一.简介
SegNet是Cambridge提出旨在解决自动驾驶或者智能机器人的图像语义分割深度网络,网络由编码器Encoder和解码器Decoder两大部分组成。SegNet基于FCN,编码器部分修改VGG-16网络得到,解码器部分进行多次上采样得到。
编码器用于提取图像的特征,解码器放大特征图,然后对每个像素的进行分类得到输出层。
二.编码器Encoder
Encoder部分用于特征提取,一般对特征进行四次压缩,每次压缩后特征图的大小都减小一半。Encoder的主干网络可以使用vgg16,不过vgg16模型有些繁重,也可以换成轻量级的MobileNet
1.基于vgg16的Encoder
from tensorflow.keras.layers import *
# 基于 vgg16 的 segnet 编码器
def segnet_encoder_vgg16(height=416, width=416):
img_input = Input(shape=(height, width, 3))
# block1
# 416,416,3 -- 208,208,64
x = Conv2D(64, 3, padding='same', activation='relu', name='b1_c1')(img_input)
x = Conv2D(64, 3, padding='same', activation='relu', name='b1_c2')(x)
x = MaxPooling2D((2, 2), strides=2, name='b1_pool')(x)
out1 = x
# block2
# 208,208,64 -- 104,104,128
x = Conv2D(128, 3, padding='same', activation='relu', name='b2_c1')(x)
x = Conv2D(128, 3, padding='same', activation='relu', name='b2_c2')(x)
x = MaxPooling2D((2, 2), strides=2, name='b2_pool')(x)
out2 = x
# block3
# 104,104,128 -- 52,52,256
x = Conv2D(256, 3, padding='same', activation='relu', name='b3_c1')(x)
x = Conv2D(256, 3, padding='same', activation='relu', name='b3_c2')(x)
x = Conv2D(256, 3, padding='same', activation='relu', name='b3_c3')(x)
x = MaxPooling2D((2, 2), strides=2, name='b3_pool')(x)
out3 = x
# block4
# 52,52,256 -- 26,26,512
x = Conv2D(512, 3, padding='same', activation='relu', name='b4_c1')(x)
x = Conv2D(512, 3, padding='same', activation='relu', name='b4_c2')(x)
x = Conv2D(512, 3, padding='same', activation='relu', name='b4_c3')(x)
x = MaxPooling2D((2, 2), strides=2, name='b4_pool')(x)
out4 = x
# block5
# 26,26,512 -- 13,13,512
x = Conv2D(512, 3, padding='same', activation='relu', name='b5_c1')(x)
x = Conv2D(512, 3, padding='same', activation='relu', name='b5_c2')(x)
x = Conv2D(512, 3, padding='same', activation='relu', name='b5_c3')(x)
x = MaxPooling2D((2, 2), strides=2, name='b5_pool')(x)
out5 = x
return img_input, out4
2.基于MobilenetV1的Encoder
深度可分离卷积在tensorflow2中有两种实现方法,(DepthwiseConv2D + Conv1x1 )
实现与(SeparableConv2D)
实现
(1).DepthwiseConv2D + Conv1x1
from tensorflow.keras.layers import *
def conv_block(inputs, filters, kernel, strides):
x = ZeroPadding2D(1)(inputs)
x = Conv2D(filters, kernel, strides, padding='valid', use_bias=False)(x)
x = BatchNormalization()(x)
x = ReLU(max_value=6)(x)
return x
def dw_pw_block(inputs, dw_strides, pw_filters, name):
x = ZeroPadding2D(1)(inputs)
# dw
x = DepthwiseConv2D((3, 3), dw_strides, padding='valid', use_bias=False, name=name)(x)
x = BatchNormalization()(x)
x = ReLU(max_value=6)(x)
# pw
x = Conv2D(pw_filters, (1, 1), 1, padding='valid', use_bias=False)(x)
x = BatchNormalization()(x)
x = ReLU(max_value=6)(x)
return x
# 基于 Mobilenet 的 segnet 编码器(DepthwiseConv2D + Conv1x1 实现)
def segnet_encoder_MobilenetV1_1(height=416, width=416):
img_input = Input(shape=(height, width, 3))
# block1:con1 + dw_pw_1
# 416,416,3 -- 208,208,32 -- 208,208,64
x = conv_block(img_input, 32, (3, 3), (2, 2))
x = dw_pw_block(x, 1, 64, 'dw_pw_1')
# block2:dw_pw_2
# 208,208,64 -- 104,104,128
x = dw_pw_block(x, 2, 128, 'dw_pw_2_1')
x = dw_pw_block(x, 1, 128, 'dw_pw_2_2')
# block3:dw_pw_3
# 104,104,128 -- 52,52,256
x = dw_pw_block(x, 2, 256, 'dw_pw_3_1')
x = dw_pw_block(x, 1, 256, 'dw_pw_3_2')
# block4:dw_pw_4
# 52,52,256 -- 26,26,512
x = dw_pw_block(x, 2, 512, 'dw_pw_4_1')
for i in range(5):
x = dw_pw_block(x, 1, 512, 'dw_pw_4_' + str(i + 2))
out4 = x
# block5:dw_pw_5
# 26,26,512 -- 13,13,1024
x = dw_pw_block(x, 2, 1024, 'dw_pw_5_1')
x = dw_pw_block(x, 1, 1024, 'dw_pw_5_2')
return img_input, out4
(2).SeparableConv2D
from tensorflow.keras.layers import *
def sp_block(x, dw_strides, pw_filters, name):
x = ZeroPadding2D(1)(x)
x = SeparableConv2D(pw_filters, (3, 3), dw_strides, use_bias=False, name=name)(x)
x = BatchNormalization()(x)
x = ReLU(max_value=6)(x)
return x
# 基于 Mobilenet 的 segnet 编码器(SeparableConv2D实现)
def segnet_encoder_MobilenetV1_2(height=416, width=416):
img_input = Input(shape=(height, width, 3))
# block1:con1 + dw_pw_1
# 416,416,3 -- 208,208,32 -- 208,208,64
x = conv_block(img_input, 32, (3, 3), (2, 2))
x = sp_block(x, 1, 64, 'dw_pw_1')
# block2:dw_pw_2
# 208,208,64 -- 104,104,128
x = sp_block(x, 2, 128, 'dw_pw_2_1')
x = sp_block(x, 1, 128, 'dw_pw_2_2')
# block3:dw_pw_3
# 104,104,128 -- 52,52,256
x = sp_block(x, 2, 256, 'dw_pw_3_1')
x = sp_block(x, 1, 256, 'dw_pw_3_2')
# block4:dw_pw_4
# 52,52,256 -- 26,26,512
x = sp_block(x, 2, 512, 'dw_pw_4_1')
for i in range(5):
x = sp_block(x, 1, 512, 'dw_pw_4_' + str(i + 2))
out4 = x
# block5:dw_pw_5
# 26,26,512 -- 13,13,1024
x = sp_block(x, 2, 1024, 'dw_pw_5_1')
x = sp_block(x, 1, 1024, 'dw_pw_5_2')
return img_input, out4
三.解码器Decoder
from tensorflow.keras.layers import *
# segnet的解码器
def segnet_decoder(feature,n_classes):
# 直接进行上采样时会出现一些问题,这里先Zeropadding
# 26,26,512 -- 26,26,512
x = ZeroPadding2D(1)(feature) # 26,26,512 -- 28,28,512
x = Conv2D(512,3,padding='valid')(x) # 28,28,512 -- 26,26,512
x = BatchNormalization()(x)
# 上采样 3 次(编码器总共编码5次,每次图像缩小一半,但是只用第4次的结果)
# 1/16 -- 1/8 ; 26,26,512 -- 52,52,256
# 1/8 -- 1/4 ; 52,52,256 -- 104,104,128
# 1/4 -- 1/2 ; 104,104,128 -- 208,208,64
filters = [256,128,64]
for i,filter in enumerate(filters):
x = UpSampling2D(2,name='Up_'+str(i+1))(x)
x = ZeroPadding2D(1)(x)
x = Conv2D(filter,3,padding='valid')(x)
x = BatchNormalization()(x)
# 208,208,64 -- 208,208,n_classes
out = Conv2D(n_classes,3,padding='same')(x)
return out
四.模型创建
from encoders import *
from tensorflow.keras.models import Model
# 创建 segnet 模型
def build_segnet(n_classes,encoder_type='vgg16',input_height=416,input_width=416):
# 1.获取encoder的输出 (416,416,3--26,26,512)
if encoder_type == 'vgg16':
img_input,feature = segnet_encoder_vgg16(input_height,input_width)
elif encoder_type == 'MobilenetV1_1':
img_input, feature = segnet_encoder_MobilenetV1_1(input_height, input_width)
elif encoder_type == 'MobilenetV1_2':
img_input, feature = segnet_encoder_MobilenetV1_2(input_height, input_width)
else:
raise RuntimeError('segnet encoder name is error')
# 2.获取decoder的输出 (26,26,512--208,208,n_classes)
out = segnet_decoder(feature,n_classes)
# 3.结果Reshape (208*208,n_classes)
out = Reshape((int(input_height/2)*int(input_height/2),-1))(out)
out = Softmax()(out)
# 4.创建模型
model = Model(img_input,out)
return model
五.Segnet训练斑马线语义分割
from segnet import build_segnet
from tensorflow.keras.callbacks import ModelCheckpoint,ReduceLROnPlateau,EarlyStopping
from tensorflow.keras.optimizers import Adam
from tensorflow.keras.losses import BinaryCrossentropy
import numpy as np
from PIL import Image
import os
import argparse
def parse_opt():
parse = argparse.ArgumentParser()
parse.add_argument('--datasets_path',type=str,default='../../datasets/banmaxian',help='数据集路径')
parse.add_argument('--n_classes',type=int,default=2,help='标签种类(含背景)')
parse.add_argument('--height',type=int,default=416,help='图片高度')
parse.add_argument('--width',type=int,default=416,help='图片宽度')
parse.add_argument('--batch_size',type=int,default=2)
parse.add_argument('--lr',type=float,default=0.0001)
parse.add_argument('--epochs',type=int,default=50)
parse.add_argument('--encoder_type',type=str,default='MobilenetV1_2',help='segnet模型编码器的类型[vgg16,MobilenetV1_1,MobilenetV1_2]')
opt = parse.parse_args()
return opt
def get_data_from_file(opt):
datasets_path,height,width,n_classes = opt.datasets_path,opt.height,opt.width,opt.n_classes
with open(os.path.join(datasets_path,'train.txt')) as f:
lines = f.readlines()
lines = [line.replace('\n','') for line in lines]
X = []
Y = []
for i in range(len(lines)):
names = lines[i].split(';')
real_name = names[0] # xx.jpg
label_name = names[1] # xx.png
# 读取真实图像
real_img = Image.open(os.path.join(datasets_path,'jpg',real_name))
real_img = real_img.resize((height,width))
real_img = np.array(real_img)/255 # (416,416,3) [0,1]
X.append(real_img)
# 读取标签图像,3通道,每个通道的数据都一样,每个像素点就是对应的类别,0表示背景
label_img = Image.open(os.path.join(datasets_path, 'png', label_name))
label_img = label_img.resize((int(height/2), int(width/2)))
label_img = np.array(label_img) # (208,208,3) [0,1]
# 根据标签图像来创建训练标签数据,n类对应的 seg_labels 就有n个通道
# 此时 seg_labels 每个通道的都值为 0
seg_labels = np.zeros((int(height/2), int(width/2),n_classes)) # (208,208,2)
# 第0通道表示第0类
# 第1通道表示第1类
# .....
# 第n_classes通道表示第n_classes类
for c in range(n_classes):
seg_labels[:,:,c] = (label_img[:,:,0]==c).astype(int)
# 此时 seg_labels 每个通道的值为0或1, 1 表示该像素点是该类,0 则不是
seg_labels = np.reshape(seg_labels,(-1,n_classes)) # (208*208,2)
Y.append(seg_labels)
return np.array(X),np.array(Y)
if __name__ == '__main__':
# 1.参数初始化
opt = parse_opt()
# 2.获取数据集
X,Y = get_data_from_file(opt)
# 3.创建模型
# 每5个epoch保存一次
weight_path = 'segnet_' + opt.encoder_type+'_weight/'
model = build_segnet(opt.n_classes,opt.encoder_type,opt.height,opt.width)
os.makedirs(weight_path,exist_ok=True)
checkpoint = ModelCheckpoint(
filepath=weight_path+'acc{accuracy:.4f}-ep{epoch:03d}-loss{loss:.3f}-val_loss{val_loss:.3f}.h5',
monitor='val_loss',
verbose=1,save_best_only=True,save_weights_only=True,period=5
)
lr_sh = ReduceLROnPlateau(monitor='val_loss',factor=0.5,patience=5,verbose=1)
es = EarlyStopping(monitor='val_loss',patience=10,verbose=1)
model.compile(loss=BinaryCrossentropy(),optimizer=Adam(opt.lr),metrics='accuracy')
# 4.模型训练
model.fit(
x=X,y=Y,
batch_size=opt.batch_size,
epochs=opt.epochs,
callbacks=[checkpoint,lr_sh],
verbose=1,
validation_split=0.1,
shuffle=True,
)
# 5.模型保存
model.save_weights(weight_path+'/last.h5')
六.测试
from segnet import build_segnet
from PIL import Image
import numpy as np
import copy
import os
import argparse
def parse_opt():
parse = argparse.ArgumentParser()
parse.add_argument('--test_imgs', type=str, default='test_imgs', help='测试数据集')
parse.add_argument('--test_res', type=str, default='test_res', help='测试数据集')
parse.add_argument('--n_classes', type=int, default=2, help='标签种类(含背景)')
parse.add_argument('--height', type=int, default=416, help='输入模型的图片高度')
parse.add_argument('--width', type=int, default=416, help='输入模型的图片宽度')
parse.add_argument('--encoder_type', type=str, default='MobilenetV1_2', help='segnet模型编码器的类型[vgg16,MobilenetV1_1,MobilenetV1_2]')
opt = parse.parse_args()
return opt
def resize_img(path,real_width,real_height):
img_names = os.listdir(path)
for img_name in img_names:
img = Image.open(os.path.join(path, img_name))
img = img.resize((real_width,real_height))
img.save(os.path.join(path, img_name))
if __name__ == '__main__':
# 1.参数初始化
opt = parse_opt()
# class_colors 要根据图像的语义标签来设定;n_classes 行 3 列;
# 3列为RGB的值
class_colors = [[0, 0, 0],
[0, 255, 0]]
imgs_path = os.listdir(opt.test_imgs)
imgs_test = []
imgs_init = []
jpg_names = []
real_width,real_height = 1280,720
resize_img(opt.test_imgs, real_width,real_height)
# 2.获取测试图片
for i,jpg_name in enumerate(imgs_path):
img_init = Image.open(os.path.join(opt.test_imgs, jpg_name))
img = copy.deepcopy(img_init)
img = img.resize((opt.width,opt.height))
img = np.array(img) / 255 # (416,416,3) [0,1]
imgs_test.append(img)
imgs_init.append(img_init)
jpg_names.append(jpg_name)
imgs_test = np.array(imgs_test) # (-1,416,416,3)
# 3.模型创建
weight_path = 'segnet_' + opt.encoder_type + '_weight/'
model = build_segnet(opt.n_classes, opt.encoder_type,opt.height,opt.width)
model.load_weights(os.path.join(weight_path, 'last.h5'))
# 4.模型预测语义分类结果
prs = model.predict(imgs_test) # (-1, 43264, 2)
# 结果 reshape
prs = prs.reshape(-1, int(opt.height / 2), int(opt.width / 2), opt.n_classes) # (-1, 208, 208, 2)
# 找到结果每个像素点所属类别的索引 两类就是 0 或 1
prs = prs.argmax(axis=-1) # (-1, 208, 208)
# 此时 prs 就是预测出来的类别,argmax 求得是最大值所在的索引,这个索引和类别值相同
# 所以 prs 每个像素点就是对应的类别
# 5.创建语义图像
# 和训练集中的语义标签图像不同,这里要显示图像,所以固定3通道
imgs_seg = np.zeros((len(prs), int(opt.height / 2), int(opt.width / 2), 3)) # (-1,208,208,3)
for c in range(opt.n_classes):
# 每个通道都要判断是否属于第0,1,2... n-1 类,是的话就乘以对应的颜色,每个类别都要判断一次
# 因为是RGB三个通道,所以3个通道分别乘以class_colors的每个通道颜色值
imgs_seg[:,:,:,0] += ((prs[:,:,:]==c)*(class_colors[c][0])).astype(int)
imgs_seg[:,:,:,1] += ((prs[:,:,:]==c)*(class_colors[c][1])).astype(int)
imgs_seg[:,:,:,2] += ((prs[:,:,:]==c)*(class_colors[c][2])).astype(int)
# 6.保存结果
save_path = opt.test_out+'_'+opt.encoder_type
os.makedirs(save_path,exist_ok=True)
for img_init,img_seg,img_name in zip(imgs_init,imgs_seg,jpg_names):
img_seg = Image.fromarray(np.uint8(img_seg)).resize((real_width,real_height))
images = Image.blend(img_init,img_seg,0.3)
images.save(os.path.join(opt.test_out+'_'+opt.encoder_type,img_name))