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yolo_layer.py
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yolo_layer.py
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import math
import numpy as np
import sys
import time
import torch
import torch.nn as nn
import torch.nn.functional as F
from utils import bbox_iou, multi_bbox_ious, convert2cpu
class YoloLayer(nn.Module):
def __init__(self, anchor_mask=[], num_classes=0, anchors=[1.0], num_anchors=1, use_cuda=None):
super(YoloLayer, self).__init__()
use_cuda = torch.cuda.is_available() and (True if use_cuda is None else use_cuda)
self.device = torch.device("cuda" if use_cuda else "cpu")
self.anchor_mask = anchor_mask
self.num_classes = num_classes
self.anchors = anchors
self.num_anchors = num_anchors
self.anchor_step = len(anchors)//num_anchors
self.rescore = 1
self.ignore_thresh = 0.5
self.truth_thresh = 1.
self.nth_layer = 0
self.seen = 0
self.net_width = 0
self.net_height = 0
def get_mask_boxes(self, output):
masked_anchors = []
for m in self.anchor_mask:
masked_anchors += self.anchors[m*self.anchor_step:(m+1)*self.anchor_step]
masked_anchors = torch.FloatTensor(masked_anchors).to(self.device)
num_anchors = torch.IntTensor([len(self.anchor_mask)]).to(self.device)
return {'x':output, 'a':masked_anchors, 'n':num_anchors}
def build_targets(self, pred_boxes, target, anchors, nA, nH, nW):
nB = target.size(0)
anchor_step = anchors.size(1) # anchors[nA][anchor_step]
noobj_mask = torch.ones (nB, nA, nH, nW)
obj_mask = torch.zeros(nB, nA, nH, nW)
coord_mask = torch.zeros(nB, nA, nH, nW)
tcoord = torch.zeros( 4, nB, nA, nH, nW)
tconf = torch.zeros(nB, nA, nH, nW)
tcls = torch.zeros(nB, nA, nH, nW, self.num_classes)
nAnchors = nA*nH*nW
nPixels = nH*nW
nGT = 0
nRecall = 0
nRecall75 = 0
# it works faster on CPU than on GPU.
anchors = anchors.to("cpu")
for b in range(nB):
cur_pred_boxes = pred_boxes[b*nAnchors:(b+1)*nAnchors].t()
cur_ious = torch.zeros(nAnchors)
tbox = target[b].view(-1,5).to("cpu")
for t in range(50):
if tbox[t][1] == 0:
break
gx, gy = tbox[t][1] * nW, tbox[t][2] * nH
gw, gh = tbox[t][3] * self.net_width, tbox[t][4] * self.net_height
cur_gt_boxes = torch.FloatTensor([gx, gy, gw, gh]).repeat(nAnchors,1).t()
cur_ious = torch.max(cur_ious, multi_bbox_ious(cur_pred_boxes, cur_gt_boxes, x1y1x2y2=False))
ignore_ix = (cur_ious>self.ignore_thresh).view(nA,nH,nW)
noobj_mask[b][ignore_ix] = 0
for t in range(50):
if tbox[t][1] == 0:
break
nGT += 1
gx, gy = tbox[t][1] * nW, tbox[t][2] * nH
gw, gh = tbox[t][3] * self.net_width, tbox[t][4] * self.net_height
gw, gh = gw.float(), gh.float()
gi, gj = int(gx), int(gy)
tmp_gt_boxes = torch.FloatTensor([0, 0, gw, gh]).repeat(nA,1).t()
anchor_boxes = torch.cat((torch.zeros(nA, anchor_step), anchors),1).t()
_, best_n = torch.max(multi_bbox_ious(anchor_boxes, tmp_gt_boxes, x1y1x2y2=False), 0)
gt_box = torch.FloatTensor([gx, gy, gw, gh])
pred_box = pred_boxes[b*nAnchors+best_n*nPixels+gj*nW+gi]
iou = bbox_iou(gt_box, pred_box, x1y1x2y2=False)
obj_mask [b][best_n][gj][gi] = 1
noobj_mask[b][best_n][gj][gi] = 0
coord_mask[b][best_n][gj][gi] = 2. - tbox[t][3]*tbox[t][4]
tcoord [0][b][best_n][gj][gi] = gx - gi
tcoord [1][b][best_n][gj][gi] = gy - gj
tcoord [2][b][best_n][gj][gi] = math.log(gw/anchors[best_n][0])
tcoord [3][b][best_n][gj][gi] = math.log(gh/anchors[best_n][1])
tcls [b][best_n][gj][gi][int(tbox[t][0])] = 1
tconf [b][best_n][gj][gi] = iou if self.rescore else 1.
if iou > 0.5:
nRecall += 1
if iou > 0.75:
nRecall75 += 1
return nGT, nRecall, nRecall75, obj_mask, noobj_mask, coord_mask, tcoord, tconf, tcls
def forward(self, output, target):
#output : BxAs*(4+1+num_classes)*H*W
mask_tuple = self.get_mask_boxes(output)
t0 = time.time()
nB = output.data.size(0) # batch size
nA = mask_tuple['n'].item() # num_anchors
nC = self.num_classes
nH = output.data.size(2)
nW = output.data.size(3)
anchor_step = mask_tuple['a'].size(0)//nA
anchors = mask_tuple['a'].view(nA, anchor_step).to(self.device)
cls_anchor_dim = nB*nA*nH*nW
output = output.view(nB, nA, (5+nC), nH, nW)
cls_grid = torch.linspace(5,5+nC-1,nC).long().to(self.device)
ix = torch.LongTensor(range(0,5)).to(self.device)
pred_boxes = torch.FloatTensor(4, cls_anchor_dim).to(self.device)
coord = output.index_select(2, ix[0:4]).view(nB*nA, -1, nH*nW).transpose(0,1).contiguous().view(-1,cls_anchor_dim) # x, y, w, h
coord[0:2] = coord[0:2].sigmoid()
conf = output.index_select(2, ix[4]).view(cls_anchor_dim).sigmoid()
cls = output.index_select(2, cls_grid)
cls = cls.view(nB*nA, nC, nH*nW).transpose(1,2).contiguous().view(cls_anchor_dim, nC).to(self.device)
t1 = time.time()
grid_x = torch.linspace(0, nW-1, nW).repeat(nB*nA, nH, 1).view(cls_anchor_dim).to(self.device)
grid_y = torch.linspace(0, nH-1, nH).repeat(nW,1).t().repeat(nB*nA, 1, 1).view(cls_anchor_dim).to(self.device)
anchor_w = anchors.index_select(1, ix[0]).repeat(nB, nH*nW).view(cls_anchor_dim)
anchor_h = anchors.index_select(1, ix[1]).repeat(nB, nH*nW).view(cls_anchor_dim)
pred_boxes[0] = coord[0] + grid_x
pred_boxes[1] = coord[1] + grid_y
pred_boxes[2] = coord[2].exp() * anchor_w
pred_boxes[3] = coord[3].exp() * anchor_h
# for build_targets. it works faster on CPU than on GPU
pred_boxes = convert2cpu(pred_boxes.transpose(0,1).contiguous().view(-1,4)).detach()
t2 = time.time()
nGT, nRecall, nRecall75, obj_mask, noobj_mask, coord_mask, tcoord, tconf, tcls = \
self.build_targets(pred_boxes, target.detach(), anchors.detach(), nA, nH, nW)
conf_mask = (obj_mask + noobj_mask).view(cls_anchor_dim).to(self.device)
obj_mask = (obj_mask==1).view(cls_anchor_dim)
nProposals = int((conf > 0.25).sum())
coord = coord[:,obj_mask]
tcoord = tcoord.view(4, cls_anchor_dim)[:,obj_mask].to(self.device)
tconf = tconf.view(cls_anchor_dim).to(self.device)
cls = cls[obj_mask,:].to(self.device)
tcls = tcls.view(cls_anchor_dim, nC)[obj_mask,:].to(self.device)
t3 = time.time()
loss_coord = nn.BCELoss(reduction='sum')(coord[0:2], tcoord[0:2])/nB + \
nn.MSELoss(reduction='sum')(coord[2:4], tcoord[2:4])/nB
loss_conf = nn.BCELoss(reduction='sum')(conf*conf_mask, tconf*conf_mask)/nB
loss_cls = nn.BCEWithLogitsLoss(reduction='sum')(cls, tcls)/nB
loss = loss_coord + loss_conf + loss_cls
t4 = time.time()
if False:
print('-'*30)
print(' activation : %f' % (t1 - t0))
print(' create pred_boxes : %f' % (t2 - t1))
print(' build targets : %f' % (t3 - t2))
print(' create loss : %f' % (t4 - t3))
print(' total : %f' % (t4 - t0))
print('%d: Layer(%03d) nGT %3d, nRC %3d, nRC75 %3d, nPP %3d, loss: box %6.3f, conf %6.3f, class %6.3f, total %7.3f'
% (self.seen, self.nth_layer, nGT, nRecall, nRecall75, nProposals, loss_coord, loss_conf, loss_cls, loss))
if math.isnan(loss.item()):
print(coord, conf, tconf)
sys.exit(0)
return loss