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400 lines
17 KiB
Python
400 lines
17 KiB
Python
# This file is a part of OpenCV project.
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# It is a subject to the license terms in the LICENSE file found in the top-level directory
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# of this distribution and at http://opencv.org/license.html.
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#
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# Copyright (C) 2018, Intel Corporation, all rights reserved.
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# Third party copyrights are property of their respective owners.
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#
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# Use this script to get the text graph representation (.pbtxt) of SSD-based
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# deep learning network trained in TensorFlow Object Detection API.
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# Then you can import it with a binary frozen graph (.pb) using readNetFromTensorflow() function.
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# See details and examples on the following wiki page: https://github.com/opencv/opencv/wiki/TensorFlow-Object-Detection-API
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import argparse
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import re
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from math import sqrt
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from tf_text_graph_common import *
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class SSDAnchorGenerator:
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def __init__(self, min_scale, max_scale, num_layers, aspect_ratios,
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reduce_boxes_in_lowest_layer, image_width, image_height):
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self.min_scale = min_scale
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self.aspect_ratios = aspect_ratios
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self.reduce_boxes_in_lowest_layer = reduce_boxes_in_lowest_layer
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self.image_width = image_width
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self.image_height = image_height
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self.scales = [min_scale + (max_scale - min_scale) * i / (num_layers - 1)
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for i in range(num_layers)] + [1.0]
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def get(self, layer_id):
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if layer_id == 0 and self.reduce_boxes_in_lowest_layer:
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widths = [0.1, self.min_scale * sqrt(2.0), self.min_scale * sqrt(0.5)]
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heights = [0.1, self.min_scale / sqrt(2.0), self.min_scale / sqrt(0.5)]
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else:
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widths = [self.scales[layer_id] * sqrt(ar) for ar in self.aspect_ratios]
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heights = [self.scales[layer_id] / sqrt(ar) for ar in self.aspect_ratios]
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widths += [sqrt(self.scales[layer_id] * self.scales[layer_id + 1])]
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heights += [sqrt(self.scales[layer_id] * self.scales[layer_id + 1])]
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min_size = min(self.image_width, self.image_height)
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widths = [w * min_size for w in widths]
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heights = [h * min_size for h in heights]
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return widths, heights
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class MultiscaleAnchorGenerator:
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def __init__(self, min_level, aspect_ratios, scales_per_octave, anchor_scale):
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self.min_level = min_level
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self.aspect_ratios = aspect_ratios
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self.anchor_scale = anchor_scale
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self.scales = [2**(float(s) / scales_per_octave) for s in range(scales_per_octave)]
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def get(self, layer_id):
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widths = []
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heights = []
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for a in self.aspect_ratios:
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for s in self.scales:
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base_anchor_size = 2**(self.min_level + layer_id) * self.anchor_scale
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ar = sqrt(a)
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heights.append(base_anchor_size * s / ar)
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widths.append(base_anchor_size * s * ar)
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return widths, heights
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def createSSDGraph(modelPath, configPath, outputPath):
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# Nodes that should be kept.
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keepOps = ['Conv2D', 'BiasAdd', 'Add', 'AddV2', 'Relu', 'Relu6', 'Placeholder', 'FusedBatchNorm',
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'DepthwiseConv2dNative', 'ConcatV2', 'Mul', 'MaxPool', 'AvgPool', 'Identity',
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'Sub', 'ResizeNearestNeighbor', 'Pad', 'FusedBatchNormV3']
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# Node with which prefixes should be removed
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prefixesToRemove = ('MultipleGridAnchorGenerator/', 'Concatenate/', 'Postprocessor/', 'Preprocessor/map')
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# Load a config file.
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config = readTextMessage(configPath)
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config = config['model'][0]['ssd'][0]
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num_classes = int(config['num_classes'][0])
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fixed_shape_resizer = config['image_resizer'][0]['fixed_shape_resizer'][0]
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image_width = int(fixed_shape_resizer['width'][0])
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image_height = int(fixed_shape_resizer['height'][0])
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box_predictor = 'convolutional' if 'convolutional_box_predictor' in config['box_predictor'][0] else 'weight_shared_convolutional'
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anchor_generator = config['anchor_generator'][0]
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if 'ssd_anchor_generator' in anchor_generator:
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ssd_anchor_generator = anchor_generator['ssd_anchor_generator'][0]
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min_scale = float(ssd_anchor_generator['min_scale'][0])
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max_scale = float(ssd_anchor_generator['max_scale'][0])
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num_layers = int(ssd_anchor_generator['num_layers'][0])
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aspect_ratios = [float(ar) for ar in ssd_anchor_generator['aspect_ratios']]
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reduce_boxes_in_lowest_layer = True
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if 'reduce_boxes_in_lowest_layer' in ssd_anchor_generator:
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reduce_boxes_in_lowest_layer = ssd_anchor_generator['reduce_boxes_in_lowest_layer'][0] == 'true'
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priors_generator = SSDAnchorGenerator(min_scale, max_scale, num_layers,
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aspect_ratios, reduce_boxes_in_lowest_layer,
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image_width, image_height)
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print('Scale: [%f-%f]' % (min_scale, max_scale))
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print('Aspect ratios: %s' % str(aspect_ratios))
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print('Reduce boxes in the lowest layer: %s' % str(reduce_boxes_in_lowest_layer))
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elif 'multiscale_anchor_generator' in anchor_generator:
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multiscale_anchor_generator = anchor_generator['multiscale_anchor_generator'][0]
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min_level = int(multiscale_anchor_generator['min_level'][0])
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max_level = int(multiscale_anchor_generator['max_level'][0])
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anchor_scale = float(multiscale_anchor_generator['anchor_scale'][0])
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aspect_ratios = [float(ar) for ar in multiscale_anchor_generator['aspect_ratios']]
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scales_per_octave = int(multiscale_anchor_generator['scales_per_octave'][0])
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num_layers = max_level - min_level + 1
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priors_generator = MultiscaleAnchorGenerator(min_level, aspect_ratios,
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scales_per_octave, anchor_scale)
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print('Levels: [%d-%d]' % (min_level, max_level))
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print('Anchor scale: %f' % anchor_scale)
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print('Scales per octave: %d' % scales_per_octave)
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print('Aspect ratios: %s' % str(aspect_ratios))
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else:
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print('Unknown anchor_generator')
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exit(0)
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print('Number of classes: %d' % num_classes)
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print('Number of layers: %d' % num_layers)
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print('box predictor: %s' % box_predictor)
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print('Input image size: %dx%d' % (image_width, image_height))
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# Read the graph.
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_inpNames = ['image_tensor']
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outNames = ['num_detections', 'detection_scores', 'detection_boxes', 'detection_classes']
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writeTextGraph(modelPath, outputPath, outNames)
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graph_def = parseTextGraph(outputPath)
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def getUnconnectedNodes():
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unconnected = []
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for node in graph_def.node:
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unconnected.append(node.name)
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for inp in node.input:
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if inp in unconnected:
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unconnected.remove(inp)
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return unconnected
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def fuse_nodes(nodesToKeep):
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# Detect unfused batch normalization nodes and fuse them.
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# Add_0 <-- moving_variance, add_y
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# Rsqrt <-- Add_0
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# Mul_0 <-- Rsqrt, gamma
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# Mul_1 <-- input, Mul_0
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# Mul_2 <-- moving_mean, Mul_0
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# Sub_0 <-- beta, Mul_2
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# Add_1 <-- Mul_1, Sub_0
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nodesMap = {node.name: node for node in graph_def.node}
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subgraphBatchNorm = ['Add',
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['Mul', 'input', ['Mul', ['Rsqrt', ['Add', 'moving_variance', 'add_y']], 'gamma']],
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['Sub', 'beta', ['Mul', 'moving_mean', 'Mul_0']]]
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subgraphBatchNormV2 = ['AddV2',
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['Mul', 'input', ['Mul', ['Rsqrt', ['AddV2', 'moving_variance', 'add_y']], 'gamma']],
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['Sub', 'beta', ['Mul', 'moving_mean', 'Mul_0']]]
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# Detect unfused nearest neighbor resize.
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subgraphResizeNN = ['Reshape',
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['Mul', ['Reshape', 'input', ['Pack', 'shape_1', 'shape_2', 'shape_3', 'shape_4', 'shape_5']],
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'ones'],
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['Pack', ['StridedSlice', ['Shape', 'input'], 'stack', 'stack_1', 'stack_2'],
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'out_height', 'out_width', 'out_channels']]
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def checkSubgraph(node, targetNode, inputs, fusedNodes):
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op = targetNode[0]
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if node.op == op and (len(node.input) >= len(targetNode) - 1):
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fusedNodes.append(node)
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for i, inpOp in enumerate(targetNode[1:]):
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if isinstance(inpOp, list):
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if not node.input[i] in nodesMap or \
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not checkSubgraph(nodesMap[node.input[i]], inpOp, inputs, fusedNodes):
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return False
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else:
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inputs[inpOp] = node.input[i]
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return True
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else:
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return False
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nodesToRemove = []
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for node in graph_def.node:
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inputs = {}
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fusedNodes = []
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if checkSubgraph(node, subgraphBatchNorm, inputs, fusedNodes) or \
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checkSubgraph(node, subgraphBatchNormV2, inputs, fusedNodes):
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name = node.name
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node.Clear()
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node.name = name
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node.op = 'FusedBatchNorm'
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node.input.append(inputs['input'])
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node.input.append(inputs['gamma'])
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node.input.append(inputs['beta'])
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node.input.append(inputs['moving_mean'])
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node.input.append(inputs['moving_variance'])
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node.addAttr('epsilon', 0.001)
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nodesToRemove += fusedNodes[1:]
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inputs = {}
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fusedNodes = []
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if checkSubgraph(node, subgraphResizeNN, inputs, fusedNodes):
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name = node.name
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node.Clear()
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node.name = name
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node.op = 'ResizeNearestNeighbor'
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node.input.append(inputs['input'])
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node.input.append(name + '/output_shape')
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out_height_node = nodesMap[inputs['out_height']]
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out_width_node = nodesMap[inputs['out_width']]
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out_height = int(out_height_node.attr['value']['tensor'][0]['int_val'][0])
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out_width = int(out_width_node.attr['value']['tensor'][0]['int_val'][0])
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shapeNode = NodeDef()
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shapeNode.name = name + '/output_shape'
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shapeNode.op = 'Const'
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shapeNode.addAttr('value', [out_height, out_width])
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graph_def.node.insert(graph_def.node.index(node), shapeNode)
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nodesToKeep.append(shapeNode.name)
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nodesToRemove += fusedNodes[1:]
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for node in nodesToRemove:
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graph_def.node.remove(node)
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nodesToKeep = []
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fuse_nodes(nodesToKeep)
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removeIdentity(graph_def)
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def to_remove(name, op):
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return (not name in nodesToKeep) and \
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(op == 'Const' or (not op in keepOps) or name.startswith(prefixesToRemove))
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removeUnusedNodesAndAttrs(to_remove, graph_def)
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# Connect input node to the first layer
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assert(graph_def.node[0].op == 'Placeholder')
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# assert(graph_def.node[1].op == 'Conv2D')
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weights = graph_def.node[1].input[0]
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for i in range(len(graph_def.node[1].input)):
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graph_def.node[1].input.pop()
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graph_def.node[1].input.append(graph_def.node[0].name)
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graph_def.node[1].input.append(weights)
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# Create SSD postprocessing head ###############################################
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# Concatenate predictions of classes, predictions of bounding boxes and proposals.
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def addConcatNode(name, inputs, axisNodeName):
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concat = NodeDef()
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concat.name = name
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concat.op = 'ConcatV2'
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for inp in inputs:
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concat.input.append(inp)
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concat.input.append(axisNodeName)
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graph_def.node.extend([concat])
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addConstNode('concat/axis_flatten', [-1], graph_def)
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addConstNode('PriorBox/concat/axis', [-2], graph_def)
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for label in ['ClassPredictor', 'BoxEncodingPredictor' if box_predictor is 'convolutional' else 'BoxPredictor']:
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concatInputs = []
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for i in range(num_layers):
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# Flatten predictions
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flatten = NodeDef()
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if box_predictor is 'convolutional':
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inpName = 'BoxPredictor_%d/%s/BiasAdd' % (i, label)
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else:
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if i == 0:
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inpName = 'WeightSharedConvolutionalBoxPredictor/%s/BiasAdd' % label
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else:
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inpName = 'WeightSharedConvolutionalBoxPredictor_%d/%s/BiasAdd' % (i, label)
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flatten.input.append(inpName)
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flatten.name = inpName + '/Flatten'
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flatten.op = 'Flatten'
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concatInputs.append(flatten.name)
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graph_def.node.extend([flatten])
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addConcatNode('%s/concat' % label, concatInputs, 'concat/axis_flatten')
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num_matched_layers = 0
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for node in graph_def.node:
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if re.match('BoxPredictor_\d/BoxEncodingPredictor/convolution', node.name) or \
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re.match('BoxPredictor_\d/BoxEncodingPredictor/Conv2D', node.name) or \
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re.match('WeightSharedConvolutionalBoxPredictor(_\d)*/BoxPredictor/Conv2D', node.name):
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node.addAttr('loc_pred_transposed', True)
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num_matched_layers += 1
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assert(num_matched_layers == num_layers)
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# Add layers that generate anchors (bounding boxes proposals).
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priorBoxes = []
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boxCoder = config['box_coder'][0]
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fasterRcnnBoxCoder = boxCoder['faster_rcnn_box_coder'][0]
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boxCoderVariance = [1.0/float(fasterRcnnBoxCoder['x_scale'][0]), 1.0/float(fasterRcnnBoxCoder['y_scale'][0]), 1.0/float(fasterRcnnBoxCoder['width_scale'][0]), 1.0/float(fasterRcnnBoxCoder['height_scale'][0])]
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for i in range(num_layers):
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priorBox = NodeDef()
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priorBox.name = 'PriorBox_%d' % i
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priorBox.op = 'PriorBox'
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if box_predictor is 'convolutional':
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priorBox.input.append('BoxPredictor_%d/BoxEncodingPredictor/BiasAdd' % i)
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else:
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if i == 0:
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priorBox.input.append('WeightSharedConvolutionalBoxPredictor/BoxPredictor/Conv2D')
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else:
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priorBox.input.append('WeightSharedConvolutionalBoxPredictor_%d/BoxPredictor/BiasAdd' % i)
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priorBox.input.append(graph_def.node[0].name) # image_tensor
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priorBox.addAttr('flip', False)
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priorBox.addAttr('clip', False)
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widths, heights = priors_generator.get(i)
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priorBox.addAttr('width', widths)
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priorBox.addAttr('height', heights)
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priorBox.addAttr('variance', boxCoderVariance)
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graph_def.node.extend([priorBox])
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priorBoxes.append(priorBox.name)
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# Compare this layer's output with Postprocessor/Reshape
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addConcatNode('PriorBox/concat', priorBoxes, 'concat/axis_flatten')
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# Sigmoid for classes predictions and DetectionOutput layer
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addReshape('ClassPredictor/concat', 'ClassPredictor/concat3d', [0, -1, num_classes + 1], graph_def)
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sigmoid = NodeDef()
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sigmoid.name = 'ClassPredictor/concat/sigmoid'
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sigmoid.op = 'Sigmoid'
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sigmoid.input.append('ClassPredictor/concat3d')
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graph_def.node.extend([sigmoid])
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addFlatten(sigmoid.name, sigmoid.name + '/Flatten', graph_def)
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detectionOut = NodeDef()
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detectionOut.name = 'detection_out'
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detectionOut.op = 'DetectionOutput'
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if box_predictor == 'convolutional':
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detectionOut.input.append('BoxEncodingPredictor/concat')
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else:
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detectionOut.input.append('BoxPredictor/concat')
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detectionOut.input.append(sigmoid.name + '/Flatten')
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detectionOut.input.append('PriorBox/concat')
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detectionOut.addAttr('num_classes', num_classes + 1)
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detectionOut.addAttr('share_location', True)
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detectionOut.addAttr('background_label_id', 0)
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postProcessing = config['post_processing'][0]
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batchNMS = postProcessing['batch_non_max_suppression'][0]
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if 'iou_threshold' in batchNMS:
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detectionOut.addAttr('nms_threshold', float(batchNMS['iou_threshold'][0]))
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else:
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detectionOut.addAttr('nms_threshold', 0.6)
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if 'score_threshold' in batchNMS:
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detectionOut.addAttr('confidence_threshold', float(batchNMS['score_threshold'][0]))
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else:
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detectionOut.addAttr('confidence_threshold', 0.01)
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if 'max_detections_per_class' in batchNMS:
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detectionOut.addAttr('top_k', int(batchNMS['max_detections_per_class'][0]))
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else:
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detectionOut.addAttr('top_k', 100)
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if 'max_total_detections' in batchNMS:
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detectionOut.addAttr('keep_top_k', int(batchNMS['max_total_detections'][0]))
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else:
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detectionOut.addAttr('keep_top_k', 100)
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detectionOut.addAttr('code_type', "CENTER_SIZE")
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graph_def.node.extend([detectionOut])
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while True:
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unconnectedNodes = getUnconnectedNodes()
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unconnectedNodes.remove(detectionOut.name)
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if not unconnectedNodes:
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break
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for name in unconnectedNodes:
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for i in range(len(graph_def.node)):
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if graph_def.node[i].name == name:
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del graph_def.node[i]
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break
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# Save as text.
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graph_def.save(outputPath)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Run this script to get a text graph of '
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'SSD model from TensorFlow Object Detection API. '
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'Then pass it with .pb file to cv::dnn::readNetFromTensorflow function.')
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parser.add_argument('--input', required=True, help='Path to frozen TensorFlow graph.')
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parser.add_argument('--output', required=True, help='Path to output text graph.')
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parser.add_argument('--config', required=True, help='Path to a *.config file is used for training.')
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args = parser.parse_args()
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createSSDGraph(args.input, args.config, args.output)
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