单目标跟踪SiamMask:特定目标车辆追踪 part1

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单目标跟踪SiamMask:特定目标车辆追踪 part1

单目标跟踪SiamMask:特定目标车辆追踪 part2

单目标跟踪 Siamese系列网络:SiamFC、SiamRPN、one-shot跟踪、one-shotting单样本学习、DaSiamRPN、SiamRPN++、SiamMask

单目标跟踪:跟踪效果

单目标跟踪:数据集处理

单目标跟踪:模型搭建

单目标跟踪:模型训练

单目标跟踪:模型测试


6.特定目标车辆追踪

项目介绍:

运动目标跟踪一直以来都是一项具有挑战性的 工作, 也是研究的热点方向. 现阶段, 随着硬件设施 的不断完善和人工智能技术的快速发展, 运动目标 跟踪技术越来越重要. 目标跟踪在现实生活中有很 多应用, 包括交通视频监控、运动员比赛分析、智能人机交互 、跟踪系统的设计 等. 由于在目标跟踪中存在形态变化、图像分辨率低、背景复杂等情 况, 因此研究出一个性能优良的跟踪器势在必行。

早期的目标跟踪算法主要是根据目标建模或者 对目标特征进行跟踪, 主要的方法有:

1) 基于目标模型建模的方法: 通过对目标外观模型进行建模, 然 后在之后的帧中找到目标. 例如, 区域匹配、特征点 跟踪、基于主动轮廓的跟踪算法、光流法等. 最常用 的是特征匹配法, 首先提取目标特征, 然后在后续的 帧中找到最相似的特征进行目标定位, 常用的特征 有: SIFT 特征、SURF 特征、Harris 角点等.

2) 基于搜索的方法: 随着研究的深入, 人们发现基 于目标模型建模的方法对整张图片进行处理, 实 时性差. 人们将预测算法加入跟踪中, 在预测值附近 进行目标搜索, 减少了搜索的范围. 常见一类的预测 算法有 Kalman滤波、粒子滤波方法. 另一种减小搜索范围的方法是内核方法: 运用最速下降法的原理, 向梯度下降方向对目标模板逐步迭代, 直到迭代到最优位置。

我们给大家介绍的方式是基于深度学习的方法对目标进行跟踪,使用的模型是:

网络的工作流如下所示:

在首帧图像选中跟踪的目标,在视频中对目标进行跟踪:

该项目中的代码主要在以下几个文件夹中,如下图所示:

其中:

data: 包括所需要的数据,训练数据和测试数据

utils: 包含需要的辅助函数,包括目标框处理函数,学习率更新函数等

Datasets: 数据处理,增强及构建训练集的内容在该文件夹中

models: 模型的构建

experiments: 模型的载体

tools:包含模型的训练测试的内容

接下来我们就对该项目进行介绍 


SiamMask\datasets

siam_mask_dataset.py

# --------------------------------------------------------
# SiamMask
# Licensed under The MIT License
# Written by Qiang Wang (wangqiang2015 at ia.ac.cn)
# 数据集的处理
# --------------------------------------------------------
from __future__ import division
from torch.utils.data import Dataset
import numpy as np
import json
import random
import logging
from os.path import join
from utils.bbox_helper import *
from utils.anchors import Anchors
import math
import sys
pyv = sys.version[0]
import cv2
if pyv[0] == '3':
    cv2.ocl.setUseOpenCL(False)

logger = logging.getLogger('global')


sample_random = random.Random()
sample_random.seed(123456)


class SubDataSet(object):

    def __init__(self, cfg):
        for string in ['root', 'anno']:
            if string not in cfg:
                raise Exception('SubDataSet need "{}"'.format(string))
        # 打开标注文件
        with open(cfg['anno']) as fin:
            logger.info("loading " + cfg['anno'])
            # 获取标注数据
            self.labels = self.filter_zero(json.load(fin), cfg)
            # 判断参数是否为数值
            def isint(x):
                try:
                    int(x)
                    return True
                except:
                    return False

            # add frames args into labels 将图像的描述信息加入到label标注中
            to_del = []
            # 遍历标注数据中的vedio
            for video in self.labels:
                # 遍历video中跟踪器
                for track in self.labels[video]:
                    # 得到跟踪目标的帧图像
                    frames = self.labels[video][track]
                    frames = list(map(int, filter(lambda x: isint(x), frames.keys())))
                    # 排序
                    frames.sort()
                    # 填充到labels中
                    self.labels[video][track]['frames'] = frames
                    # 若得到的帧数小于0,则进行删除
                    if len(frames) <= 0:
                        logger.info("warning {}/{} has no frames.".format(video, track))
                        to_del.append((video, track))

            # 删除不在video中的图像 delete tracks with no frames
            for video, track in to_del:
                del self.labels[video][track]

            # ( delete videos with no valid track)
            to_del = []
            # 判断video中是否包含跟踪目标的图像
            for video in self.labels:
                if len(self.labels[video]) <= 0:
                    logger.info("warning {} has no tracks".format(video))
                    to_del.append(video)
            # 删除不包含跟踪目标的video
            for video in to_del:
                del self.labels[video]
            # 将包含标注信息的video赋值给videos
            self.videos = list(self.labels.keys())

            logger.info(cfg['anno'] + " loaded.")

        # 默认参数 default args
        self.root = "/"
        self.start = 0
        # 标注数量
        self.num = len(self.labels)
        self.num_use = self.num
        self.frame_range = 100
        self.mark = "vid"
        # 图片格式
        self.path_format = "{}.{}.{}.jpg"
        # 掩膜格式
        self.mask_format = "{}.{}.m.png"
        self.pick = []
        # input args
        self.__dict__.update(cfg)
        # 是否包含掩膜
        self.has_mask = self.mark in ['coco', 'ytb_vos']
        self.num_use = int(self.num_use)
        # 打乱shuffle
        self.shuffle()

    def filter_zero(self, anno, cfg):
        "过滤跟踪框为0的标注数据"
        name = cfg.get('mark', '')
        # 过滤为0的跟踪框后的结果
        out = {}
        # 记录跟踪框的个数
        tot = 0
        # 记录跟踪框不为0的个数
        new = 0
        # 记录跟踪框为0的个数
        zero = 0
        # 遍历标注数据
        for video, tracks in anno.items():
            new_tracks = {}
            # 遍历跟踪数据
            for trk, frames in tracks.items():
                new_frames = {}
                # 遍历帧数据得到跟踪框
                for frm, bbox in frames.items():
                    tot += 1
                    # bbox的表示方式,获取其宽高
                    if len(bbox) == 4:
                        x1, y1, x2, y2 = bbox
                        w, h = x2 - x1, y2 - y1
                    else:
                        w, h = bbox
                    # 判断跟踪框bbox是否为0
                    if w == 0 or h == 0:
                        logger.info('Error, {name} {video} {trk} {bbox}'.format(**locals()))
                        zero += 1
                        continue
                    new += 1
                    new_frames[frm] = bbox

                if len(new_frames) > 0:
                    new_tracks[trk] = new_frames
            # 记录跟踪框不为0的标注数据
            if len(new_tracks) > 0:
                out[video] = new_tracks
        return out

    def log(self):
        "日志信息"
        logger.info('SubDataSet {name} start-index {start} select [{select}/{num}] path {format}'.format(
            name=self.mark, start=self.start, select=self.num_use, num=self.num, format=self.path_format
        ))

    def shuffle(self):
        "打乱数据"
        # 要进行打乱的列表
        lists = list(range(self.start, self.start + self.num))
        m = 0
        pick = []
        # 对数据进行分段打乱
        while m < self.num_use:
            sample_random.shuffle(lists)
            pick += lists
            m += self.num
        # 数据打乱后的结果
        self.pick = pick[:self.num_use]
        return self.pick

    def get_image_anno(self, video, track, frame):
        "获取图像及标注信息"
        frame = "{:06d}".format(frame)
        # 图像路径
        image_path = join(self.root, video, self.path_format.format(frame, track, 'x'))
        # 图像标注
        image_anno = self.labels[video][track][frame]
        # 掩膜路径
        mask_path = join(self.root, video, self.mask_format.format(frame, track))
        return image_path, image_anno, mask_path

    def get_positive_pair(self, index):
        "正样本"
        # 获取video,track的相关信息
        video_name = self.videos[index]
        video = self.labels[video_name]
        track = random.choice(list(video.keys()))
        track_info = video[track]
        frames = track_info['frames']
        # 存在hard
        if 'hard' not in track_info:
            template_frame = random.randint(0, len(frames)-1)
            # 获取搜索范围
            left = max(template_frame - self.frame_range, 0)
            right = min(template_frame + self.frame_range, len(frames)-1) + 1
            search_range = frames[left:right]
            # 获取模板和搜索图像
            template_frame = frames[template_frame]
            search_frame = random.choice(search_range)
        else:
            # 搜索图像的帧数
            search_frame = random.choice(track_info['hard'])
            # 范围
            left = max(search_frame - self.frame_range, 0)
            right = min(search_frame + self.frame_range, len(frames)-1) + 1  # python [left:right+1) = [left:right]
            template_range = frames[left:right]
            # 获取模板和搜索图像
            template_frame = random.choice(template_range)
            search_frame = frames[search_frame]
        # 返回模板帧和图像帧
        return self.get_image_anno(video_name, track, template_frame), \
               self.get_image_anno(video_name, track, search_frame)

    def get_random_target(self, index=-1):
        "获取任意目标"
        if index == -1:
            index = random.randint(0, self.num-1)
        # 获取videoh和track信息
        video_name = self.videos[index]
        video = self.labels[video_name]
        track = random.choice(list(video.keys()))
        track_info = video[track]
        # 获取图像帧数
        frames = track_info['frames']
        frame = random.choice(frames)
        # 返回图像帧
        return self.get_image_anno(video_name, track, frame)


def crop_hwc(image, bbox, out_sz, padding=(0, 0, 0)):
    """
    对图像进行裁剪
    :param image: 要裁剪的图像
    :param bbox:
    :param out_sz:
    :param padding:
    :return:
    """
    # 将图像bbox进行裁剪
    bbox = [float(x) for x in bbox]
    a = (out_sz-1) / (bbox[2]-bbox[0])
    b = (out_sz-1) / (bbox[3]-bbox[1])
    c = -a * bbox[0]
    d = -b * bbox[1]
    mapping = np.array([[a, 0, c],
                        [0, b, d]]).astype(np.float)
    # 反射变换
    crop = cv2.warpAffine(image, mapping, (out_sz, out_sz), borderMode=cv2.BORDER_CONSTANT, borderValue=padding)
    return crop

"""
图像增强
"""
class Augmentation:
    def __init__(self, cfg):
        # 默认参数 default args
        self.shift = 0
        # 尺度变化
        self.scale = 0
        self.blur = 0  # False
        self.resize = False
        self.rgbVar = np.array([[-0.55919361,  0.98062831, - 0.41940627],
            [1.72091413,  0.19879334, - 1.82968581],
            [4.64467907,  4.73710203, 4.88324118]], dtype=np.float32)
        self.flip = 0
        # # 本证向量
        # self.eig_vec = np.array([
        #     [0.4009, 0.7192, -0.5675],
        #     [-0.8140, -0.0045, -0.5808],
        #     [0.4203, -0.6948, -0.5836],
        # ], dtype=np.float32)
        # # 本征值
        # self.eig_val = np.array([[0.2175, 0.0188, 0.0045]], np.float32)
        self.__dict__.update(cfg)

    @staticmethod
    def random():
        return random.random() * 2 - 1.0
    # 图像模糊
    def blur_image(self, image):
        # 核函数
        def rand_kernel():
            size = np.random.randn(1)
            size = int(np.round(size)) * 2 + 1
            if size < 0: return None
            if random.random() < 0.5: return None
            size = min(size, 45)
            kernel = np.zeros((size, size))
            c = int(size/2)
            # 随机数
            wx = random.random()
            # 生成核函数
            kernel[:, c] += 1. / size * wx
            kernel[c, :] += 1. / size * (1-wx)
            return kernel

        kernel = rand_kernel()
        # 图像模糊
        if kernel is not None:
            image = cv2.filter2D(image, -1, kernel)
        return image

    def __call__(self, image, bbox, size, gray=False, mask=None):
        # 灰度图像
        if gray:
            # 将彩图转换为灰度图
            grayed = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
            # 生成三个通道都是灰度值的彩图
            image = np.zeros((grayed.shape[0], grayed.shape[1], 3), np.uint8)
            image[:, :, 0] = image[:, :, 1] = image[:, :, 2] = grayed
        # 图像尺寸
        shape = image.shape
        # 在图像中心生成bbox
        crop_bbox = center2corner((shape[0]//2, shape[1]//2, size-1, size-1))

        param = {}
        # 图像平移
        if self.shift:
            param['shift'] = (Augmentation.random() * self.shift, Augmentation.random() * self.shift)
        # 图像尺度变换
        if self.scale:
            param['scale'] = ((1.0 + Augmentation.random() * self.scale), (1.0 + Augmentation.random() * self.scale))
        # 矩形框也要相应的进行平移和尺度变换
        crop_bbox, _ = aug_apply(Corner(*crop_bbox), param, shape)
        # 获取bbox的左上角坐标
        x1 = crop_bbox.x1
        y1 = crop_bbox.y1
        # 获取bbox
        bbox = BBox(bbox.x1 - x1, bbox.y1 - y1,
                    bbox.x2 - x1, bbox.y2 - y1)
        # bbox尺度变换
        if self.scale:
            scale_x, scale_y = param['scale']
            bbox = Corner(bbox.x1 / scale_x, bbox.y1 / scale_y, bbox.x2 / scale_x, bbox.y2 / scale_y)
        # 裁剪图像
        image = crop_hwc(image, crop_bbox, size)
        if not mask is None:
            # mask也要进行裁剪
            mask = crop_hwc(mask, crop_bbox, size)
        # 偏置
        offset = np.dot(self.rgbVar, np.random.randn(3, 1))
        offset = offset[::-1]  # bgr 2 rgb
        offset = offset.reshape(3)
        # 图像减去偏置
        image = image - offset
        # 图像模糊
        if self.blur > random.random():
            image = self.blur_image(image)
        # 图像缩放
        if self.resize:
            imageSize = image.shape[:2]
            # 缩放比例
            ratio = max(math.pow(random.random(), 0.5), 0.2)  # 25 ~ 255
            rand_size = (int(round(ratio*imageSize[0])), int(round(ratio*imageSize[1])))
            # 缩放
            image = cv2.resize(image, rand_size)
            # 缩放
            image = cv2.resize(image, tuple(imageSize))
        # 图像翻转
        if self.flip and self.flip > Augmentation.random():
            # 图像翻转
            image = cv2.flip(image, 1)
            # 掩膜翻转
            mask = cv2.flip(mask, 1)
            width = image.shape[1]
            # bbox进行变换
            bbox = Corner(width - 1 - bbox.x2, bbox.y1, width - 1 - bbox.x1, bbox.y2)

        return image, bbox, mask


class AnchorTargetLayer:
    # 计算anchor的类别,RPN的返回结果,IOU
    def __init__(self, cfg):
        # 设置阈值
        self.thr_high = 0.6
        self.thr_low = 0.3
        # 正负样本
        self.negative = 16
        self.rpn_batch = 64
        self.positive = 16

        self.__dict__.update(cfg)

    def __call__(self, anchor, target, size, neg=False, need_iou=False):
        # 获取anchor的数目
        anchor_num = anchor.anchors.shape[0]
        # anchor的类别
        cls = np.zeros((anchor_num, size, size), dtype=np.int64)
        cls[...] = -1  # -1 ignore 0 negative 1 positive
        # rpn的输出结果
        delta = np.zeros((4, anchor_num, size, size), dtype=np.float32)
        delta_weight = np.zeros((anchor_num, size, size), dtype=np.float32)
        # 计算值的集合和数量
        def select(position, keep_num=16):
            num = position[0].shape[0]
            if num <= keep_num:
                return position, num
            slt = np.arange(num)
            np.random.shuffle(slt)
            slt = slt[:keep_num]
            return tuple(p[slt] for p in position), keep_num
        # 负样本
        if neg:
            # 获取左右位置
            l = size // 2 - 3
            r = size // 2 + 3 + 1
            # 将cls置为0
            cls[:, l:r, l:r] = 0
            # 获取样本的索引和总数
            neg, neg_num = select(np.where(cls == 0), self.negative)
            cls[:] = -1
            cls[neg] = 0
            # 返回结果
            if not need_iou:
                # 分类结果,rpn预测的位置,惩罚系数
                return cls, delta, delta_weight
            else:
                overlap = np.zeros((anchor_num, size, size), dtype=np.float32)
                return cls, delta, delta_weight, overlap
        # bbox表示方式转换
        tcx, tcy, tw, th = corner2center(target)
        # 获取anchor的坐标
        anchor_box = anchor.all_anchors[0]
        anchor_center = anchor.all_anchors[1]
        x1, y1, x2, y2 = anchor_box[0], anchor_box[1], anchor_box[2], anchor_box[3]
        cx, cy, w, h = anchor_center[0], anchor_center[1], anchor_center[2], anchor_center[3]

        # delta RPN网络预测的位置
        delta[0] = (tcx - cx) / w
        delta[1] = (tcy - cy) / h
        delta[2] = np.log(tw / w)
        delta[3] = np.log(th / h)

        # IoU 交并比
        overlap = IoU([x1, y1, x2, y2], target)
        # 获取正负样本
        pos = np.where(overlap > self.thr_high)
        neg = np.where(overlap < self.thr_low)
        # 获取正负样本及其索引
        pos, pos_num = select(pos, self.positive)
        neg, neg_num = select(neg, self.rpn_batch - pos_num)
        # 正样本置为1
        cls[pos] = 1
        # 设置惩罚系数
        delta_weight[pos] = 1. / (pos_num + 1e-6)
        # 负样本为0
        cls[neg] = 0
        # 返回结果
        if not need_iou:
            # 分类结果,rpn预测的位置,惩罚系数
            return cls, delta, delta_weight
        else:
            return cls, delta, delta_weight, overlap

"""
获取数据集
"""
class DataSets(Dataset):
    def __init__(self, cfg, anchor_cfg, num_epoch=1):
        super(DataSets, self).__init__()
        global logger
        logger = logging.getLogger('global')

        # anchors
        self.anchors = Anchors(anchor_cfg)
        # size
        self.template_size = 127
        self.origin_size = 127
        self.search_size = 255
        self.size = 17
        self.base_size = 0
        self.crop_size = 0
        # 根据配置文件更新参数
        if 'template_size' in cfg:
            self.template_size = cfg['template_size']
        if 'origin_size' in cfg:
            self.origin_size = cfg['origin_size']
        if 'search_size' in cfg:
            self.search_size = cfg['search_size']
        if 'base_size' in cfg:
            self.base_size = cfg['base_size']
        if 'size' in cfg:
            self.size = cfg['size']

        if (self.search_size - self.template_size) / self.anchors.stride + 1 + self.base_size != self.size:
            raise Exception("size not match!")  # TODO: calculate size online
        if 'crop_size' in cfg:
            self.crop_size = cfg['crop_size']
        self.template_small = False
        if 'template_small' in cfg and cfg['template_small']:
            self.template_small = True
        # 生成anchor
        self.anchors.generate_all_anchors(im_c=self.search_size//2, size=self.size)
        if 'anchor_target' not in cfg:
            cfg['anchor_target'] = {}
        # 生成anchor的信息:cls,reg,mask
        self.anchor_target = AnchorTargetLayer(cfg['anchor_target'])

        # data sets
        if 'datasets' not in cfg:
            raise(Exception('DataSet need "{}"'.format('datasets')))

        self.all_data = []
        start = 0
        self.num = 0
        for name in cfg['datasets']:
            dataset = cfg['datasets'][name]
            dataset['mark'] = name
            dataset['start'] = start
            # 加载数据
            dataset = SubDataSet(dataset)
            dataset.log()
            self.all_data.append(dataset)
            # 数据数量
            start += dataset.num  # real video number
            # 打乱的数据数量
            self.num += dataset.num_use  # the number used for subset shuffle

        # 数据增强data augmentation
        aug_cfg = cfg['augmentation']
        self.template_aug = Augmentation(aug_cfg['template'])
        self.search_aug = Augmentation(aug_cfg['search'])
        self.gray = aug_cfg['gray']
        self.neg = aug_cfg['neg']
        self.inner_neg = 0 if 'inner_neg' not in aug_cfg else aug_cfg['inner_neg']

        self.pick = None  # list to save id for each img
        if 'num' in cfg:  # number used in training for all dataset
            self.num = int(cfg['num'])
        self.num *= num_epoch
        self.shuffle()

        self.infos = {
                'template': self.template_size,
                'search': self.search_size,
                'template_small': self.template_small,
                'gray': self.gray,
                'neg': self.neg,
                'inner_neg': self.inner_neg,
                'crop_size': self.crop_size,
                'anchor_target': self.anchor_target.__dict__,
                'num': self.num // num_epoch
                }
        logger.info('dataset informations: \n{}'.format(json.dumps(self.infos, indent=4)))

    def imread(self, path):
        # 数据读取
        img = cv2.imread(path)
        if self.origin_size == self.template_size:
            # 返回图像
            return img, 1.0

        def map_size(exe, size):
            return int(round(((exe + 1) / (self.origin_size + 1) * (size+1) - 1)))
        # 尺寸调整
        nsize = map_size(self.template_size, img.shape[1])
        # 调整图像大小
        img = cv2.resize(img, (nsize, nsize))
        # 返回图像和缩放比例
        return img, nsize / img.shape[1]

    def shuffle(self):
        "打乱"
        pick = []
        m = 0
        # 获取数据
        while m < self.num:
            p = []
            for subset in self.all_data:
                sub_p = subset.shuffle()
                p += sub_p
            # 打乱数据
            sample_random.shuffle(p)
            # 将打乱的结果进行拼接
            pick += p
            m = len(pick)
        # 将打乱的结果赋值给pick
        self.pick = pick
        logger.info("shuffle done!")
        logger.info("dataset length {}".format(self.num))

    def __len__(self):
        return self.num

    def find_dataset(self, index):
        "查找数据"
        for dataset in self.all_data:
            if dataset.start + dataset.num > index:
                # 返回索引范围内的数据
                return dataset, index - dataset.start

    def __getitem__(self, index, debug=False):
        # 在打乱的结果中找到索引
        index = self.pick[index]
        # 查找得到数据
        dataset, index = self.find_dataset(index)
        # 灰度图
        gray = self.gray and self.gray > random.random()
        # 负样本
        neg = self.neg and self.neg > random.random()
        # 负样本
        if neg:
            # 获取template
            template = dataset.get_random_target(index)
            # 根据设置,从数据生成负样本或随机选择负样本
            if self.inner_neg and self.inner_neg > random.random():
                search = dataset.get_random_target()
            else:
                search = random.choice(self.all_data).get_random_target()
        else:
            # 获得正样本对
            template, search = dataset.get_positive_pair(index)
        # 裁剪图像的中央大小为size的部分
        def center_crop(img, size):
            # 获取图像的形状
            shape = img.shape[1]
            # 若为size,则直接返回
            if shape == size: return img
            # 否则,裁剪中央位置为size大小的图像
            c = shape // 2
            l = c - size // 2
            r = c + size // 2 + 1
            return img[l:r, l:r]
        # 读取模板图像
        template_image, scale_z = self.imread(template[0])
        # 若设置为小模板时,则从模板图像中进行裁剪
        if self.template_small:
            template_image = center_crop(template_image, self.template_size)
        # 读取待搜索图像
        search_image, scale_x = self.imread(search[0])
        # 若存在掩膜并且不是负样本数据
        if dataset.has_mask and not neg:
            # 读取掩膜数据
            search_mask = (cv2.imread(search[2], 0) > 0).astype(np.float32)
        else:
            # 掩膜数据用全零数组替代
            search_mask = np.zeros(search_image.shape[:2], dtype=np.float32)
        # 若裁剪size大于0,对搜索图像和掩膜进行裁剪
        if self.crop_size > 0:
            search_image = center_crop(search_image, self.crop_size)
            search_mask = center_crop(search_mask, self.crop_size)
        # 根据图像大小生成bbox,shape是模板图像中bbox的形状
        def toBBox(image, shape):
            # 图像的大小
            imh, imw = image.shape[:2]
            # 获取shape的宽高
            if len(shape) == 4:
                w, h = shape[2]-shape[0], shape[3]-shape[1]
            else:
                w, h = shape
            # 扩展比例
            context_amount = 0.5
            # 模板尺寸
            exemplar_size = self.template_size  # 127
            # 获取宽高
            wc_z = w + context_amount * (w+h)
            hc_z = h + context_amount * (w+h)
            # 等效边长
            s_z = np.sqrt(wc_z * hc_z)
            # 比例
            scale_z = exemplar_size / s_z
            # 宽高
            w = w*scale_z
            h = h*scale_z
            # 中心点坐标
            cx, cy = imw//2, imh//2
            bbox = center2corner(Center(cx, cy, w, h))
            return bbox
        # 生成模板图像和待搜索图像中的bbox
        template_box = toBBox(template_image, template[1])
        search_box = toBBox(search_image, search[1])
        # 模板数据增强
        template, _, _ = self.template_aug(template_image, template_box, self.template_size, gray=gray)
        # 待搜索图像的数据增强
        search, bbox, mask = self.search_aug(search_image, search_box, self.search_size, gray=gray, mask=search_mask)

        # def draw(image, box, name):
        #     image = image.copy()
        #     x1, y1, x2, y2 = map(lambda x: int(round(x)), box)
        #     cv2.rectangle(image, (x1, y1), (x2, y2), (0, 255, 0))
        #     cv2.imwrite(name, image)
        #
        # if debug:
        #     draw(template_image, template_box, "debug/{:06d}_ot.jpg".format(index))
        #     draw(search_image, search_box, "debug/{:06d}_os.jpg".format(index))
        #     draw(template, _, "debug/{:06d}_t.jpg".format(index))
        #     draw(search, bbox, "debug/{:06d}_s.jpg".format(index))
        # 生成anchor对应的信息
        cls, delta, delta_weight = self.anchor_target(self.anchors, bbox, self.size, neg)
        if dataset.has_mask and not neg:
            # 掩膜图像
            mask_weight = cls.max(axis=0, keepdims=True)
        else:
            mask_weight = np.zeros([1, cls.shape[1], cls.shape[2]], dtype=np.float32)
        # 模板和搜索图像
        template, search = map(lambda x: np.transpose(x, (2, 0, 1)).astype(np.float32), [template, search])
        # 掩膜结果
        mask = (np.expand_dims(mask, axis=0) > 0.5) * 2 - 1  # 1*H*W
        # 返回结果
        return template, search, cls, delta, delta_weight, np.array(bbox, np.float32), \
               np.array(mask, np.float32), np.array(mask_weight, np.float32)


SiamMask\experiments\siammask_base

config.json

{
    "network": {
        "arch": "Custom"
    },
    "hp": {
        "instance_size": 255,
        "base_size": 8
    },
    "lr": {
        "type": "log",
        "start_lr": 0.005,
        "end_lr": 0.0025,
        "warmup": {
            "start_lr": 0.001,
            "end_lr": 0.005,
            "type": "step",
            "step": 1,
            "epoch": 5
        }
    },
    "loss": {
        "weight": [1.0, 1.2, 36]
    },
    "train_datasets": {
        "datasets": {
            "coco": {
                "root": "../../data/coco/crop511",
                "anno": "../../data/coco/train2017.json",
                "frame_range": 1
            }
        },
        "template_size": 127,
        "search_size": 255,
        "base_size": 8,
        "size": 25,

        "num" : 6000,

        "augmentation": {
            "template": {
                "shift": 4, "scale": 0.05
            },
            "search": {
                "shift": 64, "scale": 0.18, "blur": 0.18
            },
            "neg": 0.2,
            "gray": 0.25
        }
    },

    "val_datasets": {
        "datasets": {
            "vid": {
                "root": "../../data/coco/crop511",
                "anno": "../../data/coco/val2017.json",
                "num_use": 1000
            }
        },
        "template_size": 127,
        "search_size": 255,
        "size": 17,

        "num" : 10,

        "augmentation": {
            "template": {
                "shift": 0, "scale": 0.00
            },
            "search": {
                "shift": 12, "scale": 0.18
            },
            "neg": 0,
            "gray": 0
        }
    },
    "anchors": {
        "stride": 8,
        "ratios": [0.33, 0.5, 1, 2, 3],
        "scales": [8],
        "round_dight": 0
    }
}

custom.py

from models.siammask import SiamMask
from models.features import MultiStageFeature
from models.rpn import RPN, DepthCorr
from models.mask import Mask
import torch
import torch.nn as nn
from utils.load_helper import load_pretrain
from resnet import resnet50


class ResDownS(nn.Module):
    def __init__(self, inplane, outplane):
        super(ResDownS, self).__init__()
        self.downsample = nn.Sequential(
                nn.Conv2d(inplane, outplane, kernel_size=1, bias=False),
                nn.BatchNorm2d(outplane))

    def forward(self, x):
        x = self.downsample(x)
        if x.size(3) < 20:
            l = 4
            r = -4
            x = x[:, :, l:r, l:r]
        return x


class ResDown(MultiStageFeature):
    """

    """
    def __init__(self, pretrain=False):
        super(ResDown, self).__init__()
        self.features = resnet50(layer3=True, layer4=False)
        if pretrain:
            load_pretrain(self.features, 'resnet.model')

        self.downsample = ResDownS(1024, 256)

        self.layers = [self.downsample, self.features.layer2, self.features.layer3]
        self.train_nums = [1, 3]
        self.change_point = [0, 0.5]

        self.unfix(0.0)

    def param_groups(self, start_lr, feature_mult=1):
        lr = start_lr * feature_mult

        def _params(module, mult=1):
            params = list(filter(lambda x:x.requires_grad, module.parameters()))
            if len(params):
                return [{'params': params, 'lr': lr * mult}]
            else:
                return []

        groups = []
        groups += _params(self.downsample)
        groups += _params(self.features, 0.1)
        return groups

    def forward(self, x):
        output = self.features(x)
        p3 = self.downsample(output[1])
        return p3


class UP(RPN):
    def __init__(self, anchor_num=5, feature_in=256, feature_out=256):
        super(UP, self).__init__()

        self.anchor_num = anchor_num
        self.feature_in = feature_in
        self.feature_out = feature_out

        self.cls_output = 2 * self.anchor_num
        self.loc_output = 4 * self.anchor_num

        self.cls = DepthCorr(feature_in, feature_out, self.cls_output)
        self.loc = DepthCorr(feature_in, feature_out, self.loc_output)

    def forward(self, z_f, x_f):
        cls = self.cls(z_f, x_f)
        loc = self.loc(z_f, x_f)
        return cls, loc


class MaskCorr(Mask):
    def __init__(self, oSz=63):
        super(MaskCorr, self).__init__()
        self.oSz = oSz
        self.mask = DepthCorr(256, 256, self.oSz**2)

    def forward(self, z, x):
        return self.mask(z, x)


class Custom(SiamMask):
    """
    Custom是SiamMask的载体
    """
    def __init__(self, pretrain=False, **kwargs):
        super(Custom, self).__init__(**kwargs)
        # 特征提取
        self.features = ResDown(pretrain=pretrain)
        # rpn
        self.rpn_model = UP(anchor_num=self.anchor_num, feature_in=256, feature_out=256)
        # mask
        self.mask_model = MaskCorr()


    def template(self, template):
        """
        对模板进行特征提取
        :param template:
        :return:
        """
        self.zf = self.features(template)

    def track(self, search):
        """
        对待搜索图像进行特征提取
        :param search:
        :return:
        """
        search = self.features(search)
        rpn_pred_cls, rpn_pred_loc = self.rpn(self.zf, search)
        return rpn_pred_cls, rpn_pred_loc

    def track_mask(self, search):
        """
        对目标进行跟踪
        :param search:
        :return:
        """
        # 特征提取
        search = self.features(search)
        # rpn预测分类和位置
        rpn_pred_cls, rpn_pred_loc = self.rpn(self.zf, search)
        # 分割掩膜
        pred_mask = self.mask(self.zf, search)
        return rpn_pred_cls, rpn_pred_loc, pred_mask

resnet.py

import torch.nn as nn
import torch
from torch.autograd import Variable
import math
import torch.utils.model_zoo as model_zoo
from models.features import Features
from utils.log_helper import log_once


__all__ = ['ResNet', 'resnet18', 'resnet34', 'resnet50', 'resnet101',
           'resnet152']


model_urls = {
    'resnet18': 'https://download.pytorch.org/models/resnet18-5c106cde.pth',
    'resnet34': 'https://download.pytorch.org/models/resnet34-333f7ec4.pth',
    'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth',
    'resnet101': 'https://download.pytorch.org/models/resnet101-5d3b4d8f.pth',
    'resnet152': 'https://download.pytorch.org/models/resnet152-b121ed2d.pth',
}


def conv3x3(in_planes, out_planes, stride=1):
    "3x3 convolution with padding"
    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,
                     padding=1, bias=False)


class BasicBlock(nn.Module):
    expansion = 1

    def __init__(self, inplanes, planes, stride=1, downsample=None):
        super(BasicBlock, self).__init__()
        self.conv1 = conv3x3(inplanes, planes, stride)
        self.bn1 = nn.BatchNorm2d(planes)
        self.relu = nn.ReLU(inplace=True)
        self.conv2 = conv3x3(planes, planes)
        self.bn2 = nn.BatchNorm2d(planes)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)

        if self.downsample is not None:
            residual = self.downsample(x)

        out += residual
        out = self.relu(out)

        return out


class Bottleneck(Features):
    expansion = 4

    def __init__(self, inplanes, planes, stride=1, downsample=None, dilation=1):
        super(Bottleneck, self).__init__()
        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False)
        self.bn1 = nn.BatchNorm2d(planes)
        # padding = (2 - stride) + (dilation // 2 - 1)
        padding = 2 - stride
        assert stride==1 or dilation==1, "stride and dilation must have one equals to zero at least"
        if dilation > 1:
            padding = dilation
        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride,
                                padding=padding, bias=False, dilation=dilation)
        self.bn2 = nn.BatchNorm2d(planes)
        self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False)
        self.bn3 = nn.BatchNorm2d(planes * 4)
        self.relu = nn.ReLU(inplace=True)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        out = self.relu(out)

        out = self.conv3(out)
        out = self.bn3(out)

        if self.downsample is not None:
            residual = self.downsample(x)

        if out.size() != residual.size():
            print(out.size(), residual.size())
        out += residual

        out = self.relu(out)

        return out


class Bottleneck_nop(nn.Module):
    expansion = 4

    def __init__(self, inplanes, planes, stride=1, downsample=None):
        super(Bottleneck_nop, self).__init__()
        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False)
        self.bn1 = nn.BatchNorm2d(planes)
        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride,
                               padding=0, bias=False)
        self.bn2 = nn.BatchNorm2d(planes)
        self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False)
        self.bn3 = nn.BatchNorm2d(planes * 4)
        self.relu = nn.ReLU(inplace=True)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        out = self.relu(out)

        out = self.conv3(out)
        out = self.bn3(out)

        if self.downsample is not None:
            residual = self.downsample(x)

        s = residual.size(3)
        residual = residual[:, :, 1:s-1, 1:s-1]

        out += residual
        out = self.relu(out)

        return out


class ResNet(nn.Module):

    def __init__(self, block, layers, layer4=False, layer3=False):
        self.inplanes = 64
        super(ResNet, self).__init__()
        self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=0, # 3
                               bias=False)
        self.bn1 = nn.BatchNorm2d(64)
        self.relu = nn.ReLU(inplace=True)
        self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1)
        self.layer1 = self._make_layer(block, 64, layers[0])
        self.layer2 = self._make_layer(block, 128, layers[1], stride=2) # 31x31, 15x15

        self.feature_size = 128 * block.expansion

        if layer3:
            self.layer3 = self._make_layer(block, 256, layers[2], stride=1, dilation=2) # 15x15, 7x7
            self.feature_size = (256 + 128) * block.expansion
        else:
            self.layer3 = lambda x:x # identity

        if layer4:
            self.layer4 = self._make_layer(block, 512, layers[3], stride=1, dilation=4) # 7x7, 3x3
            self.feature_size = 512 * block.expansion
        else:
            self.layer4 = lambda x:x  # identity

        for m in self.modules():
            if isinstance(m, nn.Conv2d):
                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels
                m.weight.data.normal_(0, math.sqrt(2. / n))
            elif isinstance(m, nn.BatchNorm2d):
                m.weight.data.fill_(1)
                m.bias.data.zero_()

    def _make_layer(self, block, planes, blocks, stride=1, dilation=1):
        downsample = None
        dd = dilation
        if stride != 1 or self.inplanes != planes * block.expansion:
            if stride == 1 and dilation == 1:
                downsample = nn.Sequential(
                    nn.Conv2d(self.inplanes, planes * block.expansion,
                              kernel_size=1, stride=stride, bias=False),
                    nn.BatchNorm2d(planes * block.expansion),
                )
            else:
                if dilation > 1:
                    dd = dilation // 2
                    padding = dd
                else:
                    dd = 1
                    padding = 0
                downsample = nn.Sequential(
                    nn.Conv2d(self.inplanes, planes * block.expansion,
                              kernel_size=3, stride=stride, bias=False,
                              padding=padding, dilation=dd),
                    nn.BatchNorm2d(planes * block.expansion),
                )

        layers = []
        # layers.append(block(self.inplanes, planes, stride, downsample, dilation=dilation))
        layers.append(block(self.inplanes, planes, stride, downsample, dilation=dd))
        self.inplanes = planes * block.expansion
        for i in range(1, blocks):
            layers.append(block(self.inplanes, planes, dilation=dilation))

        return nn.Sequential(*layers)

    def forward(self, x):
        x = self.conv1(x)
        x = self.bn1(x)
        x = self.relu(x)
        # print x.size()
        x = self.maxpool(x)
        # print x.size()

        p1 = self.layer1(x)
        p2 = self.layer2(p1)
        p3 = self.layer3(p2)
        # p3 = torch.cat([p2, p3], 1)

        log_once("p3 {}".format(p3.size()))
        p4 = self.layer4(p3)

        return p2, p3, p4


class ResAdjust(nn.Module):
    def __init__(self,
            block=Bottleneck,
            out_channels=256,
            adjust_number=1,
            fuse_layers=[2,3,4]):
        super(ResAdjust, self).__init__()
        self.fuse_layers = set(fuse_layers)

        if 2 in self.fuse_layers:
            self.layer2 = self._make_layer(block, 128, 1, out_channels, adjust_number)
        if 3 in self.fuse_layers:
            self.layer3 = self._make_layer(block, 256, 2, out_channels, adjust_number)
        if 4 in self.fuse_layers:
            self.layer4 = self._make_layer(block, 512, 4, out_channels, adjust_number)

        self.feature_size = out_channels * len(self.fuse_layers)


    def _make_layer(self, block, plances, dilation, out, number=1):

        layers = []

        for _ in range(number):
            layer = block(plances * block.expansion, plances, dilation=dilation)
            layers.append(layer)

        downsample = nn.Sequential(
                nn.Conv2d(plances * block.expansion, out, kernel_size=3, padding=1, bias=False),
                nn.BatchNorm2d(out)
                )
        layers.append(downsample)

        return nn.Sequential(*layers)

    def forward(self, p2, p3, p4):

        outputs = []

        if 2 in self.fuse_layers:
            outputs.append(self.layer2(p2))
        if 3 in self.fuse_layers:
            outputs.append(self.layer3(p3))
        if 4 in self.fuse_layers:
            outputs.append(self.layer4(p4))
        # return torch.cat(outputs, 1)
        return outputs


def resnet18(pretrained=False, **kwargs):
    """Constructs a ResNet-18 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(BasicBlock, [2, 2, 2, 2], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet18']))
    return model


def resnet34(pretrained=False, **kwargs):
    """Constructs a ResNet-34 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(BasicBlock, [3, 4, 6, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet34']))
    return model


def resnet50(pretrained=False, **kwargs):
    """Constructs a ResNet-50 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(Bottleneck, [3, 4, 6, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet50']))
    return model


def resnet101(pretrained=False, **kwargs):
    """Constructs a ResNet-101 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(Bottleneck, [3, 4, 23, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet101']))
    return model


def resnet152(pretrained=False, **kwargs):
    """Constructs a ResNet-152 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(Bottleneck, [3, 8, 36, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet152']))
    return model


if __name__ == '__main__':
    net = resnet50()
    print(net)
    net = net.cuda()

    var = torch.FloatTensor(1,3,127,127).cuda()
    var = Variable(var)

    net(var)
    print('*************')
    var = torch.FloatTensor(1,3,255,255).cuda()
    var = Variable(var)

    net(var)


SiamMask\experiments\siammask_sharp

config.json

{
    "network": {
        "arch": "Custom"
    },
    "hp": {
        "instance_size": 255,
        "base_size": 8,
        "out_size": 127,
        "seg_thr": 0.35,
        "penalty_k": 0.04,
        "window_influence": 0.4,
        "lr": 1.0
    },
    "lr": {
        "type": "log",
        "start_lr": 0.01,
        "end_lr": 0.0025
    },
    "loss": {
        "weight": [0, 0, 36]
    },
    "train_datasets": {
        "datasets": {
            "coco": {
                "root": "../../data/coco/crop511",
                "anno": "../../data/coco/train2017.json",
                "frame_range": 1
            }
        },
        "template_size": 127,
        "search_size": 143,
        "base_size": 0,
        "size": 3,

        "num" : 2000,

        "augmentation": {
            "template": {
                "shift": 4, "scale": 0.05
            },
            "search": {
                "shift": 8, "scale": 0.18, "blur": 0.18
            },
            "neg": 0,
            "gray": 0.25
        }
    },
    "anchors": {
        "stride": 8,
        "ratios": [0.33, 0.5, 1, 2, 3],
        "scales": [8],
        "round_dight": 0
    }
}

custom.py

from models.siammask_sharp import SiamMask
from models.features import MultiStageFeature
from models.rpn import RPN, DepthCorr
from models.mask import Mask
import torch
import torch.nn as nn
import torch.nn.functional as F
from utils.load_helper import load_pretrain
from resnet import resnet50


class ResDownS(nn.Module):
    """
    对应于网络中的adjust
    """
    # inplane对应输入通道数,outplane对应输出通道数
    def __init__(self, inplane, outplane):
        super(ResDownS, self).__init__()
        self.downsample = nn.Sequential(
                nn.Conv2d(inplane, outplane, kernel_size=1, bias=False),
                nn.BatchNorm2d(outplane))

    def forward(self, x):
        # adjust操作
        x = self.downsample(x)
        # 图像宽度小于20的,只取中间的部分
        if x.size(3) < 20:
            l = 4
            r = -4
            x = x[:, :, l:r, l:r]
        return x


class ResDown(MultiStageFeature):
    """
    孪生网络特征提取层,对应ResNet-50和adjust 操作
    """
    def __init__(self, pretrain=False):
        super(ResDown, self).__init__()
        # 利用resnet50进行特征提取
        self.features = resnet50(layer3=True, layer4=False)
        # 若存在预训练网络则将其直接赋值给feature
        if pretrain:
            load_pretrain(self.features, 'resnet.model')
        # adjust
        self.downsample = ResDownS(1024, 256)
        # 网络层
        self.layers = [self.downsample, self.features.layer2, self.features.layer3]
        self.train_nums = [1, 3]
        self.change_point = [0, 0.5]

        self.unfix(0.0)

    def param_groups(self, start_lr, feature_mult=1):
        lr = start_lr * feature_mult

        def _params(module, mult=1):
            params = list(filter(lambda x:x.requires_grad, module.parameters()))
            if len(params):
                return [{'params': params, 'lr': lr * mult}]
            else:
                return []

        groups = []
        groups += _params(self.downsample)
        groups += _params(self.features, 0.1)
        return groups

    def forward(self, x):
        """
        前向传输,返回adjust结果
        :param x:
        :return:
        """
        output = self.features(x)
        p3 = self.downsample(output[-1])
        return p3

    def forward_all(self, x):
        """
        前向传输,返回特征和adjust结果
        :param x:
        :return:
        """
        output = self.features(x)
        p3 = self.downsample(output[-1])
        return output, p3


class UP(RPN):
    """
    边界回归和分类网络
    """
    def __init__(self, anchor_num=5, feature_in=256, feature_out=256):
        super(UP, self).__init__()
        # 参数设置
        self.anchor_num = anchor_num
        self.feature_in = feature_in
        self.feature_out = feature_out

        self.cls_output = 2 * self.anchor_num
        self.loc_output = 4 * self.anchor_num
        # 分类和回归结果
        self.cls = DepthCorr(feature_in, feature_out, self.cls_output)
        self.loc = DepthCorr(feature_in, feature_out, self.loc_output)

    def forward(self, z_f, x_f):
        """
        返回分类和回归结果
        :param z_f:
        :param x_f:
        :return:
        """
        cls = self.cls(z_f, x_f)
        loc = self.loc(z_f, x_f)
        return cls, loc


class MaskCorr(Mask):
    """
    目标分割,利用DepthCorr完成
    """
    def __init__(self, oSz=63):
        super(MaskCorr, self).__init__()
        self.oSz = oSz
        self.mask = DepthCorr(256, 256, self.oSz**2)

    def forward(self, z, x):
        return self.mask(z, x)


class Refine(nn.Module):
    """
    对掩码进行细化
    """

    def __init__(self):
        """
        掩膜操作融合模块的实现
        """

        super(Refine, self).__init__()
        # self.v2、self.v1、self.v0为垂直分支(vertical),压缩通道;
        self.v0 = nn.Sequential(nn.Conv2d(64, 16, 3, padding=1), nn.ReLU(),
                           nn.Conv2d(16, 4, 3, padding=1),nn.ReLU())

        self.v1 = nn.Sequential(nn.Conv2d(256, 64, 3, padding=1), nn.ReLU(),
                           nn.Conv2d(64, 16, 3, padding=1), nn.ReLU())

        self.v2 = nn.Sequential(nn.Conv2d(512, 128, 3, padding=1), nn.ReLU(),
                           nn.Conv2d(128, 32, 3, padding=1), nn.ReLU())
        # self.h2、self.h1、self.h0作用于水平分支(horizontal),消化融合结果。
        self.h2 = nn.Sequential(nn.Conv2d(32, 32, 3, padding=1), nn.ReLU(),
                           nn.Conv2d(32, 32, 3, padding=1), nn.ReLU())

        self.h1 = nn.Sequential(nn.Conv2d(16, 16, 3, padding=1), nn.ReLU(),
                           nn.Conv2d(16, 16, 3, padding=1), nn.ReLU())

        self.h0 = nn.Sequential(nn.Conv2d(4, 4, 3, padding=1), nn.ReLU(),
                           nn.Conv2d(4, 4, 3, padding=1), nn.ReLU())
        # 由多个输入平面组成的输入图像上应用2D 转置卷积运算符。该模块可以看作 Conv2d 相对于其输入的梯度。它也被称为分数步长卷积或反卷积
        self.deconv = nn.ConvTranspose2d(256, 32, 15, 15)
        # post0,post1,post2属性分别对应U2,U3,U4
        self.post0 = nn.Conv2d(32, 16, 3, padding=1)
        self.post1 = nn.Conv2d(16, 4, 3, padding=1)
        self.post2 = nn.Conv2d(4, 1, 3, padding=1)
        # 卷积层使用kaiming分布初始化其参数
        for modules in [self.v0, self.v1, self.v2, self.h2, self.h1, self.h0, self.deconv, self.post0, self.post1, self.post2,]:
            for l in modules.modules():
                if isinstance(l, nn.Conv2d):
                    nn.init.kaiming_uniform_(l.weight, a=1)

    def forward(self, f, corr_feature, pos=None, test=False):
        if test:
            # 进行测试时:
            # f为 ResNet 的特征图元组。
            # f[0]形状为[1, 64, 125, 125],
            # f[1]形状为[1, 256, 63, 63],
            # f[2]形状为[1, 512, 31, 31],
            # p0,p1,p2表示补0填充后,取出目标位置的特征图
            p0 = torch.nn.functional.pad(f[0], [16, 16, 16, 16])[:, :, 4*pos[0]:4*pos[0]+61, 4*pos[1]:4*pos[1]+61]
            p1 = torch.nn.functional.pad(f[1], [8, 8, 8, 8])[:, :, 2 * pos[0]:2 * pos[0] + 31, 2 * pos[1]:2 * pos[1] + 31]
            p2 = torch.nn.functional.pad(f[2], [4, 4, 4, 4])[:, :, pos[0]:pos[0] + 15, pos[1]:pos[1] + 15]
        else:
            # 训练
            # 利用滑动窗口取得特征图
            p0 = F.unfold(f[0], (61, 61), padding=0, stride=4).permute(0, 2, 1).contiguous().view(-1, 64, 61, 61)
            if not (pos is None): p0 = torch.index_select(p0, 0, pos)
            p1 = F.unfold(f[1], (31, 31), padding=0, stride=2).permute(0, 2, 1).contiguous().view(-1, 256, 31, 31)
            if not (pos is None): p1 = torch.index_select(p1, 0, pos)
            p2 = F.unfold(f[2], (15, 15), padding=0, stride=1).permute(0, 2, 1).contiguous().view(-1, 512, 15, 15)
            if not (pos is None): p2 = torch.index_select(p2, 0, pos)

        if not(pos is None):
            # 训练,P3相关特征上的特征向量
            p3 = corr_feature[:, :, pos[0], pos[1]].view(-1, 256, 1, 1)
        else:
            # 测试
            p3 = corr_feature.permute(0, 2, 3, 1).contiguous().view(-1, 256, 1, 1)
        # 反卷积
        out = self.deconv(p3)
        # 进行特征的融和
        out = self.post0(F.upsample(self.h2(out) + self.v2(p2), size=(31, 31)))
        out = self.post1(F.upsample(self.h1(out) + self.v1(p1), size=(61, 61)))
        out = self.post2(F.upsample(self.h0(out) + self.v0(p0), size=(127, 127)))
        out = out.view(-1, 127*127)
        return out

    def param_groups(self, start_lr, feature_mult=1):
        """
        参数集合
        :param start_lr:
        :param feature_mult:
        :return:
        """
        params = filter(lambda x:x.requires_grad, self.parameters())
        params = [{'params': params, 'lr': start_lr * feature_mult}]
        return params


class Custom(SiamMask):
    def __init__(self, pretrain=False, **kwargs):
        super(Custom, self).__init__(**kwargs)
        self.features = ResDown(pretrain=pretrain)
        self.rpn_model = UP(anchor_num=self.anchor_num, feature_in=256, feature_out=256)
        self.mask_model = MaskCorr()
        self.refine_model = Refine()

    def refine(self, f, pos=None):
        """
        特征融合
        :param f:
        :param pos:
        :return:
        """
        return self.refine_model(f, pos)

    def template(self, template):
        """
        对模板进行特征提取
        :param template:
        :return:
        """
        self.zf = self.features(template)

    def track(self, search):
        """
        目标追踪
        :param search:进行跟踪的图像块
        :return: 目标分类和回归结果
        """
        # 目标特征提取
        search = self.features(search)
        # 利用rpn网络进行回归与分类:得到目标类型及位置
        rpn_pred_cls, rpn_pred_loc = self.rpn(self.zf, search)
        return rpn_pred_cls, rpn_pred_loc

    def track_mask(self, search):
        """
        目标跟踪并进行分割
        :param search: 进行跟踪的图像块
        :return: 目标分类,回归及分割结果
        """
        # 目标特征提取,
        self.feature, self.search = self.features.forward_all(search)
        # 分类和回归
        rpn_pred_cls, rpn_pred_loc = self.rpn(self.zf, self.search)
        # 相关滤波
        self.corr_feature = self.mask_model.mask.forward_corr(self.zf, self.search)
        # 掩膜结果
        pred_mask = self.mask_model.mask.head(self.corr_feature)
        return rpn_pred_cls, rpn_pred_loc, pred_mask

    def track_refine(self, pos):
        # 对特征进行融合
        pred_mask = self.refine_model(self.feature, self.corr_feature, pos=pos, test=True)
        return pred_mask

resnet.py

import torch.nn as nn
import torch
from torch.autograd import Variable
import math
import torch.utils.model_zoo as model_zoo
from models.features import Features

__all__ = ['ResNet', 'resnet18', 'resnet34', 'resnet50', 'resnet101',
           'resnet152']

# 已进行预训练的resnet模型
model_urls = {
    'resnet18': 'https://download.pytorch.org/models/resnet18-5c106cde.pth',
    'resnet34': 'https://download.pytorch.org/models/resnet34-333f7ec4.pth',
    'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth',
    'resnet101': 'https://download.pytorch.org/models/resnet101-5d3b4d8f.pth',
    'resnet152': 'https://download.pytorch.org/models/resnet152-b121ed2d.pth',
}


def conv3x3(in_planes, out_planes, stride=1):
    """
    "3x3 convolution with padding"
    3*3卷积
    :param in_planes: 输入通道数
    :param out_planes: 输出通道数
    :param stride: 步长
    :return:
    """
    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,
                     padding=1, bias=False)


class BasicBlock(nn.Module):
    """
    基础的瓶颈模块,由两个叠加的3*3卷积组成,用于res18和res34
    """
    # 对输出深度的倍乘
    expansion = 1

    def __init__(self, inplanes, planes, stride=1, downsample=None):
        super(BasicBlock, self).__init__()
        # 3*3卷积 BN层 Relu激活
        self.conv1 = conv3x3(inplanes, planes, stride)
        self.bn1 = nn.BatchNorm2d(planes)
        self.relu = nn.ReLU(inplace=True)
        self.conv2 = conv3x3(planes, planes)
        self.bn2 = nn.BatchNorm2d(planes)
        # shortcut
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        # 上一层的输出
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        # shortcut存在时
        if self.downsample is not None:
            # 将上一层的输出x输入downsample,将结果赋给residual
            # 目的就是为了应对上下层输出输入深度一致
            residual = self.downsample(x)
        # 将BN层结果与shortcut相加
        out += residual
        # relu激活
        out = self.relu(out)
        return out


class Bottleneck(Features):
    """
    瓶颈模块,有1*1 3*3 1*1三个卷积层构成,分别用来降低维度,卷积处理和升高维度
    继承在feature,用于特征提取
    """
    # 将输入深度进行倍乘(若输入深度为64,那么扩张4倍后就变为了256)
    expansion = 4

    def __init__(self, inplanes, planes, stride=1, downsample=None, dilation=1):
        super(Bottleneck, self).__init__()
        # 1*1卷积
        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False)
        # BN
        self.bn1 = nn.BatchNorm2d(planes)
        # padding = (2 - stride) + (dilation // 2 - 1)
        padding = 2 - stride
        assert stride==1 or dilation==1, "stride and dilation must have one equals to zero at least"
        if dilation > 1:
            padding = dilation
        # 3*3 卷积
        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride,
                                padding=padding, bias=False, dilation=dilation)
        self.bn2 = nn.BatchNorm2d(planes)
        # 1*1 卷积
        self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False)
        self.bn3 = nn.BatchNorm2d(planes * 4)
        self.relu = nn.ReLU(inplace=True)
        # shortcut
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        out = self.relu(out)

        out = self.conv3(out)
        out = self.bn3(out)

        if self.downsample is not None:
            residual = self.downsample(x)

        if out.size() != residual.size():
            print(out.size(), residual.size())
        out += residual

        out = self.relu(out)

        return out



class Bottleneck_nop(nn.Module):
    """
    官网原始的瓶颈块
    """
    expansion = 4

    def __init__(self, inplanes, planes, stride=1, downsample=None):
        super(Bottleneck_nop, self).__init__()
        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False)
        self.bn1 = nn.BatchNorm2d(planes)
        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride,
                               padding=0, bias=False)
        self.bn2 = nn.BatchNorm2d(planes)
        self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False)
        self.bn3 = nn.BatchNorm2d(planes * 4)
        self.relu = nn.ReLU(inplace=True)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        out = self.relu(out)

        out = self.conv3(out)
        out = self.bn3(out)

        if self.downsample is not None:
            residual = self.downsample(x)

        s = residual.size(3)
        residual = residual[:, :, 1:s-1, 1:s-1]

        out += residual
        out = self.relu(out)

        return out


class ResNet(nn.Module):
    """
    ResNet主体部分实现
    """
    def __init__(self, block, layers, layer4=False, layer3=False):
        """
        主体实现
        :param block: 基础块:BasicBlock或者BottleNeck
        :param layers: 每个大的layer中的block个数
        :param layer4:
        :param layer3:是否加入layer3和layer4
        """
        # 输入深度
        self.inplanes = 64
        super(ResNet, self).__init__()
        # 卷积
        self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=0,
                               bias=False)
        # BN
        self.bn1 = nn.BatchNorm2d(64)
        self.relu = nn.ReLU(inplace=True)
        # 池化
        self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1)
        # 将block块添加到layer中
        self.layer1 = self._make_layer(block, 64, layers[0])
        self.layer2 = self._make_layer(block, 128, layers[1], stride=2) # 31x31, 15x15

        self.feature_size = 128 * block.expansion
        # 添加layer3
        if layer3:
            self.layer3 = self._make_layer(block, 256, layers[2], stride=1, dilation=2) # 15x15, 7x7
            self.feature_size = (256 + 128) * block.expansion
        else:
            self.layer3 = lambda x:x # identity
        # 添加layer4
        if layer4:
            self.layer4 = self._make_layer(block, 512, layers[3], stride=1, dilation=4) # 7x7, 3x3
            self.feature_size = 512 * block.expansion
        else:
            self.layer4 = lambda x:x  # identity
        # 参数初始化
        for m in self.modules():
            if isinstance(m, nn.Conv2d):
                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels
                m.weight.data.normal_(0, math.sqrt(2. / n))
            elif isinstance(m, nn.BatchNorm2d):
                m.weight.data.fill_(1)
                m.bias.data.zero_()

    def _make_layer(self, block, planes, blocks, stride=1, dilation=1):
        """
        :param block: basicbottle或者是bottleneck
        :param planes:通道数
        :param blocks:添加block的个数
        :param stride:
        :param dilation:
        :return:
        """
        downsample = None
        dd = dilation
        # shortcut的设置
        if stride != 1 or self.inplanes != planes * block.expansion:
            if stride == 1 and dilation == 1:
                downsample = nn.Sequential(
                    nn.Conv2d(self.inplanes, planes * block.expansion,
                              kernel_size=1, stride=stride, bias=False),
                    nn.BatchNorm2d(planes * block.expansion),
                )
            else:
                if dilation > 1:
                    dd = dilation // 2
                    padding = dd
                else:
                    dd = 1
                    padding = 0
                downsample = nn.Sequential(
                    nn.Conv2d(self.inplanes, planes * block.expansion,
                              kernel_size=3, stride=stride, bias=False,
                              padding=padding, dilation=dd),
                    nn.BatchNorm2d(planes * block.expansion),
                )

        layers = []
        # layers.append(block(self.inplanes, planes, stride, downsample, dilation=dilation))
        layers.append(block(self.inplanes, planes, stride, downsample, dilation=dd))
        self.inplanes = planes * block.expansion
        for i in range(1, blocks):
            layers.append(block(self.inplanes, planes, dilation=dilation))
        # 构建网络
        return nn.Sequential(*layers)

    def forward(self, x):
        x = self.conv1(x)
        x = self.bn1(x)
        p0 = self.relu(x)
        x = self.maxpool(p0)

        p1 = self.layer1(x)
        p2 = self.layer2(p1)
        p3 = self.layer3(p2)

        return p0, p1, p2, p3


class ResAdjust(nn.Module):
    """
    对模块进行adjust,未使用
    """

    def __init__(self,
            block=Bottleneck,
            out_channels=256,
            adjust_number=1,
            fuse_layers=[2,3,4]):
        super(ResAdjust, self).__init__()
        self.fuse_layers = set(fuse_layers)

        if 2 in self.fuse_layers:
            self.layer2 = self._make_layer(block, 128, 1, out_channels, adjust_number)
        if 3 in self.fuse_layers:
            self.layer3 = self._make_layer(block, 256, 2, out_channels, adjust_number)
        if 4 in self.fuse_layers:
            self.layer4 = self._make_layer(block, 512, 4, out_channels, adjust_number)

        self.feature_size = out_channels * len(self.fuse_layers)


    def _make_layer(self, block, plances, dilation, out, number=1):

        layers = []

        for _ in range(number):
            layer = block(plances * block.expansion, plances, dilation=dilation)
            layers.append(layer)

        downsample = nn.Sequential(
                nn.Conv2d(plances * block.expansion, out, kernel_size=3, padding=1, bias=False),
                nn.BatchNorm2d(out)
                )
        layers.append(downsample)

        return nn.Sequential(*layers)

    def forward(self, p2, p3, p4):

        outputs = []

        if 2 in self.fuse_layers:
            outputs.append(self.layer2(p2))
        if 3 in self.fuse_layers:
            outputs.append(self.layer3(p3))
        if 4 in self.fuse_layers:
            outputs.append(self.layer4(p4))
        # return torch.cat(outputs, 1)
        return outputs


def resnet18(pretrained=False, **kwargs):
    """Constructs a ResNet-18 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(BasicBlock, [2, 2, 2, 2], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet18']))
    return model


def resnet34(pretrained=False, **kwargs):
    """Constructs a ResNet-34 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(BasicBlock, [3, 4, 6, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet34']))
    return model


def resnet50(pretrained=False, **kwargs):
    """Constructs a ResNet-50 model.
    重构resnet50
    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(Bottleneck, [3, 4, 6, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet50']))
    return model


def resnet101(pretrained=False, **kwargs):
    """Constructs a ResNet-101 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(Bottleneck, [3, 4, 23, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet101']))
    return model


def resnet152(pretrained=False, **kwargs):
    """Constructs a ResNet-152 model.

    Args:
        pretrained (bool): If True, returns a model pre-trained on ImageNet
    """
    model = ResNet(Bottleneck, [3, 8, 36, 3], **kwargs)
    if pretrained:
        model.load_state_dict(model_zoo.load_url(model_urls['resnet152']))
    return model

if __name__ == '__main__':
    net = resnet50()
    print(net)
    # net = net.cuda()
    #
    # var = torch.FloatTensor(1,3,127,127).cuda()
    # var = Variable(var)
    #
    # net(var)
    # print('*************')
    # var = torch.FloatTensor(1,3,255,255).cuda()
    # var = Variable(var)

    # net(var)

    var = torch.FloatTensor(1,3,127,127)
    var = Variable(var)
    print(var)
    out = net(var)
    print(out)

SiamMask\models

features.py

# --------------------------------------------------------
# 特征提取基础类
# --------------------------------------------------------
import torch.nn as nn
import logging

logger = logging.getLogger('global')


class Features(nn.Module):
    """
    特征提取模块,用于resnet
    """
    def __init__(self):
        super(Features, self).__init__()
        self.feature_size = -1

    def forward(self, x):
        raise NotImplementedError

    def param_groups(self, start_lr, feature_mult=1):
        """
        需要进行梯度更新的参数
        :param start_lr:
        :param feature_mult:
        :return:
        """
        params = filter(lambda x:x.requires_grad, self.parameters())
        params = [{'params': params, 'lr': start_lr * feature_mult}]
        return params

    def load_model(self, f='pretrain.model'):
        with open(f) as f:
            pretrained_dict = torch.load(f)
            model_dict = self.state_dict()
            print(pretrained_dict.keys())
            pretrained_dict = {k: v for k, v in pretrained_dict.items() if k in model_dict}
            print(pretrained_dict.keys())
            model_dict.update(pretrained_dict)
            self.load_state_dict(model_dict)


class MultiStageFeature(Features):
    """
    多阶段的特征提取模块,用于custom中的ResDown
    """
    def __init__(self):
        """
        初始化
        """
        super(MultiStageFeature, self).__init__()
        self.layers = []
        self.train_num = -1
        self.change_point = []
        self.train_nums = []

    def unfix(self, ratio=0.0):
        """
        设置在train和test网络层的更新
        :param ratio:
        :return:
        """
        if self.train_num == -1:
            self.train_num = 0
            self.unlock()
            self.eval()
        for p, t in reversed(list(zip(self.change_point, self.train_nums))):
            if ratio >= p:
                if self.train_num != t:
                    self.train_num = t
                    self.unlock()
                    return True
                break
        return False

    def train_layers(self):
        """
        返回进行参数更新的网络层
        :return:
        """
        return self.layers[:self.train_num]

    def unlock(self):
        """
        设置网络层是否进行梯度更新
        :return:
        """
        # 将所有参数设置为不可训练
        for p in self.parameters():
            p.requires_grad = False

        logger.info('Current training {} layers:\n\t'.format(self.train_num, self.train_layers()))
        # 将train_layers中的参数,参与梯度更新
        for m in self.train_layers():
            for p in m.parameters():
                p.requires_grad = True

    def train(self, mode):
        """
        根据mode对网络进行训练
        :param mode:
        :return:
        """
        self.training = mode
        # 若mode为false则不进行训练
        if mode == False:
            super(MultiStageFeature,self).train(False)
        else:
            # 否则训练指定层
            for m in self.train_layers():
                m.train(True)

        return self

mask.py

# --------------------------------------------------------
# Mask
# --------------------------------------------------------
import torch.nn as nn


class Mask(nn.Module):
    """
    mask的基本信息
    """
    def __init__(self):
        super(Mask, self).__init__()

    def forward(self, z_f, x_f):
        raise NotImplementedError

    def template(self, template):
        raise NotImplementedError

    def track(self, search):
        raise NotImplementedError

    def param_groups(self, start_lr, feature_mult=1):
        """
        过滤掉不符合条件的元素
        :param start_lr:
        :param feature_mult:
        :return:
        """
        params = filter(lambda x:x.requires_grad, self.parameters())
        params = [{'params': params, 'lr': start_lr * feature_mult}]
        return params

rpn.py

# --------------------------------------------------------
# SiamMask
# Licensed under The MIT License
# Written by Qiang Wang (wangqiang2015 at ia.ac.cn)
# --------------------------------------------------------
import torch.nn as nn
import torch.nn.functional as F


class RPN(nn.Module):
    """
    RPN网络的基本信息
    """
    def __init__(self):
        "初始化"
        super(RPN, self).__init__()

    def forward(self, z_f, x_f):
        "前向传播"
        raise NotImplementedError

    def template(self, template):
        "模板信息"
        raise NotImplementedError

    def track(self, search):
        "跟踪信息"
        raise NotImplementedError

    def param_groups(self, start_lr, feature_mult=1, key=None):
        # 若key为空,返回需要进行梯度更新的参数
        if key is None:
            params = filter(lambda x:x.requires_grad, self.parameters())
        # 否则返回key中需要更新的参数
        else:
            params = [v for k, v in self.named_parameters() if (key in k) and v.requires_grad]
        params = [{'params': params, 'lr': start_lr * feature_mult}]
        return params


def conv2d_dw_group(x, kernel):
    """
    模板与待搜索图像之间的相关,并变换维度
    :param x:
    :param kernel:
    :return:
    """
    # 获得batch size 和 channel
    batch, channel = kernel.shape[:2]
    # 进行维度重构
    x = x.view(1, batch*channel, x.size(2), x.size(3))  # 1 * (b*c) * k * k
    kernel = kernel.view(batch*channel, 1, kernel.size(2), kernel.size(3))  # (b*c) * 1 * H * W
    # 计算图像和模板的相似度,使用分组卷积。
    out = F.conv2d(x, kernel, groups=batch*channel)
    # 维度重构
    out = out.view(batch, channel, out.size(2), out.size(3))
    return out

# 计算模板与搜索图像的关系,目标置信度和检测位置
class DepthCorr(nn.Module):
    def __init__(self, in_channels, hidden, out_channels, kernel_size=3):
        super(DepthCorr, self).__init__()
        # 调整图层的不对称性特征 adjust layer for asymmetrical features
        # 对模板进行处理
        self.conv_kernel = nn.Sequential(
                nn.Conv2d(in_channels, hidden, kernel_size=kernel_size, bias=False),
                nn.BatchNorm2d(hidden),
                nn.ReLU(inplace=True),
                )
        # 对搜索图像进行处理
        self.conv_search = nn.Sequential(
                nn.Conv2d(in_channels, hidden, kernel_size=kernel_size, bias=False),
                nn.BatchNorm2d(hidden),
                nn.ReLU(inplace=True),
                )
        # 网络输出位置:位置,类别等
        self.head = nn.Sequential(
                nn.Conv2d(hidden, hidden, kernel_size=1, bias=False),
                nn.BatchNorm2d(hidden),
                nn.ReLU(inplace=True),
                nn.Conv2d(hidden, out_channels, kernel_size=1)
                )

    def forward_corr(self, kernel, input):
        # 计算模板和搜索图像的特征
        kernel = self.conv_kernel(kernel)
        input = self.conv_search(input)
        # 计算模板与搜索图像检测相关性
        feature = conv2d_dw_group(input, kernel)
        return feature

    def forward(self, kernel, search):
        """
        前向传播
        :param kernel: 模板
        :param search: 搜索的图像
        :return:
        """
        feature = self.forward_corr(kernel, search)
        out = self.head(feature)
        return out

siammask.py

# --------------------------------------------------------
# SiamMask定义了网络的主要的模块
# --------------------------------------------------------
import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.autograd import Variable
from utils.anchors import Anchors


class SiamMask(nn.Module):
    """
    主要用来定义siamMask网络的框架,及其主要模块
    """
    def __init__(self, anchors=None, o_sz=63, g_sz=127):
        super(SiamMask, self).__init__()
        self.anchors = anchors  # anchor_cfg anchors中的配置信息
        self.anchor_num = len(self.anchors["ratios"]) * len(self.anchors["scales"])  # anchor的数目
        self.anchor = Anchors(anchors)  # anchor
        self.features = None  # 特征提取网络模型
        self.rpn_model = None  # rpn网络模型
        self.mask_model = None  # 图像分割的网络模型
        self.o_sz = o_sz  # 输入尺寸
        self.g_sz = g_sz  # 输出尺寸
        self.upSample = nn.UpsamplingBilinear2d(size=[g_sz, g_sz])  # 2d数据的双线性插值

        self.all_anchors = None

    def set_all_anchors(self, image_center, size):
        """
        初始化anchors(该方法未使用)
        :param image_center: 图像中心
        :param size:
        :return:
        """
        # cx,cy,w,h
        if not self.anchor.generate_all_anchors(image_center, size):
            return
        all_anchors = self.anchor.all_anchors[1]  # cx, cy, w, h
        self.all_anchors = torch.from_numpy(all_anchors).float().cuda()
        self.all_anchors = [self.all_anchors[i] for i in range(4)]

    def feature_extractor(self, x):
        """
        特征提取
        :param x:输入数据
        :return:数据特征
        """
        return self.features(x)

    def rpn(self, template, search):
        """
        rpn网络
        :param template: 模板
        :param search: 搜索图像
        :return:
        """
        # 预测分类和位置结果
        pred_cls, pred_loc = self.rpn_model(template, search)
        return pred_cls, pred_loc

    def mask(self, template, search):
        """
        分割预测结果
        :param template: 模板
        :param search: 待搜索图像
        :return: 掩膜结果
        """
        pred_mask = self.mask_model(template, search)
        return pred_mask

    def _add_rpn_loss(self, label_cls, label_loc, lable_loc_weight, label_mask, label_mask_weight,
                      rpn_pred_cls, rpn_pred_loc, rpn_pred_mask):
        """
        rpn损失函数
        """
        # 分类的损失结果(交叉熵损失)
        rpn_loss_cls = select_cross_entropy_loss(rpn_pred_cls, label_cls)
        # 回归的损失结果
        rpn_loss_loc = weight_l1_loss(rpn_pred_loc, label_loc, lable_loc_weight)
        # 分割的损失结果和准确率
        rpn_loss_mask, iou_m, iou_5, iou_7 = select_mask_logistic_loss(rpn_pred_mask, label_mask, label_mask_weight)

        return rpn_loss_cls, rpn_loss_loc, rpn_loss_mask, iou_m, iou_5, iou_7

    def run(self, template, search, softmax=False):
        '''
        构建网络
        :param template: 模板
        :param search: 待搜索图像
        :param softmax:
        :return:
        '''
        # 提取模板特征
        template_feature = self.feature_extractor(template)
        # 提取图像特征
        search_feature = self.feature_extractor(search)
        # 预测结果
        rpn_pred_cls, rpn_pred_loc = self.rpn(template_feature, search_feature)
        rpn_pred_mask = self.mask(template_feature, search_feature)  # (b, 63*63, w, h)
        # 利用softmax进行分类
        if softmax:
            rpn_pred_cls = self.softmax(rpn_pred_cls)
        return rpn_pred_cls, rpn_pred_loc, rpn_pred_mask, template_feature, search_feature

    def softmax(self, cls):
        """
        softmax
        :param cls:
        :return:
        """
        # 获取cls的结果,及其对应的anchor的大小
        b, a2, h, w = cls.size()
        # 维度变换
        cls = cls.view(b, 2, a2//2, h, w)
        # 高维转置
        cls = cls.permute(0, 2, 3, 4, 1).contiguous()
        # 对softmax结果求以4为底的对数
        cls = F.log_softmax(cls, dim=4)
        return cls


    def forward(self, input):
        """
        torch中正向传递的算法,所有的子函数将覆盖函数
        :param input: dict of input with keys of:
                'template': [b, 3, h1, w1], input template image.输入的模板图像
                'search': [b, 3, h2, w2], input search image.待搜索图像
                'label_cls':[b, max_num_gts, 5] or None(self.training==False),
                                     each gt contains x1,y1,x2,y2,class.
        :return: dict of loss, predict, accuracy 损失 预测结果 准确率
        """
        # 参数设置
        template = input['template']
        search = input['search']
        if self.training:
            label_cls = input['label_cls']
            label_loc = input['label_loc']
            lable_loc_weight = input['label_loc_weight']
            label_mask = input['label_mask']
            label_mask_weight = input['label_mask_weight']

        # 运行网络
        rpn_pred_cls, rpn_pred_loc, rpn_pred_mask, template_feature, search_feature = \
            self.run(template, search, softmax=self.training)

        outputs = dict()
        # 预测结果
        outputs['predict'] = [rpn_pred_loc, rpn_pred_cls, rpn_pred_mask, template_feature, search_feature]

        if self.training:
            # 损失函数
            rpn_loss_cls, rpn_loss_loc, rpn_loss_mask, iou_acc_mean, iou_acc_5, iou_acc_7 = \
                self._add_rpn_loss(label_cls, label_loc, lable_loc_weight, label_mask, label_mask_weight,
                                   rpn_pred_cls, rpn_pred_loc, rpn_pred_mask)
            # 输出损失函数和精度结果
            outputs['losses'] = [rpn_loss_cls, rpn_loss_loc, rpn_loss_mask]
            outputs['accuracy'] = [iou_acc_mean, iou_acc_5, iou_acc_7]

        return outputs

    def template(self, z):
        """
        用于处理模板图像
        :param z: 跟踪目标的模板
        :return: 模板的分类和回归结果
        """
        self.zf = self.feature_extractor(z)
        cls_kernel, loc_kernel = self.rpn_model.template(self.zf)
        return cls_kernel, loc_kernel

    def track(self, x, cls_kernel=None, loc_kernel=None, softmax=False):
        """
        目标跟踪
        :param x:
        :param cls_kernel:
        :param loc_kernel:
        :param softmax:
        :return:
        """
        # 特征提取
        xf = self.feature_extractor(x)
        # 跟踪结果
        rpn_pred_cls, rpn_pred_loc = self.rpn_model.track(xf, cls_kernel, loc_kernel)
        if softmax:
            rpn_pred_cls = self.softmax(rpn_pred_cls)
        # 返回目标跟踪的位置和分类结果
        return rpn_pred_cls, rpn_pred_loc


def get_cls_loss(pred, label, select):
    """
    计算分类的损失
    :param pred: 预测结果
    :param label: 真实结果
    :param select: 预测位置
    :return:
    """
    # 预测位置为0个,返回0
    if select.nelement() == 0: return pred.sum()*0.
    # 获取预测结果和真实结果
    pred = torch.index_select(pred, 0, select)
    label = torch.index_select(label, 0, select)
    # 计算最大似然函数
    return F.nll_loss(pred, label)


def select_cross_entropy_loss(pred, label):
    """
    交叉熵损失
    :param pred: 预测值
    :param label: 标签值(真实值)
    :return: 返回正负类的损失值
    """
    # 将预测数据展成...*2的形式
    pred = pred.view(-1, 2)
    # 将标签值展成一维形式
    label = label.view(-1)
    # 指明标签值
    # GPU
    # pos = Variable(label.data.eq(1).nonzero().squeeze()).cuda()
    # neg = Variable(label.data.eq(0).nonzero().squeeze()).cuda()
    pos = Variable(label.data.eq(1).nonzero().squeeze())
    neg = Variable(label.data.eq(0).nonzero().squeeze())
    # 计算正负样本的分类损失
    loss_pos = get_cls_loss(pred, label, pos)
    loss_neg = get_cls_loss(pred, label, neg)
    return loss_pos * 0.5 + loss_neg * 0.5


def weight_l1_loss(pred_loc, label_loc, loss_weight):
    """
    smooth L1 损失
    :param pred_loc: [b, 4k, h, w]
    :param label_loc: [b, 4k, h, w]
    :param loss_weight:  [b, k, h, w]
    :return: loc loss value
    """
    # 预测位置的中心坐标和大小
    b, _, sh, sw = pred_loc.size()
    # 变换维度:
    pred_loc = pred_loc.view(b, 4, -1, sh, sw)
    # 计算预测与真实值之间的差值
    diff = (pred_loc - label_loc).abs()
    # 计算梯度
    diff = diff.sum(dim=1).view(b, -1, sh, sw)
    # 损失
    loss = diff * loss_weight
    return loss.sum().div(b)


def select_mask_logistic_loss(p_m, mask, weight, o_sz=63, g_sz=127):
    """
    计算图像分割分支的损失函数及精度信息
    :param p_m:预测的分割结果
    :param mask: 掩膜真实结果
    :param weight:
    :param o_sz:模板的大小
    :param g_sz:图像的大小
    :return:
    """
    weight = weight.view(-1)
    pos = Variable(weight.data.eq(1).nonzero().squeeze())
    if pos.nelement() == 0: return p_m.sum() * 0, p_m.sum() * 0, p_m.sum() * 0, p_m.sum() * 0
    # 维度转换
    p_m = p_m.permute(0, 2, 3, 1).contiguous().view(-1, 1, o_sz, o_sz)
    p_m = torch.index_select(p_m, 0, pos)
    # 2d升采样
    p_m = nn.UpsamplingBilinear2d(size=[g_sz, g_sz])(p_m)
    p_m = p_m.view(-1, g_sz * g_sz)
    # 对掩膜的真实结果进行处理
    mask_uf = F.unfold(mask, (g_sz, g_sz), padding=32, stride=8)
    mask_uf = torch.transpose(mask_uf, 1, 2).contiguous().view(-1, g_sz * g_sz)

    mask_uf = torch.index_select(mask_uf, 0, pos)
    # 计算损失函数
    loss = F.soft_margin_loss(p_m, mask_uf)
    # 计算精度
    iou_m, iou_5, iou_7 = iou_measure(p_m, mask_uf)
    # 返回结果
    return loss, iou_m, iou_5, iou_7


def iou_measure(pred, label):
    """
    iou计算
    :param pred: 预测值
    :param label: 真实值
    :return: iou平均值,iou>0.5的比例,iou>0.7的比例
    """
    # pred中大于0的置为1
    pred = pred.ge(0)
    # 将pred中等于1的与label中为1的相加
    mask_sum = pred.eq(1).add(label.eq(1))
    # mask_sum中为2的表示交
    intxn = torch.sum(mask_sum == 2, dim=1).float()
    # mask_sum中大于0的表示并
    union = torch.sum(mask_sum > 0, dim=1).float()
    # 交并比
    iou = intxn/union
    return torch.mean(iou), (torch.sum(iou > 0.5).float()/iou.shape[0]), (torch.sum(iou > 0.7).float()/iou.shape[0])
    

if __name__ == "__main__":
    p_m = torch.randn(4, 63*63, 25, 25)
    cls = torch.randn(4, 1, 25, 25) > 0.9
    mask = torch.randn(4, 1, 255, 255) * 2 - 1

    loss = select_mask_logistic_loss(p_m, mask, cls)
    print(loss)

siammask_sharp.py

# --------------------------------------------------------
# SiamMask
# Licensed under The MIT License
# Written by Qiang Wang (wangqiang2015 at ia.ac.cn)
# --------------------------------------------------------
import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.autograd import Variable
from utils.anchors import Anchors

"""
    该文件中主要定义了Siammask-refine的网络框架,与siammask.py中的网络架构基本相同
    在run函数中增加了refine——model的应用
"""
class SiamMask(nn.Module):

    def __init__(self, anchors=None, o_sz=127, g_sz=127):
        super(SiamMask, self).__init__()
        self.anchors = anchors  # anchor_cfg
        self.anchor_num = len(self.anchors["ratios"]) * len(self.anchors["scales"])
        self.anchor = Anchors(anchors)
        self.features = None
        self.rpn_model = None
        self.mask_model = None
        self.o_sz = o_sz
        self.g_sz = g_sz
        self.upSample = nn.UpsamplingBilinear2d(size=[g_sz, g_sz])

        self.all_anchors = None

    def set_all_anchors(self, image_center, size):
        # cx,cy,w,h
        if not self.anchor.generate_all_anchors(image_center, size):
            return
        all_anchors = self.anchor.all_anchors[1]  # cx, cy, w, h
        self.all_anchors = torch.from_numpy(all_anchors).float().cuda()
        self.all_anchors = [self.all_anchors[i] for i in range(4)]

    def feature_extractor(self, x):
        return self.features(x)

    def rpn(self, template, search):
        pred_cls, pred_loc = self.rpn_model(template, search)
        return pred_cls, pred_loc

    def mask(self, template, search):
        pred_mask = self.mask_model(template, search)
        return pred_mask

    def _add_rpn_loss(self, label_cls, label_loc, lable_loc_weight, label_mask, label_mask_weight,
                      rpn_pred_cls, rpn_pred_loc, rpn_pred_mask):
        rpn_loss_cls = select_cross_entropy_loss(rpn_pred_cls, label_cls)

        rpn_loss_loc = weight_l1_loss(rpn_pred_loc, label_loc, lable_loc_weight)

        rpn_loss_mask, iou_m, iou_5, iou_7 = select_mask_logistic_loss(rpn_pred_mask, label_mask, label_mask_weight)

        return rpn_loss_cls, rpn_loss_loc, rpn_loss_mask, iou_m, iou_5, iou_7

    def run(self, template, search, softmax=False):
        """
        run network
        """
        template_feature = self.feature_extractor(template)
        feature, search_feature = self.features.forward_all(search)
        rpn_pred_cls, rpn_pred_loc = self.rpn(template_feature, search_feature)
        corr_feature = self.mask_model.mask.forward_corr(template_feature, search_feature)  # (b, 256, w, h)
        rpn_pred_mask = self.refine_model(feature, corr_feature)

        if softmax:
            rpn_pred_cls = self.softmax(rpn_pred_cls)
        return rpn_pred_cls, rpn_pred_loc, rpn_pred_mask, template_feature, search_feature

    def softmax(self, cls):
        b, a2, h, w = cls.size()
        cls = cls.view(b, 2, a2//2, h, w)
        cls = cls.permute(0, 2, 3, 4, 1).contiguous()
        cls = F.log_softmax(cls, dim=4)
        return cls

    def forward(self, input):
        """
        :param input: dict of input with keys of:
                'template': [b, 3, h1, w1], input template image.
                'search': [b, 3, h2, w2], input search image.
                'label_cls':[b, max_num_gts, 5] or None(self.training==False),
                                     each gt contains x1,y1,x2,y2,class.
        :return: dict of loss, predict, accuracy
        """
        template = input['template']
        search = input['search']
        if self.training:
            label_cls = input['label_cls']
            label_loc = input['label_loc']
            lable_loc_weight = input['label_loc_weight']
            label_mask = input['label_mask']
            label_mask_weight = input['label_mask_weight']

        rpn_pred_cls, rpn_pred_loc, rpn_pred_mask, template_feature, search_feature = \
            self.run(template, search, softmax=self.training)

        outputs = dict()

        outputs['predict'] = [rpn_pred_loc, rpn_pred_cls, rpn_pred_mask, template_feature, search_feature]

        if self.training:
            rpn_loss_cls, rpn_loss_loc, rpn_loss_mask, iou_acc_mean, iou_acc_5, iou_acc_7 = \
                self._add_rpn_loss(label_cls, label_loc, lable_loc_weight, label_mask, label_mask_weight,
                                   rpn_pred_cls, rpn_pred_loc, rpn_pred_mask)
            outputs['losses'] = [rpn_loss_cls, rpn_loss_loc, rpn_loss_mask]
            outputs['accuracy'] = [iou_acc_mean, iou_acc_5, iou_acc_7]

        return outputs

    def template(self, z):
        self.zf = self.feature_extractor(z)
        cls_kernel, loc_kernel = self.rpn_model.template(self.zf)
        return cls_kernel, loc_kernel

    def track(self, x, cls_kernel=None, loc_kernel=None, softmax=False):
        xf = self.feature_extractor(x)
        rpn_pred_cls, rpn_pred_loc = self.rpn_model.track(xf, cls_kernel, loc_kernel)
        if softmax:
            rpn_pred_cls = self.softmax(rpn_pred_cls)
        return rpn_pred_cls, rpn_pred_loc


def get_cls_loss(pred, label, select):
    if select.nelement() == 0: return pred.sum()*0.
    pred = torch.index_select(pred, 0, select)
    label = torch.index_select(label, 0, select)

    return F.nll_loss(pred, label)


def select_cross_entropy_loss(pred, label):
    pred = pred.view(-1, 2)
    label = label.view(-1)
    # GPU
    # pos = Variable(label.data.eq(1).nonzero().squeeze()).cuda()
    # neg = Variable(label.data.eq(0).nonzero().squeeze()).cuda()

    pos = Variable(label.data.eq(1).nonzero().squeeze())
    neg = Variable(label.data.eq(0).nonzero().squeeze())
    loss_pos = get_cls_loss(pred, label, pos)
    loss_neg = get_cls_loss(pred, label, neg)
    return loss_pos * 0.5 + loss_neg * 0.5


def weight_l1_loss(pred_loc, label_loc, loss_weight):
    """
    :param pred_loc: [b, 4k, h, w]
    :param label_loc: [b, 4k, h, w]
    :param loss_weight:  [b, k, h, w]
    :return: loc loss value
    """
    b, _, sh, sw = pred_loc.size()
    pred_loc = pred_loc.view(b, 4, -1, sh, sw)
    diff = (pred_loc - label_loc).abs()
    diff = diff.sum(dim=1).view(b, -1, sh, sw)
    loss = diff * loss_weight
    return loss.sum().div(b)


def select_mask_logistic_loss(p_m, mask, weight, o_sz=63, g_sz=127):
    weight = weight.view(-1)
    pos = Variable(weight.data.eq(1).nonzero().squeeze())
    if pos.nelement() == 0: return p_m.sum() * 0, p_m.sum() * 0, p_m.sum() * 0, p_m.sum() * 0

    if len(p_m.shape) == 4:
        p_m = p_m.permute(0, 2, 3, 1).contiguous().view(-1, 1, o_sz, o_sz)
        p_m = torch.index_select(p_m, 0, pos)
        p_m = nn.UpsamplingBilinear2d(size=[g_sz, g_sz])(p_m)
        p_m = p_m.view(-1, g_sz * g_sz)
    else:
        p_m = torch.index_select(p_m, 0, pos)

    mask_uf = F.unfold(mask, (g_sz, g_sz), padding=0, stride=8)
    mask_uf = torch.transpose(mask_uf, 1, 2).contiguous().view(-1, g_sz * g_sz)

    mask_uf = torch.index_select(mask_uf, 0, pos)
    loss = F.soft_margin_loss(p_m, mask_uf)
    iou_m, iou_5, iou_7 = iou_measure(p_m, mask_uf)
    return loss, iou_m, iou_5, iou_7


def iou_measure(pred, label):
    pred = pred.ge(0)
    mask_sum = pred.eq(1).add(label.eq(1))
    intxn = torch.sum(mask_sum == 2, dim=1).float()
    union = torch.sum(mask_sum > 0, dim=1).float()
    iou = intxn/union
    return torch.mean(iou), (torch.sum(iou > 0.5).float()/iou.shape[0]), (torch.sum(iou > 0.7).float()/iou.shape[0])
    

if __name__ == "__main__":
    p_m = torch.randn(4, 63*63, 25, 25)
    cls = torch.randn(4, 1, 25, 25) > 0.9
    mask = torch.randn(4, 1, 255, 255) * 2 - 1

    loss = select_mask_logistic_loss(p_m, mask, cls)
    print(loss)

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