yolov5-DySnakeConv.py

import torch
import torch.nn as nn

class DySnakeConv(nn.Module):
    def __init__(self, inc, ouc, k=3, act=True) -> None:
        super().__init__()
        
        self.conv_0 = Conv(inc, ouc, k, act=act)
        self.conv_x = DSConv(inc, ouc, 0, k)
        self.conv_y = DSConv(inc, ouc, 1, k)
        self.conv_1x1 = Conv(ouc * 3, ouc, 1, act=act)
    
    def forward(self, x):
        return self.conv_1x1(torch.cat([self.conv_0(x), self.conv_x(x), self.conv_y(x)], dim=1))

class DSConv(nn.Module):
    def __init__(self, in_ch, out_ch, morph, kernel_size=3, if_offset=True, extend_scope=1):
        """
        The Dynamic Snake Convolution
        :param in_ch: input channel
        :param out_ch: output channel
        :param kernel_size: the size of kernel
        :param extend_scope: the range to expand (default 1 for this method)
        :param morph: the morphology of the convolution kernel is mainly divided into two types
                        along the x-axis (0) and the y-axis (1) (see the paper for details)
        :param if_offset: whether deformation is required, if it is False, it is the standard convolution kernel
        """
        super(DSConv, self).__init__()
        # use the <offset_conv> to learn the deformable offset
        self.offset_conv = nn.Conv2d(in_ch, 2 * kernel_size, 3, padding=1)
        self.bn = nn.BatchNorm2d(2 * kernel_size)
        self.kernel_size = kernel_size

        # two types of the DSConv (along x-axis and y-axis)
        self.dsc_conv_x = nn.Conv2d(
            in_ch,
            out_ch,
            kernel_size=(kernel_size, 1),
            stride=(kernel_size, 1),
            padding=0,
        )
        self.dsc_conv_y = nn.Conv2d(
            in_ch,
            out_ch,
            kernel_size=(1, kernel_size),
            stride=(1, kernel_size),
            padding=0,
        )

        self.gn = nn.GroupNorm(out_ch // 4, out_ch)
        self.act = Conv.default_act

        self.extend_scope = extend_scope
        self.morph = morph
        self.if_offset = if_offset

    def forward(self, f):
        offset = self.offset_conv(f)
        offset = self.bn(offset)
        # We need a range of deformation between -1 and 1 to mimic the snake's swing
        offset = torch.tanh(offset)
        input_shape = f.shape
        dsc = DSC(input_shape, self.kernel_size, self.extend_scope, self.morph)
        deformed_feature = dsc.deform_conv(f, offset, self.if_offset)
        if self.morph == 0:
            x = self.dsc_conv_x(deformed_feature.type(f.dtype))
            x = self.gn(x)
            x = self.act(x)
            return x
        else:
            x = self.dsc_conv_y(deformed_feature.type(f.dtype))
            x = self.gn(x)
            x = self.act(x)
            return x


# Core code, for ease of understanding, we mark the dimensions of input and output next to the code
class DSC(object):
    def __init__(self, input_shape, kernel_size, extend_scope, morph):
        self.num_points = kernel_size
        self.width = input_shape[2]
        self.height = input_shape[3]
        self.morph = morph
        self.extend_scope = extend_scope  # offset (-1 ~ 1) * extend_scope

        # define feature map shape
        """
        B: Batch size  C: Channel  W: Width  H: Height
        """
        self.num_batch = input_shape[0]
        self.num_channels = input_shape[1]

    """
    input: offset [B,2*K,W,H]  K: Kernel size (2*K: 2D image, deformation contains <x_offset> and <y_offset>)
    output_x: [B,1,W,K*H]   coordinate map
    output_y: [B,1,K*W,H]   coordinate map
    """

    def _coordinate_map_3D(self, offset, if_offset):
        device = offset.device
        # offset
        y_offset, x_offset = torch.split(offset, self.num_points, dim=1)

        y_center = torch.arange(0, self.width).repeat([self.height])
        y_center = y_center.reshape(self.height, self.width)
        y_center = y_center.permute(1, 0)
        y_center = y_center.reshape([-1, self.width, self.height])
        y_center = y_center.repeat([self.num_points, 1, 1]).float()
        y_center = y_center.unsqueeze(0)

        x_center = torch.arange(0, self.height).repeat([self.width])
        x_center = x_center.reshape(self.width, self.height)
        x_center = x_center.permute(0, 1)
        x_center = x_center.reshape([-1, self.width, self.height])
        x_center = x_center.repeat([self.num_points, 1, 1]).float()
        x_center = x_center.unsqueeze(0)

        if self.morph == 0:
            """
            Initialize the kernel and flatten the kernel
                y: only need 0
                x: -num_points//2 ~ num_points//2 (Determined by the kernel size)
                !!! The related PPT will be submitted later, and the PPT will contain the whole changes of each step
            """
            y = torch.linspace(0, 0, 1)
            x = torch.linspace(
                -int(self.num_points // 2),
                int(self.num_points // 2),
                int(self.num_points),
            )

            y, x = torch.meshgrid(y, x)
            y_spread = y.reshape(-1, 1)
            x_spread = x.reshape(-1, 1)

            y_grid = y_spread.repeat([1, self.width * self.height])
            y_grid = y_grid.reshape([self.num_points, self.width, self.height])
            y_grid = y_grid.unsqueeze(0)  # [B*K*K, W,H]

            x_grid = x_spread.repeat([1, self.width * self.height])
            x_grid = x_grid.reshape([self.num_points, self.width, self.height])
            x_grid = x_grid.unsqueeze(0)  # [B*K*K, W,H]

            y_new = y_center + y_grid
            x_new = x_center + x_grid

            y_new = y_new.repeat(self.num_batch, 1, 1, 1).to(device)
            x_new = x_new.repeat(self.num_batch, 1, 1, 1).to(device)

            y_offset_new = y_offset.detach().clone()

            if if_offset:
                y_offset = y_offset.permute(1, 0, 2, 3)
                y_offset_new = y_offset_new.permute(1, 0, 2, 3)
                center = int(self.num_points // 2)

                # The center position remains unchanged and the rest of the positions begin to swing
                # This part is quite simple. The main idea is that "offset is an iterative process"
                y_offset_new[center] = 0
                for index in range(1, center):
                    y_offset_new[center + index] = (y_offset_new[center + index - 1] + y_offset[center + index])
                    y_offset_new[center - index] = (y_offset_new[center - index + 1] + y_offset[center - index])
                y_offset_new = y_offset_new.permute(1, 0, 2, 3).to(device)
                y_new = y_new.add(y_offset_new.mul(self.extend_scope))

            y_new = y_new.reshape(
                [self.num_batch, self.num_points, 1, self.width, self.height])
            y_new = y_new.permute(0, 3, 1, 4, 2)
            y_new = y_new.reshape([
                self.num_batch, self.num_points * self.width, 1 * self.height
            ])
            x_new = x_new.reshape(
                [self.num_batch, self.num_points, 1, self.width, self.height])
            x_new = x_new.permute(0, 3, 1, 4, 2)
            x_new = x_new.reshape([
                self.num_batch, self.num_points * self.width, 1 * self.height
            ])
            return y_new, x_new

        else:
            """
            Initialize the kernel and flatten the kernel
                y: -num_points//2 ~ num_points//2 (Determined by the kernel size)
                x: only need 0
            """
            y = torch.linspace(
                -int(self.num_points // 2),
                int(self.num_points // 2),
                int(self.num_points),
            )
            x = torch.linspace(0, 0, 1)

            y, x = torch.meshgrid(y, x)
            y_spread = y.reshape(-1, 1)
            x_spread = x.reshape(-1, 1)

            y_grid = y_spread.repeat([1, self.width * self.height])
            y_grid = y_grid.reshape([self.num_points, self.width, self.height])
            y_grid = y_grid.unsqueeze(0)

            x_grid = x_spread.repeat([1, self.width * self.height])
            x_grid = x_grid.reshape([self.num_points, self.width, self.height])
            x_grid = x_grid.unsqueeze(0)

            y_new = y_center + y_grid
            x_new = x_center + x_grid

            y_new = y_new.repeat(self.num_batch, 1, 1, 1)
            x_new = x_new.repeat(self.num_batch, 1, 1, 1)

            y_new = y_new.to(device)
            x_new = x_new.to(device)
            x_offset_new = x_offset.detach().clone()

            if if_offset:
                x_offset = x_offset.permute(1, 0, 2, 3)
                x_offset_new = x_offset_new.permute(1, 0, 2, 3)
                center = int(self.num_points // 2)
                x_offset_new[center] = 0
                for index in range(1, center):
                    x_offset_new[center + index] = (x_offset_new[center + index - 1] + x_offset[center + index])
                    x_offset_new[center - index] = (x_offset_new[center - index + 1] + x_offset[center - index])
                x_offset_new = x_offset_new.permute(1, 0, 2, 3).to(device)
                x_new = x_new.add(x_offset_new.mul(self.extend_scope))

            y_new = y_new.reshape(
                [self.num_batch, 1, self.num_points, self.width, self.height])
            y_new = y_new.permute(0, 3, 1, 4, 2)
            y_new = y_new.reshape([
                self.num_batch, 1 * self.width, self.num_points * self.height
            ])
            x_new = x_new.reshape(
                [self.num_batch, 1, self.num_points, self.width, self.height])
            x_new = x_new.permute(0, 3, 1, 4, 2)
            x_new = x_new.reshape([
                self.num_batch, 1 * self.width, self.num_points * self.height
            ])
            return y_new, x_new

    """
    input: input feature map [N,C,D,W,H]；coordinate map [N,K*D,K*W,K*H] 
    output: [N,1,K*D,K*W,K*H]  deformed feature map
    """
    def _bilinear_interpolate_3D(self, input_feature, y, x):
        device = input_feature.device
        y = y.reshape([-1]).float()
        x = x.reshape([-1]).float()

        zero = torch.zeros([]).int()
        max_y = self.width - 1
        max_x = self.height - 1

        # find 8 grid locations
        y0 = torch.floor(y).int()
        y1 = y0 + 1
        x0 = torch.floor(x).int()
        x1 = x0 + 1

        # clip out coordinates exceeding feature map volume
        y0 = torch.clamp(y0, zero, max_y)
        y1 = torch.clamp(y1, zero, max_y)
        x0 = torch.clamp(x0, zero, max_x)
        x1 = torch.clamp(x1, zero, max_x)

        input_feature_flat = input_feature.flatten()
        input_feature_flat = input_feature_flat.reshape(
            self.num_batch, self.num_channels, self.width, self.height)
        input_feature_flat = input_feature_flat.permute(0, 2, 3, 1)
        input_feature_flat = input_feature_flat.reshape(-1, self.num_channels)
        dimension = self.height * self.width

        base = torch.arange(self.num_batch) * dimension
        base = base.reshape([-1, 1]).float()

        repeat = torch.ones([self.num_points * self.width * self.height
                             ]).unsqueeze(0)
        repeat = repeat.float()

        base = torch.matmul(base, repeat)
        base = base.reshape([-1])

        base = base.to(device)

        base_y0 = base + y0 * self.height
        base_y1 = base + y1 * self.height

        # top rectangle of the neighbourhood volume
        index_a0 = base_y0 - base + x0
        index_c0 = base_y0 - base + x1

        # bottom rectangle of the neighbourhood volume
        index_a1 = base_y1 - base + x0
        index_c1 = base_y1 - base + x1

        # get 8 grid values
        value_a0 = input_feature_flat[index_a0.type(torch.int64)].to(device)
        value_c0 = input_feature_flat[index_c0.type(torch.int64)].to(device)
        value_a1 = input_feature_flat[index_a1.type(torch.int64)].to(device)
        value_c1 = input_feature_flat[index_c1.type(torch.int64)].to(device)

        # find 8 grid locations
        y0 = torch.floor(y).int()
        y1 = y0 + 1
        x0 = torch.floor(x).int()
        x1 = x0 + 1

        # clip out coordinates exceeding feature map volume
        y0 = torch.clamp(y0, zero, max_y + 1)
        y1 = torch.clamp(y1, zero, max_y + 1)
        x0 = torch.clamp(x0, zero, max_x + 1)
        x1 = torch.clamp(x1, zero, max_x + 1)

        x0_float = x0.float()
        x1_float = x1.float()
        y0_float = y0.float()
        y1_float = y1.float()

        vol_a0 = ((y1_float - y) * (x1_float - x)).unsqueeze(-1).to(device)
        vol_c0 = ((y1_float - y) * (x - x0_float)).unsqueeze(-1).to(device)
        vol_a1 = ((y - y0_float) * (x1_float - x)).unsqueeze(-1).to(device)
        vol_c1 = ((y - y0_float) * (x - x0_float)).unsqueeze(-1).to(device)

        outputs = (value_a0 * vol_a0 + value_c0 * vol_c0 + value_a1 * vol_a1 +
                   value_c1 * vol_c1)

        if self.morph == 0:
            outputs = outputs.reshape([
                self.num_batch,
                self.num_points * self.width,
                1 * self.height,
                self.num_channels,
            ])
            outputs = outputs.permute(0, 3, 1, 2)
        else:
            outputs = outputs.reshape([
                self.num_batch,
                1 * self.width,
                self.num_points * self.height,
                self.num_channels,
            ])
            outputs = outputs.permute(0, 3, 1, 2)
        return outputs

    def deform_conv(self, input, offset, if_offset):
        y, x = self._coordinate_map_3D(offset, if_offset)
        deformed_feature = self._bilinear_interpolate_3D(input, y, x)
        return deformed_feature


#### YOLOV5
class Bottleneck_DySnake(nn.Module):
    # Standard bottleneck
    def __init__(self, c1, c2, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, shortcut, groups, expansion
        super().__init__()
        c_ = int(c2 * e)  # hidden channels
        self.cv1 = Conv(c1, c_, 1, 1)
        self.cv2 = DySnakeConv(c_, c2, 3)
        self.add = shortcut and c1 == c2

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

class C3_DySnake(C3):
    # C3 module with DySnakeConv
    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
        super().__init__(c1, c2, n, shortcut, g, e)
        c_ = int(c2 * e)
        self.m = nn.Sequential(*(Bottleneck_DySnake(c_, c_, shortcut, g, e=1.0) for _ in range(n)))