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model_multi_confidence_sta_mask_pure_original.py
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model_multi_confidence_sta_mask_pure_original.py
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import os
import random
import datetime
import re
import math
import logging
from collections import OrderedDict
import multiprocessing
import numpy as np
import tensorflow as tf
import keras
import keras.backend as K
import keras.layers as KL
import keras.engine as KE
import keras.models as KM
from keras.activations import softmax
import utils
# Requires TensorFlow 1.3+ and Keras 2.0.8+.
from distutils.version import LooseVersion
assert LooseVersion(tf.__version__) >= LooseVersion("1.3")
assert LooseVersion(keras.__version__) >= LooseVersion('2.0.8')
class ParallelModel(KM.Model):
def __init__(self, keras_model, gpu_count):
"""Class constructor.
keras_model: The Keras model to parallelize
gpu_count: Number of GPUs. Must be > 1
"""
super(ParallelModel, self).__init__()
self.inner_model = keras_model
self.gpu_count = gpu_count
merged_outputs = self.make_parallel()
super(ParallelModel, self).__init__(inputs=self.inner_model.inputs,
outputs=merged_outputs)
def __getattribute__(self, attrname):
"""Redirect loading and saving methods to the inner model. That's where
the weights are stored."""
if 'load' in attrname or 'save' in attrname:
return getattr(self.inner_model, attrname)
return super(ParallelModel, self).__getattribute__(attrname)
def summary(self, *args, **kwargs):
"""Override summary() to display summaries of both, the wrapper
and inner models."""
super(ParallelModel, self).summary(*args, **kwargs)
self.inner_model.summary(*args, **kwargs)
def make_parallel(self):
"""Creates a new wrapper model that consists of multiple replicas of
the original model placed on different GPUs.
"""
# Slice inputs. Slice inputs on the CPU to avoid sending a copy
# of the full inputs to all GPUs. Saves on bandwidth and memory.
input_slices = {name: tf.split(x, self.gpu_count)
for name, x in zip(self.inner_model.input_names,
self.inner_model.inputs)}
output_names = self.inner_model.output_names
outputs_all = []
for i in range(len(self.inner_model.outputs)):
outputs_all.append([])
# Run the model call() on each GPU to place the ops there
for i in range(self.gpu_count):
with tf.device('/gpu:%d' % i):
with tf.name_scope('tower_%d' % i):
# Run a slice of inputs through this replica
zipped_inputs = zip(self.inner_model.input_names,
self.inner_model.inputs)
inputs = [
KL.Lambda(lambda s: input_slices[name][i],
output_shape=lambda s: (None,) + s[1:])(tensor)
for name, tensor in zipped_inputs]
# Create the model replica and get the outputs
outputs = self.inner_model(inputs)
if not isinstance(outputs, list):
outputs = [outputs]
# Save the outputs for merging back together later
for l, o in enumerate(outputs):
outputs_all[l].append(o)
# Merge outputs on CPU
with tf.device('/cpu:0'):
merged = []
for outputs, name in zip(outputs_all, output_names):
# Concatenate or average outputs?
# Outputs usually have a batch dimension and we concatenate
# across it. If they don't, then the output is likely a loss
# or a metric value that gets averaged across the batch.
# Keras expects losses and metrics to be scalars.
if K.int_shape(outputs[0]) == ():
# Average
m = KL.Lambda(lambda o: tf.add_n(o) / len(outputs), name=name)(outputs)
else:
# Concatenate
m = KL.Concatenate(axis=0, name=name)(outputs)
merged.append(m)
return merged
############################################################
# Miscellenous Graph Functions
############################################################
def trim_zeros_graph(boxes, name='trim_zeros'):
"""Often boxes are represented with matrices of shape [N, 2] and
are padded with zeros. This removes zero boxes.
boxes: [N, 2] matrix of boxes.
non_zeros: [N] a 1D boolean mask identifying the rows to keep
"""
non_zeros = tf.cast(tf.reduce_sum(tf.abs(boxes), axis=1), tf.bool)
boxes = tf.boolean_mask(boxes, non_zeros, name=name)
return boxes, non_zeros
def trim_zeros_gt_graph(boxes, name='trim_zeros_gt'):
"""Often boxes are represented with matrices of shape [N, 2] and
are padded with zeros. This removes zero boxes.
boxes: [N, 2] matrix of boxes.
non_zeros: [N] a 1D boolean mask identifying the rows to keep
"""
non_zeros = tf.cast(tf.reduce_sum(boxes, axis=1)>0, tf.bool)
boxes = tf.boolean_mask(boxes, non_zeros, name=name)
return boxes, non_zeros
def batch_pack_graph(x, counts, num_rows):
"""Picks different number of values from each row
in x depending on the values in counts.
"""
outputs = []
for i in range(num_rows):
outputs.append(x[i, :counts[i]])
return tf.concat(outputs, axis=0)
############################################################
# Utility Functions
############################################################
def log(text, array=None):
"""Prints a text message. And, optionally, if a Numpy array is provided it
prints it's shape, min, and max values.
"""
if array is not None:
text = text.ljust(25)
text += ("shape: {:20} ".format(str(array.shape)))
if array.size:
text += ("min: {:10.5f} max: {:10.5f}".format(array.min(),array.max()))
else:
text += ("min: {:10} max: {:10}".format("",""))
text += " {}".format(array.dtype)
print(text)
def compute_backbone_shapes(config, window_shape):
"""Computes the width and height of each stage of the backbone network.
Returns:
[N, (height, width)]. Where N is the number of stages
"""
if callable(config.BACKBONE):
return config.COMPUTE_BACKBONE_SHAPE(image_shape)
# Currently supports ResNet only
assert config.BACKBONE in ["resnet50", "resnet101"]
return np.array(
[[int(window_shape[0] ),
int(math.ceil(window_shape[1] / stride))]
for stride in config.BACKBONE_STRIDES])
class BatchNorm(KL.BatchNormalization):
"""Extends the Keras BatchNormalization class to allow a central place
to make changes if needed.
Batch normalization has a negative effect on training if batches are small
so this layer is often frozen (via setting in Config class) and functions
as linear layer.
"""
def call(self, inputs, training=None):
"""
Note about training values:
None: Train BN layers. This is the normal mode
False: Freeze BN layers. Good when batch size is small
True: (don't use). Set layer in training mode even when making inferences
"""
return super(self.__class__, self).call(inputs, training=training)
def norm_boxes_graph(boxes, shape):
"""Converts boxes from pixel coordinates to normalized coordinates.
boxes: [..., ( x1, x2)] in time coordinates
shape: [..., (width)] in pixels
Note: In pixel coordinates (x2) is outside the box. But in normalized
coordinates it's inside the box.
Returns:
[..., (x1, x2)] in normalized coordinates
"""
w = tf.cast(shape, tf.float32)
scale = tf.concat([w, w], axis=-1) - tf.constant(1.0)
shift = tf.constant([0., 1.])
return tf.divide(boxes - shift, scale)
class MaskRCNN():
"""Encapsulates the Mask RCNN model functionality.
The actual Keras model is in the keras_model property.
"""
def __init__(self, mode, config, model_dir):
"""
mode: Either "training" or "inference"
config: A Sub-class of the Config class
model_dir: Directory to save training logs and trained weights
"""
assert mode in ['training', 'inference']
self.mode = mode
self.config = config
self.model_dir = model_dir
self.set_log_dir()
self.keras_model = self.build(mode=mode, config=config)
def build(self, mode, config):
"""Build Mask R-CNN architecture.
input_shape: The shape of the input image.
mode: Either "training" or "inference". The inputs and
outputs of the model differ accordingly.
"""
assert mode in ['training', 'inference']
# Image size must be dividable by 2 multiple times
h, w = config.WINDOW_SHAPE[:2]
if w / 2**6 != int(w / 2**6):
raise Exception("Window size must be dividable by 2 at least 6 times "
"to avoid fractions when downscaling and upscaling."
"For example, use 256, 320, 384, 448, 512, ... etc. ")
# Inputs
input_window = KL.Input(
shape=[None, None, config.WINDOW_SHAPE[2]], name="input_window")
input_window_meta = KL.Input(shape=[config.WINDOW_META_SIZE],
name="input_window_meta")
input_gt_stations=KL.Input(
shape=[config.WINDOW_SHAPE[0],config.WINDOW_SHAPE[0],2],
name="input_gt_stations", dtype=tf.float32)
if mode == "training":
# RPN GT
input_rpn_match = KL.Input(
shape=[None, 1], name="input_rpn_match", dtype=tf.int32)
input_rpn_bbox = KL.Input(
shape=[None, 2], name="input_rpn_bbox", dtype=tf.float32)
# Detection GT (class IDs, bounding boxes, and masks)
# 1. GT Class IDs (zero padded)
input_gt_class_ids = KL.Input(
shape=[None], name="input_gt_class_ids", dtype=tf.int32)
# 2. GT Boxes in pixels (zero padded)
# [batch, MAX_GT_INSTANCES, (x1,x2)] in image coordinates
input_gt_boxes = KL.Input(
shape=[None, 2], name="input_gt_boxes", dtype=tf.float32)
# Normalize coordinates
gt_boxes = KL.Lambda(lambda x: norm_boxes_graph(
x, K.shape(input_window)[2:3]))(input_gt_boxes)
# 3. GT Masks (zero padded)
# [batch, height, width, MAX_GT_INSTANCES]
input_gt_masks = KL.Input(
shape=[config.WINDOW_SHAPE[0], config.WINDOW_SHAPE[1], None],
name="input_gt_masks", dtype=bool)
elif mode == "inference":
# Anchors in normalized coordinates
input_anchors = KL.Input(shape=[None, 2], name="input_anchors")
# Build the shared convolutional layers.
# Bottom-up Layers
# Returns a list of the last layers of each stage, 5 in total.
# Don't create the thead (stage 5), so we pick the 4th item in the list.
_, C2, C3, C4, C5 = resnet_graph(input_window, config.BACKBONE,conv_station=config.BACKBONE_CONV,
stage5=True, train_bn=config.TRAIN_BN)
# Top-down Layers
# TODO: add assert to varify feature map sizes match what's in config
P5 = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (1, 1), name='fpn_c5p5')(C5)
P4 = KL.Add(name="fpn_p4add")([
KL.UpSampling2D(size=(1, 2), name="fpn_p5upsampled")(P5),
KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (1, 1), name='fpn_c4p4')(C4)])
P3 = KL.Add(name="fpn_p3add")([
KL.UpSampling2D(size=(1, 2), name="fpn_p4upsampled")(P4),
KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (1, 1), name='fpn_c3p3')(C3)])
P2 = KL.Add(name="fpn_p2add")([
KL.UpSampling2D(size=(1, 2), name="fpn_p3upsampled")(P3),
KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (1, 1), name='fpn_c2p2')(C2)])
#whether to apply convolution opperation over the station dimension
if config.BACKBONE_CONV:
kernel_h=3
else:
kernel_h=1
# Attach (kernel_h,3) conv to all P layers to get the final feature maps.
P2 = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (kernel_h, 3), padding="SAME", name="fpn_p2")(P2)
P3 = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (kernel_h, 3), padding="SAME", name="fpn_p3")(P3)
P4 = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (kernel_h, 3), padding="SAME", name="fpn_p4")(P4)
P5 = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE, (kernel_h, 3), padding="SAME", name="fpn_p5")(P5)
sta = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE,(1,3),padding="same",activation='relu',name='station_conv1')(input_gt_stations)
sta = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE,(1,config.WINDOW_STATION_DIM),padding="valid",activation='relu',name='station_conv2')(sta)
sta = KL.Conv2D(config.TOP_DOWN_PYRAMID_SIZE,(1,1),padding="valid",activation='relu',name='station_conv3')(sta)
# P6 is used for the 5th anchor scale in RPN. Generated by
# subsampling from P5 with stride of 2.
P6 = KL.MaxPooling2D(pool_size=(1, 1), strides=(1,2), name="fpn_p6")(P5)
P2 = KL.Lambda(lambda t: t[0]*t[1])([sta,P2])
P3 = KL.Lambda(lambda t: t[0]*t[1])([sta,P3])
P4 = KL.Lambda(lambda t: t[0]*t[1])([sta,P4])
P5 = KL.Lambda(lambda t: t[0]*t[1])([sta,P5])
P6 = KL.Lambda(lambda t: t[0]*t[1])([sta,P6])
# Note that P6 is used in RPN, but not in the classifier heads.
rpn_feature_maps = [P2, P3, P4, P5, P6]
mrcnn_feature_maps = [P2, P3, P4, P5]
# Anchors
if mode == "training":
anchors = self.get_anchors(config.WINDOW_SHAPE)
# Duplicate across the batch dimension because Keras requires it
# TODO: can this be optimized to avoid duplicating the anchors?
anchors = np.broadcast_to(anchors, (config.BATCH_SIZE,) + anchors.shape)
# A hack to get around Keras's bad support for constants
anchors = KL.Lambda(lambda x: tf.Variable(anchors), name="anchors")(input_window)
else:
anchors = input_anchors
# RPN Model
if mode == "training":
drop_rate=config.DROP_RATE
else:
drop_rate=0.
rpn = build_rpn_model(config.RPN_ANCHOR_STRIDE,
len(config.RPN_ANCHOR_RATIOS),
config.TOP_DOWN_PYRAMID_SIZE,
drop_rate,conv_station=config.RPN_CONV
)
# Loop through pyramid layers
layer_outputs = [] # list of lists
for p in rpn_feature_maps:
layer_outputs.append(rpn([p]))
# Concatenate layer outputs
# Convert from list of lists of level outputs to list of lists
# of outputs across levels.
# e.g. [[a1, b1, c1], [a2, b2, c2]] => [[a1, a2], [b1, b2], [c1, c2]]
output_names = ["rpn_class_logits", "rpn_class", "rpn_bbox"]
outputs = list(zip(*layer_outputs))
outputs = [KL.Concatenate(axis=1, name=n)(list(o))
for o, n in zip(outputs, output_names)]
rpn_class_logits, rpn_class, rpn_bbox = outputs
# Generate proposals
# Proposals are [batch, N, (x1, x2)] in normalized coordinates
# and zero padded.
proposal_count = config.POST_NMS_ROIS_TRAINING if mode == "training"\
else config.POST_NMS_ROIS_INFERENCE
rpn_rois = ProposalLayer(
proposal_count=proposal_count,
nms_threshold=config.RPN_NMS_THRESHOLD,
name="ROI",
config=config)([rpn_class, rpn_bbox, anchors])
if mode == "training":
# Class ID mask to mark class IDs supported by the dataset the image
# came from.
active_class_ids = KL.Lambda(
lambda x: parse_window_meta_graph(x)["active_class_ids"]
)(input_window_meta)
if not config.USE_RPN_ROIS:
# Ignore predicted ROIs and use ROIs provided as an input.
input_rois = KL.Input(shape=[config.POST_NMS_ROIS_TRAINING, 2],
name="input_roi", dtype=np.int32)
# Normalize coordinates
target_rois = KL.Lambda(lambda x: norm_boxes_graph(
x, K.shape(input_window)[2:3]))(input_rois)
else:
target_rois = rpn_rois
# Generate detection targets
# Subsamples proposals and generates target outputs for training
# Note that proposal class IDs, gt_boxes, and gt_masks are zero
# padded. Equally, returned rois and targets are zero padded.
rois, target_class_ids, target_bbox, target_mask =\
DetectionTargetLayer(config, name="proposal_targets")([
target_rois, input_gt_class_ids, gt_boxes, input_gt_masks])
# Network Heads
# TODO: verify that this handles zero padded ROIs
mrcnn_class_logits, mrcnn_class,mrcnn_bbox =\
fpn_classifier_graph(rois, mrcnn_feature_maps, input_window_meta,
config.POOL_SIZE[0],
config.POOL_SIZE[1],
config.DIVISION_SIZE,
config.NUM_CLASSES,
conv_station=config.MRCNN_CONV,
drop_rate=drop_rate,
train_bn=config.TRAIN_BN,
fc_layers_size=config.FPN_CLASSIF_FC_LAYERS_SIZE)
mrcnn_mask,mrcnn_match_logits,mrcnn_match = build_fpn_mask_graph(rois, mrcnn_feature_maps,
input_window_meta,
config.MASK_POOL_SIZE[0],
config.MASK_POOL_SIZE[1],
config.DIVISION_SIZE,
config.NUM_CLASSES,
conv_station=config.MASK_CONV,
drop_rate=drop_rate,
config=config,
train_bn=config.TRAIN_BN)
output_rois = KL.Lambda(lambda x: x * 1, name="output_rois")(rois)
# Losses
rpn_class_loss = KL.Lambda(lambda x: rpn_class_loss_graph(*x), name="rpn_class_loss")(
[input_rpn_match, rpn_class_logits])
rpn_bbox_loss = KL.Lambda(lambda x: rpn_bbox_loss_graph(config, *x), name="rpn_bbox_loss")(
[input_rpn_bbox, input_rpn_match, rpn_bbox])
class_loss = KL.Lambda(lambda x: mrcnn_class_loss_graph(*x), name="mrcnn_class_loss")(
[target_class_ids, mrcnn_class_logits, active_class_ids])
bbox_loss = KL.Lambda(lambda x: mrcnn_bbox_loss_graph(*x), name="mrcnn_bbox_loss")(
[target_bbox, target_class_ids, mrcnn_bbox])
match_loss = KL.Lambda(lambda x: mrcnn_match_loss_graph(*x), name="mrcnn_match_loss")(
[target_class_ids,mrcnn_match_logits])
mask_loss = KL.Lambda(lambda x: mrcnn_mask_loss_graph(*x), name="mrcnn_mask_loss")(
[target_mask, target_class_ids,mrcnn_mask])
# Model
inputs = [input_window, input_window_meta,
input_rpn_match, input_rpn_bbox, input_gt_class_ids,input_gt_boxes, input_gt_masks,input_gt_stations]
if not config.USE_RPN_ROIS:
inputs.append(input_rois)
outputs = [rpn_class_logits, rpn_class, rpn_bbox,
mrcnn_class_logits, mrcnn_class, mrcnn_match_logits,mrcnn_match,mrcnn_bbox, mrcnn_mask,
rpn_rois, output_rois,
rpn_class_loss, rpn_bbox_loss, class_loss, bbox_loss,match_loss, mask_loss]
model = KM.Model(inputs, outputs, name='mask_rcnn')
else:
# Network Heads
# Proposal classifier and BBox regressor heads
mrcnn_class_logits, mrcnn_class,mrcnn_bbox =\
fpn_classifier_graph(rpn_rois, mrcnn_feature_maps, input_window_meta,
config.POOL_SIZE[0],
config.POOL_SIZE[1],
config.DIVISION_SIZE,
config.NUM_CLASSES,
conv_station=config.MRCNN_CONV,
drop_rate=drop_rate,
train_bn=config.TRAIN_BN,
fc_layers_size=config.FPN_CLASSIF_FC_LAYERS_SIZE)
# Detections
# output is [batch, num_detections, (y1, x1, y2, x2, class_id, score, match*10)] in
# normalized coordinates
detections = DetectionLayer(config, name="mrcnn_detection")(
[rpn_rois, mrcnn_class, mrcnn_bbox, input_window_meta])
# Create masks for detections
detection_boxes = KL.Lambda(lambda x: x[..., :2])(detections)
mrcnn_mask ,mrcnn_match_logits,mrcnn_match = build_fpn_mask_graph(detection_boxes, mrcnn_feature_maps,
input_window_meta,
config.MASK_POOL_SIZE[0],
config.MASK_POOL_SIZE[1],
config.DIVISION_SIZE,
config.NUM_CLASSES,
conv_station=config.MASK_CONV,
drop_rate=drop_rate,
config=config,
train_bn=config.TRAIN_BN)
model = KM.Model([input_window,input_window_meta,input_anchors,input_gt_stations],
[detections, mrcnn_class, mrcnn_bbox,mrcnn_match,
mrcnn_mask, rpn_rois, rpn_class, rpn_bbox],
name='mask_rcnn')
# Add multi-GPU support.
if config.GPU_COUNT > 1:
model = ParallelModel(model, config.GPU_COUNT)
return model
def set_log_dir(self, model_path=None):
"""Sets the model log directory and epoch counter.
model_path: If None, or a format different from what this code uses
then set a new log directory and start epochs from 0. Otherwise,
extract the log directory and the epoch counter from the file
name.
"""
# Set date and epoch counter as if starting a new model
self.epoch = 0
now = datetime.datetime.now()
# If we have a model path with date and epochs use them
if model_path:
# Continue from we left of. Get epoch and date from the file name
# A sample model path might look like:
# \path\to\logs\coco20171029T2315\mask_rcnn_coco_0001.h5 (Windows)
# /path/to/logs/coco20171029T2315/mask_rcnn_coco_0001.h5 (Linux)
regex = r".*[/\\][\w-]+(\d{4})(\d{2})(\d{2})T(\d{2})(\d{2})[/\\]mask\_rcnn\_[\w-]+(\d{4})\.h5"
m = re.match(regex, model_path)
if m:
now = datetime.datetime(int(m.group(1)), int(m.group(2)), int(m.group(3)),
int(m.group(4)), int(m.group(5)))
# Epoch number in file is 1-based, and in Keras code it's 0-based.
# So, adjust for that then increment by one to start from the next epoch
self.epoch = int(m.group(6)) - 1 + 1
print('Re-starting from epoch %d' % self.epoch)
# Directory for training logs
self.log_dir = os.path.join(self.model_dir, "{}{:%Y%m%dT%H%M}".format(
self.config.NAME.lower(), now))
# Path to save after each epoch. Include placeholders that get filled by Keras.
self.checkpoint_path = os.path.join(self.log_dir, "mask_rcnn_{}_*epoch*.h5".format(
self.config.NAME.lower()))
self.checkpoint_path = self.checkpoint_path.replace(
"*epoch*", "{epoch:04d}")
def get_anchors(self, window_shape):
"""Returns anchor pyramid for the given image size."""
backbone_shapes = compute_backbone_shapes(self.config, window_shape)
# Cache anchors and reuse if image shape is the same
if not hasattr(self, "_anchor_cache"):
self._anchor_cache = {}
if not tuple(window_shape) in self._anchor_cache:
# Generate Anchors
a = utils.generate_pyramid_anchors(
self.config.RPN_ANCHOR_SCALES,
self.config.RPN_ANCHOR_RATIOS,
backbone_shapes,
self.config.BACKBONE_STRIDES,
self.config.RPN_ANCHOR_STRIDE)
# Keep a copy of the latest anchors in pixel coordinates because
# it's used in inspect_model notebooks.
# TODO: Remove this after the notebook are refactored to not use it
self.anchors = a
# Normalize coordinates
self._anchor_cache[tuple(window_shape)] = utils.norm_boxes(a, window_shape[1])
return self._anchor_cache[tuple(window_shape)]
def compile(self, learning_rate, momentum):
"""Gets the model ready for training. Adds losses, regularization, and
metrics. Then calls the Keras compile() function.
"""
# Optimizer object
optimizer = keras.optimizers.SGD(
lr=learning_rate, momentum=momentum,
clipnorm=self.config.GRADIENT_CLIP_NORM)
# Add Losses
# First, clear previously set losses to avoid duplication
self.keras_model._losses = []
self.keras_model._per_input_losses = {}
loss_names = [
"rpn_class_loss", "rpn_bbox_loss",
"mrcnn_class_loss", "mrcnn_bbox_loss", "mrcnn_match_loss","mrcnn_mask_loss"]
for name in loss_names:
layer = self.keras_model.get_layer(name)
if layer.output in self.keras_model.losses:
continue
loss = (
tf.reduce_mean(layer.output, keepdims=True)
* self.config.LOSS_WEIGHTS.get(name, 1.))
self.keras_model.add_loss(loss)
# Add L2 Regularization
# Skip gamma and beta weights of batch normalization layers.
reg_losses = [
keras.regularizers.l2(self.config.WEIGHT_DECAY)(w) / tf.cast(tf.size(w), tf.float32)
for w in self.keras_model.trainable_weights
if 'gamma' not in w.name and 'beta' not in w.name]
self.keras_model.add_loss(tf.add_n(reg_losses))
# Compile
self.keras_model.compile(
optimizer=optimizer,
loss=[None] * len(self.keras_model.outputs))
# Add metrics for losses
for name in loss_names:
if name in self.keras_model.metrics_names:
continue
layer = self.keras_model.get_layer(name)
self.keras_model.metrics_names.append(name)
loss = (
tf.reduce_mean(layer.output, keepdims=True)
* self.config.LOSS_WEIGHTS.get(name, 1.))
self.keras_model.metrics_tensors.append(loss)
def find_last(self):
"""Finds the last checkpoint file of the last trained model in the
model directory.
Returns:
The path of the last checkpoint file
"""
# Get directory names. Each directory corresponds to a model
dir_names = next(os.walk(self.model_dir))[1]
key = self.config.NAME.lower()
dir_names = filter(lambda f: f.startswith(key), dir_names)
dir_names = sorted(dir_names)
if not dir_names:
import errno
raise FileNotFoundError(
errno.ENOENT,
"Could not find model directory under {}".format(self.model_dir))
# Pick last directory
dir_name = os.path.join(self.model_dir, dir_names[-1])
# Find the last checkpoint
checkpoints = next(os.walk(dir_name))[2]
checkpoints = filter(lambda f: f.startswith("mask_rcnn"), checkpoints)
checkpoints = sorted(checkpoints)
if not checkpoints:
import errno
raise FileNotFoundError(
errno.ENOENT, "Could not find weight files in {}".format(dir_name))
checkpoint = os.path.join(dir_name, checkpoints[-1])
return checkpoint
def load_weights(self, filepath, by_name=False, exclude=None):
"""Modified version of the corresponding Keras function with
the addition of multi-GPU support and the ability to exclude
some layers from loading.
exclude: list of layer names to exclude
"""
import h5py
# Conditional import to support versions of Keras before 2.2
# TODO: remove in about 6 months (end of 2018)
try:
from keras.engine import saving
except ImportError:
# Keras before 2.2 used the 'topology' namespace.
from keras.engine import topology as saving
if exclude:
by_name = True
if h5py is None:
raise ImportError('`load_weights` requires h5py.')
f = h5py.File(filepath, mode='r')
if 'layer_names' not in f.attrs and 'model_weights' in f:
f = f['model_weights']
# In multi-GPU training, we wrap the model. Get layers
# of the inner model because they have the weights.
keras_model = self.keras_model
layers = keras_model.inner_model.layers if hasattr(keras_model, "inner_model")\
else keras_model.layers
# Exclude some layers
if exclude:
layers = filter(lambda l: l.name not in exclude, layers)
if by_name:
saving.load_weights_from_hdf5_group_by_name(f, layers)
else:
saving.load_weights_from_hdf5_group(f, layers)
if hasattr(f, 'close'):
f.close()
# Update the log directory
self.set_log_dir(filepath)
def train(self, train_dataset, val_dataset, learning_rate, epochs,
augmentation=None, custom_callbacks=None, no_augmentation_sources=None):
"""Train the model.
train_dataset, val_dataset: Training and validation Dataset objects.
learning_rate: The learning rate to train with
epochs: Number of training epochs. Note that previous training epochs
are considered to be done alreay, so this actually determines
the epochs to train in total rather than in this particaular
call.
layers: Allows selecting wich layers to train. It can be:
- A regular expression to match layer names to train
- One of these predefined values:
heads: The RPN, classifier and mask heads of the network
all: All the layers
3+: Train Resnet stage 3 and up
4+: Train Resnet stage 4 and up
5+: Train Resnet stage 5 and up
augmentation: Optional. An imgaug (https://github.com/aleju/imgaug)
augmentation. For example, passing imgaug.augmenters.Fliplr(0.5)
flips images right/left 50% of the time. You can pass complex
augmentations as well. This augmentation applies 50% of the
time, and when it does it flips images right/left half the time
and adds a Gaussian blur with a random sigma in range 0 to 5.
augmentation = imgaug.augmenters.Sometimes(0.5, [
imgaug.augmenters.Fliplr(0.5),
imgaug.augmenters.GaussianBlur(sigma=(0.0, 5.0))
])
custom_callbacks: Optional. Add custom callbacks to be called
with the keras fit_generator method. Must be list of type keras.callbacks.
no_augmentation_sources: Optional. List of sources to exclude for
augmentation. A source is string that identifies a dataset and is
defined in the Dataset class.
"""
assert self.mode == "training", "Create model in training mode."
# Data generators
train_generator = data_generator(train_dataset, self.config, shuffle=True,
batch_size=self.config.BATCH_SIZE)
val_generator = data_generator(val_dataset, self.config, shuffle=True,
batch_size=self.config.BATCH_SIZE)
# Create log_dir if it does not exist
if not os.path.exists(self.log_dir):
os.makedirs(self.log_dir)
# Callbacks
callbacks = [
keras.callbacks.TensorBoard(log_dir=self.log_dir,
histogram_freq=0, write_graph=True, write_images=False),
keras.callbacks.ModelCheckpoint(self.checkpoint_path,
verbose=0, save_weights_only=True),
]
# Add custom callbacks to the list
if custom_callbacks:
callbacks += custom_callbacks
# Train
log("\nStarting at epoch {}. LR={}\n".format(self.epoch, learning_rate))
log("Checkpoint Path: {}".format(self.checkpoint_path))
self.compile(learning_rate, self.config.LEARNING_MOMENTUM)
# Work-around for Windows: Keras fails on Windows when using
# multiprocessing workers. See discussion here:
# https://github.com/matterport/Mask_RCNN/issues/13#issuecomment-353124009
if os.name is 'nt':
workers = 0
else:
workers = multiprocessing.cpu_count()
self.keras_model.fit_generator(
train_generator,
initial_epoch=self.epoch,
epochs=epochs,
steps_per_epoch=self.config.STEPS_PER_EPOCH,
callbacks=callbacks,
validation_data=val_generator,
validation_steps=self.config.VALIDATION_STEPS,
max_queue_size=100,
workers=workers,
use_multiprocessing=True,
)
self.epoch = max(self.epoch, epochs)
def detect(self, windows, stations,verbose=0):
"""Runs the detection pipeline.
images: List of images, potentially of different sizes.
Returns a list of dicts, one dict per image. The dict contains:
rois: [N, (y1, x1, y2, x2)] detection bounding boxes
class_ids: [N] int class IDs
scores: [N] float probability scores for the class IDs
masks: [H, W, N] instance binary masks
"""
assert self.mode == "inference", "Create model in inference mode."
assert len(
windows) == self.config.BATCH_SIZE, "len(images) must be equal to BATCH_SIZE"
if verbose:
log("Processing {} images".format(len(windows)))
for window in windows:
log("window", window)
# Mold inputs to format expected by the neural network
molded_windows, window_metas, real_windows = self.mold_inputs(windows)
# Validate image sizes
# All images in a batch MUST be of the same size
window_shape = molded_windows[0].shape
for g in molded_windows[1:]:
assert g.shape == window_shape,\
"After resizing, all images must have the same size. Check IMAGE_RESIZE_MODE and image sizes."
# Anchors
anchors = self.get_anchors(window_shape)
# Duplicate across the batch dimension because Keras requires it
# TODO: can this be optimized to avoid duplicating the anchors?
anchors = np.broadcast_to(anchors, (self.config.BATCH_SIZE,) + anchors.shape)
if verbose:
log("molded_windows", molded_windows)
log("window_metas", window_metas)
log("anchors", anchors)
# Run object detection
detections, _, _, mrcnn_match,mrcnn_mask, _, _, _ =\
self.keras_model.predict([molded_windows, window_metas, anchors,stations], verbose=0)
# Process detections
results = []
for i, window in enumerate(windows):
final_rois, final_class_ids, final_scores, final_masks,final_match_ids,final_match_scores=\
self.unmold_detections(detections[i], mrcnn_match[i] ,mrcnn_mask[i],
window.shape, molded_windows[i].shape,
real_windows[i])
results.append({
"rois": final_rois,
"class_ids": final_class_ids,
"scores": final_scores,
"masks": final_masks,
"match_ids":final_match_ids,
"match_scores":final_match_scores
})
return results
def mold_inputs(self, windows):
"""Takes a list of images and modifies them to the format expected
as an input to the neural network.
images: List of image matrices [height,width,depth]. Images can have
different sizes.
Returns 3 Numpy matrices:
molded_images: [N, h, w, 3]. Images resized and normalized.
image_metas: [N, length of meta data]. Details about each image.
windows: [N, (y1, x1, y2, x2)]. The portion of the image that has the
original image (padding excluded).
"""
molded_windows = []
window_metas = []
real_windows = []
for window in windows:
# Resize image
# TODO: move resizing to mold_image()
original_shape=window.shape
padding=math.ceil(original_shape[1]/2**6)*2**6-original_shape[1]
molded_window=np.pad(window,[(0,0),(0,padding),(0,0)],mode="constant")
real_window=np.array([0,original_shape[1]])
# Build image_meta
window_meta = compose_window_meta(
0, window.shape, molded_window.shape, real_window,
np.zeros([self.config.NUM_CLASSES], dtype=np.int32))
# Append
molded_windows.append(molded_window)
real_windows.append(real_window)
window_metas.append(window_meta)
# Pack into arrays
molded_windows = np.stack(molded_windows)
window_metas = np.stack(window_metas)
real_windows = np.stack(real_windows)
return molded_windows, window_metas, real_windows
def unmold_detections(self, detections, mrcnn_match,mrcnn_mask, original_window_shape,
window_shape, real_window):
"""Reformats the detections of one image from the format of the neural
network output to a format suitable for use in the rest of the
application.
detections: [N, (x1, x2, class_id, score)] in normalized coordinates
mrcnn_mask: [N, height, width, num_classes]
original_image_shape: [H, W, C] Original image shape before resizing
image_shape: [H, W, C] Shape of the image after resizing and padding
window: [y1, x1, y2, x2] Pixel coordinates of box in the image where the real
image is excluding the padding.
Returns:
boxes: [N, (y1, x1, y2, x2)] Bounding boxes in pixels
class_ids: [N] Integer class IDs for each bounding box
scores: [N] Float probability scores of the class_id
masks: [height, width, num_instances] Instance masks
"""
# How many detections do we have?
# Detections array is padded with zeros. Find the first class_id == 0.
zero_ix = np.where(detections[:, 2] == 0)[0]
N = zero_ix[0] if zero_ix.shape[0] > 0 else detections.shape[0]
# Extract boxes, class_ids, scores, and class-specific masks
boxes = detections[:N, :2]
class_ids = detections[:N, 2].astype(np.int32)
scores = detections[:N, 3]
matches = mrcnn_match[:N,:,:]
masks = mrcnn_mask[np.arange(N), :, :, class_ids]
match_ids = np.reshape(np.argmax(matches, axis=2),(matches.shape[0],-1))
match_scores = np.reshape(np.max(matches,axis=2),(matches.shape[0],-1))
# Translate normalized coordinates in the resized image to pixel
# coordinates in the original image before resizing
real_window = utils.norm_boxes(real_window, window_shape[1])
wx1, wx2 = real_window
shift = np.array([ wx1, wx1])
ww = wx2 - wx1 # window width
scale = np.array([ww, ww])
# Convert boxes to normalized coordinates on the window
boxes = np.divide(boxes - shift, scale)
# Convert boxes to pixel coordinates on the original image
boxes = utils.denorm_boxes(boxes, original_window_shape[1])
# Filter out detections with zero area. Happens in early training when
# network weights are still random
exclude_ix = np.where(
boxes[:, 1] - boxes[:, 0] <= 0)[0]
if exclude_ix.shape[0] > 0:
boxes = np.delete(boxes, exclude_ix, axis=0)
class_ids = np.delete(class_ids, exclude_ix, axis=0)
scores = np.delete(scores, exclude_ix, axis=0)
masks = np.delete(masks, exclude_ix, axis=0)
matches = np.delete(matches, exclude_ix, axis=0)
N = class_ids.shape[0]
full_masks = []
for i in range(N):
# Convert neural network mask to full size mask
x1,x2=np.split(boxes,2,axis=1)
yx1=np.pad(x1,[[0,0],[1,0]],mode="constant")
yx2=np.pad(x2,[[0,0],[1,0]],mode="constant",constant_values=self.config.WINDOW_STATION_DIM)
boxes_pad=np.concatenate([yx1,yx2],axis=1)
full_mask = utils.unmold_mask(masks[i], boxes_pad[i], original_window_shape)
full_masks.append(full_mask)
full_masks = np.stack(full_masks, axis=-1)\
if full_masks else np.empty(original_window_shape[:2] + (0,))
return boxes, class_ids, scores, full_masks, match_ids, match_scores
############################################################
# Detection Layer
############################################################
def refine_detections_graph(rois, probs, deltas,window, config):
"""Refine classified proposals and filter overlaps and return final
detections.
Inputs:
rois: [N, (y1, x1, y2, x2)] in normalized coordinates
probs: [N, num_classes]. Class probabilities.
match:[N,num_stations,num_stations,2]
deltas: [N, num_classes, ( dx,log(dw))]. Class-specific
bounding box deltas.
window: ( x1, x2) in normalized coordinates. The part of the image
that contains the image excluding the padding.
Returns detections shaped: [num_detections, ( x1, x2, class_id, score)] where
coordinates are normalized.
"""
# Class IDs per ROI
class_ids = tf.argmax(probs, axis=1, output_type=tf.int32)
# Class probability of the top class of each ROI
indices = tf.stack([tf.range(probs.shape[0]), class_ids], axis=1)
class_scores = tf.gather_nd(probs, indices)
# Class-specific bounding box deltas
deltas_specific = tf.gather_nd(deltas, indices)
# Apply bounding box deltas
# Shape: [boxes, (y1, x1, y2, x2)] in normalized coordinates
refined_rois = apply_box_deltas_graph(
rois, deltas_specific * config.BBOX_STD_DEV)
# Clip boxes to image window
refined_rois = clip_boxes_graph(refined_rois, window)
# TODO: Filter out boxes with zero area
# Filter out background boxes
keep = tf.where(class_ids > 0)[:, 0]
# Filter out low confidence boxes
if config.DETECTION_MIN_CONFIDENCE:
conf_keep = tf.where(class_scores >= config.DETECTION_MIN_CONFIDENCE)[:, 0]
keep = tf.sets.set_intersection(tf.expand_dims(keep, 0),
tf.expand_dims(conf_keep, 0))
keep = tf.sparse_tensor_to_dense(keep)[0]
# Apply per-class NMS
# 1. Prepare variables
pre_nms_class_ids = tf.gather(class_ids, keep)