RT-DETR改进|爆改模型|涨点|在骨干网络和CCFM模块之间加入EfficientDet中的BiFPN颈部网络（附代码+修改教程）

一、文本介绍

本文修改的模型是Deformable-DETR，在原本的RT-DETR中，骨干网络的最高层级输出作为AIFI模块的输入，低层级特征图作为CCFM特征融合模块的输入。本文将骨干网络的输出先作为BiFPN（Bi-directional Feature Pyramid Network）金字塔网络的输入，在将BiFPN的输出作为AIFI模块和CCFM模块的输入。BiFPN通过在不同尺度的特征金字塔网络中引入双向连接，实现了跨层级的信息交流和融合。

参考BiFPN代码：https://github.com/zylo117/Yet-Another-EfficientDet-Pytorch

二、模型图

模型架构

BiFPN网络结构

 

三、核心代码

代码目录结构
efficientnet文件夹主要包含了一些卷积、池化和激活函数的定义。efficientnet可以从BiFPN开源代码中拷贝。

在zoo/rtdetr文件夹下创建bifpn.py
这里为了契合骨干网络三个特征层的输入，将BiFPN颈部网络修改成三层级结构
bifpn.py具体代码：

import torch.nn as nn
import torch
from torchvision.ops.boxes import nms as nms_torch

from .efficientnet.utils import MemoryEfficientSwish, Swish
from .efficientnet.utils_extra import Conv2dStaticSamePadding, MaxPool2dStaticSamePadding
import torch.nn.functional as F


def nms(dets, thresh):
    return nms_torch(dets[:, :4], dets[:, 4], thresh)


class SeparableConvBlock(nn.Module):
    """
    created by Zylo117
    """

    def __init__(self, in_channels, out_channels=None, norm=True, activation=False, onnx_export=False):
        super(SeparableConvBlock, self).__init__()
        if out_channels is None:
            out_channels = in_channels

        # Q: whether separate conv
        #  share bias between depthwise_conv and pointwise_conv
        #  or just pointwise_conv apply bias.
        # A: Confirmed, just pointwise_conv applies bias, depthwise_conv has no bias.

        self.depthwise_conv = Conv2dStaticSamePadding(in_channels, in_channels,
                                                      kernel_size=3, stride=1, groups=in_channels, bias=False)
        self.pointwise_conv = Conv2dStaticSamePadding(in_channels, out_channels, kernel_size=1, stride=1)

        self.norm = norm
        if self.norm:
            # Warning: pytorch momentum is different from tensorflow's, momentum_pytorch = 1 - momentum_tensorflow
            self.bn = nn.BatchNorm2d(num_features=out_channels, momentum=0.01, eps=1e-3)

        self.activation = activation
        if self.activation:
            self.swish = MemoryEfficientSwish() if not onnx_export else Swish()

    def forward(self, x):
        x = self.depthwise_conv(x)
        x = self.pointwise_conv(x)

        if self.norm:
            x = self.bn(x)

        if self.activation:
            x = self.swish(x)

        return x


class BiFPN(nn.Module):

    def __init__(self, num_channels, epsilon=1e-4, onnx_export=False):

        super(BiFPN, self).__init__()
        self.epsilon = epsilon

        # Conv layers
        self.conv5_up = SeparableConvBlock(num_channels, onnx_export=onnx_export)
        self.conv4_up = SeparableConvBlock(num_channels, onnx_export=onnx_export)
        self.conv3_up = SeparableConvBlock(num_channels, onnx_export=onnx_export)
        self.conv4_down = SeparableConvBlock(num_channels, onnx_export=onnx_export)
        self.conv5_down = SeparableConvBlock(num_channels, onnx_export=onnx_export)

        self.p4_downsample = MaxPool2dStaticSamePadding(3, 2)
        self.p5_downsample = MaxPool2dStaticSamePadding(3, 2)

        self.swish = MemoryEfficientSwish() if not onnx_export else Swish()

        # Weight
        self.p5_w1 = nn.Parameter(torch.ones(2, dtype=torch.float32), requires_grad=True)
        self.p5_w1_relu = nn.ReLU()
        self.p4_w1 = nn.Parameter(torch.ones(2, dtype=torch.float32), requires_grad=True)
        self.p4_w1_relu = nn.ReLU()
        self.p3_w1 = nn.Parameter(torch.ones(2, dtype=torch.float32), requires_grad=True)
        self.p3_w1_relu = nn.ReLU()

        self.p4_w2 = nn.Parameter(torch.ones(3, dtype=torch.float32), requires_grad=True)
        self.p4_w2_relu = nn.ReLU()
        self.p5_w2 = nn.Parameter(torch.ones(3, dtype=torch.float32), requires_grad=True)
        self.p5_w2_relu = nn.ReLU()

    def forward(self, inputs):
        outs = self._forward_fast_attention(inputs)
        return outs

    def _forward_fast_attention(self, inputs):
        p3_in, p4_in, p5_in = inputs

        p4_w1 = self.p4_w1_relu(self.p4_w1)
        weight = p4_w1 / (torch.sum(p4_w1, dim=0) + self.epsilon)
        p4_up = self.conv4_up(self.swish(weight[0] * p4_in + weight[1] * F.interpolate(p5_in, size=(p4_in.shape[2], p4_in.shape[3]))))

        p3_w1 = self.p3_w1_relu(self.p3_w1)
        weight = p3_w1 / (torch.sum(p3_w1, dim=0) + self.epsilon)
        p3_out = self.conv3_up(self.swish(weight[0] * p3_in + weight[1] *  F.interpolate(p4_up, size=(p3_in.shape[2], p3_in.shape[3]))))

        p4_w2 = self.p4_w2_relu(self.p4_w2)
        weight = p4_w2 / (torch.sum(p4_w2, dim=0) + self.epsilon)
        p4_out = self.conv4_down(
            self.swish(weight[0] * p4_in + weight[1] * p4_up + weight[2] * self.p4_downsample(p3_out)))

        p5_w2 = self.p5_w2_relu(self.p5_w2)
        weight = p5_w2 / (torch.sum(p5_w2, dim=0) + self.epsilon)
        p5_out = self.conv5_down(self.swish(weight[0] * p5_in + weight[1] * self.p5_downsample(p4_out)))

        outs = [p3_out, p4_out, p5_out]
        return outs

修改hybrid_encoder.py文件
在HybridEncoder中定义bifpn

在forward中使用BiFPN
 

hybrid_encoder.py的具体代码如下：

'''by lyuwenyu
'''

import copy
import torch 
import torch.nn as nn 
import torch.nn.functional as F 

from .utils import get_activation

from src.core import register
from .bifpn import BiFPN


__all__ = ['HybridEncoder']



class ConvNormLayer(nn.Module):
    def __init__(self, ch_in, ch_out, kernel_size, stride, padding=None, bias=False, act=None):
        super().__init__()
        self.conv = nn.Conv2d(
            ch_in, 
            ch_out, 
            kernel_size, 
            stride, 
            padding=(kernel_size-1)//2 if padding is None else padding, 
            bias=bias)
        self.norm = nn.BatchNorm2d(ch_out)
        self.act = nn.Identity() if act is None else get_activation(act) 

    def forward(self, x):
        return self.act(self.norm(self.conv(x)))


class RepVggBlock(nn.Module):
    def __init__(self, ch_in, ch_out, act='relu'):
        super().__init__()
        self.ch_in = ch_in
        self.ch_out = ch_out
        self.conv1 = ConvNormLayer(ch_in, ch_out, 3, 1, padding=1, act=None)
        self.conv2 = ConvNormLayer(ch_in, ch_out, 1, 1, padding=0, act=None)
        self.act = nn.Identity() if act is None else get_activation(act) 

    def forward(self, x):
        if hasattr(self, 'conv'):
            y = self.conv(x)
        else:
            y = self.conv1(x) + self.conv2(x)

        return self.act(y)

    def convert_to_deploy(self):
        if not hasattr(self, 'conv'):
            self.conv = nn.Conv2d(self.ch_in, self.ch_out, 3, 1, padding=1)

        kernel, bias = self.get_equivalent_kernel_bias()
        self.conv.weight.data = kernel
        self.conv.bias.data = bias 
        # self.__delattr__('conv1')
        # self.__delattr__('conv2')

    def get_equivalent_kernel_bias(self):
        kernel3x3, bias3x3 = self._fuse_bn_tensor(self.conv1)
        kernel1x1, bias1x1 = self._fuse_bn_tensor(self.conv2)
        
        return kernel3x3 + self._pad_1x1_to_3x3_tensor(kernel1x1), bias3x3 + bias1x1

    def _pad_1x1_to_3x3_tensor(self, kernel1x1):
        if kernel1x1 is None:
            return 0
        else:
            return F.pad(kernel1x1, [1, 1, 1, 1])

    def _fuse_bn_tensor(self, branch: ConvNormLayer):
        if branch is None:
            return 0, 0
        kernel = branch.conv.weight
        running_mean = branch.norm.running_mean
        running_var = branch.norm.running_var
        gamma = branch.norm.weight
        beta = branch.norm.bias
        eps = branch.norm.eps
        std = (running_var + eps).sqrt()
        t = (gamma / std).reshape(-1, 1, 1, 1)
        return kernel * t, beta - running_mean * gamma / std


class CSPRepLayer(nn.Module):
    def __init__(self,
                 in_channels,
                 out_channels,
                 num_blocks=3,
                 expansion=1.0,
                 bias=None,
                 act="silu"):
        super(CSPRepLayer, self).__init__()
        hidden_channels = int(out_channels * expansion)
        self.conv1 = ConvNormLayer(in_channels, hidden_channels, 1, 1, bias=bias, act=act)
        self.conv2 = ConvNormLayer(in_channels, hidden_channels, 1, 1, bias=bias, act=act)
        self.bottlenecks = nn.Sequential(*[
            RepVggBlock(hidden_channels, hidden_channels, act=act) for _ in range(num_blocks)
        ])
        if hidden_channels != out_channels:
            self.conv3 = ConvNormLayer(hidden_channels, out_channels, 1, 1, bias=bias, act=act)
        else:
            self.conv3 = nn.Identity()

    def forward(self, x):
        x_1 = self.conv1(x)
        x_1 = self.bottlenecks(x_1)
        x_2 = self.conv2(x)
        return self.conv3(x_1 + x_2)


# transformer
class TransformerEncoderLayer(nn.Module):
    def __init__(self,
                 d_model,
                 nhead,
                 dim_feedforward=2048,
                 dropout=0.1,
                 activation="relu",
                 normalize_before=False):
        super().__init__()
        self.normalize_before = normalize_before

        self.self_attn = nn.MultiheadAttention(d_model, nhead, dropout, batch_first=True)

        self.linear1 = nn.Linear(d_model, dim_feedforward)
        self.dropout = nn.Dropout(dropout)
        self.linear2 = nn.Linear(dim_feedforward, d_model)

        self.norm1 = nn.LayerNorm(d_model)
        self.norm2 = nn.LayerNorm(d_model)
        self.dropout1 = nn.Dropout(dropout)
        self.dropout2 = nn.Dropout(dropout)
        self.activation = get_activation(activation) 

    @staticmethod
    def with_pos_embed(tensor, pos_embed):
        return tensor if pos_embed is None else tensor + pos_embed

    def forward(self, src, src_mask=None, pos_embed=None) -> torch.Tensor:
        residual = src
        if self.normalize_before:
            src = self.norm1(src)
        q = k = self.with_pos_embed(src, pos_embed)
        src, _ = self.self_attn(q, k, value=src, attn_mask=src_mask)

        src = residual + self.dropout1(src)
        if not self.normalize_before:
            src = self.norm1(src)

        residual = src
        if self.normalize_before:
            src = self.norm2(src)
        src = self.linear2(self.dropout(self.activation(self.linear1(src))))
        src = residual + self.dropout2(src)
        if not self.normalize_before:
            src = self.norm2(src)
        return src


class TransformerEncoder(nn.Module):
    def __init__(self, encoder_layer, num_layers, norm=None):
        super(TransformerEncoder, self).__init__()
        self.layers = nn.ModuleList([copy.deepcopy(encoder_layer) for _ in range(num_layers)])
        self.num_layers = num_layers
        self.norm = norm

    def forward(self, src, src_mask=None, pos_embed=None) -> torch.Tensor:
        output = src
        for layer in self.layers:
            output = layer(output, src_mask=src_mask, pos_embed=pos_embed)

        if self.norm is not None:
            output = self.norm(output)

        return output


@register
class HybridEncoder(nn.Module):
    def __init__(self,
                 in_channels=[512, 1024, 2048],
                 feat_strides=[8, 16, 32],
                 hidden_dim=256,
                 nhead=8,
                 dim_feedforward = 1024,
                 dropout=0.0,
                 enc_act='gelu',
                 use_encoder_idx=[2],
                 num_encoder_layers=1,
                 pe_temperature=10000,
                 expansion=1.0,
                 depth_mult=1.0,
                 act='silu',
                 eval_spatial_size=None):
        super().__init__()
        self.in_channels = in_channels
        self.feat_strides = feat_strides
        self.hidden_dim = hidden_dim
        self.use_encoder_idx = use_encoder_idx
        self.num_encoder_layers = num_encoder_layers
        self.pe_temperature = pe_temperature
        self.eval_spatial_size = eval_spatial_size

        self.out_channels = [hidden_dim for _ in range(len(in_channels))]
        self.out_strides = feat_strides

        self.bifpn = BiFPN(hidden_dim)
        
        # channel projection
        self.input_proj = nn.ModuleList()
        for in_channel in in_channels:
            self.input_proj.append(
                nn.Sequential(
                    nn.Conv2d(in_channel, hidden_dim, kernel_size=1, bias=False),
                    nn.BatchNorm2d(hidden_dim)
                )
            )

        # encoder transformer
        encoder_layer = TransformerEncoderLayer(
            hidden_dim, 
            nhead=nhead,
            dim_feedforward=dim_feedforward, 
            dropout=dropout,
            activation=enc_act)

        self.encoder = nn.ModuleList([
            TransformerEncoder(copy.deepcopy(encoder_layer), num_encoder_layers) for _ in range(len(use_encoder_idx))
        ])

        # top-down fpn
        self.lateral_convs = nn.ModuleList()
        self.fpn_blocks = nn.ModuleList()
        for _ in range(len(in_channels) - 1, 0, -1):
            self.lateral_convs.append(ConvNormLayer(hidden_dim, hidden_dim, 1, 1, act=act))
            self.fpn_blocks.append(
                CSPRepLayer(hidden_dim * 2, hidden_dim, round(3 * depth_mult), act=act, expansion=expansion)
            )

        # bottom-up pan
        self.downsample_convs = nn.ModuleList()
        self.pan_blocks = nn.ModuleList()
        for _ in range(len(in_channels) - 1):
            self.downsample_convs.append(
                ConvNormLayer(hidden_dim, hidden_dim, 3, 2, act=act)
            )
            self.pan_blocks.append(
                CSPRepLayer(hidden_dim * 2, hidden_dim, round(3 * depth_mult), act=act, expansion=expansion)
            )

        self._reset_parameters()

    def _reset_parameters(self):
        if self.eval_spatial_size:
            for idx in self.use_encoder_idx:
                stride = self.feat_strides[idx]
                pos_embed = self.build_2d_sincos_position_embedding(
                    self.eval_spatial_size[1] // stride, self.eval_spatial_size[0] // stride,
                    self.hidden_dim, self.pe_temperature)
                setattr(self, f'pos_embed{idx}', pos_embed)
                # self.register_buffer(f'pos_embed{idx}', pos_embed)

    @staticmethod
    def build_2d_sincos_position_embedding(w, h, embed_dim=256, temperature=10000.):
        '''
        '''
        grid_w = torch.arange(int(w), dtype=torch.float32)
        grid_h = torch.arange(int(h), dtype=torch.float32)
        grid_w, grid_h = torch.meshgrid(grid_w, grid_h, indexing='ij')
        assert embed_dim % 4 == 0, \
            'Embed dimension must be divisible by 4 for 2D sin-cos position embedding'
        pos_dim = embed_dim // 4
        omega = torch.arange(pos_dim, dtype=torch.float32) / pos_dim
        omega = 1. / (temperature ** omega)

        out_w = grid_w.flatten()[..., None] @ omega[None]
        out_h = grid_h.flatten()[..., None] @ omega[None]

        return torch.concat([out_w.sin(), out_w.cos(), out_h.sin(), out_h.cos()], dim=1)[None, :, :]

    def forward(self, feats):
        assert len(feats) == len(self.in_channels)
        proj_feats = [self.input_proj[i](feat) for i, feat in enumerate(feats)]

        proj_feats = self.bifpn(proj_feats)
        
        # encoder
        if self.num_encoder_layers > 0:
            for i, enc_ind in enumerate(self.use_encoder_idx):
                h, w = proj_feats[enc_ind].shape[2:]
                # flatten [B, C, H, W] to [B, HxW, C]
                src_flatten = proj_feats[enc_ind].flatten(2).permute(0, 2, 1)
                if self.training or self.eval_spatial_size is None:
                    pos_embed = self.build_2d_sincos_position_embedding(
                        w, h, self.hidden_dim, self.pe_temperature).to(src_flatten.device)
                else:
                    pos_embed = getattr(self, f'pos_embed{enc_ind}', None).to(src_flatten.device)

                memory = self.encoder[i](src_flatten, pos_embed=pos_embed)
                proj_feats[enc_ind] = memory.permute(0, 2, 1).reshape(-1, self.hidden_dim, h, w).contiguous()
                # print([x.is_contiguous() for x in proj_feats ])

        # broadcasting and fusion
        inner_outs = [proj_feats[-1]]
        for idx in range(len(self.in_channels) - 1, 0, -1):
            feat_high = inner_outs[0]
            feat_low = proj_feats[idx - 1]
            feat_high = self.lateral_convs[len(self.in_channels) - 1 - idx](feat_high)
            inner_outs[0] = feat_high
            upsample_feat = F.interpolate(feat_high, scale_factor=2., mode='nearest')
            inner_out = self.fpn_blocks[len(self.in_channels)-1-idx](torch.concat([upsample_feat, feat_low], dim=1))
            inner_outs.insert(0, inner_out)

        outs = [inner_outs[0]]
        for idx in range(len(self.in_channels) - 1):
            feat_low = outs[-1]
            feat_high = inner_outs[idx + 1]
            downsample_feat = self.downsample_convs[idx](feat_low)
            out = self.pan_blocks[idx](torch.concat([downsample_feat, feat_high], dim=1))
            outs.append(out)

        return outs