├── Readme.md ├── data └── city │ └── ImageSets │ ├── test.txt │ ├── train.txt │ └── val.txt ├── frankfurt_000000_000294_leftImg8bit.png ├── load_data ├── __pycache__ │ ├── dataloader.cpython-37.pyc │ ├── generMask.cpython-36.pyc │ ├── generMask.cpython-37.pyc │ └── load_data.cpython-37.pyc ├── dataloader.py ├── generMask.py └── load_data.py ├── net ├── __pycache__ │ ├── csp.cpython-36.pyc │ ├── csp.cpython-37.pyc │ ├── cspLoss.cpython-36.pyc │ ├── cspLoss.cpython-37.pyc │ ├── resnet.cpython-36.pyc │ └── resnet.cpython-37.pyc ├── csp.py ├── cspLoss.py └── resnet.py ├── result.jpg ├── test.py ├── train.py └── utils └── nms └── py_cpu_nms.py /Readme.md: -------------------------------------------------------------------------------- 1 | ### Contents 2 | - [Installation](#installation) 3 | - [Testing](#testing) 4 | - [Training](#training) 5 | - [References](#references) 6 | 7 | ## Installation 8 | 9 | 1. Install Pytorch>=1.0.0 in python3. 10 | 2. Clone this repository. 11 | ```Shell 12 | git clone https://github.com/zhangminwen/Center-and-Scale-Prediction-CSP-Pytorch.git 13 | ``` 14 | 15 | ## Testing 16 | 1. Download our pre-trained model and save in $CSP_ROOT/weights. 17 | [model:epoch320](https://pan.baidu.com/s/1uZx5QVJz5w40O_GmrO3JVA) password:s06j 18 | 2. Test the model by using gpu. 19 | ```Shell 20 | cd $CSP_ROOT 21 | python ./test.py 22 | ``` 23 | 3. Test the model by using cpu. 24 | ```Shell 25 | python ./test.py --cpu 26 | ``` 27 | The "result.jpg" is detection result. 28 | 29 | ## Training 30 | 1. Prepare the dataset in $CSP_ROOT/city. 31 | 32 | The pedestrian annotations (xmin, ymin, xmax, ymax) in each image are stored in the txt document which name correspond to the image name and saved in $CSP_ROOT/city/Annotations. 33 | 34 | Images are saved in $CSP_ROOT/city/Images. 35 | 36 | Splits of training, testing, valudation are saved in $CSP_ROOT/city/ImageSets. 37 | 2. Download pretrained ResNet50 model and save in $CSP_ROOT/model. 38 | 39 | 3. Train 40 | ```Shell 41 | python ./train.py 42 | ``` 43 | 44 | ## References 45 | 46 | ``` 47 | @inproceedings{liu2018high, 48 | title={High-level Semantic Feature Detection: A New Perspective for Pedestrian Detection}, 49 | author={Wei Liu, Shengcai Liao, Weiqiang Ren, Weidong Hu, Yinan Yu}, 50 | booktitle={IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}, 51 | year={2019} 52 | } 53 | 54 | ``` 55 | 56 | -------------------------------------------------------------------------------- /data/city/ImageSets/test.txt: -------------------------------------------------------------------------------- 1 | aachen_000000_000019_leftImg8bit.png 2 | aachen_000001_000019_leftImg8bit.png 3 | aachen_000007_000019_leftImg8bit.png 4 | aachen_000028_000019_leftImg8bit.png 5 | aachen_000034_000019_leftImg8bit.png 6 | aachen_000037_000019_leftImg8bit.png 7 | aachen_000043_000019_leftImg8bit.png 8 | aachen_000044_000019_leftImg8bit.png 9 | aachen_000060_000019_leftImg8bit.png 10 | 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import cv2 4 | import torch 5 | import numpy as np 6 | from torch.utils.data import Dataset 7 | 8 | from load_data.load_data import get_citypersons 9 | 10 | 11 | class CityPersons(Dataset): 12 | def __init__(self, path, type, config): 13 | 14 | self.dataset = get_citypersons(root_dir=path, type=type) 15 | self.dataset_len = len(self.dataset) 16 | self.type = type 17 | self.radius = config.radius 18 | self.stride = config.stride 19 | self.size = config.train_size 20 | 21 | 22 | def __getitem__(self, item): 23 | 24 | # input is RGB order, and normalized 25 | img_data = self.dataset[item] 26 | 27 | img = np.float32(cv2.imread(img_data['filepath'], 1)) 28 | img -= (104, 117, 123) 29 | img = img.transpose(2, 0, 1) 30 | 31 | if self.type == 'train': 32 | boxes = img_data['bboxes'].copy() 33 | 34 | img, boxes = self.random_crop(img, boxes, self.size, limit=16) 35 | mask, scale_map, offset_map = self.get_label(boxes, img.shape) 36 | 37 | return img, mask, scale_map, offset_map 38 | 39 | else: 40 | return img 41 | 42 | def __len__(self): 43 | return self.dataset_len 44 | 45 | def gaussian(self, kernel): 46 | sigma = ((kernel - 1) * 0.3 - 1) * 0.3 + 0.8 47 | s = 2 * (sigma ** 2) 48 | dx = np.exp(-np.square(np.arange(kernel) - int(kernel / 2)) / s) 49 | return np.reshape(dx, (-1, 1)) 50 | 51 | def get_label(self, boxes, img_shape): 52 | 53 | img_shape = [img_shape[1], img_shape[2], img_shape[0]] 54 | mask = np.zeros((3, int(img_shape[0]/self.stride), int(img_shape[1]/self.stride))) 55 | scale_map = np.zeros((3, int(img_shape[0]/self.stride), int(img_shape[1]/self.stride))) 56 | offset_map = np.zeros((3, int(img_shape[0]/self.stride), int(img_shape[1]/self.stride))) 57 | mask[1, :, :] = 1 58 | 59 | if len(boxes)>0: 60 | boxes = boxes / self.stride 61 | for box in boxes: 62 | x1, y1, x2, y2 = [int(x) for x in box] 63 | 64 | c_x, c_y = int((x1 + x2) / 2), int((y1 + y2) / 2) 65 | dx = self.gaussian(x2 - x1) 66 | dy = self.gaussian(y2 - y1) 67 | gau_map = np.multiply(dy, np.transpose(dx)) 68 | 69 | mask[0, y1:y2, x1:x2] = np.maximum(mask[0, y1:y2, x1:x2], gau_map) 70 | mask[1, y1:y2, x1:x2] = 1 71 | mask[2, c_y, c_x] = 1 72 | 73 | scale_map[0, c_y - self.radius:c_y + self.radius + 1, c_x - self.radius:c_x + self.radius + 1] = np.log( 74 | (y2 - y1)) # log value of height 75 | scale_map[1, c_y - self.radius:c_y + self.radius + 1, c_x - self.radius:c_x + self.radius + 1] = np.log( 76 | (x2 - x1)) # log value of width 77 | 78 | scale_map[2, c_y - self.radius:c_y + self.radius + 1, c_x - self.radius:c_x + self.radius + 1] = 1 79 | 80 | offset_map[0, c_y, c_x] = (y1 + y2) / 2 - c_y - 0.5 81 | offset_map[1, c_y, c_x] = (x1 + x2) / 2 - c_x - 0.5 82 | offset_map[2, c_y, c_x] = 1 83 | 84 | return mask, scale_map, offset_map 85 | 86 | def random_crop(self, img, boxes, size, limit=8): 87 | _, h, w = img.shape 88 | crop_h, crop_w = size 89 | 90 | '''if len(boxes) > 0: 91 | sel_id = np.random.randint(0, len(boxes)) 92 | sel_center_x = int((boxes[sel_id, 0] + boxes[sel_id, 2]) / 2.0) 93 | sel_center_y = int((boxes[sel_id, 1] + boxes[sel_id, 3]) / 2.0) 94 | else:''' 95 | sel_center_x = int(np.random.randint(0, w - crop_w + 1) + crop_w * 0.5) 96 | sel_center_y = int(np.random.randint(0, h - crop_h + 1) + crop_h * 0.5) 97 | 98 | crop_x1 = max(sel_center_x - int(crop_w * 0.5), int(0)) 99 | crop_y1 = max(sel_center_y - int(crop_h * 0.5), int(0)) 100 | diff_x = max(crop_x1 + crop_w - w, int(0)) 101 | crop_x1 -= diff_x 102 | diff_y = max(crop_y1 + crop_h - h, int(0)) 103 | crop_y1 -= diff_y 104 | cropped_img = img[:, crop_y1:(crop_y1 + crop_h), crop_x1:(crop_x1 + crop_w)] 105 | 106 | 107 | if len(boxes) > 0: 108 | before_area = (boxes[:, 2] - boxes[:, 0]) * (boxes[:, 3] - boxes[:, 1]) 109 | boxes[:, 0:4:2] -= crop_x1 110 | boxes[:, 1:4:2] -= crop_y1 111 | boxes[:, 0:4:2] = np.clip(boxes[:, 0:4:2], 0, crop_w) 112 | boxes[:, 1:4:2] = np.clip(boxes[:, 1:4:2], 0, crop_h) 113 | 114 | after_area = (boxes[:, 2] - boxes[:, 0]) * (boxes[:, 3] - boxes[:, 1]) 115 | 116 | keep_inds = ((boxes[:, 2] - boxes[:, 0]) >= limit) & (after_area >= 0.5 * before_area) 117 | boxes = boxes[keep_inds] 118 | 119 | return cropped_img, boxes 120 | -------------------------------------------------------------------------------- /load_data/generMask.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import math 3 | import cv2 4 | 5 | img_height = 812 6 | img_width= 1090 7 | pi = math.pi 8 | 9 | class DataLoader(object): 10 | def __init__(self, radius): 11 | self.radius = radius 12 | 13 | 14 | def gaussian(self, kernel): 15 | sigma = ((kernel - 1) * 0.2 - 1) * 0.3 + 0.8 16 | s = 2 * (sigma ** 2) 17 | dx = np.exp(-np.square(np.arange(kernel) - int(kernel / 2)) / s) 18 | return np.reshape(dx, (-1, 1)) 19 | 20 | def get_label(self, boxes, img_shape): 21 | 22 | img_shape = [int(i/4) for i in img_shape] 23 | mask = np.zeros((3, img_shape[0], img_shape[1])) 24 | scale_map = np.zeros((3, img_shape[0], img_shape[1])) 25 | offset_map = np.zeros((3, img_shape[0], img_shape[1])) 26 | 27 | for box in boxes: 28 | x1, y1, x2, y2 = [int(x/4) for x in box] 29 | x1, y1, x2, y2 = max(x1, 0), max(y1, 0), min(x2, img_shape[1]-1), min(y2, img_shape[0]-1) 30 | c_x, c_y = int((x1 + x2) / 2), int((y1 + y2) / 2) 31 | dx = self.gaussian(x2 - x1) 32 | dy = self.gaussian(y2 - y1) 33 | gau_map = np.multiply(dy, np.transpose(dx)) 34 | 35 | mask[0, y1:y2, x1:x2] = np.maximum(mask[0, y1:y2, x1:x2], gau_map) 36 | mask[1, y1:y2, x1:x2] = 1 37 | mask[2, c_y, c_x] = 1 38 | 39 | 40 | scale_map[0, c_y - self.radius:c_y + self.radius + 1, c_x - self.radius:c_x + self.radius + 1] = np.log( 41 | (y2-y1)+1e-10) # log value of height 42 | scale_map[1, c_y - self.radius:c_y + self.radius + 1, c_x - self.radius:c_x + self.radius + 1] = np.log( 43 | (x2 - x1)+1e-10) # log value of width 44 | 45 | scale_map[2, c_y - self.radius:c_y + self.radius + 1, c_x - self.radius:c_x + self.radius + 1] = 1 46 | 47 | offset_map[0, c_y, c_x] = (y1 + y2) / 2 - c_y - 0.5 48 | offset_map[1, c_y, c_x] = (x1 + x2) / 2 - c_x - 0.5 49 | offset_map[2, c_y, c_x] = 1 50 | 51 | return mask, scale_map, offset_map 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /load_data/load_data.py: -------------------------------------------------------------------------------- 1 | import os 2 | import numpy as np 3 | 4 | 5 | def get_citypersons(root_dir='data/cityperson', type='train'): 6 | 7 | image_data = [] 8 | image_set_path = os.path.join(root_dir, 'ImageSets', type +'.txt') 9 | fid_set = open(image_set_path) 10 | while True: 11 | image_name = fid_set.readline().replace('\n', '') 12 | if len(image_name) == 0: 13 | break 14 | fid_label = open(os.path.join(root_dir, 'Annotations', image_name[:-3]+'txt')) 15 | boxes = [] 16 | while True: 17 | box_info = fid_label.readline().replace('\n', '') 18 | if len(box_info) == 0: 19 | break 20 | box_info = box_info.split(' ') 21 | box = [int(box_info[x]) for x in range(len(box_info))] 22 | boxes.append(box) 23 | 24 | annotation = {} 25 | annotation['filepath'] = os.path.join(root_dir, 'Images', image_name) 26 | annotation['bboxes'] = np.array(boxes) 27 | image_data.append(annotation) 28 | 29 | return image_data 30 | 31 | -------------------------------------------------------------------------------- /net/__pycache__/csp.cpython-36.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/whatcanisay-k/Center-and-Scale-Prediction-CSP-Pytorch/d57778c6df5e68fbfeafbd714eb7a5034b3c1cf0/net/__pycache__/csp.cpython-36.pyc -------------------------------------------------------------------------------- /net/__pycache__/csp.cpython-37.pyc: -------------------------------------------------------------------------------- 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/net/__pycache__/resnet.cpython-36.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/whatcanisay-k/Center-and-Scale-Prediction-CSP-Pytorch/d57778c6df5e68fbfeafbd714eb7a5034b3c1cf0/net/__pycache__/resnet.cpython-36.pyc -------------------------------------------------------------------------------- /net/__pycache__/resnet.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/whatcanisay-k/Center-and-Scale-Prediction-CSP-Pytorch/d57778c6df5e68fbfeafbd714eb7a5034b3c1cf0/net/__pycache__/resnet.cpython-37.pyc -------------------------------------------------------------------------------- /net/csp.py: -------------------------------------------------------------------------------- 1 | from net.resnet import * 2 | import torch 3 | import torch.nn as nn 4 | import torch.nn.functional as F 5 | import math 6 | import torch.nn.init as init 7 | 8 | class Deconvolution(nn.Module): 9 | def __init__(self, in_channels, out_channels, stride, padding): 10 | super(Deconvolution, self).__init__() 11 | self.deconvolution = nn.ConvTranspose2d(in_channels, out_channels, 4, stride = stride, padding = padding) 12 | init.xavier_normal_(self.deconvolution.weight.data) 13 | 14 | def forward(self, x): 15 | x = self.deconvolution(x) 16 | return x 17 | 18 | class L2Norm(nn.Module): 19 | def __init__(self, n_channels, scale): 20 | super(L2Norm, self).__init__() 21 | self.n_channels = n_channels 22 | self.gamma = scale or None 23 | self.eps = 1e-10 24 | self.weight = nn.Parameter(torch.Tensor(self.n_channels)) 25 | self.reset_parameters() 26 | 27 | def reset_parameters(self): 28 | init.constant_(self.weight, self.gamma) 29 | 30 | def forward(self, x): 31 | norm = x.pow(2).sum(dim=1, keepdim=True).sqrt()+self.eps 32 | x = torch.div(x, norm) 33 | out = self.weight.unsqueeze(0).unsqueeze(2).unsqueeze(3).expand_as(x) * x 34 | return out 35 | 36 | 37 | 38 | class Csp(nn.Module): 39 | def __init__(self, phase): 40 | super(Csp, self).__init__() 41 | self.phase = phase 42 | 43 | if self.phase == 'test': 44 | resnet = resnet50(pretrained=False, receptive_keep=True) 45 | else: 46 | resnet = resnet50(pretrained=True, receptive_keep=True) 47 | 48 | self.conv1 = resnet.conv1 49 | self.bn1 = resnet.bn1 50 | self.relu = resnet.relu 51 | self.maxpool = resnet.maxpool 52 | self.layer1 = resnet.layer1 53 | self.layer2 = resnet.layer2 54 | self.layer3 = resnet.layer3 55 | self.layer4 = resnet.layer4 56 | 57 | self.l2_norm_stage2 = L2Norm(256, 10) 58 | self.l2_norm_stage3 = L2Norm(512, 10) 59 | self.l2_norm_stage4 = L2Norm(1024, 10) 60 | self.l2_norm_stage5 = L2Norm(2048, 10) 61 | 62 | #self.deconv_stage2_1 = Deconvolution(256, 256, 4, 0) 63 | #self.deconv_stage2_2 = Deconvolution(768, 256, 4, 0) 64 | self.deconv_stage3 = Deconvolution(512, 256, 2, 1) 65 | self.deconv_stage4 = Deconvolution(1024, 256, 4, 0) 66 | self.deconv_stage5 = Deconvolution(2048, 256, 4, 0) 67 | 68 | # share feature map of center predict, scale regression, offsets regression 69 | self.conv_share_feature = nn.Conv2d(1024, 256, kernel_size = 3, stride = 1, padding = 1, bias = False) 70 | nn.init.xavier_normal_(self.conv_share_feature.weight) 71 | 72 | self.conv_center = nn.Conv2d(256, 2, kernel_size = 1, stride = 1) 73 | nn.init.xavier_normal_(self.conv_center.weight) 74 | 75 | self.conv_scale = nn.Conv2d(256, 2, kernel_size = 1, stride = 1) 76 | nn.init.xavier_normal_(self.conv_scale.weight) 77 | 78 | self.conv_offset = nn.Conv2d(256, 2, kernel_size = 1, stride = 1) 79 | nn.init.xavier_normal_(self.conv_offset.weight) 80 | 81 | 82 | def forward(self, x): 83 | 84 | x = self.conv1(x) 85 | x = self.bn1(x) 86 | x = self.relu(x) 87 | x = self.maxpool(x) 88 | 89 | x = self.layer1(x) 90 | x_stage2 = self.l2_norm_stage2(x) 91 | 92 | x = self.layer2(x) 93 | x_3 = self.l2_norm_stage3(x) 94 | x_3 = self.deconv_stage3(x_3) 95 | x_stage3 = self.relu(x_3) 96 | 97 | x = self.layer3(x) 98 | x_4 = self.l2_norm_stage4(x) 99 | x_4 = self.deconv_stage4(x_4) 100 | x_stage4 = self.relu(x_4) 101 | 102 | x = self.layer4(x) 103 | x_5 = self.l2_norm_stage5(x) 104 | x_5 = self.deconv_stage5(x_5) 105 | x_stage5 = self.relu(x_5) 106 | 107 | '''x_6 = torch.cat([x_stage3, x_stage4, x_stage5], dim=1) 108 | x_6 = self.deconv_stage2_2(x_6) 109 | x_6 = self.relu(x_6) 110 | x_7 = self.deconv_stage2_1(x_stage2) 111 | x_7 = self.relu(x_7) 112 | x = torch.cat([x_7, x_6], dim=1)''' 113 | 114 | x = torch.cat([x_stage2, x_stage3, x_stage4, x_stage5], dim=1) 115 | x = self.conv_share_feature(x) 116 | x = self.relu(x) 117 | 118 | center_cls_score = self.conv_center(x) 119 | scale_h_w = self.conv_scale(x) 120 | offset = self.conv_offset(x) 121 | 122 | if self.phase == 'test': 123 | center_cls_score = F.softmax(center_cls_score, 1) 124 | center_cls_score = center_cls_score[:, 1, :, :] 125 | 126 | return (center_cls_score, scale_h_w, offset) 127 | 128 | -------------------------------------------------------------------------------- /net/cspLoss.py: -------------------------------------------------------------------------------- 1 | import torch 2 | import torch.nn as nn 3 | import torch.nn.functional as F 4 | from torch.autograd import Variable 5 | 6 | 7 | class CspLoss(nn.Module): 8 | def __init__(self): 9 | super(CspLoss, self).__init__() 10 | self.smoothl1 = nn.SmoothL1Loss(reduction='none') 11 | 12 | 13 | 14 | def forward(self, out, center_gt, scale_gt, offset_gt): 15 | center_out, sacle_hw, offset_pred= out[0].double(), out[1].double(), out[2].double() 16 | #center_out, sacle_hw= out[0].double(), out[1].double() 17 | sacle_h_out, sacle_w_out = sacle_hw[:, 0, :, :].unsqueeze(dim=1), sacle_hw[:, 1, :, :].unsqueeze(dim=1) 18 | 19 | pt = F.softmax(center_out, 1) 20 | logpt = torch.log(pt) 21 | #print(torch.max(pt)) 22 | 23 | #pt_pos = (center_gt[:, 2, :, :]*pt[:, 1, :, :]) 24 | #pt_neg = (center_gt[:, 1, :, :]-center_gt[:, 2, :, :])*pt[:, 0, :, :] 25 | #logpt_pos = torch.log(pt_pos+1e-10) 26 | #logpt_neg = torch.log(pt_neg+1e-10) 27 | 28 | #print(torch.max(logpt_pos)) 29 | #print(torch.max(logpt_neg)) 30 | 31 | 32 | positives = center_gt[:, 2, :, :] 33 | negatives = center_gt[:, 1, :, :] - center_gt[:, 2, :, :] 34 | 35 | fore_weight = positives * (1.0 - pt[:, 1, :, :]) ** 2*torch.log(pt[:, 1, :, :]) 36 | back_weight = negatives * ((1.0 - center_gt[:, 0, :, :]) ** 4) * (1-pt[:, 0, :, :]) ** 2 * torch.log(pt[:, 0, :, :]) 37 | 38 | focal_weight = fore_weight + back_weight 39 | assigned_box = torch.sum(center_gt[:, 2, :, :]) 40 | 41 | center_loss = -1* torch.sum(focal_weight) / max(1.0, assigned_box) 42 | 43 | l1_loss_h = scale_gt[:, 2, :, :]*self.smoothl1(sacle_h_out[:, 0, :, :], scale_gt[:, 0, :, :]) 44 | 45 | reg_loss_h = torch.sum(l1_loss_h) / max(1.0, torch.sum(scale_gt[:, 2, :, :])) 46 | 47 | l1_loss_w = scale_gt[:, 2, :, :]*self.smoothl1(sacle_w_out[:, 0, :, :], scale_gt[:, 1, :, :]) 48 | 49 | reg_loss_w = torch.sum(l1_loss_w) / max(1.0, torch.sum(scale_gt[:, 2, :, :])) 50 | 51 | l1_loss_offset = offset_gt[:, 2, :, :].unsqueeze(dim=1)*self.smoothl1(offset_pred, offset_gt[:, :2, :, :]) 52 | offset_loss = torch.sum(l1_loss_offset) / max(1.0, torch.sum(offset_gt[:, 2, :, :])) 53 | 54 | 55 | return center_loss, reg_loss_h, reg_loss_w, offset_loss 56 | 57 | 58 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /net/resnet.py: -------------------------------------------------------------------------------- 1 | import torch.nn as nn 2 | import torch 3 | import math 4 | import torch.utils.model_zoo as model_zoo 5 | 6 | 7 | __all__ = ['ResNet', 'resnet18', 'resnet34', 'resnet50', 'resnet101', 8 | 'resnet152'] 9 | 10 | 11 | model_urls = { 12 | 'resnet18': 'https://download.pytorch.org/models/resnet18-5c106cde.pth', 13 | 'resnet34': 'https://download.pytorch.org/models/resnet34-333f7ec4.pth', 14 | 'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth', 15 | 'resnet101': 'https://download.pytorch.org/models/resnet101-5d3b4d8f.pth', 16 | 'resnet152': 'https://download.pytorch.org/models/resnet152-b121ed2d.pth', 17 | } 18 | 19 | 20 | def conv3x3(in_planes, out_planes, stride=1): 21 | """3x3 convolution with padding""" 22 | return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, 23 | padding=1, bias=False) 24 | 25 | 26 | class BasicBlock(nn.Module): 27 | expansion = 1 28 | 29 | def __init__(self, inplanes, planes, stride=1, downsample=None): 30 | super(BasicBlock, self).__init__() 31 | self.conv1 = conv3x3(inplanes, planes, stride) 32 | self.bn1 = nn.BatchNorm2d(planes) 33 | self.relu = nn.ReLU(inplace=True) 34 | self.conv2 = conv3x3(planes, planes) 35 | self.bn2 = nn.BatchNorm2d(planes) 36 | self.downsample = downsample 37 | self.stride = stride 38 | 39 | def forward(self, x): 40 | residual = x 41 | 42 | out = self.conv1(x) 43 | out = self.bn1(out) 44 | out = self.relu(out) 45 | 46 | out = self.conv2(out) 47 | out = self.bn2(out) 48 | 49 | if self.downsample is not None: 50 | residual = self.downsample(x) 51 | 52 | out += residual 53 | out = self.relu(out) 54 | 55 | return out 56 | 57 | 58 | class Bottleneck(nn.Module): 59 | expansion = 4 60 | 61 | def __init__(self, inplanes, planes, stride=1, dilate=1, downsample=None): 62 | super(Bottleneck, self).__init__() 63 | self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, stride=1, bias=False) 64 | self.bn1 = nn.BatchNorm2d(planes, momentum=0.01) 65 | self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride, 66 | dilation=dilate, padding=dilate, bias=False) 67 | self.bn2 = nn.BatchNorm2d(planes, momentum=0.01) 68 | self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False) 69 | self.bn3 = nn.BatchNorm2d(planes * 4, momentum=0.01) 70 | self.relu = nn.ReLU(inplace=True) 71 | self.downsample = downsample 72 | self.stride = stride 73 | 74 | def forward(self, x): 75 | residual = x 76 | 77 | out = self.conv1(x) 78 | out = self.bn1(out) 79 | out = self.relu(out) 80 | 81 | out = self.conv2(out) 82 | out = self.bn2(out) 83 | out = self.relu(out) 84 | 85 | out = self.conv3(out) 86 | out = self.bn3(out) 87 | 88 | if self.downsample is not None: 89 | residual = self.downsample(x) 90 | 91 | out += residual 92 | out = self.relu(out) 93 | 94 | return out 95 | 96 | 97 | class ResNet(nn.Module): 98 | 99 | def __init__(self, block, layers, receptive_keep=True): 100 | self.inplanes = 64 101 | super(ResNet, self).__init__() 102 | self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=3, 103 | bias=False) 104 | self.bn1 = nn.BatchNorm2d(64, momentum=0.01) 105 | self.relu = nn.ReLU(inplace=True) 106 | self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1) 107 | self.layer1 = self._make_layer(block, 64, layers[0], stride=1, dilate=1) 108 | self.layer2 = self._make_layer(block, 128, layers[1], stride=2, dilate=1) 109 | self.layer3 = self._make_layer(block, 256, layers[2], stride=2, dilate=1) 110 | if receptive_keep: 111 | self.layer4 = self._make_layer(block, 512, layers[3], stride=1, dilate=2) 112 | else: 113 | self.layer4 = self._make_layer(block, 512, layers[3], stride=2, dilate=1) 114 | 115 | self.avgpool = nn.AvgPool2d(7, stride=1) 116 | self.fc = nn.Linear(512 * block.expansion, 1000) 117 | 118 | for m in self.modules(): 119 | if isinstance(m, nn.Conv2d): 120 | n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels 121 | m.weight.data.normal_(0, math.sqrt(2. / n)) 122 | elif isinstance(m, nn.BatchNorm2d): 123 | m.weight.data.fill_(1) 124 | m.bias.data.zero_() 125 | 126 | def _make_layer(self, block, planes, blocks, stride=1, dilate=1): 127 | downsample = None 128 | if stride != 1 or self.inplanes != planes * block.expansion: 129 | downsample = nn.Sequential( 130 | nn.Conv2d(self.inplanes, planes * block.expansion, 131 | kernel_size=1, stride=stride, bias=False), 132 | nn.BatchNorm2d(planes * block.expansion, momentum=0.01), 133 | ) 134 | 135 | layers = [] 136 | layers.append(block(self.inplanes, planes, stride, dilate, downsample)) 137 | self.inplanes = planes * block.expansion 138 | for i in range(1, blocks): 139 | layers.append(block(self.inplanes, planes, 1, dilate)) 140 | 141 | return nn.Sequential(*layers) 142 | 143 | def forward(self, x): 144 | x = self.conv1(x) 145 | x = self.bn1(x) 146 | x = self.relu(x) 147 | x = self.maxpool(x) 148 | 149 | x = self.layer1(x) 150 | x = self.layer2(x) 151 | x = self.layer3(x) 152 | x = self.layer4(x) 153 | 154 | return x 155 | 156 | 157 | def resnet18(pretrained=False, **kwargs): 158 | """Constructs a ResNet-18 model. 159 | Args: 160 | pretrained (bool): If True, returns a model pre-trained on ImageNet 161 | """ 162 | model = ResNet(BasicBlock, [2, 2, 2, 2], **kwargs) 163 | if pretrained: 164 | model.load_state_dict(model_zoo.load_url(model_urls['resnet18'])) 165 | return model 166 | 167 | 168 | def resnet34(pretrained=False, **kwargs): 169 | """Constructs a ResNet-34 model. 170 | Args: 171 | pretrained (bool): If True, returns a model pre-trained on ImageNet 172 | """ 173 | model = ResNet(BasicBlock, [3, 4, 6, 3], **kwargs) 174 | if pretrained: 175 | model.load_state_dict(model_zoo.load_url(model_urls['resnet34'])) 176 | return model 177 | 178 | 179 | def resnet50(pretrained=False, **kwargs): 180 | """Constructs a ResNet-50 model. 181 | Args: 182 | pretrained (bool): If True, returns a model pre-trained on ImageNet 183 | """ 184 | model = ResNet(Bottleneck, [3, 4, 6, 3], **kwargs) 185 | if pretrained: 186 | model_p = torch.load('./model/resnet50-19c8e357.pth') 187 | model.load_state_dict(model_p) 188 | return model 189 | 190 | 191 | def resnet101(pretrained=False, **kwargs): 192 | """Constructs a ResNet-101 model. 193 | Args: 194 | pretrained (bool): If True, returns a model pre-trained on ImageNet 195 | """ 196 | model = ResNet(Bottleneck, [3, 4, 23, 3], **kwargs) 197 | if pretrained: 198 | model.load_state_dict(model_zoo.load_url(model_urls['resnet101'])) 199 | return model 200 | 201 | 202 | def resnet152(pretrained=False, **kwargs): 203 | """Constructs a ResNet-152 model. 204 | Args: 205 | pretrained (bool): If True, returns a model pre-trained on ImageNet 206 | """ 207 | model = ResNet(Bottleneck, [3, 8, 36, 3], **kwargs) 208 | if pretrained: 209 | model.load_state_dict(model_zoo.load_url(model_urls['resnet152'])) 210 | return model 211 | -------------------------------------------------------------------------------- /result.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/whatcanisay-k/Center-and-Scale-Prediction-CSP-Pytorch/d57778c6df5e68fbfeafbd714eb7a5034b3c1cf0/result.jpg -------------------------------------------------------------------------------- /test.py: -------------------------------------------------------------------------------- 1 | import torch 2 | import cv2 3 | import argparse 4 | import numpy as np 5 | from net.csp import Csp 6 | #from utils.nms_wrapper import nms 7 | from utils.nms.py_cpu_nms import py_cpu_nms 8 | import time 9 | 10 | parser = argparse.ArgumentParser(description='CSP Testing') 11 | parser.add_argument('--cpu', action="store_true", default=False, help='Use cpu inference') 12 | args = parser.parse_args() 13 | 14 | class Config(object): 15 | def __init__(self): 16 | self.train_size = (640, 1280) 17 | self.test_size = (1024, 2048) 18 | self.stride = 4 19 | self.radius = 2 20 | self.epoch_size = 300 21 | self.score_thres = 0.2 22 | self.nms_thres = 0.3 23 | 24 | 25 | 26 | def load_model(model, pretrained_path, load_to_cpu): 27 | print('Loading pretrained model from {}'.format(pretrained_path)) 28 | if load_to_cpu: 29 | pretrained_dict = torch.load(pretrained_path, map_location=lambda storage, loc: storage) 30 | else: 31 | device = torch.cuda.current_device() 32 | pretrained_dict = torch.load(pretrained_path, map_location=lambda storage, loc: storage.cuda(device)) 33 | 34 | model.load_state_dict(pretrained_dict) 35 | return model 36 | 37 | 38 | def parse_det_offset(output, config): 39 | size, score, down, nms_thresh = config.test_size, config.score_thres, config.stride, config.nms_thres 40 | pos, scale, offset = output 41 | pos = np.squeeze(pos.data.cpu()) 42 | height = scale.data.cpu()[0, 0, :, :].numpy() 43 | width = scale.data.cpu()[0, 1, :, :].numpy() 44 | 45 | offset_y = offset.data.cpu()[0, 0, :, :].numpy() 46 | offset_x = offset.data.cpu()[0, 1, :, :].numpy() 47 | y_c, x_c = np.where(pos > score) 48 | boxs = [] 49 | if len(y_c) > 0: 50 | for i in range(len(y_c)): 51 | h = np.exp(height[y_c[i], x_c[i]]) * down 52 | #w = 0.41 * h 53 | w = np.exp(width[y_c[i], x_c[i]]) * down 54 | o_y = offset_y[y_c[i], x_c[i]] 55 | o_x = offset_x[y_c[i], x_c[i]] 56 | s = pos[y_c[i], x_c[i]] 57 | x1, y1 = max(0, (x_c[i] + o_x + 0.5) * down - w / 2), max(0, (y_c[i] + o_y + 0.5) * down - h / 2) 58 | boxs.append([x1, y1, min(x1 + w, size[1]), min(y1 + h, size[0]), s]) 59 | boxs = np.asarray(boxs, dtype=np.float32) 60 | #keep = nms(boxs, nms_thresh, True) # cpu nms 61 | keep = py_cpu_nms(boxs, nms_thresh) 62 | boxs = boxs[keep, :] 63 | return boxs 64 | 65 | def test(): 66 | 67 | config = Config() 68 | torch.set_grad_enabled(False) 69 | 70 | net = Csp('test') 71 | net = load_model(net, './weights/CSP_epoch_320.pth', args.cpu) 72 | 73 | device = torch.device("cpu" if args.cpu else "cuda") 74 | net = net.to(device) 75 | net.eval() 76 | 77 | img = np.float32(cv2.imread('./frankfurt_000000_000294_leftImg8bit.png', cv2.IMREAD_COLOR)) 78 | im2show = img.copy() 79 | img -= (104, 117, 123) 80 | img = img.transpose(2, 0, 1) 81 | img = torch.from_numpy(img).unsqueeze(0) 82 | img = img.to(device) 83 | 84 | begin_time = time.time() 85 | output = net(img) 86 | print('forward time: {}'.format(time.time()-begin_time)) 87 | 88 | begin_time = time.time() 89 | boxes= parse_det_offset(output, config) 90 | print('boxes time: {}'.format(time.time()-begin_time)) 91 | 92 | for box in boxes: 93 | cv2.rectangle(im2show, (int(box[0]), int(box[1])), (int(box[2]), int(box[3])), [0, 0, 255], 2) 94 | 95 | cv2.imwrite('./result.jpg', im2show) 96 | 97 | if __name__ == '__main__': 98 | test() 99 | 100 | -------------------------------------------------------------------------------- /train.py: -------------------------------------------------------------------------------- 1 | import os 2 | import torch 3 | import argparse 4 | import torch.optim as optim 5 | import torch.backends.cudnn as cudnn 6 | from net.cspLoss import CspLoss 7 | from load_data.dataloader import CityPersons 8 | from torch.utils.data import DataLoader 9 | from net.csp import * 10 | 11 | os.environ["CUDA_VISIBLE_DEVICES"] = "0,1" 12 | 13 | parser = argparse.ArgumentParser(description='CSP Training') 14 | parser.add_argument('--num_workers', default=4, type=int, help='Number of workers used in dataloading') 15 | parser.add_argument('--ngpu', default=2, type=int, help='gpus') 16 | parser.add_argument('--resume_net', action="store_true", default=False, help='resume') 17 | parser.add_argument('--resume_epoch', default=0, type=int, help='resume iter for retraining') 18 | args = parser.parse_args() 19 | 20 | num_gpu = args.ngpu 21 | num_workers = args.num_workers 22 | resume_epoch = args.resume_epoch 23 | 24 | 25 | class Config(object): 26 | def __init__(self): 27 | self.train_size = (640, 1280) 28 | self.test_size = (1024, 2048) 29 | self.stride = 4 30 | self.radius = 2 31 | self.epoch_size = 500 32 | self.score_thres = 0.3 33 | self.nms_thres = 0.3 34 | 35 | 36 | 37 | def train(): 38 | 39 | config = Config() 40 | 41 | traindataset = CityPersons(path='./data/city', type='train', config = config) 42 | trainloader = DataLoader(traindataset, batch_size=4, num_workers=num_workers) 43 | 44 | net = Csp('train') 45 | device = torch.device('cuda:0') 46 | net.to(device) 47 | 48 | if args.resume_net: 49 | pretrained_path = './weights/CSP_epoch_' + str(resume_epoch) +'.pth' 50 | print('Loading pretrained model from {}'.format(pretrained_path)) 51 | model = torch.load(pretrained_path, map_location=device) 52 | net.load_state_dict(model) 53 | 54 | net = torch.nn.DataParallel(net, device_ids=list(range(num_gpu))) 55 | 56 | cudnn.benchmark = True 57 | #optimizer = optim.SGD(net.parameters(), lr=1e-3, momentum=0.9, weight_decay=5e-4) 58 | optimizer = optim.Adam(net.parameters(), lr=1e-3) 59 | criterion = CspLoss() 60 | 61 | 62 | isAdjust_lr = False 63 | for epoch in range(resume_epoch+1, config.epoch_size+1): 64 | 65 | if epoch > 200 and not isAdjust_lr: 66 | for param_group in optimizer.param_groups: 67 | param_group['lr'] = 1e-4 68 | isAdjust_lr = True 69 | 70 | for i, data in enumerate(trainloader, 0): 71 | 72 | tensor_img_input, tensor_center_gt_input, tensor_scale_gt_input, tensor_offset_gt_input = data 73 | tensor_img_input = tensor_img_input.to(device) 74 | tensor_center_gt_input = tensor_center_gt_input.to(device) 75 | tensor_scale_gt_input = tensor_scale_gt_input.to(device) 76 | tensor_offset_gt_input = tensor_offset_gt_input.to(device) 77 | 78 | output = net(tensor_img_input) 79 | 80 | optimizer.zero_grad() 81 | center_loss, reg_loss_h, reg_loss_w, offset_loss = criterion(output, tensor_center_gt_input, tensor_scale_gt_input, tensor_offset_gt_input) 82 | loss = 0.01*center_loss + 1*reg_loss_h + 1*reg_loss_w + 0.1*offset_loss 83 | loss.backward() 84 | optimizer.step() 85 | print('epoch:{}/{} center_loss:{} reg_loss_h:{} reg_loss_w:{} offset_loss:{}'.format 86 | (epoch, config.epoch_size, round(center_loss.item(), 5), round(reg_loss_h.item(), 5), 87 | round(reg_loss_w.item(), 5), round(offset_loss.item(), 5))) 88 | 89 | if (epoch % 10 == 0 and epoch > 0) or (epoch % 5 == 0 and epoch > 200): 90 | torch.save(net.module.state_dict(), './weights/' + 'CSP_epoch_' + str(epoch) + '.pth') 91 | 92 | 93 | if __name__ == '__main__': 94 | train() 95 | 96 | 97 | 98 | 99 | 100 | -------------------------------------------------------------------------------- /utils/nms/py_cpu_nms.py: -------------------------------------------------------------------------------- 1 | # -------------------------------------------------------- 2 | # Fast R-CNN 3 | # Copyright (c) 2015 Microsoft 4 | # Licensed under The MIT License [see LICENSE for details] 5 | # Written by Ross Girshick 6 | # -------------------------------------------------------- 7 | 8 | import numpy as np 9 | 10 | def py_cpu_nms(dets, thresh): 11 | """Pure Python NMS baseline.""" 12 | x1 = dets[:, 0] 13 | y1 = dets[:, 1] 14 | x2 = dets[:, 2] 15 | y2 = dets[:, 3] 16 | scores = dets[:, 4] 17 | 18 | areas = (x2 - x1 + 1) * (y2 - y1 + 1) 19 | order = scores.argsort()[::-1] 20 | 21 | keep = [] 22 | while order.size > 0: 23 | i = order[0] 24 | keep.append(i) 25 | xx1 = np.maximum(x1[i], x1[order[1:]]) 26 | yy1 = np.maximum(y1[i], y1[order[1:]]) 27 | xx2 = np.minimum(x2[i], x2[order[1:]]) 28 | yy2 = np.minimum(y2[i], y2[order[1:]]) 29 | 30 | w = np.maximum(0.0, xx2 - xx1 + 1) 31 | h = np.maximum(0.0, yy2 - yy1 + 1) 32 | inter = w * h 33 | ovr = inter / (areas[i] + areas[order[1:]] - inter) 34 | 35 | inds = np.where(ovr <= thresh)[0] 36 | order = order[inds + 1] 37 | 38 | return keep 39 | --------------------------------------------------------------------------------