spatial_transformer.py

# Copyright 2016 The TensorFlow Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
import tensorflow as tf

def transformer(U, theta, out_size, name='SpatialTransformer', **kwargs):
    """Spatial Transformer Layer
    
    Implements a spatial transformer layer as described in [1]_.
    Based on [2]_ and edited by David Dao for Tensorflow.
    
    Parameters
    ----------
    U : float 
        The output of a convolutional net should have the
        shape [num_batch, height, width, num_channels]. 
    theta: float   
        The output of the
        localisation network should be [num_batch, 6].
    out_size: tuple of two floats
        The size of the output of the network

    References
    ----------
    .. [1]  Spatial Transformer Networks
            Max Jaderberg, Karen Simonyan, Andrew Zisserman, Koray Kavukcuoglu
            Submitted on 5 Jun 2015
    .. [2]  https://github.com/skaae/transformer_network/blob/master/transformerlayer.py
            
    Notes
    -----
    To initialize the network to the identity transform init
    ``theta`` to :
        identity = np.array([[1., 0., 0.],
                             [0., 1., 0.]]) 
        identity = identity.flatten()
        theta = tf.Variable(initial_value=identity)
        
    """
    
    def _repeat(x, n_repeats):
        with tf.variable_scope('_repeat'):
            rep = tf.transpose(tf.expand_dims(tf.ones(shape=tf.pack([n_repeats,])),1),[1,0])
            rep = tf.cast(rep, 'int32')
            x = tf.matmul(tf.reshape(x,(-1, 1)), rep)
            return tf.reshape(x,[-1])

    def _interpolate(im, x, y, out_size):
        with tf.variable_scope('_interpolate'):
            # constants
            num_batch = tf.shape(im)[0]
            height = tf.shape(im)[1]
            width = tf.shape(im)[2]
            channels = tf.shape(im)[3]

            x = tf.cast(x, 'float32')
            y = tf.cast(y, 'float32')
            height_f = tf.cast(height, 'float32')
            width_f = tf.cast(width, 'float32')
            out_height = out_size[0]
            out_width = out_size[1] 
            zero = tf.zeros([], dtype='int32')
            max_y = tf.cast(tf.shape(im)[1] - 1, 'int32')
            max_x = tf.cast(tf.shape(im)[2] - 1, 'int32')

            # scale indices from [-1, 1] to [0, width/height]
            x = (x + 1.0)*(width_f) / 2.0 
            y = (y + 1.0)*(height_f) / 2.0

            # do sampling
            x0 = tf.cast(tf.floor(x), 'int32')
            x1 = x0 + 1
            y0 = tf.cast(tf.floor(y), 'int32')
            y1 = y0 + 1

            x0 = tf.clip_by_value(x0, zero, max_x)
            x1 = tf.clip_by_value(x1, zero, max_x)
            y0 = tf.clip_by_value(y0, zero, max_y)
            y1 = tf.clip_by_value(y1, zero, max_y)
            dim2 = width
            dim1 = width*height
            base = _repeat(tf.range(num_batch)*dim1, out_height*out_width)
            base_y0 = base + y0*dim2
            base_y1 = base + y1*dim2
            idx_a = base_y0 + x0
            idx_b = base_y1 + x0
            idx_c = base_y0 + x1
            idx_d = base_y1 + x1

            # use indices to lookup pixels in the flat image and restore channels dim
            im_flat = tf.reshape(im,tf.pack([-1, channels]))
            im_flat = tf.cast(im_flat, 'float32')
            Ia = tf.gather(im_flat, idx_a)
            Ib = tf.gather(im_flat, idx_b)
            Ic = tf.gather(im_flat, idx_c)
            Id = tf.gather(im_flat, idx_d)

            # and finally calculate interpolated values
            x0_f = tf.cast(x0, 'float32')
            x1_f = tf.cast(x1, 'float32')
            y0_f = tf.cast(y0, 'float32')
            y1_f = tf.cast(y1, 'float32')
            wa = tf.expand_dims(((x1_f-x) * (y1_f-y)),1)
            wb = tf.expand_dims(((x1_f-x) * (y-y0_f)),1)
            wc = tf.expand_dims(((x-x0_f) * (y1_f-y)),1)
            wd = tf.expand_dims(((x-x0_f) * (y-y0_f)),1)
            output = tf.add_n([wa*Ia, wb*Ib, wc*Ic, wd*Id])
            return output
    
    def _meshgrid(height, width):
        with tf.variable_scope('_meshgrid'):
            # This should be equivalent to:
            #  x_t, y_t = np.meshgrid(np.linspace(-1, 1, width),
            #                         np.linspace(-1, 1, height))
            #  ones = np.ones(np.prod(x_t.shape))
            #  grid = np.vstack([x_t.flatten(), y_t.flatten(), ones])
            x_t = tf.matmul(tf.ones(shape=tf.pack([height, 1])),
                        tf.transpose(tf.expand_dims(tf.linspace(-1.0, 1.0, width),1),[1,0])) 
            y_t = tf.matmul(tf.expand_dims(tf.linspace(-1.0, 1.0, height),1),
                        tf.ones(shape=tf.pack([1, width]))) 

            x_t_flat = tf.reshape(x_t,(1, -1))
            y_t_flat = tf.reshape(y_t,(1, -1))

            ones = tf.ones_like(x_t_flat)
            grid = tf.concat(0, [x_t_flat, y_t_flat, ones])
            return grid

    def _transform(theta, input_dim, out_size):
        with tf.variable_scope('_transform'):
            num_batch = tf.shape(input_dim)[0]
            height = tf.shape(input_dim)[1]
            width = tf.shape(input_dim)[2]            
            num_channels = tf.shape(input_dim)[3]
            theta = tf.reshape(theta, (-1, 2, 3))
            theta = tf.cast(theta, 'float32')

            # grid of (x_t, y_t, 1), eq (1) in ref [1]
            height_f = tf.cast(height, 'float32')
            width_f = tf.cast(width, 'float32')
            out_height = out_size[0]
            out_width = out_size[1] 
            grid = _meshgrid(out_height, out_width)
            grid = tf.expand_dims(grid,0)
            grid = tf.reshape(grid,[-1])
            grid = tf.tile(grid,tf.pack([num_batch]))
            grid = tf.reshape(grid,tf.pack([num_batch, 3, -1])) 
            
            # Transform A x (x_t, y_t, 1)^T -> (x_s, y_s)
            T_g = tf.batch_matmul(theta, grid)
            x_s = tf.slice(T_g, [0,0,0], [-1,1,-1])
            y_s = tf.slice(T_g, [0,1,0], [-1,1,-1])
            x_s_flat = tf.reshape(x_s,[-1])
            y_s_flat = tf.reshape(y_s,[-1])

            input_transformed = _interpolate(
                  input_dim, x_s_flat, y_s_flat,
                  out_size)

            output = tf.reshape(input_transformed, tf.pack([num_batch, out_height, out_width, num_channels]))
            return output
    
    with tf.variable_scope(name):
        output = _transform(theta, U, out_size)
        return output

def batch_transformer(U, thetas, out_size, name='BatchSpatialTransformer'):
    """Batch Spatial Transformer Layer

    Parameters
    ----------
    
    U : float
        tensor of inputs [num_batch,height,width,num_channels]
    thetas : float
        a set of transformations for each input [num_batch,num_transforms,6]
    out_size : int
        the size of the output [out_height,out_width]

    Returns: float
        Tensor of size [num_batch*num_transforms,out_height,out_width,num_channels]
    """
    with tf.variable_scope(name):
        num_batch, num_transforms = map(int, thetas.get_shape().as_list()[:2])
        indices = [[i]*num_transforms for i in xrange(num_batch)]
        input_repeated = tf.gather(U, tf.reshape(indices, [-1]))
        return transformer(input_repeated, thetas, out_size)