.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "build/examples_pose/dive_deep_simple_pose.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download_build_examples_pose_dive_deep_simple_pose.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_build_examples_pose_dive_deep_simple_pose.py:

4. Dive deep into Training a Simple Pose Model on COCO Keypoints
===================================================================

In this tutorial, we show you how to train a pose estimation model [1]_ on the COCO dataset.

First let's import some necessary modules.

.. GENERATED FROM PYTHON SOURCE LINES 8-26

.. code-block:: default


    from __future__ import division

    import time, logging, os, math

    import numpy as np
    import mxnet as mx
    from mxnet import gluon, nd
    from mxnet import autograd as ag
    from mxnet.gluon import nn
    from mxnet.gluon.data.vision import transforms

    from gluoncv.data import mscoco
    from gluoncv.model_zoo import get_model
    from gluoncv.utils import makedirs, LRScheduler
    from gluoncv.data.transforms.presets.simple_pose import SimplePoseDefaultTrainTransform
    from gluoncv.utils.metrics import HeatmapAccuracy








.. GENERATED FROM PYTHON SOURCE LINES 27-32

Loading the data
----------------

We can load COCO Keypoints dataset with their official API


.. GENERATED FROM PYTHON SOURCE LINES 32-37

.. code-block:: default


    train_dataset = mscoco.keypoints.COCOKeyPoints('~/.mxnet/datasets/coco',
                                                   splits=('person_keypoints_train2017'))






.. rst-class:: sphx-glr-script-out

 Out:

 .. code-block:: none

    loading annotations into memory...
    Done (t=7.16s)
    creating index...
    index created!




.. GENERATED FROM PYTHON SOURCE LINES 38-52

The dataset object enables us to retrieve images containing a person,
the person's keypoints, and meta-information.

Following the original paper, we resize the input to be ``(256, 192)``.
For augmentation, we randomly scale, rotate or flip the input.
Finally we normalize it with the standard ImageNet statistics.

The COCO keypoints dataset contains 17 keypoints for a person.
Each keypoint is annotated with three numbers ``(x, y, v)``, where ``x`` and ``y``
mark the coordinates, and ``v`` indicates if the keypoint is visible.

For each keypoint, we generate a gaussian kernel centered at the ``(x, y)`` coordinate, and use
it as the training label. This means the model predicts a gaussian distribution on a feature map.


.. GENERATED FROM PYTHON SOURCE LINES 52-58

.. code-block:: default


    transform_train = SimplePoseDefaultTrainTransform(num_joints=train_dataset.num_joints,
                                                      joint_pairs=train_dataset.joint_pairs,
                                                      image_size=(256, 192), heatmap_size=(64, 48),
                                                      scale_factor=0.30, rotation_factor=40, random_flip=True)








.. GENERATED FROM PYTHON SOURCE LINES 59-62

Now we can define our data loader with the dataset and transformation. We will iterate
over ``train_data`` in our training loop.


.. GENERATED FROM PYTHON SOURCE LINES 63-70

.. code-block:: default


    batch_size = 32
    train_data = gluon.data.DataLoader(
        train_dataset.transform(transform_train),
        batch_size=batch_size, shuffle=True, last_batch='discard', num_workers=0)









.. GENERATED FROM PYTHON SOURCE LINES 71-86

Deconvolution Layer
-------------------

A deconvolution layer enlarges the feature map size of the input,
so that it can be seen as a layer upsamling the input feature map.

.. image:: https://raw.githubusercontent.com/vdumoulin/conv_arithmetic/master/gif/no_padding_no_strides_transposed.gif
    :width: 40%
    :align: center

In the above image, the blue map is the input feature map, and the cyan map is the output.

In a ``ResNet`` model, the last feature map shrinks its height and width to be only 1/32 of the input. It may
be too small for a heatmap prediction. However if followed by several deconvolution layers, the feature map
can have a larger size thus easier to make the prediction.

.. GENERATED FROM PYTHON SOURCE LINES 89-99

Model Definition
-----------------

A Simple Pose model consists of a main body of a resnet, and several deconvolution layers.
Its final layer is a convolution layer predicting one heatmap for each keypoint.

Let's take a look at the smallest one from the GluonCV Model Zoo, using ``ResNet18`` as its base model.

We load the pre-trained parameters for the ``ResNet18`` layers,
and initialize the deconvolution layer and the final convolution layer.

.. GENERATED FROM PYTHON SOURCE LINES 99-106

.. code-block:: default


    context = mx.gpu(0)
    net = get_model('simple_pose_resnet18_v1b', num_joints=17, pretrained_base=True,
                    ctx=context, pretrained_ctx=context)
    net.deconv_layers.initialize(ctx=context)
    net.final_layer.initialize(ctx=context)





.. rst-class:: sphx-glr-script-out

 Out:

 .. code-block:: none

    Downloading /root/.mxnet/models/resnet18_v1b-2d9d980c.zip from https://apache-mxnet.s3-accelerate.dualstack.amazonaws.com/gluon/models/resnet18_v1b-2d9d980c.zip...

      0%|          | 0/42432 [00:00<?, ?KB/s]
      0%|          | 100/42432 [00:00<00:59, 710.83KB/s]
      1%|1         | 520/42432 [00:00<00:21, 1949.63KB/s]
      3%|2         | 1150/42432 [00:00<00:13, 3043.06KB/s]
      4%|4         | 1854/42432 [00:00<00:10, 3755.11KB/s]
      6%|6         | 2638/42432 [00:00<00:09, 4368.18KB/s]
      8%|8         | 3486/42432 [00:00<00:07, 4880.72KB/s]
     10%|#         | 4430/42432 [00:01<00:07, 5400.22KB/s]
     13%|#2        | 5470/42432 [00:01<00:06, 5981.76KB/s]
     16%|#5        | 6606/42432 [00:01<00:05, 6581.92KB/s]
     19%|#8        | 7870/42432 [00:01<00:04, 7251.68KB/s]
     22%|##1       | 9246/42432 [00:01<00:04, 7973.98KB/s]
     25%|##5       | 10782/42432 [00:01<00:03, 8759.85KB/s]
     29%|##9       | 12462/42432 [00:01<00:03, 9643.66KB/s]
     34%|###3      | 14318/42432 [00:02<00:02, 10634.23KB/s]
     39%|###8      | 16350/42432 [00:02<00:02, 11677.00KB/s]
     44%|####3     | 18494/42432 [00:02<00:01, 12658.03KB/s]
     49%|####9     | 20862/42432 [00:02<00:01, 13893.91KB/s]
     55%|#####5    | 23359/42432 [00:02<00:01, 16453.34KB/s]
     59%|#####9    | 25083/42432 [00:02<00:01, 15413.85KB/s]
     66%|######5   | 27886/42432 [00:02<00:00, 17003.36KB/s]
     74%|#######3  | 31198/42432 [00:02<00:00, 18923.17KB/s]
     82%|########2 | 34830/42432 [00:03<00:00, 20897.05KB/s]
     91%|#########1| 38798/42432 [00:03<00:00, 22973.47KB/s]
    42433KB [00:03, 12682.99KB/s]                           




.. GENERATED FROM PYTHON SOURCE LINES 107-108

We can take a look at the summary of the model

.. GENERATED FROM PYTHON SOURCE LINES 108-112

.. code-block:: default


    x = mx.nd.ones((1, 3, 256, 192), ctx=context)
    net.summary(x)





.. rst-class:: sphx-glr-script-out

 Out:

 .. code-block:: none

    --------------------------------------------------------------------------------
            Layer (type)                                Output Shape         Param #
    ================================================================================
                   Input                            (1, 3, 256, 192)               0
                Conv2D-1                            (1, 64, 128, 96)            9408
     BatchNormCudnnOff-2                            (1, 64, 128, 96)             256
            Activation-3                            (1, 64, 128, 96)               0
             MaxPool2D-4                             (1, 64, 64, 48)               0
                Conv2D-5                             (1, 64, 64, 48)           36864
     BatchNormCudnnOff-6                             (1, 64, 64, 48)             256
            Activation-7                             (1, 64, 64, 48)               0
                Conv2D-8                             (1, 64, 64, 48)           36864
     BatchNormCudnnOff-9                             (1, 64, 64, 48)             256
           Activation-10                             (1, 64, 64, 48)               0
        BasicBlockV1b-11                             (1, 64, 64, 48)               0
               Conv2D-12                             (1, 64, 64, 48)           36864
    BatchNormCudnnOff-13                             (1, 64, 64, 48)             256
           Activation-14                             (1, 64, 64, 48)               0
               Conv2D-15                             (1, 64, 64, 48)           36864
    BatchNormCudnnOff-16                             (1, 64, 64, 48)             256
           Activation-17                             (1, 64, 64, 48)               0
        BasicBlockV1b-18                             (1, 64, 64, 48)               0
               Conv2D-19                            (1, 128, 32, 24)           73728
    BatchNormCudnnOff-20                            (1, 128, 32, 24)             512
           Activation-21                            (1, 128, 32, 24)               0
               Conv2D-22                            (1, 128, 32, 24)          147456
    BatchNormCudnnOff-23                            (1, 128, 32, 24)             512
               Conv2D-24                            (1, 128, 32, 24)            8192
    BatchNormCudnnOff-25                            (1, 128, 32, 24)             512
           Activation-26                            (1, 128, 32, 24)               0
        BasicBlockV1b-27                            (1, 128, 32, 24)               0
               Conv2D-28                            (1, 128, 32, 24)          147456
    BatchNormCudnnOff-29                            (1, 128, 32, 24)             512
           Activation-30                            (1, 128, 32, 24)               0
               Conv2D-31                            (1, 128, 32, 24)          147456
    BatchNormCudnnOff-32                            (1, 128, 32, 24)             512
           Activation-33                            (1, 128, 32, 24)               0
        BasicBlockV1b-34                            (1, 128, 32, 24)               0
               Conv2D-35                            (1, 256, 16, 12)          294912
    BatchNormCudnnOff-36                            (1, 256, 16, 12)            1024
           Activation-37                            (1, 256, 16, 12)               0
               Conv2D-38                            (1, 256, 16, 12)          589824
    BatchNormCudnnOff-39                            (1, 256, 16, 12)            1024
               Conv2D-40                            (1, 256, 16, 12)           32768
    BatchNormCudnnOff-41                            (1, 256, 16, 12)            1024
           Activation-42                            (1, 256, 16, 12)               0
        BasicBlockV1b-43                            (1, 256, 16, 12)               0
               Conv2D-44                            (1, 256, 16, 12)          589824
    BatchNormCudnnOff-45                            (1, 256, 16, 12)            1024
           Activation-46                            (1, 256, 16, 12)               0
               Conv2D-47                            (1, 256, 16, 12)          589824
    BatchNormCudnnOff-48                            (1, 256, 16, 12)            1024
           Activation-49                            (1, 256, 16, 12)               0
        BasicBlockV1b-50                            (1, 256, 16, 12)               0
               Conv2D-51                              (1, 512, 8, 6)         1179648
    BatchNormCudnnOff-52                              (1, 512, 8, 6)            2048
           Activation-53                              (1, 512, 8, 6)               0
               Conv2D-54                              (1, 512, 8, 6)         2359296
    BatchNormCudnnOff-55                              (1, 512, 8, 6)            2048
               Conv2D-56                              (1, 512, 8, 6)          131072
    BatchNormCudnnOff-57                              (1, 512, 8, 6)            2048
           Activation-58                              (1, 512, 8, 6)               0
        BasicBlockV1b-59                              (1, 512, 8, 6)               0
               Conv2D-60                              (1, 512, 8, 6)         2359296
    BatchNormCudnnOff-61                              (1, 512, 8, 6)            2048
           Activation-62                              (1, 512, 8, 6)               0
               Conv2D-63                              (1, 512, 8, 6)         2359296
    BatchNormCudnnOff-64                              (1, 512, 8, 6)            2048
           Activation-65                              (1, 512, 8, 6)               0
        BasicBlockV1b-66                              (1, 512, 8, 6)               0
      Conv2DTranspose-67                            (1, 256, 16, 12)         2097152
    BatchNormCudnnOff-68                            (1, 256, 16, 12)            1024
           Activation-69                            (1, 256, 16, 12)               0
      Conv2DTranspose-70                            (1, 256, 32, 24)         1048576
    BatchNormCudnnOff-71                            (1, 256, 32, 24)            1024
           Activation-72                            (1, 256, 32, 24)               0
      Conv2DTranspose-73                            (1, 256, 64, 48)         1048576
    BatchNormCudnnOff-74                            (1, 256, 64, 48)            1024
           Activation-75                            (1, 256, 64, 48)               0
               Conv2D-76                             (1, 17, 64, 48)            4369
     SimplePoseResNet-77                             (1, 17, 64, 48)               0
    ================================================================================
    Parameters in forward computation graph, duplicate included
       Total params: 15387857
       Trainable params: 15376721
       Non-trainable params: 11136
    Shared params in forward computation graph: 0
    Unique parameters in model: 15387857
    --------------------------------------------------------------------------------




.. GENERATED FROM PYTHON SOURCE LINES 113-132

.. note::

    The Batch Normalization implementation from cuDNN has a negative impact on the model training,
    as reported in these issues [2]_, [3]_ .

    Since similar behavior is observed, we implement a ``BatchNormCudnnOff`` layer as a temporary solution.
    This layer doesn't call the Batch Normalization layer from cuDNN, thus gives better results.


Training Setup
--------------

Next, we can set up everything for the training.

- Loss:

    We apply a weighted ``L2Loss`` on the predicted heatmap, where the weight is
    1 if the keypoint is visible, otherwise is 0.


.. GENERATED FROM PYTHON SOURCE LINES 133-136

.. code-block:: default


    L = gluon.loss.L2Loss()








.. GENERATED FROM PYTHON SOURCE LINES 137-141

- Learning Rate Schedule and Optimizer:

    We use an initial learning rate at 0.001, and divide it by 10 at the 90th and 120th epoch.


.. GENERATED FROM PYTHON SOURCE LINES 142-150

.. code-block:: default


    num_training_samples = len(train_dataset)
    num_batches = num_training_samples // batch_size
    lr_scheduler = LRScheduler(mode='step', base_lr=0.001,
                               iters_per_epoch=num_batches, nepochs=140,
                               step_epoch=(90, 120), step_factor=0.1)









.. GENERATED FROM PYTHON SOURCE LINES 151-152

For this model we use ``adam`` as the optimizer.

.. GENERATED FROM PYTHON SOURCE LINES 153-157

.. code-block:: default



    trainer = gluon.Trainer(net.collect_params(), 'adam', {'lr_scheduler': lr_scheduler})








.. GENERATED FROM PYTHON SOURCE LINES 158-163

- Metric

    The metric for this model is called heatmap accuracy, i.e. it compares the
    keypoint heatmaps from the prediction and groundtruth and check if the center
    of the gaussian distributions are within a certain distance.

.. GENERATED FROM PYTHON SOURCE LINES 164-168

.. code-block:: default


    metric = HeatmapAccuracy()









.. GENERATED FROM PYTHON SOURCE LINES 169-174

Training Loop
-------------

Since we have all necessary blocks, we can now put them together to start the training.


.. GENERATED FROM PYTHON SOURCE LINES 174-198

.. code-block:: default


    net.hybridize(static_alloc=True, static_shape=True)
    for epoch in range(1):
        metric.reset()

        for i, batch in enumerate(train_data):
            if i > 0:
                break
            data = gluon.utils.split_and_load(batch[0], ctx_list=[context], batch_axis=0)
            label = gluon.utils.split_and_load(batch[1], ctx_list=[context], batch_axis=0)
            weight = gluon.utils.split_and_load(batch[2], ctx_list=[context], batch_axis=0)

            with ag.record():
                outputs = [net(X) for X in data]
                loss = [L(yhat, y, w) for yhat, y, w in zip(outputs, label, weight)]

            for l in loss:
                l.backward()
            trainer.step(batch_size)

            metric.update(label, outputs)

        break








.. GENERATED FROM PYTHON SOURCE LINES 199-212

Due to limitation on the resources, we only train the model for one batch in this tutorial.

Please checkout the full :download:`training script
<../../../scripts/pose/simple_pose/train_simple_pose.py>` to reproduce our results.

References
----------

.. [1] Xiao, Bin, Haiping Wu, and Yichen Wei. \
       "Simple baselines for human pose estimation and tracking." \
       Proceedings of the European Conference on Computer Vision (ECCV). 2018.
.. [2] https://github.com/Microsoft/human-pose-estimation.pytorch/issues/48
.. [3] https://github.com/PaddlePaddle/models/tree/develop/fluid/PaddleCV/human_pose_estimation#known-issues


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 4 minutes  13.052 seconds)


.. _sphx_glr_download_build_examples_pose_dive_deep_simple_pose.py:


.. only :: html

 .. container:: sphx-glr-footer
    :class: sphx-glr-footer-example



  .. container:: sphx-glr-download sphx-glr-download-python

     :download:`Download Python source code: dive_deep_simple_pose.py <dive_deep_simple_pose.py>`



  .. container:: sphx-glr-download sphx-glr-download-jupyter

     :download:`Download Jupyter notebook: dive_deep_simple_pose.ipynb <dive_deep_simple_pose.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_