YOLOv5 源码解析 —— 卷积神经单元

荷碧TongZJ

已于 2023-03-06 13:03:57 修改

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分类专栏：计算机视觉文章标签： python 目标检测 pytorch 深度学习计算机视觉

于 2022-04-27 00:11:35 首次发布

本文链接：https://blog.csdn.net/qq_55745968/article/details/124437488

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YOLOv5 源码中，模型是依靠 yaml 文件建立的。而 yaml 文件中涉及到的卷积神经网络单元都是在 models 文件夹中的 common.py 声明的，所以自行设计网络结构之前有必要详解这个文件。这个文件囊括了近年来表现突出的结构单元，就算不学 YOLOv5 也建议 copy 收藏

参数说明

act

shortcut

输入信号

通道

卷积产生

通道

隐藏层

通道

卷积核

尺寸

卷积

步长

边界

填充

卷积

组数

激活

函数

残差

连接

Conv(c1, c2, k=1, s=1, p=None, g=1, act=True)
DWConv(c1, c2, k=1, s=1, act=True)

TransformerLayer(c, num_heads)
TransformerBlock(c1, c2, num_heads, num_layers)

Bottleneck(c1, c2, shortcut=True, g=1, e=0.5)
BottleneckCSP(c1, c2, n=1, shortcut=True, g=1, e=0.5)
C3(c1, c2, n=1, shortcut=True, g=1, e=0.5)

GhostConv(c1, c2, k=1, s=1, g=1, act=True)
GhostBottleneck(c1, c2, k=3, s=1)

SPP(c1, c2, k=(5, 9, 13))
SPPF(c1, c2, k=5)

Focus(c1, c2, k=1, s=1, p=None, g=1, act=True)
Contract(gain=2)
Expand(gain=2)

Concat(dimension=1)

autopad

def autopad(k, p=None):  # kernel, padding
    # Pad to 'same'
    if p is None:
        p = k // 2 if isinstance(k, int) else [x // 2 for x in k]  # auto-pad
    return p

如果有既定的 p 则直接 return
如果无设定的 p，则 return 使图像在卷积操作后尺寸不变的 p：

如果 k 是 5，则 p = 5 // 2 = 2
如果 k 是 (5, 5)，则 p = (5, 5) // 2 = (2, 2)

Conv

标准卷积单元，记为 CBS

关于二维多通道卷积的运算方式，可以参考我的这篇文章：Link ~

SiLU 函数定义为： $SiLU(x)=x\cdot sigmoid(x)$ ，其函数图像与 ReLU 近似

class Conv(nn.Module):
    # Standard convolution
    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
        super().__init__()
        self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p), groups=g, bias=False)
        self.bn = nn.BatchNorm2d(c2)
        self.act = nn.SiLU() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())

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

    def forward_fuse(self, x):
        return self.act(self.conv(x))

DWConv

深度可分离卷积，继承自 Conv

不同点：卷积组数是 c1 和 c2 的最大公约数

DWConv 和 PWConv（1 × 1 卷积）通常交替连接

class DWConv(Conv):
    # Depth-wise convolution class
    def __init__(self, c1, c2, k=1, s=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
        super().__init__(c1, c2, k, s, g=math.gcd(c1, c2), act=act)

TransformerLayer

单头注意力： $Attention(q, k, v)=softmax(\frac{q \cdot k^{T}}{\sqrt{k.dim}}) \cdot v$

多头注意力：q, k, v 均是长度 c 的向量，单头注意力也是长度 c 的向量，n 个单头注意力拼接后得到长度 nc 的行向量。经过线性层运算后再得到长度 c 的向量

class TransformerLayer(nn.Module):
    # Transformer layer https://arxiv.org/abs/2010.11929 (LayerNorm layers removed for better performance)
    def __init__(self, c, num_heads):
        super().__init__()
        self.q = nn.Linear(c, c, bias=False)
        self.k = nn.Linear(c, c, bias=False)
        self.v = nn.Linear(c, c, bias=False)
        self.ma = nn.MultiheadAttention(embed_dim=c, num_heads=num_heads)
        self.fc1 = nn.Linear(c, c, bias=False)
        self.fc2 = nn.Linear(c, c, bias=False)

    def forward(self, x):
        x = self.ma(self.q(x), self.k(x), self.v(x))[0] + x
        x = self.fc2(self.fc1(x)) + x
        return x

TransformerBlock

reshape：原图像是 [batch, channel, height, width]，变换成 [height × width, batch, channel]

这个结构原本是用于自然语言处理的，但是据说用在图像处理有奇效就引入了。reshape 操作其实就是把图像中各个像素点看作一个单词，其对应通道的信息连在一起就是词向量，用自然语言处理的方法处理之后，再变回原来的图像结构

class TransformerBlock(nn.Module):
    # Vision Transformer https://arxiv.org/abs/2010.11929
    def __init__(self, c1, c2, num_heads, num_layers):
        super().__init__()
        self.conv = None
        if c1 != c2:
            self.conv = Conv(c1, c2)
        self.linear = nn.Linear(c2, c2)  # learnable position embedding
        self.tr = nn.Sequential(*[TransformerLayer(c2, num_heads) for _ in range(num_layers)])
        self.c2 = c2

    def forward(self, x):
        if self.conv is not None:
            x = self.conv(x)
        b, _, w, h = x.shape
        p = x.flatten(2).unsqueeze(0).transpose(0, 3).squeeze(3)
        return self.tr(p + self.linear(p)).unsqueeze(3).transpose(0, 3).reshape(b, self.c2, w, h)

Bottleneck

经典的残差卷积单元，先使用 1×1 卷积降维，剔除冗余信息；再使用 3×3 卷积升维

class Bottleneck(nn.Module):
    # Standard bottleneck
    def __init__(self, c1, c2, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, shortcut, groups, expansion
        super().__init__()
        c_ = int(c2 * e)  # hidden channels
        self.cv1 = Conv(c1, c_, 1, 1)
        self.cv2 = Conv(c_, c2, 3, 1, g=g)
        self.add = shortcut and c1 == c2

    def forward(self, x):
        return x + self.cv2(self.cv1(x)) if self.add else self.cv2(self.cv1(x))

BottleneckCSP

class BottleneckCSP(nn.Module):
    # CSP Bottleneck https://github.com/WongKinYiu/CrossStagePartialNetworks
    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, number, shortcut, groups, expansion
        super().__init__()
        c_ = int(c2 * e)  # hidden channels
        self.cv1 = Conv(c1, c_, 1, 1)
        self.cv2 = nn.Conv2d(c1, c_, 1, 1, bias=False)
        self.cv3 = nn.Conv2d(c_, c_, 1, 1, bias=False)
        self.cv4 = Conv(2 * c_, c2, 1, 1)
        self.bn = nn.BatchNorm2d(2 * c_)  # applied to cat(cv2, cv3)
        self.act = nn.LeakyReLU(0.1, inplace=True)
        self.m = nn.Sequential(*[Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)])

    def forward(self, x):
        y1 = self.cv3(self.m(self.cv1(x)))
        y2 = self.cv2(x)
        return self.cv4(self.act(self.bn(torch.cat((y1, y2), dim=1))))

C3

与 BottleneckCSP 类似，但少了 1 个 Conv、1 个 BN、1 个 Act，运算量更少

class C3(nn.Module):
    # CSP Bottleneck with 3 convolutions
    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, number, shortcut, groups, expansion
        super().__init__()
        c_ = int(c2 * e)  # hidden channels
        self.cv1 = Conv(c1, c_, 1, 1)
        self.cv2 = Conv(c1, c_, 1, 1)
        self.cv3 = Conv(2 * c_, c2, 1)  # act=FReLU(c2)
        self.m = nn.Sequential(*[Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)])
        # self.m = nn.Sequential(*[CrossConv(c_, c_, 3, 1, g, 1.0, shortcut) for _ in range(n)])

    def forward(self, x):
        return self.cv3(torch.cat((self.m(self.cv1(x)), self.cv2(x)), dim=1))

C3TR

继承自 C3，n 个 Bottleneck 更换为 1 个 TransformerBlock

class C3TR(C3):
    # C3 module with TransformerBlock()
    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
        super().__init__(c1, c2, n, shortcut, g, e)
        c_ = int(c2 * e)
        self.m = TransformerBlock(c_, c_, 4, n)

C3SPP

继承自 C3，n 个 Bottleneck 更换为 1 个 SPP

class C3SPP(C3):
    # C3 module with SPP()
    def __init__(self, c1, c2, k=(5, 9, 13), n=1, shortcut=True, g=1, e=0.5):
        super().__init__(c1, c2, n, shortcut, g, e)
        c_ = int(c2 * e)
        self.m = SPP(c_, c_, k)

C3Ghost

继承自 C3，Bottleneck 更换为 GhostBottleneck

class C3Ghost(C3):
    # C3 module with GhostBottleneck()
    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
        super().__init__(c1, c2, n, shortcut, g, e)
        c_ = int(c2 * e)  # hidden channels
        self.m = nn.Sequential(*[GhostBottleneck(c_, c_) for _ in range(n)])

GhostConv

在卷积的过程中，常有一些特征图会出现类似的通道 (即卷积核的权值类似)

这些重复的通道，若使用标准卷积计算会耗费大量的算力

如果先使用标准卷积获得一部分通道，再在该部分通道上使用深度可分离卷积获得另一部分通道，则在减少计算量的同时，也避免了类似通道的出现

class GhostConv(nn.Module):
    # Ghost Convolution https://github.com/huawei-noah/ghostnet
    def __init__(self, c1, c2, k=1, s=1, g=1, act=True):  # ch_in, ch_out, kernel, stride, groups
        super().__init__()
        c_ = c2 // 2  # hidden channels
        self.cv1 = Conv(c1, c_, k, s, None, g, act)
        self.cv2 = Conv(c_, c_, 5, 1, None, c_, act)

    def forward(self, x):
        y = self.cv1(x)
        return torch.cat([y, self.cv2(y)], 1)

GhostBottleneck

这个结构受步长 s 的影响较大，s = 2 时多了两个卷积

class GhostBottleneck(nn.Module):
    # Ghost Bottleneck https://github.com/huawei-noah/ghostnet
    def __init__(self, c1, c2, k=3, s=1):  # ch_in, ch_out, kernel, stride
        super().__init__()
        c_ = c2 // 2
        self.conv = nn.Sequential(GhostConv(c1, c_, 1, 1),  # pw
                                  DWConv(c_, c_, k, s, act=False) if s == 2 else nn.Identity(),  # dw
                                  GhostConv(c_, c2, 1, 1, act=False))  # pw-linear
        self.shortcut = nn.Sequential(DWConv(c1, c1, k, s, act=False),
                                      Conv(c1, c2, 1, 1, act=False)) if s == 2 else nn.Identity()

    def forward(self, x):
        return self.conv(x) + self.shortcut(x)

SPP

空间金字塔池化，用于扩大骨干网络的感受野，是非常重要的一个单元

class SPP(nn.Module):
    # Spatial Pyramid Pooling (SPP) layer https://arxiv.org/abs/1406.4729
    def __init__(self, c1, c2, k=(5, 9, 13)):
        super().__init__()
        c_ = c1 // 2  # hidden channels
        self.cv1 = Conv(c1, c_, 1, 1)
        self.cv2 = Conv(c_ * (len(k) + 1), c2, 1, 1)
        self.m = nn.ModuleList([nn.MaxPool2d(kernel_size=x, stride=1, padding=x // 2) for x in k])

    def forward(self, x):
        x = self.cv1(x)
        with warnings.catch_warnings():
            warnings.simplefilter('ignore')  # suppress torch 1.9.0 max_pool2d() warning
            return self.cv2(torch.cat([x] + [m(x) for m in self.m], 1))

SPPF

快速版的空间金字塔池化

池化尺寸等价于：5、9、13，和原来一样

但是运算量从原来的 $5^{2}+9^{2}+13^{2}=275$ 减少到了 $3 \cdot 5^{2}=75$

class SPPF(nn.Module):
    # Spatial Pyramid Pooling - Fast (SPPF) layer for YOLOv5 by Glenn Jocher
    def __init__(self, c1, c2, k=5):  # equivalent to SPP(k=(5, 9, 13))
        super().__init__()
        c_ = c1 // 2  # hidden channels
        self.cv1 = Conv(c1, c_, 1, 1)
        self.cv2 = Conv(c_ * 4, c2, 1, 1)
        self.m = nn.MaxPool2d(kernel_size=k, stride=1, padding=k // 2)

    def forward(self, x):
        x = self.cv1(x)
        with warnings.catch_warnings():
            warnings.simplefilter('ignore')  # suppress torch 1.9.0 max_pool2d() warning
            y1 = self.m(x)
            y2 = self.m(y1)
            return self.cv2(torch.cat([x, y1, y2, self.m(y2)], 1))

Focus

四个 Slice 是由图像在像素位置上分割出来的

class Focus(nn.Module):
    # Focus wh information into c-space
    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
        super().__init__()
        self.conv = Conv(c1 * 4, c2, k, s, p, g, act)
        # self.contract = Contract(gain=2)

    def forward(self, x):  # x(b,c,w,h) -> y(b,4c,w/2,h/2)
        return self.conv(torch.cat([x[..., ::2, ::2], x[..., 1::2, ::2], x[..., ::2, 1::2], x[..., 1::2, 1::2]], 1))
        # return self.conv(self.contract(x))

Contrast

当 gain = 2 的时候，(64, 80, 80) 的图像 -> (256, 40, 40) 的图像。其操作类似 Focus，但更灵活，相比之下少了一个卷积

class Contract(nn.Module):
    # Contract width-height into channels, i.e. x(1,64,80,80) to x(1,256,40,40)
    def __init__(self, gain=2):
        super().__init__()
        self.gain = gain

    def forward(self, x):
        b, c, h, w = x.size()  # assert (h / s == 0) and (W / s == 0), 'Indivisible gain'
        s = self.gain
        x = x.view(b, c, h // s, s, w // s, s)  # x(1,64,40,2,40,2)
        x = x.permute(0, 3, 5, 1, 2, 4).contiguous()  # x(1,2,2,64,40,40)
        return x.view(b, c * s * s, h // s, w // s)  # x(1,256,40,40)

Expand

当 gain = 2 的时候，(1,64,80,80) 的图像 -> (1,16,160,160) 的图像。是 Contrast 的逆操作

class Expand(nn.Module):
    # Expand channels into width-height, i.e. x(1,64,80,80) to x(1,16,160,160)
    def __init__(self, gain=2):
        super().__init__()
        self.gain = gain

    def forward(self, x):
        b, c, h, w = x.size()  # assert C / s ** 2 == 0, 'Indivisible gain'
        s = self.gain
        x = x.view(b, s, s, c // s ** 2, h, w)  # x(1,2,2,16,80,80)
        x = x.permute(0, 3, 4, 1, 5, 2).contiguous()  # x(1,16,80,2,80,2)
        return x.view(b, c // s ** 2, h * s, w * s)  # x(1,16,160,160)

Concat

当 dimension = 1 时，将多张相同尺寸的图像在通道维度上拼接 (通道数可不同)

class Concat(nn.Module):
    # Concatenate a list of tensors along dimension
    def __init__(self, dimension=1):
        super().__init__()
        self.d = dimension

    def forward(self, x):
        return torch.cat(x, self.d)

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YOLOv5 源码解析 —— 卷积神经单元

YOLOv5源码中，模型是依靠yaml文件建立的。而yaml文件中涉及到的卷积神经网络单元都是在models文件夹中的common.py声明的，所以自行设计网络结构之前有必要详解这个文件。
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