Merge pull request #3487 from longjon/dilation

An early implementation of this functionality for Caffe was written by @gpapan, which was extended and improved by @tamakoji in a previous implementation of this branch.

include/caffe/layers/base_conv_layer.hpp

@@ -68,6 +68,8 @@ class BaseConvolutionLayer : public Layer<Dtype> {
   Blob<int> stride_;
   /// @brief The spatial dimensions of the padding.
   Blob<int> pad_;
+  /// @brief The spatial dimensions of the dilation.
+  Blob<int> dilation_;
   /// @brief The spatial dimensions of the convolution input.
   Blob<int> conv_input_shape_;
   /// @brief The spatial dimensions of the col_buffer.
@@ -99,11 +101,12 @@ class BaseConvolutionLayer : public Layer<Dtype> {
           conv_input_shape_.cpu_data()[1], conv_input_shape_.cpu_data()[2],
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
-          stride_.cpu_data()[0], stride_.cpu_data()[1], col_buff);
+          stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1], col_buff);
     } else {
       im2col_nd_cpu(data, num_spatial_axes_, conv_input_shape_.cpu_data(),
           col_buffer_shape_.data(), kernel_shape_.cpu_data(),
-          pad_.cpu_data(), stride_.cpu_data(), col_buff);
+          pad_.cpu_data(), stride_.cpu_data(), dilation_.cpu_data(), col_buff);
     }
   }
   inline void conv_col2im_cpu(const Dtype* col_buff, Dtype* data) {
@@ -112,11 +115,12 @@ class BaseConvolutionLayer : public Layer<Dtype> {
           conv_input_shape_.cpu_data()[1], conv_input_shape_.cpu_data()[2],
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
-          stride_.cpu_data()[0], stride_.cpu_data()[1], data);
+          stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1], data);
     } else {
       col2im_nd_cpu(col_buff, num_spatial_axes_, conv_input_shape_.cpu_data(),
           col_buffer_shape_.data(), kernel_shape_.cpu_data(),
-          pad_.cpu_data(), stride_.cpu_data(), data);
+          pad_.cpu_data(), stride_.cpu_data(), dilation_.cpu_data(), data);
     }
   }
 #ifndef CPU_ONLY
@@ -126,12 +130,13 @@ class BaseConvolutionLayer : public Layer<Dtype> {
           conv_input_shape_.cpu_data()[1], conv_input_shape_.cpu_data()[2],
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
-          stride_.cpu_data()[0], stride_.cpu_data()[1], col_buff);
+          stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1], col_buff);
     } else {
       im2col_nd_gpu(data, num_spatial_axes_, num_kernels_im2col_,
           conv_input_shape_.gpu_data(), col_buffer_.gpu_shape(),
           kernel_shape_.gpu_data(), pad_.gpu_data(),
-          stride_.gpu_data(), col_buff);
+          stride_.gpu_data(), dilation_.gpu_data(), col_buff);
     }
   }
   inline void conv_col2im_gpu(const Dtype* col_buff, Dtype* data) {
@@ -140,12 +145,13 @@ class BaseConvolutionLayer : public Layer<Dtype> {
           conv_input_shape_.cpu_data()[1], conv_input_shape_.cpu_data()[2],
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
-          stride_.cpu_data()[0], stride_.cpu_data()[1], data);
+          stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1], data);
     } else {
       col2im_nd_gpu(col_buff, num_spatial_axes_, num_kernels_col2im_,
           conv_input_shape_.gpu_data(), col_buffer_.gpu_shape(),
           kernel_shape_.gpu_data(), pad_.gpu_data(), stride_.gpu_data(),
-          data);
+          dilation_.gpu_data(), data);
     }
   }
 #endif

include/caffe/layers/conv_layer.hpp

@@ -44,6 +44,9 @@ class ConvolutionLayer : public BaseConvolutionLayer<Dtype> {
    *  convolution, given by pad for equal dimensions or pad_h and pad_w for
    *  different padding. Input padding is computed implicitly instead of
    *  actually padding.
+   *  - dilation (\b optional, default 1). The filter
+   *  dilation, given by dilation_size for equal dimensions for different
+   *  dilation. By default the convolution has dilation 1.
    *  - group (\b optional, default 1). The number of filter groups. Group
    *  convolution is a method for reducing parameterization by selectively
    *  connecting input and output channels. The input and output channel dimensions must be divisible

include/caffe/layers/im2col_layer.hpp

@@ -46,6 +46,8 @@ class Im2colLayer : public Layer<Dtype> {
   Blob<int> stride_;
   /// @brief The spatial dimensions of the padding.
   Blob<int> pad_;
+  /// @brief The spatial dimensions of the dilation.
+  Blob<int> dilation_;
 
   int num_spatial_axes_;
   int bottom_dim_;

include/caffe/util/im2col.hpp

@@ -7,49 +7,53 @@ template <typename Dtype>
 void im2col_nd_cpu(const Dtype* data_im, const int num_spatial_axes,
     const int* im_shape, const int* col_shape,
     const int* kernel_shape, const int* pad, const int* stride,
-    Dtype* data_col);
+    const int* dilation, Dtype* data_col);
 
 template <typename Dtype>
 void im2col_cpu(const Dtype* data_im, const int channels,
     const int height, const int width, const int kernel_h, const int kernel_w,
     const int pad_h, const int pad_w, const int stride_h,
-    const int stride_w, Dtype* data_col);
+    const int stride_w, const int dilation_h, const int dilation_w,
+    Dtype* data_col);
 
 template <typename Dtype>
 void col2im_nd_cpu(const Dtype* data_col, const int num_spatial_axes,
     const int* im_shape, const int* col_shape,
     const int* kernel_shape, const int* pad, const int* stride,
-    Dtype* data_im);
+    const int* dilation, Dtype* data_im);
 
 template <typename Dtype>
 void col2im_cpu(const Dtype* data_col, const int channels,
     const int height, const int width, const int kernel_h, const int kernel_w,
     const int pad_h, const int pad_w, const int stride_h,
-    const int stride_w, Dtype* data_im);
+    const int stride_w, const int dilation_h, const int dilation_w,
+    Dtype* data_im);
 
 template <typename Dtype>
 void im2col_nd_gpu(const Dtype* data_im, const int num_spatial_axes,
     const int col_size, const int* im_shape, const int* col_shape,
     const int* kernel_shape, const int* pad, const int* stride,
-    Dtype* data_col);
+    const int* dilation, Dtype* data_col);
 
 template <typename Dtype>
 void im2col_gpu(const Dtype* data_im, const int channels,
     const int height, const int width, const int kernel_h, const int kernel_w,
     const int pad_h, const int pad_w, const int stride_h,
-    const int stride_w, Dtype* data_col);
+    const int stride_w, const int dilation_h, const int dilation_w,
+    Dtype* data_col);
 
 template <typename Dtype>
 void col2im_nd_gpu(const Dtype* data_col, const int num_spatial_axes,
     const int im_size, const int* im_shape, const int* col_shape,
     const int* kernel_shape, const int* pad, const int* stride,
-    Dtype* data_im);
+    const int* dilation, Dtype* data_im);
 
 template <typename Dtype>
 void col2im_gpu(const Dtype* data_col, const int channels,
     const int height, const int width, const int kernel_h, const int kernel_w,
     const int pad_h, const int pad_w, const int stride_h,
-    const int stride_w, Dtype* data_im);
+    const int stride_w, const int dilation_h, const int dilation_w,
+    Dtype* data_im);
 
 }  // namespace caffe
 

src/caffe/layer_factory.cpp

@@ -37,17 +37,32 @@ namespace caffe {
 template <typename Dtype>
 shared_ptr<Layer<Dtype> > GetConvolutionLayer(
     const LayerParameter& param) {
-  ConvolutionParameter_Engine engine = param.convolution_param().engine();
+  ConvolutionParameter conv_param = param.convolution_param();
+  ConvolutionParameter_Engine engine = conv_param.engine();
+#ifdef USE_CUDNN
+  bool use_dilation = false;
+  for (int i = 0; i < conv_param.dilation_size(); ++i) {
+    if (conv_param.dilation(i) > 1) {
+      use_dilation = true;
+    }
+  }
+#endif
   if (engine == ConvolutionParameter_Engine_DEFAULT) {
     engine = ConvolutionParameter_Engine_CAFFE;
 #ifdef USE_CUDNN
-    engine = ConvolutionParameter_Engine_CUDNN;
+    if (!use_dilation) {
+      engine = ConvolutionParameter_Engine_CUDNN;
+    }
 #endif
   }
   if (engine == ConvolutionParameter_Engine_CAFFE) {
     return shared_ptr<Layer<Dtype> >(new ConvolutionLayer<Dtype>(param));
 #ifdef USE_CUDNN
   } else if (engine == ConvolutionParameter_Engine_CUDNN) {
+    if (use_dilation) {
+      LOG(FATAL) << "CuDNN doesn't support the dilated convolution at Layer "
+                 << param.name();
+    }
     return shared_ptr<Layer<Dtype> >(new CuDNNConvolutionLayer<Dtype>(param));
 #endif
   } else {

src/caffe/layers/base_conv_layer.cpp

@@ -36,7 +36,7 @@ void BaseConvolutionLayer<Dtype>::LayerSetUp(const vector<Blob<Dtype>*>& bottom,
     CHECK(num_kernel_dims == 1 || num_kernel_dims == num_spatial_axes_)
         << "kernel_size must be specified once, or once per spatial dimension "
         << "(kernel_size specified " << num_kernel_dims << " times; "
-        << num_spatial_axes_ << " spatial dims);";
+        << num_spatial_axes_ << " spatial dims).";
       for (int i = 0; i < num_spatial_axes_; ++i) {
         kernel_shape_data[i] =
             conv_param.kernel_size((num_kernel_dims == 1) ? 0 : i);
@@ -61,7 +61,7 @@ void BaseConvolutionLayer<Dtype>::LayerSetUp(const vector<Blob<Dtype>*>& bottom,
           num_stride_dims == num_spatial_axes_)
         << "stride must be specified once, or once per spatial dimension "
         << "(stride specified " << num_stride_dims << " times; "
-        << num_spatial_axes_ << " spatial dims);";
+        << num_spatial_axes_ << " spatial dims).";
     const int kDefaultStride = 1;
     for (int i = 0; i < num_spatial_axes_; ++i) {
       stride_data[i] = (num_stride_dims == 0) ? kDefaultStride :
@@ -85,13 +85,27 @@ void BaseConvolutionLayer<Dtype>::LayerSetUp(const vector<Blob<Dtype>*>& bottom,
           num_pad_dims == num_spatial_axes_)
         << "pad must be specified once, or once per spatial dimension "
         << "(pad specified " << num_pad_dims << " times; "
-        << num_spatial_axes_ << " spatial dims);";
+        << num_spatial_axes_ << " spatial dims).";
     const int kDefaultPad = 0;
     for (int i = 0; i < num_spatial_axes_; ++i) {
       pad_data[i] = (num_pad_dims == 0) ? kDefaultPad :
           conv_param.pad((num_pad_dims == 1) ? 0 : i);
     }
   }
+  // Setup dilation dimensions (dilation_).
+  dilation_.Reshape(spatial_dim_blob_shape);
+  int* dilation_data = dilation_.mutable_cpu_data();
+  const int num_dilation_dims = conv_param.dilation_size();
+  CHECK(num_dilation_dims == 0 || num_dilation_dims == 1 ||
+        num_dilation_dims == num_spatial_axes_)
+      << "dilation must be specified once, or once per spatial dimension "
+      << "(dilation specified " << num_dilation_dims << " times; "
+      << num_spatial_axes_ << " spatial dims).";
+  const int kDefaultDilation = 1;
+  for (int i = 0; i < num_spatial_axes_; ++i) {
+    dilation_data[i] = (num_dilation_dims == 0) ? kDefaultDilation :
+                       conv_param.dilation((num_dilation_dims == 1) ? 0 : i);
+  }
   // Special case: im2col is the identity for 1x1 convolution with stride 1
   // and no padding, so flag for skipping the buffer and transformation.
   is_1x1_ = true;

src/caffe/layers/conv_layer.cpp

@@ -9,11 +9,13 @@ void ConvolutionLayer<Dtype>::compute_output_shape() {
   const int* kernel_shape_data = this->kernel_shape_.cpu_data();
   const int* stride_data = this->stride_.cpu_data();
   const int* pad_data = this->pad_.cpu_data();
+  const int* dilation_data = this->dilation_.cpu_data();
   this->output_shape_.clear();
   for (int i = 0; i < this->num_spatial_axes_; ++i) {
     // i + 1 to skip channel axis
     const int input_dim = this->input_shape(i + 1);
-    const int output_dim = (input_dim + 2 * pad_data[i] - kernel_shape_data[i])
+    const int kernel_extent = dilation_data[i] * (kernel_shape_data[i] - 1) + 1;
+    const int output_dim = (input_dim + 2 * pad_data[i] - kernel_extent)
         / stride_data[i] + 1;
     this->output_shape_.push_back(output_dim);
   }

src/caffe/layers/deconv_layer.cpp

@@ -9,12 +9,14 @@ void DeconvolutionLayer<Dtype>::compute_output_shape() {
   const int* kernel_shape_data = this->kernel_shape_.cpu_data();
   const int* stride_data = this->stride_.cpu_data();
   const int* pad_data = this->pad_.cpu_data();
+  const int* dilation_data = this->dilation_.cpu_data();
   this->output_shape_.clear();
   for (int i = 0; i < this->num_spatial_axes_; ++i) {
     // i + 1 to skip channel axis
     const int input_dim = this->input_shape(i + 1);
+    const int kernel_extent = dilation_data[i] * (kernel_shape_data[i] - 1) + 1;
     const int output_dim = stride_data[i] * (input_dim - 1)
-        + kernel_shape_data[i] - 2 * pad_data[i];
+        + kernel_extent - 2 * pad_data[i];
     this->output_shape_.push_back(output_dim);
   }
 }

src/caffe/layers/im2col_layer.cpp

@@ -87,6 +87,20 @@ void Im2colLayer<Dtype>::LayerSetUp(const vector<Blob<Dtype>*>& bottom,
           conv_param.pad((num_pad_dims == 1) ? 0 : i);
     }
   }
+  // Setup dilation dimensions (dilation_).
+  dilation_.Reshape(dim_blob_shape);
+  int* dilation_data = dilation_.mutable_cpu_data();
+  const int num_dilation_dims = conv_param.dilation_size();
+  CHECK(num_dilation_dims == 0 || num_dilation_dims == 1 ||
+        num_dilation_dims == num_spatial_axes_)
+      << "dilation must be specified once, or once per spatial dimension "
+      << "(dilation specified " << num_dilation_dims << " times; "
+      << num_spatial_axes_ << " spatial dims).";
+  const int kDefaultDilation = 1;
+  for (int i = 0; i < num_spatial_axes_; ++i) {
+    dilation_data[i] = (num_dilation_dims == 0) ? kDefaultDilation :
+                       conv_param.dilation((num_dilation_dims == 1) ? 0 : i);
+  }
 }
 
 template <typename Dtype>
@@ -96,10 +110,12 @@ void Im2colLayer<Dtype>::Reshape(const vector<Blob<Dtype>*>& bottom,
   const int* kernel_shape_data = kernel_shape_.cpu_data();
   const int* stride_data = stride_.cpu_data();
   const int* pad_data = pad_.cpu_data();
+  const int* dilation_data = dilation_.cpu_data();
   for (int i = 0; i < num_spatial_axes_; ++i) {
     top_shape[channel_axis_] *= kernel_shape_data[i];
     const int input_dim = bottom[0]->shape(channel_axis_ + i + 1);
-    const int output_dim = (input_dim + 2 * pad_data[i] - kernel_shape_data[i])
+    const int kernel_extent = dilation_data[i] * (kernel_shape_data[i] - 1) + 1;
+    const int output_dim = (input_dim + 2 * pad_data[i] - kernel_extent)
         / stride_data[i] + 1;
     top_shape[channel_axis_ + i + 1] = output_dim;
   }
@@ -122,20 +138,22 @@ void Im2colLayer<Dtype>::Forward_cpu(const vector<Blob<Dtype>*>& bottom,
     DCHECK_EQ(kernel_shape_.count(), num_spatial_axes_);
     DCHECK_EQ(pad_.count(), num_spatial_axes_);
     DCHECK_EQ(stride_.count(), num_spatial_axes_);
+    DCHECK_EQ(dilation_.count(), num_spatial_axes_);
     if (!force_nd_im2col_ && num_spatial_axes_ == 2) {
       im2col_cpu(bottom_data + n * bottom_dim_, channels_,
           bottom[0]->shape(channel_axis_ + 1),
           bottom[0]->shape(channel_axis_ + 2),
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
           stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1],
           top_data + n * top_dim_);
     } else {
       im2col_nd_cpu(bottom_data + n * bottom_dim_, num_spatial_axes_,
           bottom[0]->shape().data() + channel_axis_,
           top[0]->shape().data() + channel_axis_,
           kernel_shape_.cpu_data(), pad_.cpu_data(), stride_.cpu_data(),
-          top_data + n * top_dim_);
+          dilation_.cpu_data(), top_data + n * top_dim_);
     }
   }
 }
@@ -153,13 +171,14 @@ void Im2colLayer<Dtype>::Backward_cpu(const vector<Blob<Dtype>*>& top,
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
           stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1],
           bottom_diff + n * bottom_dim_);
     } else {
       col2im_nd_cpu(top_diff + n * top_dim_, num_spatial_axes_,
           bottom[0]->shape().data() + channel_axis_,
           top[0]->shape().data() + channel_axis_,
           kernel_shape_.cpu_data(), pad_.cpu_data(), stride_.cpu_data(),
-          bottom_diff + n * bottom_dim_);
+          dilation_.cpu_data(), bottom_diff + n * bottom_dim_);
     }
   }
 }

src/caffe/layers/im2col_layer.cu

@@ -19,13 +19,14 @@ void Im2colLayer<Dtype>::Forward_gpu(const vector<Blob<Dtype>*>& bottom,
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
           stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1],
           top_data + n * top_dim_);
     } else {
       im2col_nd_gpu(bottom_data + n * bottom_dim_, num_spatial_axes_,
           num_kernels, bottom[0]->gpu_shape() + channel_axis_,
           top[0]->gpu_shape() + channel_axis_,
           kernel_shape_.gpu_data(), pad_.gpu_data(), stride_.gpu_data(),
-          top_data + n * top_dim_);
+          dilation_.gpu_data(), top_data + n * top_dim_);
     }
   }
 }
@@ -43,13 +44,14 @@ void Im2colLayer<Dtype>::Backward_gpu(const vector<Blob<Dtype>*>& top,
           kernel_shape_.cpu_data()[0], kernel_shape_.cpu_data()[1],
           pad_.cpu_data()[0], pad_.cpu_data()[1],
           stride_.cpu_data()[0], stride_.cpu_data()[1],
+          dilation_.cpu_data()[0], dilation_.cpu_data()[1],
           bottom_diff + n * bottom_dim_);
     } else {
       col2im_nd_gpu(top_diff + n * top_dim_, num_spatial_axes_, bottom_dim_,
           bottom[0]->gpu_shape() + channel_axis_,
           top[0]->gpu_shape() + channel_axis_,
           kernel_shape_.gpu_data(), pad_.gpu_data(), stride_.gpu_data(),
-          bottom_diff + n * bottom_dim_);
+          dilation_.gpu_data(), bottom_diff + n * bottom_dim_);
     }
   }
 }

src/caffe/proto/caffe.proto

@@ -518,6 +518,10 @@ message ConvolutionParameter {
   repeated uint32 pad = 3; // The padding size; defaults to 0
   repeated uint32 kernel_size = 4; // The kernel size
   repeated uint32 stride = 6; // The stride; defaults to 1
+  // Factor used to dilate the kernel, (implicitly) zero-filling the resulting
+  // holes. (Kernel dilation is sometimes referred to by its use in the
+  // algorithme à trous from Holschneider et al. 1987.)
+  repeated uint32 dilation = 18; // The dilation; defaults to 1
 
   // For 2D convolution only, the *_h and *_w versions may also be used to
   // specify both spatial dimensions.