xavier_init(nn.Linear(features_size, self.hidden_dim)),
nn.ReLU(inplace=True),
nn.Dropout(0.1)
])
# -- Final FC layer which predicts the relations
self.rel_out = xavier_init(
nn.Linear(self.hidden_dim, self.num_rels, bias=True))
# -- Freeze the user specified features
if self.frz_visual:
self.freeze_module(self.detector)
self.freeze_module(self.roi_fmap_obj)
self.freeze_module(self.visual_hlayer)
if self.use_vision:
self.freeze_module(self.roi_fmap)
self.freeze_module(self.union_boxes.conv)
if self.frz_class:
self.freeze_module(self.classme_hlayer)
if self.frz_loc:
self.freeze_module(self.location_hlayer)
if self.frz_depth:
self.freeze_module(self.depth_backbone)
self.freeze_module(self.depth_rel_head)
self.freeze_module(self.depth_rel_hlayer)
class DecoderRNN(torch.nn.Module):
def __init__(self,
classes,
rel_classes,
embed_dim,
obj_dim,
inputs_dim,
hidden_dim,
pooling_dim,
recurrent_dropout_probability=0.2,
use_highway=True,
use_input_projection_bias=True,
use_vision=True,
use_bias=True,
use_tanh=True,
limit_vision=True,
sl_pretrain=False,
num_iter=-1):
"""
Initializes the RNN
:param embed_dim: Dimension of the embeddings
:param encoder_hidden_dim: Hidden dim of the encoder, for attention purposes
:param hidden_dim: Hidden dim of the decoder
:param vocab_size: Number of words in the vocab
:param bos_token: To use during decoding (non teacher forcing mode))
:param bos: beginning of sentence token
:param unk: unknown token (not used)
"""
super(DecoderRNN, self).__init__()
self.rel_embedding_dim = 100
self.classes = classes
self.rel_classes = rel_classes
embed_vecs = obj_edge_vectors(['start'] + self.classes, wv_dim=100)
self.obj_embed = nn.Embedding(len(self.classes), embed_dim)
self.obj_embed.weight.data = embed_vecs
embed_rels = obj_edge_vectors(self.rel_classes,
wv_dim=self.rel_embedding_dim)
self.rel_embed = nn.Embedding(len(self.rel_classes),
self.rel_embedding_dim)
self.rel_embed.weight.data = embed_rels
self.embed_dim = embed_dim
self.obj_dim = obj_dim
self.hidden_size = hidden_dim
self.inputs_dim = inputs_dim
self.pooling_dim = pooling_dim
self.nms_thresh = 0.3
self.use_vision = use_vision
self.use_bias = use_bias
self.use_tanh = use_tanh
self.limit_vision = limit_vision
self.sl_pretrain = sl_pretrain
self.num_iter = num_iter
self.recurrent_dropout_probability = recurrent_dropout_probability
self.use_highway = use_highway
# We do the projections for all the gates all at once, so if we are
# using highway layers, we need some extra projections, which is
# why the sizes of the Linear layers change here depending on this flag.
if use_highway:
self.input_linearity = torch.nn.Linear(
self.input_size,
6 * self.hidden_size,
bias=use_input_projection_bias)
self.state_linearity = torch.nn.Linear(self.hidden_size,
5 * self.hidden_size,
bias=True)
else:
self.input_linearity = torch.nn.Linear(
self.input_size,
4 * self.hidden_size,
bias=use_input_projection_bias)
self.state_linearity = torch.nn.Linear(self.hidden_size,
4 * self.hidden_size,
bias=True)
# self.obj_in_lin = torch.nn.Linear(self.rel_embedding_dim, self.rel_embedding_dim, bias=True)
self.out = nn.Linear(self.hidden_size, len(self.classes))
self.reset_parameters()
# For relation predication
embed_vecs2 = obj_edge_vectors(self.classes, wv_dim=embed_dim)
self.obj_embed2 = nn.Embedding(self.num_classes, embed_dim)
self.obj_embed2.weight.data = embed_vecs2.clone()
# self.post_lstm = nn.Linear(self.hidden_dim, self.pooling_dim * 2)
self.post_lstm = nn.Linear(self.obj_dim + 2 * self.embed_dim + 128,
self.pooling_dim * 2)
# Initialize to sqrt(1/2n) so that the outputs all have mean 0 and variance 1.
# (Half contribution comes from LSTM, half from embedding.
# In practice the pre-lstm stuff tends to have stdev 0.1 so I multiplied this by 10.
self.post_lstm.weight.data.normal_(
0, 10.0 * math.sqrt(1.0 / self.hidden_size)
) ######## there may need more consideration
self.post_lstm.bias.data.zero_()
self.rel_compress = nn.Linear(self.pooling_dim,
self.num_rels,
bias=True)
self.rel_compress.weight = torch.nn.init.xavier_normal(
self.rel_compress.weight, gain=1.0)
if self.use_bias:
self.freq_bias = FrequencyBias()
# simple relation model
from dataloaders.visual_genome import VG
from lib.get_dataset_counts import get_counts, box_filter
fg_matrix, bg_matrix = get_counts(train_data=VG.splits(
num_val_im=5000,
filter_non_overlap=True,
filter_duplicate_rels=True,
use_proposals=False)[0],
must_overlap=True)
prob_matrix = fg_matrix.astype(np.float32)
prob_matrix[:, :, 0] = bg_matrix
# TRYING SOMETHING NEW.
prob_matrix[:, :, 0] += 1
prob_matrix /= np.sum(prob_matrix, 2)[:, :, None]
# prob_matrix /= float(fg_matrix.max())
prob_matrix[:, :, 0] = 0 # Zero out BG
self.prob_matrix = prob_matrix
@property
def num_classes(self):
return len(self.classes)
@property
def num_rels(self):
return len(self.rel_classes)
@property
def input_size(self):
return self.inputs_dim + self.obj_embed.weight.size(1)
def reset_parameters(self):
# Use sensible default initializations for parameters.
block_orthogonal(self.input_linearity.weight.data,
[self.hidden_size, self.input_size])
block_orthogonal(self.state_linearity.weight.data,
[self.hidden_size, self.hidden_size])
self.state_linearity.bias.data.fill_(0.0)
# Initialize forget gate biases to 1.0 as per An Empirical
# Exploration of Recurrent Network Architectures, (Jozefowicz, 2015).
self.state_linearity.bias.data[self.hidden_size:2 *
self.hidden_size].fill_(1.0)
def lstm_equations(self,
timestep_input,
previous_state,
previous_memory,
dropout_mask=None):
"""
Does the hairy LSTM math
:param timestep_input:
:param previous_state:
:param previous_memory:
:param dropout_mask:
:return:
"""
# Do the projections for all the gates all at once.
projected_input = self.input_linearity(timestep_input)
projected_state = self.state_linearity(previous_state)
# Main LSTM equations using relevant chunks of the big linear
# projections of the hidden state and inputs.
input_gate = torch.sigmoid(
projected_input[:, 0 * self.hidden_size:1 * self.hidden_size] +
projected_state[:, 0 * self.hidden_size:1 * self.hidden_size])
forget_gate = torch.sigmoid(
projected_input[:, 1 * self.hidden_size:2 * self.hidden_size] +
projected_state[:, 1 * self.hidden_size:2 * self.hidden_size])
memory_init = torch.tanh(
projected_input[:, 2 * self.hidden_size:3 * self.hidden_size] +
projected_state[:, 2 * self.hidden_size:3 * self.hidden_size])
output_gate = torch.sigmoid(
projected_input[:, 3 * self.hidden_size:4 * self.hidden_size] +
projected_state[:, 3 * self.hidden_size:4 * self.hidden_size])
memory = input_gate * memory_init + forget_gate * previous_memory
timestep_output = output_gate * torch.tanh(memory)
if self.use_highway:
highway_gate = torch.sigmoid(
projected_input[:, 4 * self.hidden_size:5 * self.hidden_size] +
projected_state[:, 4 * self.hidden_size:5 * self.hidden_size])
highway_input_projection = projected_input[:,
5 * self.hidden_size:6 *
self.hidden_size]
timestep_output = highway_gate * timestep_output + (
1 - highway_gate) * highway_input_projection
# Only do dropout if the dropout prob is > 0.0 and we are in training mode.
if dropout_mask is not None and self.training:
timestep_output = timestep_output * dropout_mask
return timestep_output, memory
def get_rel_dist(self, obj_preds, obj_feats, rel_inds, vr=None):
obj_embed2 = self.obj_embed2(obj_preds)
edge_ctx = torch.cat((obj_embed2, obj_feats), 1)
edge_rep = self.post_lstm(edge_ctx)
edge_rep = edge_rep.view(edge_rep.size(0), 2, self.pooling_dim)
subj_rep = edge_rep[:, 0]
obj_rep = edge_rep[:, 1]
prod_rep = subj_rep[rel_inds[:, 1]] * obj_rep[rel_inds[:, 2]]
if self.use_vision:
if self.limit_vision:
# exact value TBD
prod_rep = torch.cat(
(prod_rep[:, :2048] * vr[:, :2048], prod_rep[:, 2048:]), 1)
else:
prod_rep = prod_rep * vr
if self.use_tanh:
prod_rep = F.tanh(prod_rep)
rel_dists = self.rel_compress(prod_rep)
if self.use_bias:
rel_dists = rel_dists + self.freq_bias.index_with_labels(
torch.stack((
obj_preds[rel_inds[:, 1]],
obj_preds[rel_inds[:, 2]],
), 1))
return rel_dists
def get_freq_rel_dist(self, obj_preds, rel_inds):
"""
Baseline: relation model
"""
rel_dists = self.freq_bias.index_with_labels(
torch.stack((
obj_preds[rel_inds[:, 1]],
obj_preds[rel_inds[:, 2]],
), 1))
return rel_dists
def get_simple_rel_dist(self, obj_preds, rel_inds):
obj_preds_np = obj_preds.cpu().numpy()
rel_inds_np = rel_inds.cpu().numpy()
rel_dists_list = []
o1o2 = obj_preds_np[rel_inds_np][:, 1:]
for o1, o2 in o1o2:
rel_dists_list.append(self.prob_matrix[o1, o2])
assert len(rel_dists_list) == len(rel_inds)
return Variable(
torch.from_numpy(np.array(rel_dists_list)).cuda(
obj_preds.get_device())
) # there is no gradient for this type of code
def forward(
self, # pylint: disable=arguments-differ
# inputs: PackedSequence,
sequence_tensor,
rel_inds,
initial_state: Optional[Tuple[torch.Tensor, torch.Tensor]] = None,
labels=None,
boxes_for_nms=None,
vr=None):
# get the relations for each object
# numer = torch.arange(0, rel_inds.size(0)).long().cuda(rel_inds.get_device())
# objs_to_outrels = sequence_tensor.data.new(sequence_tensor.size(0),
# rel_inds.size(0)).zero_()
# objs_to_outrels.view(-1)[rel_inds[:, 1] * rel_inds.size(0) + numer] = 1
# objs_to_outrels = Variable(objs_to_outrels)
# objs_to_inrels = sequence_tensor.data.new(sequence_tensor.size(0), rel_inds.size(0)).zero_()
# objs_to_inrels.view(-1)[rel_inds[:, 2] * rel_inds.size(0) + numer] = 1
# # average the relations for each object, and add "non relation" to the one with on relation communication
# # test8 / test10 need comments
# objs_to_inrels = objs_to_inrels / (objs_to_inrels.sum(1) + 1e-8)[:, None]
# objs_to_inrels = Variable(objs_to_inrels)
batch_size = sequence_tensor.size(0)
# We're just doing an LSTM decoder here so ignore states, etc
if initial_state is None:
previous_memory = Variable(sequence_tensor.data.new().resize_(
batch_size, self.hidden_size).fill_(0))
previous_state = Variable(sequence_tensor.data.new().resize_(
batch_size, self.hidden_size).fill_(0))
else:
assert len(initial_state) == 2
previous_state = initial_state[0].squeeze(0)
previous_memory = initial_state[1].squeeze(0)
# 'start'
previous_embed = self.obj_embed.weight[0, None].expand(batch_size, 100)
# previous_comm_info = Variable(sequence_tensor.data.new()
# .resize_(batch_size, 100).fill_(0))
if self.recurrent_dropout_probability > 0.0:
dropout_mask = get_dropout_mask(self.recurrent_dropout_probability,
previous_memory)
else:
dropout_mask = None
# Only accumulating label predictions here, discarding everything else
out_dists_list = []
out_commitments_list = []
end_ind = 0
for i in range(self.num_iter):
# timestep_input = torch.cat((sequence_tensor, previous_embed, previous_comm_info), 1)
timestep_input = torch.cat((sequence_tensor, previous_embed), 1)
previous_state, previous_memory = self.lstm_equations(
timestep_input,
previous_state,
previous_memory,
dropout_mask=dropout_mask)
pred_dist = self.out(previous_state)
out_dists_list.append(pred_dist)
# if self.training:
# labels_to_embed = labels.clone()
# # Whenever labels are 0 set input to be our max prediction
# nonzero_pred = pred_dist[:, 1:].max(1)[1] + 1
# is_bg = (labels_to_embed.data == 0).nonzero()
# if is_bg.dim() > 0:
# labels_to_embed[is_bg.squeeze(1)] = nonzero_pred[is_bg.squeeze(1)]
# out_commitments_list.append(labels_to_embed)
# previous_embed = self.obj_embed(labels_to_embed+1)
# else:
# out_dist_sample = F.softmax(pred_dist, dim=1)
# # if boxes_for_nms is not None:
# # out_dist_sample[domains_allowed[i] == 0] = 0.0
# # Greedily take the max here amongst non-bgs
# best_ind = out_dist_sample[:, 1:].max(1)[1] + 1
# # if boxes_for_nms is not None and i < boxes_for_nms.size(0):
# # best_int = int(best_ind.data[0])
# # domains_allowed[i:, best_int] *= (1 - is_overlap[i, i:, best_int])
# out_commitments_list.append(best_ind)
# previous_embed = self.obj_embed(best_ind+1)
if self.training and (not self.sl_pretrain):
import pdb
pdb.set_trace()
out_dist_sample = F.softmax(pred_dist, dim=1)
sample_ind = out_dist_sample[:, 1:].multinomial(
1)[:, 0] + 1 # sampling at training stage
out_commitments_list.append(sample_ind)
previous_embed = self.obj_embed(sample_ind + 1)
else:
out_dist_sample = F.softmax(pred_dist, dim=1)
# best_ind = out_dist_sample[:, 1:].max(1)[1] + 1
# debug
best_ind = out_dist_sample.max(1)[
1] ###########################
out_commitments_list.append(best_ind)
previous_embed = self.obj_embed(best_ind + 1)
# calculate communicate information
# rel_dists = self.get_rel_dist(best_ind, sequence_tensor, rel_inds, vr)
# all_comm_info = rel_dists @ self.rel_embed.weight
# obj_rel_weights = sequence_tensor @ torch.transpose(self.obj_rel_att.weight, 1, 0) @ torch.transpose(all_comm_info, 1, 0)
# masked_objs_to_inrels = obj_rel_weights * objs_to_inrels
# objs_to_inrels = masked_objs_to_inrels / (masked_objs_to_inrels.sum(1) + 1e-8)[:, None]
# previous_comm_info = self.obj_in_lin(objs_to_inrels @ all_comm_info)
out_dists = out_dists_list[-1]
out_commitments = out_commitments_list[-1]
# Do NMS here as a post-processing step
"""
if boxes_for_nms is not None and not self.training:
is_overlap = nms_overlaps(boxes_for_nms.data).view(
boxes_for_nms.size(0), boxes_for_nms.size(0), boxes_for_nms.size(1)
).cpu().numpy() >= self.nms_thresh
# is_overlap[np.arange(boxes_for_nms.size(0)), np.arange(boxes_for_nms.size(0))] = False
out_dists_sampled = F.softmax(out_dists).data.cpu().numpy()
out_dists_sampled[:,0] = -1.0 # change 0.0 to 1.0 for the bug when the score for bg is almost 1.
out_commitments = out_commitments.data.new(len(out_commitments)).fill_(0)
for i in range(out_commitments.size(0)):
box_ind, cls_ind = np.unravel_index(out_dists_sampled.argmax(), out_dists_sampled.shape)
out_commitments[int(box_ind)] = int(cls_ind)
out_dists_sampled[is_overlap[box_ind,:,cls_ind], cls_ind] = -1.0 #0.0
out_dists_sampled[box_ind] = -1.0 # This way we won't re-sample
out_commitments = Variable(out_commitments)
"""
# rel_dists = self.get_rel_dist(out_commitments, sequence_tensor, rel_inds, vr)
# simple model
# import pdb; pdb.set_trace()
# rel_dists = self.get_freq_rel_dist(out_commitments, rel_inds)
rel_dists = self.get_simple_rel_dist(out_commitments.data, rel_inds)
return out_dists_list, out_commitments_list, None, \
out_dists, out_commitments, rel_dists