0. 往期内容
[二]深度学习Pytorch-张量的操作：拼接、切分、索引和变换
[七]深度学习Pytorch-DataLoader与Dataset(含人民币二分类实战)
[八]深度学习Pytorch-图像预处理transforms
[九]深度学习Pytorch-transforms图像增强(剪裁、翻转、旋转)
[十]深度学习Pytorch-transforms图像操作及自定义方法
[十一]深度学习Pytorch-模型创建与nn.Module
[十二]深度学习Pytorch-模型容器与AlexNet构建
[十三]深度学习Pytorch-卷积层(1D/2D/3D卷积、卷积nn.Conv2d、转置卷积nn.ConvTranspose)
[十六]深度学习Pytorch-18种损失函数loss function
[十八]深度学习Pytorch-学习率Learning Rate调整策略
[十九]深度学习Pytorch-可视化工具TensorBoard
[二十一]深度学习Pytorch-正则化Regularization之weight decay
[二十二]深度学习Pytorch-正则化Regularization之dropout
[二十三]深度学习Pytorch-批量归一化Batch Normalization
[二十四]深度学习Pytorch-BN、LN(Layer Normalization)、IN(Instance Normalization)、GN(Group Normalization)
[三十]深度学习Pytorch-图像目标检测Faster RCNN
深度学习Pytorch-图像目标检测Faster RCNN
1. 图像目标检测定义
左上角坐标[x1,y1]，右下角坐标[x2,y2]。
2. 模型是如何完成目标检测？
比如特征图中左上角像素对应原图中左上角14*14的区域。
3. 深度学习目标检测模型简介
proposal generation输出一个个候选框，默认输出2000个候选框。
backbone是全卷积网络。
根据自适应池化层将RPN输出的不同shape的框池化成同一shape的输出。
4. Pytorch中的Faster RCNN训练
特征图中的一个像素叫锚点，锚点对应原图区域中的框叫锚框，一个锚点可能对应好几个锚框（9个或3个）。一个锚框有四个坐标，所以regressors中的num_anchors需要*4.
5. 代码示例
detection_demo.py
# -*- coding: utf-8 -*-
"""
# @file name : detection_demo.py
# @brief : Faster rcnn实现目标检测
"""
import os
import time
import torch.nn as nn
import torch
import numpy as np
import torchvision.transforms as transforms
import torchvision
from PIL import Image
from matplotlib import pyplot as plt
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
# classes_coco
COCO_INSTANCE_CATEGORY_NAMES = [
'__background__', 'person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus',
'train', 'truck', 'boat', 'traffic light', 'fire hydrant', 'N/A', 'stop sign',
'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
'elephant', 'bear', 'zebra', 'giraffe', 'N/A', 'backpack', 'umbrella', 'N/A', 'N/A',
'handbag', 'tie', 'suitcase', 'frisbee', 'skis', 'snowboard', 'sports ball',
'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard', 'tennis racket',
'bottle', 'N/A', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl',
'banana', 'apple', 'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza',
'donut', 'cake', 'chair', 'couch', 'potted plant', 'bed', 'N/A', 'dining table',
'N/A', 'N/A', 'toilet', 'N/A', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'N/A', 'book',
'clock', 'vase', 'scissors', 'teddy bear', 'hair drier', 'toothbrush'
]
if __name__ == "__main__":
# path_img = os.path.join(BASE_DIR, "demo_img1.png")
path_img = os.path.join(BASE_DIR, "demo_img2.png")
# config
preprocess = transforms.Compose([
transforms.ToTensor(),
])
# 1. load data & model
input_image = Image.open(path_img).convert("RGB")
model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=True)
model.eval()
# 2. preprocess
img_chw = preprocess(input_image)
# 3. to device
if torch.cuda.is_available():
img_chw = img_chw.to('cuda')
model.to('cuda')
# 4. forward
input_list = [img_chw] #list，每一个元素是3D张量
with torch.no_grad():
tic = time.time()
print("input img tensor shape:{}".format(input_list[0].shape)) #3*624*1270
output_list = model(input_list) #输出也是list
output_dict = output_list[0]
print("pass: {:.3f}s".format(time.time() - tic))
for k, v in output_dict.items():
print("key:{}, value:{}".format(k, v))
# 5. visualization
out_boxes = output_dict["boxes"].cpu()
out_scores = output_dict["scores"].cpu()
out_labels = output_dict["labels"].cpu()
fig, ax = plt.subplots(figsize=(12, 12))
ax.imshow(input_image, aspect='equal')
num_boxes = out_boxes.shape[0]
max_vis = 40
thres = 0.5 #概率阈值
for idx in range(0, min(num_boxes, max_vis)):
score = out_scores[idx].numpy()
bbox = out_boxes[idx].numpy()
class_name = COCO_INSTANCE_CATEGORY_NAMES[out_labels[idx]]
if score < thres:
continue
ax.add_patch(plt.Rectangle((bbox[0], bbox[1]), bbox[2] - bbox[0], bbox[3] - bbox[1], fill=False,
edgecolor='red', linewidth=3.5))
ax.text(bbox[0], bbox[1] - 2, '{:s} {:.3f}'.format(class_name, score), bbox=dict(facecolor='blue', alpha=0.5),
fontsize=14, color='white')
plt.show()
plt.close()
# appendix
classes_pascal_voc = ['__background__',
'aeroplane', 'bicycle', 'bird', 'boat',
'bottle', 'bus', 'car', 'cat', 'chair',
'cow', 'diningtable', 'dog', 'horse',
'motorbike', 'person', 'pottedplant',
'sheep', 'sofa', 'train', 'tvmonitor']
# classes_coco 91种类别
COCO_INSTANCE_CATEGORY_NAMES = [
'__background__', 'person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus',
'train', 'truck', 'boat', 'traffic light', 'fire hydrant', 'N/A', 'stop sign',
'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
'elephant', 'bear', 'zebra', 'giraffe', 'N/A', 'backpack', 'umbrella', 'N/A', 'N/A',
'handbag', 'tie', 'suitcase', 'frisbee', 'skis', 'snowboard', 'sports ball',
'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard', 'tennis racket',
'bottle', 'N/A', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl',
'banana', 'apple', 'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza',
'donut', 'cake', 'chair', 'couch', 'potted plant', 'bed', 'N/A', 'dining table',
'N/A', 'N/A', 'toilet', 'N/A', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'N/A', 'book',
'clock', 'vase', 'scissors', 'teddy bear', 'hair drier', 'toothbrush'
]
fasterrcnn_train.py
# -*- coding: utf-8 -*-
"""
# @file name : fasterrcnn_train.py
# @brief : 训练faster rcnn
"""
import os
import time
import torch.nn as nn
import torch
import random
import numpy as np
import torchvision.transforms as transforms
import torchvision
from PIL import Image
import torch.nn.functional as F
from tools.my_dataset import PennFudanDataset
from tools.common_tools import set_seed
from torch.utils.data import DataLoader
from matplotlib import pyplot as plt
from torchvision.models.detection.faster_rcnn import FastRCNNPredictor
from torchvision.transforms import functional as F
set_seed(1) # 设置随机种子
BASE_DIR = os.path.dirname(os.path.abspath(__file__))
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
# classes_coco
COCO_INSTANCE_CATEGORY_NAMES = [
'__background__', 'person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus',
'train', 'truck', 'boat', 'traffic light', 'fire hydrant', 'N/A', 'stop sign',
'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
'elephant', 'bear', 'zebra', 'giraffe', 'N/A', 'backpack', 'umbrella', 'N/A', 'N/A',
'handbag', 'tie', 'suitcase', 'frisbee', 'skis', 'snowboard', 'sports ball',
'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard', 'tennis racket',
'bottle', 'N/A', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl',
'banana', 'apple', 'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza',
'donut', 'cake', 'chair', 'couch', 'potted plant', 'bed', 'N/A', 'dining table',
'N/A', 'N/A', 'toilet', 'N/A', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'N/A', 'book',
'clock', 'vase', 'scissors', 'teddy bear', 'hair drier', 'toothbrush'
]
def vis_bbox(img, output, classes, max_vis=40, prob_thres=0.4):
fig, ax = plt.subplots(figsize=(12, 12))
ax.imshow(img, aspect='equal')
out_boxes = output_dict["boxes"].cpu()
out_scores = output_dict["scores"].cpu()
out_labels = output_dict["labels"].cpu()
num_boxes = out_boxes.shape[0]
for idx in range(0, min(num_boxes, max_vis)):
score = out_scores[idx].numpy()
bbox = out_boxes[idx].numpy()
class_name = classes[out_labels[idx]]
if score < prob_thres:
continue
ax.add_patch(plt.Rectangle((bbox[0], bbox[1]), bbox[2] - bbox[0], bbox[3] - bbox[1], fill=False,
edgecolor='red', linewidth=3.5))
ax.text(bbox[0], bbox[1] - 2, '{:s} {:.3f}'.format(class_name, score), bbox=dict(facecolor='blue', alpha=0.5),
fontsize=14, color='white')
plt.show()
plt.close()
class Compose(object):
def __init__(self, transforms):
self.transforms = transforms
def __call__(self, image, target):
for t in self.transforms:
image, target = t(image, target)
return image, target
class RandomHorizontalFlip(object):
def __init__(self, prob):
self.prob = prob
def __call__(self, image, target):
if random.random() < self.prob:
height, width = image.shape[-2:]
image = image.flip(-1)
bbox = target["boxes"]
bbox[:, [0, 2]] = width - bbox[:, [2, 0]]
target["boxes"] = bbox
return image, target
class ToTensor(object):
def __call__(self, image, target):
image = F.to_tensor(image)
return image, target
if __name__ == "__main__":
# config
LR = 0.001
num_classes = 2
batch_size = 1
start_epoch, max_epoch = 0, 30
train_dir = os.path.join(BASE_DIR, "..", "..", "data", "PennFudanPed")
train_transform = Compose([ToTensor(), RandomHorizontalFlip(0.5)])
# step 1: data
train_set = PennFudanDataset(data_dir=train_dir, transforms=train_transform)
# 收集batch data的函数
def collate_fn(batch):
return tuple(zip(*batch))
train_loader = DataLoader(train_set, batch_size=batch_size, collate_fn=collate_fn)
# step 2: model
model = torchvision.models.detection.fasterrcnn_resnet50_fpn(pretrained=True)
in_features = model.roi_heads.box_predictor.cls_score.in_features
model.roi_heads.box_predictor = FastRCNNPredictor(in_features, num_classes) # replace the pre-trained head with a new one
model.to(device)
# step 3: loss
# in lib/python3.6/site-packages/torchvision/models/detection/roi_heads.py
# def fastrcnn_loss(class_logits, box_regression, labels, regression_targets)
# step 4: optimizer scheduler
params = [p for p in model.parameters() if p.requires_grad]
optimizer = torch.optim.SGD(params, lr=LR, momentum=0.9, weight_decay=0.0005)
lr_scheduler = torch.optim.lr_scheduler.StepLR(optimizer, step_size=10, gamma=0.1)
# step 5: Iteration
for epoch in range(start_epoch, max_epoch):
model.train()
for iter, (images, targets) in enumerate(train_loader):
images = list(image.to(device) for image in images)
targets = [{k: v.to(device) for k, v in t.items()} for t in targets]
# if torch.cuda.is_available():
# images, targets = images.to(device), targets.to(device)
loss_dict = model(images, targets) # fasterRCNN已经计算loss了，不需要自己再根据output计算loss。 images is list; targets is [ dict["boxes":**, "labels":**], dict[] ]
losses = sum(loss for loss in loss_dict.values())
print("Training:Epoch[{:0>3}/{:0>3}] Iteration[{:0>3}/{:0>3}] Loss: {:.4f} ".format(
epoch, max_epoch, iter + 1, len(train_loader), losses.item()))
optimizer.zero_grad()
losses.backward()
optimizer.step()
lr_scheduler.step()
# test
model.eval()
# config
vis_num = 5
vis_dir = os.path.join(BASE_DIR, "..", "..", "data", "PennFudanPed", "PNGImages")
img_names = list(filter(lambda x: x.endswith(".png"), os.listdir(vis_dir)))
random.shuffle(img_names)
preprocess = transforms.Compose([transforms.ToTensor(), ])
for i in range(0, vis_num):
path_img = os.path.join(vis_dir, img_names[i])
# preprocess
input_image = Image.open(path_img).convert("RGB")
img_chw = preprocess(input_image)
# to device
if torch.cuda.is_available():
img_chw = img_chw.to('cuda')
model.to('cuda')
# forward
input_list = [img_chw]
with torch.no_grad():
tic = time.time()
print("input img tensor shape:{}".format(input_list[0].shape))
output_list = model(input_list)
output_dict = output_list[0]
print("pass: {:.3f}s".format(time.time() - tic))
# visualization
vis_bbox(input_image, output_dict, COCO_INSTANCE_CATEGORY_NAMES, max_vis=20, prob_thres=0.5) # for 2 epoch for nms
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