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Davis King 2017-08-27 08:29:36 -04:00
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commit 54de7a8546
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112
examples/dnn_mmod_train_find_cars_ex.cpp
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@ -9,15 +9,15 @@
with a CNN and train the entire detector end-to-end. This allows us to make
much more powerful detectors.
It would be a good idea to become familiar with dlib's DNN tooling before
reading this example. So you should read dnn_introduction_ex.cpp and
dnn_introduction2_ex.cpp before reading this example program. You should also read the
DNN+MMOD example as well: dnn_mmod_ex.cpp
It would be a good idea to become familiar with dlib's DNN tooling before reading this
example. So you should read dnn_introduction_ex.cpp and dnn_introduction2_ex.cpp
before reading this example program. You should also read the introductory DNN+MMOD
example as well before proceeding. So read dnn_mmod_ex.cpp first.
This example is essentially a more complex version of dnn_mmod_ex.cpp. In it we train
a detector that finds the rear ends of motor vehicles. I will also discuss some
aspects of data preparation useful when training this kind of detector.
aspects of data preparation useful when training this kind of detector.
*/
@ -33,7 +33,6 @@ using namespace dlib;
// the dnn vehicle detector network
template <long num_filters, typename SUBNET> using con5d = con<num_filters,5,5,2,2,SUBNET>;
template <long num_filters, typename SUBNET> using con5 = con<num_filters,5,5,1,1,SUBNET>;
template <typename SUBNET> using downsampler = relu<bn_con<con5d<32, relu<bn_con<con5d<32, relu<bn_con<con5d<16,SUBNET>>>>>>>>>;
@ -47,6 +46,12 @@ int ignore_overlapped_boxes(
std::vector<mmod_rect>& boxes,
const test_box_overlap& overlaps
)
/*!
ensures
- Whenever two rectangles in boxes overlap, according to overlaps(), we set the
smallest box to ignore.
- returns the number of newly ignored boxes.
!*/
{
int num_ignored = 0;
for (size_t i = 0; i < boxes.size(); ++i)
@ -87,6 +92,8 @@ int main(int argc, char** argv) try
cout << "by typing: " << endl;
cout << " ./dnn_mmod_train_find_cars_ex dlib_rear_end_vehicles" << endl;
cout << endl;
cout << "It takes about a day to finish if run on a high end GPU like a 1080ti." << endl;
cout << endl;
return 0;
}
const std::string data_directory = argv[1];
@ -97,6 +104,61 @@ int main(int argc, char** argv) try
load_image_dataset(images_train, boxes_train, data_directory+"/training.xml");
load_image_dataset(images_test, boxes_test, data_directory+"/testing.xml");
// When I was creating the dlib vehicle detection dataset I had to label all the cars
// in each image. MMOD requires all cars to be labeled, since any unlabeled part of an
// image is implicitly assumed to be not a car, and the algorithm will use it as
// negative training data. So every car must be labeled, either with a normal
// rectangle or an "ignore" rectangle that tells MMOD to simply ignore it (i.e. neither
// treat it as a thing to detect nor as negative training data).
//
// In our present case, many images contain very tiny cars in the distance, ones that
// are essentially just dark smudges. It's not reasonable to expect the CNN
// architecture we defined to detect such vehicles. However, I erred on the side of
// having more complete annotations when creating the dataset. So when I labeled these
// images I labeled many of these really difficult cases as vehicles to detect.
//
// So the first thing we are going to do is clean up our dataset a little bit. In
// particular, we are going to mark boxes smaller than 35*35 pixels as ignore since
// only really small and blurry cars appear at those sizes. We will also mark boxes
// that are heavily overlapped by another box as ignore. We do this because we want to
// allow for stronger non-maximum suppression logic in the learned detector, since that
// will help make it easier to learn a good detector.
//
// To explain this non-max suppression idea further it's important to understand how
// the detector works. Essentially, sliding window detectors scan all image locations
// and ask "is there a care here?". If there really is a car in an image then usually
// many sliding window locations will produce high detection scores, indicating that
// there is a car at those locations. If we just stopped there then each car would
// produce multiple detections. But that isn't what we want. We want each car to
// produce just one detection. So it's common for detectors to include "non-maximum
// suppression" logic which simply takes the strongest detection and then deletes all
// detections "close to" the strongest. This is a simple post-processing step that can
// eliminate duplicate detections. However, we have to define what "close to" means.
// We can do this by looking at your training data and checking how close the closest
// target boxes are to each other, and then picking a "close to" measure that doesn't
// suppress those target boxes but is otherwise as tight as possible. This is exactly
// what the mmod_options object does by default.
//
// Importantly, this means that if your training dataset contains an image with two
// target boxes that really overlap a whole lot, then the non-maximum suppression
// "close to" measure will be configured to allow detections to really overlap a whole
// lot. On the other hand, if your dataset didn't contain any overlapped boxes at all,
// then the non-max suppression logic would be configured to filter out any boxes that
// overlapped at all, and thus would be performing a much stronger non-max suppression.
//
// Why does this matter? Well, remember that we want to avoid duplicate detections.
// If non-max suppression just kills everything in a really wide area around a car then
// the CNN doesn't really need to learn anything about avoiding duplicate detections.
// However, if non-max suppression only suppresses a tiny area around each detection
// then the CNN will need to learn to output small detection scores for those areas of
// the image not suppressed. The smaller the non-max suppression region the more the
// CNN has to learn and the more difficult the learning problem will become. This is
// why we remove highly overlapped objects from the training dataset. That is, we do
// it so that the non-max suppression logic will be able to be reasonably effective.
// Here we are ensuring that any boxes that are entirely contained by another are
// suppressed. We also ensure that boxes with an intersection over union of 0.5 or
// greater are suppressed. This will improve the resulting detector since it will be
// able to use more aggressive non-max suppression settings.
int num_overlapped_ignored_test = 0;
for (auto& v : boxes_test)
@ -136,9 +198,18 @@ int main(int argc, char** argv) try
// errors and inconsistencies can often greatly improve models trained from
// such data. It's almost always worth the time to try and improve your
// training dataset.
//
// In any case, my point is that there are other types of dataset cleaning you
// could put here. What exactly you need depends on your application. But you
// should carefully consider it and not take your dataset as a given. The work
// of creating a good detector is largely about creating a high quality
// training dataset.
}
}
// When modifying a dataset like this, it's a really good idea to print out a log of
// how many boxes you ignored. It's easy to accidentally ignore a huge block of data,
// so you should always look and see that things are doing what you expect.
cout << "num_overlapped_ignored: "<< num_overlapped_ignored << endl;
cout << "num_additional_ignored: "<< num_additional_ignored << endl;
cout << "num_overlapped_ignored_test: "<< num_overlapped_ignored_test << endl;
@ -153,9 +224,10 @@ int main(int argc, char** argv) try
// sedans). Here we are telling the MMOD algorithm that a vehicle is recognizable as
// long as the longest box side is at least 70 pixels long and the shortest box side is
// at least 30 pixels long. It will use these parameters to decide how large each of
// the sliding windows need to be so as to be able to detect all the vehicles. Since
// our dataset has basically only these 3 different aspect ratios, it will decide to
// use 3 different sliding windows at the end of the network.
// the sliding windows needs to be so as to be able to detect all the vehicles. Since
// our dataset has basically these 3 different aspect ratios, it will decide to use 3
// different sliding windows. This means the final con layer in the network will have
// 3 filters, one for each of these aspect ratios.
mmod_options options(boxes_train, 70, 30);
// This setting is very important and dataset specific. The vehicle detection dataset
@ -169,7 +241,7 @@ int main(int argc, char** argv) try
// But first, we need to understand exactly what this option does. The MMOD loss
// is essentially counting the number of false alarms + missed detections, produced by
// the detector, for each image. During training, the code is running the detector on
// each image in a mini-batch and looking at it's output and counting the number of
// each image in a mini-batch and looking at its output and counting the number of
// mistakes. The optimizer tries to find parameters settings that minimize the number
// of detector mistakes.
//
@ -193,14 +265,27 @@ int main(int argc, char** argv) try
net_type net(options);
// The final layer of the network must be a con_ layer that contains
// options.detector_windows.size() filters. This is because these final filters are
// what perform the final "sliding window" detection in the network.
// what perform the final "sliding window" detection in the network. For the dlib
// vehicle dataset, there will be 3 sliding window detectors, so we will be setting
// num_filters to 3 here.
net.subnet().layer_details().set_num_filters(options.detector_windows.size());
dnn_trainer<net_type> trainer(net,sgd(0.0001,0.9));
trainer.set_learning_rate(0.1);
trainer.be_verbose();
trainer.set_iterations_without_progress_threshold(50000);
// While training, we are going to use early stopping. That is, we will be checking
// how good the detector is performing on our test data and when it stops getting
// better on the test data we will drop the learning rate. We will keep doing that
// until the learning rate is less than 1e-4. These two settings tell the training to
// do that. Essentially, we are setting the first argument to infinity, and only the
// test iterations without progress threshold will matter. In particular, it says that
// once we observe 1000 testing mini-batches where the test loss clearly isn't
// decreasing we will lower the learning rate.
trainer.set_iterations_without_progress_threshold(1000000);
trainer.set_test_iterations_without_progress_threshold(1000);
const string sync_filename = "mmod_cars_sync";
trainer.set_synchronization_file(sync_filename, std::chrono::minutes(5));
@ -215,12 +300,15 @@ int main(int argc, char** argv) try
cropper.set_min_object_size(0.20);
cropper.set_max_rotation_degrees(2);
dlib::rand rnd;
// Log the training parameters to the console
cout << trainer << cropper << endl;
int cnt = 1;
// Run the trainer until the learning rate gets small.
while(trainer.get_learning_rate() >= 1e-4)
{
// Every 30 mini-batches we do a testing mini-batch.
if (cnt%30 != 0 || images_test.size() == 0)
{
cropper(87, images_train, boxes_train, mini_batch_samples, mini_batch_labels);