private static void Train(string baseName, string dataset, uint epoch, double learningRate, double minLearningRate, uint miniBatchSize, uint validation, bool useMean)
{
try
{
IList <Matrix <RgbPixel> > trainingImages;
IList <uint> trainingLabels;
IList <Matrix <RgbPixel> > testingImages;
IList <uint> testingLabels;
var mean = useMean ? Path.Combine(dataset, "train.mean.bmp") : null;
Console.WriteLine("Start load train images");
Load("train", dataset, mean, out trainingImages, out trainingLabels);
Console.WriteLine($"Load train images: {trainingImages.Count}");
Console.WriteLine("Start load test images");
Load("test", dataset, mean, out testingImages, out testingLabels);
Console.WriteLine($"Load test images: {testingImages.Count}");
// So with that out of the way, we can make a network instance.
var trainNet = NativeMethods.LossMulticlassLog_age_train_type_create();
var networkId = LossMulticlassLogRegistry.GetId(trainNet);
LossMulticlassLogRegistry.Add(trainNet);
using (var net = new LossMulticlassLog(networkId))
using (var trainer = new DnnTrainer <LossMulticlassLog>(net))
{
trainer.SetLearningRate(learningRate);
trainer.SetMinLearningRate(minLearningRate);
trainer.SetMiniBatchSize(miniBatchSize);
trainer.BeVerbose();
trainer.SetSynchronizationFile(baseName, 180);
// create array box
var trainingImagesCount = trainingImages.Count;
var trainingLabelsCount = trainingLabels.Count;
var maxIteration = (int)Math.Ceiling(trainingImagesCount / (float)miniBatchSize);
var imageBatches = new Matrix <RgbPixel> [maxIteration][];
var labelBatches = new uint[maxIteration][];
for (var i = 0; i < maxIteration; i++)
{
if (miniBatchSize <= trainingImagesCount - i * miniBatchSize)
{
imageBatches[i] = new Matrix <RgbPixel> [miniBatchSize];
labelBatches[i] = new uint[miniBatchSize];
}
else
{
imageBatches[i] = new Matrix <RgbPixel> [trainingImagesCount % miniBatchSize];
labelBatches[i] = new uint[trainingLabelsCount % miniBatchSize];
}
}
using (var fs = new FileStream($"{baseName}.log", FileMode.Create, FileAccess.Write, FileShare.Write))
using (var sw = new StreamWriter(fs, Encoding.UTF8))
for (var e = 0; e < epoch; e++)
{
var randomArray = Enumerable.Range(0, trainingImagesCount).OrderBy(i => Guid.NewGuid()).ToArray();
var index = 0;
for (var i = 0; i < imageBatches.Length; i++)
{
var currentImages = imageBatches[i];
var currentLabels = labelBatches[i];
for (var j = 0; j < imageBatches[i].Length; j++)
{
var rIndex = randomArray[index];
currentImages[j] = trainingImages[rIndex];
currentLabels[j] = trainingLabels[rIndex];
index++;
}
}
for (var i = 0; i < maxIteration; i++)
{
LossMulticlassLog.TrainOneStep(trainer, imageBatches[i], labelBatches[i]);
}
var lr = trainer.GetLearningRate();
var loss = trainer.GetAverageLoss();
var trainLog = $"Epoch: {e}, learning Rate: {lr}, average loss: {loss}";
Console.WriteLine(trainLog);
sw.WriteLine(trainLog);
if (e > 0 && e % validation == 0)
{
Validation(baseName, net, trainingImages, trainingLabels, testingImages, testingLabels, false, false, out var trainAccuracy, out var testAccuracy);
var validationLog = $"Epoch: {e}, train accuracy: {trainAccuracy}, test accuracy: {testAccuracy}";
Console.WriteLine(validationLog);
sw.WriteLine(validationLog);
}
if (lr < minLearningRate)
{
break;
}
}
// wait for training threads to stop
trainer.GetNet();
Console.WriteLine("done training");
net.Clean();
LossMulticlassLog.Serialize(net, $"{baseName}.dat");
// Now let's run the training images through the network. This statement runs all the
// images through it and asks the loss layer to convert the network's raw output into
// labels. In our case, these labels are the numbers between 0 and 9.
Validation(baseName, net, trainingImages, trainingLabels, testingImages, testingLabels, true, true, out _, out _);
}
}
catch (Exception e)
{
Console.WriteLine(e);
}
}
private static int Main(string[] args)
{
try
{
if (args.Length != 1)
{
Console.WriteLine("To run this program you need a copy of the PASCAL VOC2012 dataset.");
Console.WriteLine();
Console.WriteLine("You call this program like this: ");
Console.WriteLine("./dnn_semantic_segmentation_train_ex /path/to/VOC2012");
return(1);
}
Console.WriteLine("\nSCANNING PASCAL VOC2012 DATASET\n");
var listing = PascalVOC2012.GetPascalVoc2012TrainListing(args[0]).ToArray();
Console.WriteLine($"images in dataset: {listing.Length}");
if (listing.Length == 0)
{
Console.WriteLine("Didn't find the VOC2012 dataset.");
return(1);
}
const double initialLearningRate = 0.1;
const double weightDecay = 0.0001;
const double momentum = 0.9;
using (var net = new LossMulticlassLogPerPixel(0))
using (var sgd = new Sgd((float)weightDecay, (float)momentum))
using (var trainer = new DnnTrainer <LossMulticlassLogPerPixel>(net, sgd))
{
trainer.BeVerbose();
trainer.SetLearningRate(initialLearningRate);
trainer.SetSynchronizationFile("pascal_voc2012_trainer_state_file.dat", 10 * 60);
// This threshold is probably excessively large.
trainer.SetIterationsWithoutProgressThreshold(5000);
// Since the progress threshold is so large might as well set the batch normalization
// stats window to something big too.
Dlib.SetAllBnRunningStatsWindowSizes(net, 1000);
// Output training parameters.
Console.WriteLine();
Console.WriteLine(trainer);
var samples = new List <Matrix <RgbPixel> >();
var labels = new List <Matrix <ushort> >();
//// Start a bunch of threads that read images from disk and pull out random crops. It's
//// important to be sure to feed the GPU fast enough to keep it busy. Using multiple
//// thread for this kind of data preparation helps us do that. Each thread puts the
//// crops into the data queue.
using (var data = new Pipe <TrainingSample>(200))
{
var function = new Action <object>(seed =>
{
using (var rnd = new Rand((ulong)seed))
{
while (data.IsEnabled)
{
// Pick a random input image.
var imageInfo = listing[rnd.GetRandom32BitNumber() % listing.Length];
// Load the input image.
using (var inputImage = Dlib.LoadImageAsMatrix <RgbPixel>(imageInfo.ImageFilename))
{
// Load the ground-truth (RGB) labels.
using (var rgbLabelImage = Dlib.LoadImageAsMatrix <RgbPixel>(imageInfo.ClassLabelFilename))
{
// Convert the indexes to RGB values.
using (var indexLabelImage = new Matrix <ushort>())
{
PascalVOC2012.RgbLabelImageToIndexLabelImage(rgbLabelImage, indexLabelImage);
// Randomly pick a part of the image.
var temp = new TrainingSample();
RandomlyCropImage(inputImage, indexLabelImage, temp, rnd);
// Push the result to be used by the trainer.
data.Enqueue(temp);
}
}
}
}
}
});
var threads = Enumerable.Range(1, 1).Select(i =>
{
var dataLoader = new Thread(new ParameterizedThreadStart(function))
{
Name = $"dataLoader{i}"
};
dataLoader.Start((ulong)i);
return(dataLoader);
}).ToArray();
// The main training loop. Keep making mini-batches and giving them to the trainer.
// We will run until the learning rate has dropped by a factor of 1e-4.
while (trainer.GetLearningRate() >= 1e-4)
{
samples.DisposeElement();
labels.DisposeElement();
samples.Clear();
labels.Clear();
// make a 30-image mini-batch
while (samples.Count < 30)
{
data.Dequeue(out var temp);
samples.Add(temp.InputImage);
labels.Add(temp.LabelImage);
temp.Dispose();
}
LossMulticlassLogPerPixel.TrainOneStep(trainer, samples, labels);
}
// Training done, tell threads to stop and make sure to wait for them to finish before
// moving on.
data.Disable();
foreach (var thread in threads)
{
thread.Join();
}
// also wait for threaded processing to stop in the trainer.
trainer.GetNet();
net.Clean();
Console.WriteLine("saving network");
LossMulticlassLogPerPixel.Serialize(net, "semantic_segmentation_voc2012net.dnn");
}
// Make a copy of the network to use it for inference.
using (var anet = net.CloneAs(1))
{
Console.WriteLine("Testing the network...");
// Find the accuracy of the newly trained network on both the training and the validation sets.
Console.WriteLine($"train accuracy : {CalculateAccuracy(anet, PascalVOC2012.GetPascalVoc2012TrainListing(args[0]))}");
Console.WriteLine($"val accuracy : {CalculateAccuracy(anet, PascalVOC2012.GetPascalVoc2012ValListing(args[0]))}");
}
}
}
catch (Exception e)
{
Console.WriteLine(e);
return(1);
}
return(0);
}
private void Train(Parameter parameter)
{
try
{
IList <Matrix <C> > trainingImages;
IList <T> trainingLabels;
IList <Matrix <C> > testingImages;
IList <T> testingLabels;
Logger.Info("Start load train images");
Load(parameter.Dataset, "train", out trainingImages, out trainingLabels);
Logger.Info($"Load train images: {trainingImages.Count}");
Logger.Info("Start load test images");
Load(parameter.Dataset, "test", out testingImages, out testingLabels);
Logger.Info($"Load test images: {testingImages.Count}");
Logger.Info("");
// So with that out of the way, we can make a network instance.
var networkId = SetupNetwork();
using (var net = new LossMulticlassLog(networkId))
using (var solver = new Adam())
using (var trainer = new DnnTrainer <LossMulticlassLog>(net, solver))
{
var learningRate = parameter.LearningRate;
var minLearningRate = parameter.MinLearningRate;
var miniBatchSize = parameter.MiniBatchSize;
var baseName = parameter.BaseName;
var epoch = parameter.Epoch;
var validation = parameter.Validation;
trainer.SetLearningRate(learningRate);
trainer.SetMinLearningRate(minLearningRate);
trainer.SetMiniBatchSize(miniBatchSize);
trainer.BeVerbose();
trainer.SetSynchronizationFile(baseName, 180);
// create array box
var trainingImagesCount = trainingImages.Count;
var trainingLabelsCount = trainingLabels.Count;
var maxIteration = (int)Math.Ceiling(trainingImagesCount / (float)miniBatchSize);
var imageBatches = new Matrix <C> [maxIteration][];
var labelBatches = new uint[maxIteration][];
for (var i = 0; i < maxIteration; i++)
{
if (miniBatchSize <= trainingImagesCount - i * miniBatchSize)
{
imageBatches[i] = new Matrix <C> [miniBatchSize];
labelBatches[i] = new uint[miniBatchSize];
}
else
{
imageBatches[i] = new Matrix <C> [trainingImagesCount % miniBatchSize];
labelBatches[i] = new uint[trainingLabelsCount % miniBatchSize];
}
}
using (var fs = new FileStream($"{baseName}.log", FileMode.Create, FileAccess.Write, FileShare.Write))
using (var sw = new StreamWriter(fs, Encoding.UTF8))
for (var e = 0; e < epoch; e++)
{
var randomArray = Enumerable.Range(0, trainingImagesCount).OrderBy(i => Guid.NewGuid()).ToArray();
var index = 0;
for (var i = 0; i < imageBatches.Length; i++)
{
var currentImages = imageBatches[i];
var currentLabels = labelBatches[i];
for (var j = 0; j < imageBatches[i].Length; j++)
{
var rIndex = randomArray[index];
currentImages[j] = trainingImages[rIndex];
currentLabels[j] = this.Cast(trainingLabels[rIndex]);
index++;
}
}
for (var i = 0; i < maxIteration; i++)
{
LossMulticlassLog.TrainOneStep(trainer, imageBatches[i], labelBatches[i]);
}
var lr = trainer.GetLearningRate();
var loss = trainer.GetAverageLoss();
var trainLog = $"Epoch: {e}, learning Rate: {lr}, average loss: {loss}";
Logger.Info(trainLog);
sw.WriteLine(trainLog);
if (e >= 0 && e % validation == 0)
{
var validationParameter = new ValidationParameter <T, C>
{
BaseName = parameter.BaseName,
Output = parameter.Output,
Trainer = net,
TrainingImages = trainingImages,
TrainingLabels = trainingLabels,
TestingImages = testingImages,
TestingLabels = testingLabels,
UseConsole = true,
SaveToXml = true,
OutputDiffLog = true
};
Validation(validationParameter, out var trainAccuracy, out var testAccuracy);
var validationLog = $"Epoch: {e}, train accuracy: {trainAccuracy}, test accuracy: {testAccuracy}";
Logger.Info(validationLog);
sw.WriteLine(validationLog);
var name = this.GetBaseName(parameter.Epoch,
parameter.LearningRate,
parameter.MinLearningRate,
parameter.MiniBatchSize);
UpdateBestModelFile(net, testAccuracy, parameter.Output, name, "test");
UpdateBestModelFile(net, trainAccuracy, parameter.Output, name, "train");
}
if (lr < minLearningRate)
{
Logger.Info($"Stop training: {lr} < {minLearningRate}");
break;
}
}
// wait for training threads to stop
trainer.GetNet();
Logger.Info("done training");
net.Clean();
LossMulticlassLog.Serialize(net, $"{baseName}.tmp");
// Now let's run the training images through the network. This statement runs all the
// images through it and asks the loss layer to convert the network's raw output into
// labels. In our case, these labels are the numbers between 0 and 9.
var validationParameter2 = new ValidationParameter <T, C>
{
BaseName = parameter.BaseName,
Output = parameter.Output,
Trainer = net,
TrainingImages = trainingImages,
TrainingLabels = trainingLabels,
TestingImages = testingImages,
TestingLabels = testingLabels,
UseConsole = true,
SaveToXml = true,
OutputDiffLog = true
};
Validation(validationParameter2, out _, out _);
// clean up tmp files
Clean(parameter.Output);
}
}
catch (Exception e)
{
Logger.Error(e.Message);
}
}
private static void Main()
{
try
{
// The API for doing metric learning is very similar to the API for
// multi-class classification. In fact, the inputs are the same, a bunch of
// labeled objects. So here we create our dataset. We make up some simple
// vectors and label them with the integers 1,2,3,4. The specific values of
// the integer labels don't matter.
var samples = new List <Matrix <double> >();
var labels = new List <uint>();
// class 1 training vectors
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 1, 0, 0, 0, 0, 0, 0, 0 })); labels.Add(1);
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 0, 1, 0, 0, 0, 0, 0, 0 })); labels.Add(1);
// class 2 training vectors
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 0, 0, 1, 0, 0, 0, 0, 0 })); labels.Add(2);
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 0, 0, 0, 1, 0, 0, 0, 0 })); labels.Add(2);
// class 3 training vectors
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 0, 0, 0, 0, 1, 0, 0, 0 })); labels.Add(3);
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 0, 0, 0, 0, 0, 1, 0, 0 })); labels.Add(3);
// class 4 training vectors
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 0, 0, 0, 0, 0, 0, 1, 0 })); labels.Add(4);
samples.Add(new Matrix <double>(new MatrixTemplateSizeParameter(0, 1), new double[] { 0, 0, 0, 0, 0, 0, 0, 1 })); labels.Add(4);
// Make a network that simply learns a linear mapping from 8D vectors to 2D
// vectors.
using (var net = new LossMetric(1))
using (var trainer = new DnnTrainer <LossMetric>(net))
{
trainer.SetLearningRate(0.1);
// It should be emphasized out that it's really important that each mini-batch contain
// multiple instances of each class of object. This is because the metric learning
// algorithm needs to consider pairs of objects that should be close as well as pairs
// of objects that should be far apart during each training step. Here we just keep
// training on the same small batch so this constraint is trivially satisfied.
while (trainer.GetLearningRate() >= 1e-4)
{
LossMetric.TrainOneStep(trainer, samples, labels);
}
// Wait for training threads to stop
trainer.GetNet().Dispose();
Console.WriteLine("done training");
// Run all the samples through the network to get their 2D vector embeddings.
var embedded = net.Operator(samples);
// Print the embedding for each sample to the screen. If you look at the
// outputs carefully you should notice that they are grouped together in 2D
// space according to their label.
for (var i = 0; i < embedded.Count(); ++i)
{
using (var trans = Dlib.Trans(embedded[i]))
Console.Write($"label: {labels[i]}\t{trans}");
}
// Now, check if the embedding puts things with the same labels near each other and
// things with different labels far apart.
var numRight = 0;
var numWrong = 0;
for (var i = 0; i < embedded.Count(); ++i)
{
for (var j = i + 1; j < embedded.Count(); ++j)
{
if (labels[i] == labels[j])
{
// The loss_metric layer will cause things with the same label to be less
// than net.loss_details().get_distance_threshold() distance from each
// other. So we can use that distance value as our testing threshold for
// "being near to each other".
if (Dlib.Length(embedded[i] - embedded[j]) < net.GetLossDetails().GetDistanceThreshold())
{
++numRight;
}
else
{
++numWrong;
}
}
else
{
if (Dlib.Length(embedded[i] - embedded[j]) >= net.GetLossDetails().GetDistanceThreshold())
{
++numRight;
}
else
{
++numWrong;
}
}
}
}
Console.WriteLine($"num_right: {numRight}");
Console.WriteLine($"num_wrong: {numWrong}");
}
}
catch (Exception e)
{
Console.WriteLine(e);
}
}
private static void Main(string[] args)
{
try
{
if (args.Length != 1)
{
Console.WriteLine("Give the path to a folder containing training.xml and testing.xml files.");
Console.WriteLine("This example program is specifically designed to run on the dlib vehicle ");
Console.WriteLine("detection dataset, which is available at this URL: ");
Console.WriteLine(" http://dlib.net/files/data/dlib_rear_end_vehicles_v1.tar");
Console.WriteLine();
Console.WriteLine("So download that dataset, extract it somewhere, and then run this program");
Console.WriteLine("with the dlib_rear_end_vehicles folder as an argument. E.g. if you extract");
Console.WriteLine("the dataset to the current folder then you should run this example program");
Console.WriteLine("by typing: ");
Console.WriteLine(" ./dnn_mmod_train_find_cars_ex dlib_rear_end_vehicles");
Console.WriteLine();
Console.WriteLine("It takes about a day to finish if run on a high end GPU like a 1080ti.");
Console.WriteLine();
return;
}
var dataDirectory = args[0];
IList <Matrix <RgbPixel> > imagesTrain;
IList <Matrix <RgbPixel> > imagesTest;
IList <IList <MModRect> > boxesTrain;
IList <IList <MModRect> > boxesTest;
Dlib.LoadImageDataset(dataDirectory + "/training.xml", out imagesTrain, out boxesTrain);
Dlib.LoadImageDataset(dataDirectory + "/testing.xml", out imagesTest, out boxesTest);
// 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 car here?". If there really is a car in a specific location in
// an image then usually many slightly different 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 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.
var numOverlappedIgnoredTest = 0;
foreach (var v in boxesTest)
{
using (var overlap = new TestBoxOverlap(0.50, 0.95))
numOverlappedIgnoredTest += IgnoreOverlappedBoxes(v, overlap);
}
var numOverlappedIgnored = 0;
var numAdditionalIgnored = 0;
foreach (var v in boxesTrain)
{
using (var overlap = new TestBoxOverlap(0.50, 0.95))
numOverlappedIgnored += IgnoreOverlappedBoxes(v, overlap);
foreach (var bb in v)
{
if (bb.Rect.Width < 35 && bb.Rect.Height < 35)
{
if (!bb.Ignore)
{
bb.Ignore = true;
++numAdditionalIgnored;
}
}
// The dlib vehicle detection dataset doesn't contain any detections with
// really extreme aspect ratios. However, some datasets do, often because of
// bad labeling. So it's a good idea to check for that and either eliminate
// those boxes or set them to ignore. Although, this depends on your
// application.
//
// For instance, if your dataset has boxes with an aspect ratio
// of 10 then you should think about what that means for the network
// architecture. Does the receptive field even cover the entirety of the box
// in those cases? Do you care about these boxes? Are they labeling errors?
// I find that many people will download some dataset from the internet and
// just take it as given. They run it through some training algorithm and take
// the dataset as unchallengeable truth. But many datasets are full of
// labeling errors. There are also a lot of datasets that aren't full of
// errors, but are annotated in a sloppy and inconsistent way. Fixing those
// 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 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.
Console.WriteLine($"num_overlapped_ignored: {numOverlappedIgnored}");
Console.WriteLine($"num_additional_ignored: {numAdditionalIgnored}");
Console.WriteLine($"num_overlapped_ignored_test: {numOverlappedIgnoredTest}");
Console.WriteLine($"num training images: {imagesTrain.Count()}");
Console.WriteLine($"num testing images: {imagesTest.Count()}");
// Our vehicle detection dataset has basically 3 different types of boxes. Square
// boxes, tall and skinny boxes (e.g. semi trucks), and short and wide boxes (e.g.
// 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. mmod_options will use these parameters to decide how large
// each of 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.
//
// Another thing to consider when setting the sliding window size is the "stride" of
// your network. The network we defined above downsamples the image by a factor of 8x
// in the first few layers. So when the sliding windows are scanning the image, they
// are stepping over it with a stride of 8 pixels. If you set the sliding window size
// too small then the stride will become an issue. For instance, if you set the
// sliding window size to 4 pixels, then it means a 4x4 window will be moved by 8
// pixels at a time when scanning. This is obviously a problem since 75% of the image
// won't even be visited by the sliding window. So you need to set the window size to
// be big enough relative to the stride of your network. In our case, the windows are
// at least 30 pixels in length, so being moved by 8 pixel steps is fine.
using (var options = new MModOptions(boxesTrain, 70, 30))
{
// This setting is very important and dataset specific. The vehicle detection dataset
// contains boxes that are marked as "ignore", as we discussed above. Some of them are
// ignored because we set ignore to true in the above code. However, the xml files
// also contained a lot of ignore boxes. Some of them are large boxes that encompass
// large parts of an image and the intention is to have everything inside those boxes
// be ignored. Therefore, we need to tell the MMOD algorithm to do that, which we do
// by setting options.overlaps_ignore appropriately.
//
// 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 its output and counting the number of
// mistakes. The optimizer tries to find parameters settings that minimize the number
// of detector mistakes.
//
// This overlaps_ignore option allows you to tell the loss that some outputs from the
// detector should be totally ignored, as if they never happened. In particular, if a
// detection overlaps a box in the training data with ignore==true then that detection
// is ignored. This overlap is determined by calling
// options.overlaps_ignore(the_detection, the_ignored_training_box). If it returns
// true then that detection is ignored.
//
// You should read the documentation for test_box_overlap, the class type for
// overlaps_ignore for full details. However, the gist is that the default behavior is
// to only consider boxes as overlapping if their intersection over union is > 0.5.
// However, the dlib vehicle detection dataset contains large boxes that are meant to
// mask out large areas of an image. So intersection over union isn't an appropriate
// way to measure "overlaps with box" in this case. We want any box that is contained
// inside one of these big regions to be ignored, even if the detection box is really
// small. So we set overlaps_ignore to behave that way with this line.
options.OverlapsIgnore = new TestBoxOverlap(0.5, 0.95);
using (var net = new LossMmod(options, 3))
{
// 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. For the dlib
// vehicle dataset, there will be 3 sliding window detectors, so we will be setting
// num_filters to 3 here.
var detectorWindows = options.DetectorWindows.ToArray();
using (var subnet = net.GetSubnet())
using (var details = subnet.GetLayerDetails())
{
details.SetNumFilters(detectorWindows.Length);
using (var trainer = new DnnTrainer <LossMmod>(net))
{
trainer.SetLearningRate(0.1);
trainer.BeVerbose();
// 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 trainer 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.SetIterationsWithoutProgressThreshold(50000);
trainer.SetTestIterationsWithoutProgressThreshold(1000);
const string syncFilename = "mmod_cars_sync";
trainer.SetSynchronizationFile(syncFilename, 5 * 60);
IEnumerable <Matrix <RgbPixel> > mini_batch_samples;
IEnumerable <IEnumerable <MModRect> > mini_batch_labels;
using (var cropper = new RandomCropper())
{
cropper.SetSeed(0);
cropper.SetChipDims(350, 350);
// Usually you want to give the cropper whatever min sizes you passed to the
// mmod_options constructor, or very slightly smaller sizes, which is what we do here.
cropper.SetMinObjectSize(69, 28);
cropper.MaxRotationDegrees = 2;
using (var rnd = new Rand())
{
// Log the training parameters to the console
Console.WriteLine($"{trainer}{cropper}");
var cnt = 1;
// Run the trainer until the learning rate gets small.
while (trainer.GetLearningRate() >= 1e-4)
{
// Every 30 mini-batches we do a testing mini-batch.
if (cnt % 30 != 0 || !imagesTest.Any())
{
cropper.Operator(87, imagesTrain, boxesTrain, out mini_batch_samples, out mini_batch_labels);
// We can also randomly jitter the colors and that often helps a detector
// generalize better to new images.
foreach (var img in mini_batch_samples)
{
Dlib.DisturbColors(img, rnd);
}
// It's a good idea to, at least once, put code here that displays the images
// and boxes the random cropper is generating. You should look at them and
// think about if the output makes sense for your problem. Most of the time
// it will be fine, but sometimes you will realize that the pattern of cropping
// isn't really appropriate for your problem and you will need to make some
// change to how the mini-batches are being generated. Maybe you will tweak
// some of the cropper's settings, or write your own entirely separate code to
// create mini-batches. But either way, if you don't look you will never know.
// An easy way to do this is to create a dlib::image_window to display the
// images and boxes.
LossMmod.TrainOneStep(trainer, mini_batch_samples, mini_batch_labels);
mini_batch_samples.DisposeElement();
mini_batch_labels.DisposeElement();
}
else
{
cropper.Operator(87, imagesTest, boxesTest, out mini_batch_samples, out mini_batch_labels);
// We can also randomly jitter the colors and that often helps a detector
// generalize better to new images.
foreach (var img in mini_batch_samples)
{
Dlib.DisturbColors(img, rnd);
}
LossMmod.TestOneStep(trainer, mini_batch_samples, mini_batch_labels);
mini_batch_samples.DisposeElement();
mini_batch_labels.DisposeElement();
}
++cnt;
}
// wait for training threads to stop
trainer.GetNet();
Console.WriteLine("done training");
// Save the network to disk
net.Clean();
LossMmod.Serialize(net, "mmod_rear_end_vehicle_detector.dat");
// It's a really good idea to print the training parameters. This is because you will
// invariably be running multiple rounds of training and should be logging the output
// to a file. This print statement will include many of the training parameters in
// your log.
Console.WriteLine($"{trainer}{cropper}");
Console.WriteLine($"\nsync_filename: {syncFilename}");
Console.WriteLine($"num training images: {imagesTrain.Count()}");
using (var _ = new TestBoxOverlap())
using (var matrix = Dlib.TestObjectDetectionFunction(net, imagesTrain, boxesTrain, _, 0, options.OverlapsIgnore))
Console.WriteLine($"training results: {matrix}");
// Upsampling the data will allow the detector to find smaller cars. Recall that
// we configured it to use a sliding window nominally 70 pixels in size. So upsampling
// here will let it find things nominally 35 pixels in size. Although we include a
// limit of 1800*1800 here which means "don't upsample an image if it's already larger
// than 1800*1800". We do this so we don't run out of RAM, which is a concern because
// some of the images in the dlib vehicle dataset are really high resolution.
Dlib.UpsampleImageDataset(2, imagesTrain, boxesTrain, 1800 * 1800);
using (var _ = new TestBoxOverlap())
using (var matrix = Dlib.TestObjectDetectionFunction(net, imagesTrain, boxesTrain, _, 0, options.OverlapsIgnore))
Console.WriteLine($"training upsampled results: {matrix}");
Console.WriteLine("num testing images: {images_test.Count()}");
using (var _ = new TestBoxOverlap())
using (var matrix = Dlib.TestObjectDetectionFunction(net, imagesTest, boxesTest, _, 0, options.OverlapsIgnore))
Console.WriteLine($"testing results: {matrix}");
Dlib.UpsampleImageDataset(2, imagesTest, boxesTest, 1800 * 1800);
using (var _ = new TestBoxOverlap())
using (var matrix = Dlib.TestObjectDetectionFunction(net, imagesTest, boxesTest, _, 0, options.OverlapsIgnore))
Console.WriteLine($"testing upsampled results: {matrix}");
/*
* This program takes many hours to execute on a high end GPU. It took about a day to
* train on a NVIDIA 1080ti. The resulting model file is available at
* http://dlib.net/files/mmod_rear_end_vehicle_detector.dat.bz2
* It should be noted that this file on dlib.net has a dlib::shape_predictor appended
* onto the end of it (see dnn_mmod_find_cars_ex.cpp for an example of its use). This
* explains why the model file on dlib.net is larger than the
* mmod_rear_end_vehicle_detector.dat output by this program.
*
* You can see some videos of this vehicle detector running on YouTube:
* https://www.youtube.com/watch?v=4B3bzmxMAZU
* https://www.youtube.com/watch?v=bP2SUo5vSlc
*
* Also, the training and testing accuracies were:
* num training images: 2217
* training results: 0.990738 0.736431 0.736073
* training upsampled results: 0.986837 0.937694 0.936912
* num testing images: 135
* testing results: 0.988827 0.471372 0.470806
* testing upsampled results: 0.987879 0.651132 0.650399
*/
}
}
}
}
}
}
}
catch (Exception e)
{
Console.WriteLine(e);
}
}
private static void Main(string[] args)
{
try
{
// In this example we are going to train a face detector based on the
// small faces dataset in the examples/faces directory. So the first
// thing we do is load that dataset. This means you need to supply the
// path to this faces folder as a command line argument so we will know
// where it is.
if (args.Length != 1)
{
Console.WriteLine("Give the path to the examples/faces directory as the argument to this");
Console.WriteLine("program. For example, if you are in the examples folder then execute ");
Console.WriteLine("this program by running: ");
Console.WriteLine(" ./dnn_mmod_ex faces");
return;
}
var facesDirectory = args[0];
// The faces directory contains a training dataset and a separate
// testing dataset. The training data consists of 4 images, each
// annotated with rectangles that bound each human face. The idea is
// to use this training data to learn to identify human faces in new
// images.
//
// Once you have trained an object detector it is always important to
// test it on data it wasn't trained on. Therefore, we will also load
// a separate testing set of 5 images. Once we have a face detector
// created from the training data we will see how well it works by
// running it on the testing images.
//
// So here we create the variables that will hold our dataset.
// images_train will hold the 4 training images and face_boxes_train
// holds the locations of the faces in the training images. So for
// example, the image images_train[0] has the faces given by the
// rectangles in face_boxes_train[0].
IList <Matrix <RgbPixel> > imagesTrain;
IList <Matrix <RgbPixel> > imagesTest;
IList <IList <MModRect> > faceBoxesTrain;
IList <IList <MModRect> > faceBoxesTest;
// Now we load the data. These XML files list the images in each dataset
// and also contain the positions of the face boxes. Obviously you can use
// any kind of input format you like so long as you store the data into
// images_train and face_boxes_train. But for convenience dlib comes with
// tools for creating and loading XML image datasets. Here you see how to
// load the data. To create the XML files you can use the imglab tool which
// can be found in the tools/imglab folder. It is a simple graphical tool
// for labeling objects in images with boxes. To see how to use it read the
// tools/imglab/README.txt file.
Dlib.LoadImageDataset(facesDirectory + "/training.xml", out imagesTrain, out faceBoxesTrain);
Dlib.LoadImageDataset(facesDirectory + "/testing.xml", out imagesTest, out faceBoxesTest);
Console.WriteLine($"num training images: {imagesTrain.Count()}");
Console.WriteLine($"num testing images: {imagesTest.Count()}");
// The MMOD algorithm has some options you can set to control its behavior. However,
// you can also call the constructor with your training annotations and a "target
// object size" and it will automatically configure itself in a reasonable way for your
// problem. Here we are saying that faces are still recognizably faces when they are
// 40x40 pixels in size. You should generally pick the smallest size where this is
// true. Based on this information the mmod_options constructor will automatically
// pick a good sliding window width and height. It will also automatically set the
// non-max-suppression parameters to something reasonable. For further details see the
// mmod_options documentation.
using (var options = new MModOptions(faceBoxesTrain, 40, 40))
{
// The detector will automatically decide to use multiple sliding windows if needed.
// For the face data, only one is needed however.
var detectorWindows = options.DetectorWindows.ToArray();
Console.WriteLine($"num detector windows: {detectorWindows.Length}");
foreach (var w in detectorWindows)
{
Console.WriteLine($"detector window width by height: {w.Width} x {w.Height}");
}
Console.WriteLine($"overlap NMS IOU thresh: {options.OverlapsNms.GetIouThresh()}");
Console.WriteLine($"overlap NMS percent covered thresh: {options.OverlapsNms.GetPercentCoveredThresh()}");
// Now we are ready to create our network and trainer.
using (var net = new LossMmod(options, 2))
{
// The MMOD loss requires that the number of filters in the final network layer equal
// options.detector_windows.size(). So we set that here as well.
using (var subnet = net.GetSubnet())
using (var details = subnet.GetLayerDetails())
{
details.SetNumFilters(detectorWindows.Length);
using (var trainer = new DnnTrainer <LossMmod>(net))
{
trainer.SetLearningRate(0.1);
trainer.BeVerbose();
trainer.SetSynchronizationFile("mmod_sync", 5 * 60);
trainer.SetIterationsWithoutProgressThreshold(300);
// Now let's train the network. We are going to use mini-batches of 150
// images. The images are random crops from our training set (see
// random_cropper_ex.cpp for a discussion of the random_cropper).
IEnumerable <Matrix <RgbPixel> > miniBatchSamples;
//IEnumerable<IEnumerable<RgbPixel>> mini_batch_labels;
IEnumerable <IEnumerable <MModRect> > miniBatchLabels;
using (var cropper = new RandomCropper())
using (var chipDims = new ChipDims(200, 200))
{
cropper.ChipDims = chipDims;
// Usually you want to give the cropper whatever min sizes you passed to the
// mmod_options constructor, which is what we do here.
cropper.SetMinObjectSize(40, 40);
using (var rnd = new Rand())
{
// Run the trainer until the learning rate gets small. This will probably take several
// hours.
while (trainer.GetLearningRate() >= 1e-4)
{
cropper.Operator(150, imagesTrain, faceBoxesTrain, out miniBatchSamples, out miniBatchLabels);
// We can also randomly jitter the colors and that often helps a detector
// generalize better to new images.
foreach (var img in miniBatchSamples)
{
Dlib.DisturbColors(img, rnd);
}
LossMmod.TrainOneStep(trainer, miniBatchSamples, miniBatchLabels);
miniBatchSamples.DisposeElement();
miniBatchLabels.DisposeElement();
}
// wait for training threads to stop
trainer.GetNet();
Console.WriteLine("done training");
// Save the network to disk
net.Clean();
LossMmod.Serialize(net, "mmod_network.dat");
// Now that we have a face detector we can test it. The first statement tests it
// on the training data. It will print the precision, recall, and then average precision.
// This statement should indicate that the network works perfectly on the
// training data.
using (var matrix = Dlib.TestObjectDetectionFunction(net, imagesTrain, faceBoxesTrain))
Console.WriteLine($"training results: {matrix}");
// However, to get an idea if it really worked without overfitting we need to run
// it on images it wasn't trained on. The next line does this. Happily,
// this statement indicates that the detector finds most of the faces in the
// testing data.
using (var matrix = Dlib.TestObjectDetectionFunction(net, imagesTest, faceBoxesTest))
Console.WriteLine($"testing results: {matrix}");
// If you are running many experiments, it's also useful to log the settings used
// during the training experiment. This statement will print the settings we used to
// the screen.
Console.WriteLine($"{trainer}{cropper}");
// Now lets run the detector on the testing images and look at the outputs.
using (var win = new ImageWindow())
foreach (var img in imagesTest)
{
Dlib.PyramidUp(img);
var dets = net.Operator(img);
win.ClearOverlay();
win.SetImage(img);
foreach (var d in dets[0])
{
win.AddOverlay(d);
}
Console.ReadKey();
foreach (var det in dets)
{
foreach (var d in det)
{
d.Dispose();
}
}
}
// Now that you finished this example, you should read dnn_mmod_train_find_cars_ex.cpp,
// which is a more advanced example. It discusses many issues surrounding properly
// setting the MMOD parameters and creating a good training dataset.
}
}
}
}
}
detectorWindows.DisposeElement();
}
}
catch (Exception e)
{
Console.WriteLine(e);
}
}