github https://github.com/LiuXinyu12378/few-shot-learning-for-object-detection
train.py
from __future__ import print_function
import sys
import time
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import torch.backends.cudnn as cudnn
from torchvision import datasets, transforms
from torch.autograd import Variable
from tqdm import tqdm
import dataset
import random
import math
import os
from utils import *
from cfg import parse_cfg, cfg
from darknet import Darknet
import pdb
# Training settings
# datacfg = sys.argv[1]
# darknetcfg = parse_cfg(sys.argv[2])
# learnetcfg = parse_cfg(sys.argv[3])
datacfg = "cfg/fewyolov3_voc.data"
darknetcfg = parse_cfg("cfg/darknet_yolov3_spp.cfg")
learnetcfg = parse_cfg("cfg/reweighting_net.cfg")
weightfile = "tmp/000050.weights"
if len(sys.argv) == 5:
weightfile = sys.argv[4]
data_options = read_data_cfg(datacfg)
net_options = darknetcfg[0]
meta_options = learnetcfg[0]
# Configure options
cfg.config_data(data_options)
cfg.config_meta(meta_options)
cfg.config_net(net_options)
# Parameters
metadict = data_options['meta']
trainlist = data_options['train']
testlist = data_options['valid']
backupdir = data_options['backup']
gpus = data_options['gpus'] # e.g. 0,1,2,3
ngpus = len(gpus.split(','))
num_workers = int(data_options['num_workers'])
batch_size = int(net_options['batch'])
print("batch_size:",batch_size)
max_batches = int(net_options['max_batches'])
learning_rate = float(data_options['learning_rate'])
momentum = float(net_options['momentum'])
decay = float(net_options['decay'])
steps = [float(step) for step in data_options['steps'].split(',')]
scales = [float(scale) for scale in data_options['scales'].split(',')]
# Train parameters
use_cuda = True
seed = int(time.time())
## --------------------------------------------------------------------------
## MAIN
backupdir = cfg.backup
print('logging to ' + backupdir)
if not os.path.exists(backupdir):
os.makedirs(backupdir)
torch.manual_seed(seed)
if use_cuda:
os.environ['CUDA_VISIBLE_DEVICES'] = gpus
torch.cuda.manual_seed(seed)
model = Darknet(darknetcfg, learnetcfg)
region_loss = model.loss
model.print_network()
# if len(sys.argv) == 5:
model.load_weights(weightfile)
###################################################
### Meta-model parameters
region_loss.seen = model.seen
processed_batches = 0 if cfg.tuning else model.seen / batch_size
trainlist = dataset.build_dataset(data_options)
nsamples = len(trainlist)
init_width = model.width
init_height = model.height
init_epoch = 0 if cfg.tuning else model.seen / nsamples
max_epochs = max_batches * batch_size / nsamples + 1
max_epochs = int(math.ceil(cfg.max_epoch * 1. / cfg.repeat)) if cfg.tuning else max_epochs
print(cfg.repeat, nsamples, max_batches, batch_size)
print(num_workers)
kwargs = {'num_workers': num_workers, 'pin_memory': True} if use_cuda else {}
if use_cuda:
if ngpus > 1:
model = torch.nn.DataParallel(model).cuda()
else:
model = model.cuda()
optimizer = optim.Adam(model.parameters(), lr=learning_rate)
def adjust_learning_rate(optimizer, processed_batches):
"""Sets the learning rate to the initial LR decayed by 10 every 30 epochs"""
lr = learning_rate
for i in range(len(steps)):
scale = scales[i] if i < len(scales) else 1
if processed_batches >= steps[i]:
lr = lr * scale
if processed_batches == steps[i]:
break
else:
break
for param_group in optimizer.param_groups:
param_group['lr'] = lr
return lr
def train(epoch):
global processed_batches
t0 = time.time()
if ngpus > 1:
cur_model = model.module
else:
cur_model = model
train_loader = torch.utils.data.DataLoader(
dataset.listDataset(trainlist, shape=(init_width, init_height),
shuffle=False,
transform=transforms.Compose([
transforms.ToTensor(),
]),
train=True,
seen=cur_model.seen,
batch_size=batch_size,
num_workers=num_workers),
batch_size=batch_size, shuffle=False, **kwargs)
metaset = dataset.MetaDataset(metafiles=metadict, train=True)
metaloader = torch.utils.data.DataLoader(
metaset,
batch_size=metaset.batch_size,
shuffle=False,
num_workers=num_workers,
pin_memory=True
)
metaloader = iter(metaloader)
lr = adjust_learning_rate(optimizer, processed_batches)
logging('epoch %d/%d, processed %d samples, lr %e' % (epoch, max_epochs, epoch * len(train_loader.dataset), lr))
model.train()
t1 = time.time()
avg_time = torch.zeros(9)
with tqdm(total=train_loader.__len__()) as t:
for batch_idx, (data, target) in enumerate(train_loader):
metax, mask = metaloader.next()
t2 = time.time()
adjust_learning_rate(optimizer, processed_batches)
processed_batches = processed_batches + 1
if use_cuda:
data = data.cuda()
metax = metax.cuda()
mask = mask.cuda()
# target= target.cuda()
t3 = time.time()
data, target = Variable(data), Variable(target)
metax, mask = Variable(metax), Variable(mask)
t4 = time.time()
optimizer.zero_grad()
t5 = time.time()
output = model(data, metax, mask)
t6 = time.time()
region_loss.seen = region_loss.seen + data.data.size(0)
cur_model.seen = region_loss.seen
region_loss.input_size = (data.data.size(2), data.data.size(3))
loss,loss_box,loss_conf,loss_cls,cls_acc,recall50,recall75,nProposals = region_loss(output, target)
t.set_description('Epoch %d' % epoch)
t.set_postfix(loss=loss.item(), loss_bbox=loss_box,loss_conf=loss_conf,loss_cls=loss_cls,
cls_acc=cls_acc, recall50=recall50, recall75=recall75,Proposals=nProposals)
t.update()
t7 = time.time()
loss.backward()
t8 = time.time()
optimizer.step()
t9 = time.time()
if False and batch_idx > 1:
avg_time[0] = avg_time[0] + (t2 - t1)
avg_time[1] = avg_time[1] + (t3 - t2)
avg_time[2] = avg_time[2] + (t4 - t3)
avg_time[3] = avg_time[3] + (t5 - t4)
avg_time[4] = avg_time[4] + (t6 - t5)
avg_time[5] = avg_time[5] + (t7 - t6)
avg_time[6] = avg_time[6] + (t8 - t7)
avg_time[7] = avg_time[7] + (t9 - t8)
avg_time[8] = avg_time[8] + (t9 - t1)
print('-------------------------------')
print(' load data : %f' % (avg_time[0] / (batch_idx)))
print(' cpu to cuda : %f' % (avg_time[1] / (batch_idx)))
print('cuda to variable : %f' % (avg_time[2] / (batch_idx)))
print(' zero_grad : %f' % (avg_time[3] / (batch_idx)))
print(' forward feature : %f' % (avg_time[4] / (batch_idx)))
print(' forward loss : %f' % (avg_time[5] / (batch_idx)))
print(' backward : %f' % (avg_time[6] / (batch_idx)))
print(' step : %f' % (avg_time[7] / (batch_idx)))
print(' total : %f' % (avg_time[8] / (batch_idx)))
t1 = time.time()
print('')
t1 = time.time()
logging('training with %f samples/s' % (len(train_loader.dataset) / (t1 - t0)))
if (epoch + 1) % cfg.save_interval == 0:
logging('save weights to %s/%06d.weights' % (backupdir, epoch + 1))
cur_model.save_weights('%s/%06d.weights' % (backupdir, epoch + 1))
init_epoch = int(init_epoch)
max_epochs = int(max_epochs)
print("init_epoch:",init_epoch)
print("max_epochs:",max_epochs)
for epoch in range(init_epoch, max_epochs):
train(epoch)
region_loss.py
import time
import torch
import math
import torch.nn as nn
import torch.nn.functional as F
import numpy as np
from torch.autograd import Variable
from utils import *
from cfg import cfg
from numbers import Number
from random import random, randint
import pdb
def neg_filter(pred_boxes, target, withids=False):
assert pred_boxes.size(0) == target.size(0)
if cfg.neg_ratio == 'full':
inds = list(range(pred_boxes.size(0)))
elif isinstance(cfg.neg_ratio, Number):
flags = torch.sum(target, 1) != 0
flags = flags.cpu().data.tolist()
ratio = cfg.neg_ratio * sum(flags) * 1. / (len(flags) - sum(flags))
if ratio >= 1:
inds = list(range(pred_boxes.size(0)))
else:
flags = [0 if f == 0 and random() > ratio else 1 for f in flags]
inds = np.argwhere(flags).squeeze()
pred_boxes, target = pred_boxes[inds], target[inds]
else:
raise NotImplementedError('neg_ratio not recognized')
if withids:
return pred_boxes, target, inds
else:
return pred_boxes, target
def neg_filter_v2(pred_boxes, target, withids=False):
assert pred_boxes.size(0) == target.size(0)
if cfg.neg_ratio == 'full':
inds = list(range(pred_boxes.size(0)))
elif isinstance(cfg.neg_ratio, Number):
flags = torch.sum(target, 1) != 0
flags = flags.cpu().data.tolist()
ratio = cfg.neg_ratio * sum(flags) * 1. / (len(flags) - sum(flags))
if ratio >= 1:
inds = list(range(pred_boxes.size(0)))
else:
flags = [0 if f == 0 and random() > ratio else 1 for f in flags]
if sum(flags) == 0:
flags[randint(0, len(flags) - 1)] = 1
inds = np.nonzero(flags)[0]
pred_boxes, target = pred_boxes[inds], target[inds]
else:
raise NotImplementedError('neg_ratio not recognized')
if withids:
return pred_boxes, target, inds
else:
return pred_boxes, target
def build_targets(pred_boxes, target, conf, anchors, num_anchors, feature_size, input_size, ignore_thresh):
nB = target.size(0)
nA = num_anchors
# print('anchor_step: ', anchor_step)
obj_mask = torch.cuda.ByteTensor(nB, nA, feature_size[0], feature_size[1]).fill_(0)
noobj_mask = torch.cuda.ByteTensor(nB, nA, feature_size[0], feature_size[1]).fill_(1)
tx = torch.zeros(nB, nA, feature_size[0], feature_size[1]).cuda()
ty = torch.zeros(nB, nA, feature_size[0], feature_size[1]).cuda()
tw = torch.zeros(nB, nA, feature_size[0], feature_size[1]).cuda()
th = torch.zeros(nB, nA, feature_size[0], feature_size[1]).cuda()
tcls = torch.zeros(nB, nA, feature_size[0], feature_size[1]).cuda()
iou_scores = torch.zeros(nB, nA, feature_size[0], feature_size[1]).cuda()
tboxes = target.view(-1, 5)
nonzero_ind = tboxes[:, 3] > 0
tboxes = tboxes[nonzero_ind.unsqueeze(1).repeat(1, 5)].view(-1, 5)
ind_B = torch.linspace(0, nB - 1, nB).unsqueeze(1).repeat(1, 50).view(-1).long().cuda()
ind_B = ind_B[nonzero_ind]
gx = (tboxes[:, 1] * feature_size[1]).float()
gy = (tboxes[:, 2] * feature_size[0]).float()
gw = (tboxes[:, 3] * input_size[1]).float()
gh = (tboxes[:, 4] * input_size[0]).float()
aw = anchors[:, 0]
ah = anchors[:, 1]
nbox = tboxes.size(0)
gt_box = torch.cat([torch.zeros(1, nbox).cuda(), torch.zeros(1, nbox).cuda(), gw.unsqueeze(0), gh.unsqueeze(0)], 0)
anchor_box = torch.cat([torch.zeros(1, nA).cuda(), torch.zeros(1, nA).cuda(), aw.unsqueeze(0), ah.unsqueeze(0)], 0)
ious = bbox_ious(gt_box.unsqueeze(2).repeat(1, 1, nA), anchor_box.unsqueeze(1).repeat(1, nbox, 1), x1y1x2y2=False)
best_ious, best_a = ious.max(1)
gj = gy.long()
gi = gx.long()
obj_mask[ind_B, best_a, gj, gi] = 1
noobj_mask[ind_B, best_a, gj, gi] = 0
for i, iou in enumerate(ious):
if (iou > ignore_thresh).sum():
noobj_mask[ind_B[i:i + 1], (iou > ignore_thresh).nonzero().squeeze(1), gj[i:i + 1], gi[i:i + 1]] = 0
tx[ind_B, best_a, gj, gi] = gx - gx.floor()
ty[ind_B, best_a, gj, gi] = gy - gy.floor()
tw[ind_B, best_a, gj, gi] = torch.log(gw / anchors[best_a][:, 0])
th[ind_B, best_a, gj, gi] = torch.log(gh / anchors[best_a][:, 1])
tcls[ind_B, best_a, gj, gi] = tboxes[:, 0].float()
tconf = obj_mask.float()
pred_boxes = pred_boxes.contiguous().view(nB, nA, feature_size[0], feature_size[1], 4).cuda()
conf = conf.contiguous().view(nB, nA, feature_size[0], feature_size[1]).data
target_boxes = torch.cat([(tboxes[:, 1] * input_size[1]).float().unsqueeze(0),
(tboxes[:, 2] * input_size[0]).float().unsqueeze(0),
gw.unsqueeze(0),
gh.unsqueeze(0)], 0)
iou_scores[ind_B, best_a, gj, gi] = bbox_ious(pred_boxes[ind_B, best_a, gj, gi].t(), target_boxes, x1y1x2y2=False)
conf50 = (conf[ind_B, best_a, gj, gi] > 0.5).float()
detected50 = (iou_scores[ind_B, best_a, gj, gi] > 0.5).float() * conf50
detected75 = (iou_scores[ind_B, best_a, gj, gi] > 0.75).float() * conf50
return nbox, iou_scores, obj_mask, noobj_mask, tx, ty, tw, th, tconf, tcls, detected50, detected75
class RegionLoss(nn.Module):
def __init__(self, num_classes=0, anchors=[], num_anchors=1):
super(RegionLoss, self).__init__()
self.num_classes = num_classes
self.anchors = anchors
self.num_anchors = num_anchors
self.anchor_step = len(anchors) / num_anchors
self.coord_scale = 1
self.noobject_scale = 1
self.object_scale = 5
self.class_scale = 1
self.thresh = 0.6
self.seen = 0
def forward(self, output, target):
# import pdb; pdb.set_trace()
# output : BxAs*(4+1+num_classes)*H*W
# if target.dim() == 3:
# # target : B * n_cls * l
# l = target.size(-1)
# target = target.permute(1,0,2).contiguous().view(-1, l)
if target.dim() == 3:
target = target.view(-1, target.size(-1))
bef = target.size(0)
output, target = neg_filter(output, target)
# print("{}/{}".format(target.size(0), bef))
t0 = time.time()
nB = output.data.size(0)
nA = self.num_anchors
nC = self.num_classes
nH = output.data.size(2)
nW = output.data.size(3)
output = output.view(nB, nA, (5 + nC), nH, nW)
x = F.sigmoid(output.index_select(2, Variable(torch.cuda.LongTensor([0]))).view(nB, nA, nH, nW))
y = F.sigmoid(output.index_select(2, Variable(torch.cuda.LongTensor([1]))).view(nB, nA, nH, nW))
w = output.index_select(2, Variable(torch.cuda.LongTensor([2]))).view(nB, nA, nH, nW)
h = output.index_select(2, Variable(torch.cuda.LongTensor([3]))).view(nB, nA, nH, nW)
conf = F.sigmoid(output.index_select(2, Variable(torch.cuda.LongTensor([4]))).view(nB, nA, nH, nW))
# [nB, nA, nC, nW, nH] | (bs, 5, 1, 13, 13)
cls = output.index_select(2, Variable(torch.linspace(5, 5 + nC - 1, nC).long().cuda()))
cls = cls.view(nB * nA, nC, nH * nW).transpose(1, 2).contiguous().view(nB * nA * nH * nW, nC)
t1 = time.time()
pred_boxes = torch.cuda.FloatTensor(4, nB * nA * nH * nW)
grid_x = torch.linspace(0, nW - 1, nW).repeat(nH, 1).repeat(nB * nA, 1, 1).view(nB * nA * nH * nW).cuda()
grid_y = torch.linspace(0, nH - 1, nH).repeat(nW, 1).t().repeat(nB * nA, 1, 1).view(nB * nA * nH * nW).cuda()
anchor_w = torch.Tensor(self.anchors).view(nA, self.anchor_step).index_select(1, torch.LongTensor([0])).cuda()
anchor_h = torch.Tensor(self.anchors).view(nA, self.anchor_step).index_select(1, torch.LongTensor([1])).cuda()
anchor_w = anchor_w.repeat(nB, 1).repeat(1, 1, nH * nW).view(nB * nA * nH * nW)
anchor_h = anchor_h.repeat(nB, 1).repeat(1, 1, nH * nW).view(nB * nA * nH * nW)
pred_boxes[0] = x.data + grid_x
pred_boxes[1] = y.data + grid_y
pred_boxes[2] = torch.exp(w.data) * anchor_w
pred_boxes[3] = torch.exp(h.data) * anchor_h
pred_boxes = convert2cpu(pred_boxes.transpose(0, 1).contiguous().view(-1, 4))
t2 = time.time()
nGT, nCorrect, coord_mask, conf_mask, cls_mask, tx, ty, tw, th, tconf, tcls = build_targets(pred_boxes,
target.data,
self.anchors, nA,
nC,
nH, nW,
self.noobject_scale,
self.object_scale,
self.thresh,
self.seen)
cls_mask = (cls_mask == 1)
if cfg.metayolo:
tcls.zero_()
nProposals = int((conf > 0.25).float().sum().data[0])
tx = Variable(tx.cuda())
ty = Variable(ty.cuda())
tw = Variable(tw.cuda())
th = Variable(th.cuda())
tconf = Variable(tconf.cuda())
tcls = Variable(tcls.view(-1)[cls_mask].long().cuda())
coord_mask = Variable(coord_mask.cuda())
conf_mask = Variable(conf_mask.cuda().sqrt())
cls_mask = Variable(cls_mask.view(-1, 1).repeat(1, nC).cuda())
cls = cls[cls_mask].view(-1, nC)
t3 = time.time()
loss_x = self.coord_scale * nn.MSELoss(size_average=False)(x * coord_mask, tx * coord_mask) / 2.0
loss_y = self.coord_scale * nn.MSELoss(size_average=False)(y * coord_mask, ty * coord_mask) / 2.0
loss_w = self.coord_scale * nn.MSELoss(size_average=False)(w * coord_mask, tw * coord_mask) / 2.0
loss_h = self.coord_scale * nn.MSELoss(size_average=False)(h * coord_mask, th * coord_mask) / 2.0
loss_conf = nn.MSELoss(size_average=False)(conf * conf_mask, tconf * conf_mask) / 2.0
loss_cls = self.class_scale * nn.CrossEntropyLoss(size_average=False)(cls, tcls)
loss = loss_x + loss_y + loss_w + loss_h + loss_conf + loss_cls
t4 = time.time()
if False:
print('-----------------------------------')
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: nGT %d, recall %d, proposals %d, loss: x %f, y %f, w %f, h %f, conf %f, cls %f, total %f' % (
self.seen, nGT, nCorrect, nProposals, loss_x.data[0], loss_y.data[0], loss_w.data[0], loss_h.data[0],
loss_conf.data[0], loss_cls.data[0], loss.data[0]))
return loss
class RegionLossV2(nn.Module):
"""
Yolo region loss + Softmax classification across meta-inputs
"""
def __init__(self, num_classes=0, anchors=[], num_anchors=1, input_size=(832, 832)):
super(RegionLossV2, self).__init__()
self.num_classes = num_classes
self.anchors = anchors
self.num_anchors = num_anchors
self.coord_scale = 1
self.class_scale = 1
self.obj_scale = 1
self.noobj_scale = 100
self.thresh = 0.5
self.seen = 0
self.input_size = input_size
self.feature_scale = [32, 16, 8]
print('class_scale', self.class_scale)
def forward(self, output, target):
# output : (bs*cs, nA*(5+1), N)
# target : (bs, cs, 50*5)
# Get all classification prediction
# pdb.set_trace()
bs = target.size(0)
cs = target.size(1)
nA = self.num_anchors
nC = self.num_classes
N = output.data.size(2)
# feature_size = [[26, 26], [52, 52], [104, 104]]
cls = output.view(output.size(0), nA, (5 + nC), N)
cls = cls.index_select(2, Variable(torch.linspace(5, 5 + nC - 1, nC).long().cuda())).squeeze()
cls = cls.view(bs, cs, nA * N).transpose(1, 2).contiguous().view(bs * nA * N, cs)
cls_conf = F.softmax(cls, 1)
_, cls_max_ids = torch.max(cls_conf, 1)
cls_max_ids = cls_max_ids.data
pre_cls_mask = torch.zeros(bs * nA * N, cs).cuda()
pre_cls_mask[torch.linspace(0, bs * nA * N - 1, bs * nA * N).long().cuda(), cls_max_ids] = 1
pre_cls_mask = pre_cls_mask.view(bs, nA * N, cs).transpose(1, 2).contiguous().view(bs * cs, nA, N)
# Rearrange target and perform filtering operation
target = target.view(-1, target.size(-1))
# bef = target.size(0)
output, target, inds = neg_filter_v2(output, target, withids=True)
counts, _ = np.histogram(inds, bins=bs, range=(0, bs * cs))
# print("{}/{}".format(target.size(0), bef))
pre_cls_mask = pre_cls_mask[inds]
t0 = time.time()
nB = output.data.size(0)
output = output.view(nB, nA, (5 + nC), N) # (nB, nA, (5+nC), N)
x = F.sigmoid(output.index_select(2, Variable(torch.cuda.LongTensor([0]))).squeeze(2)) # (nB, nA, N)
y = F.sigmoid(output.index_select(2, Variable(torch.cuda.LongTensor([1]))).squeeze(2))
w = output.index_select(2, Variable(torch.cuda.LongTensor([2]))).squeeze(2)
h = output.index_select(2, Variable(torch.cuda.LongTensor([3]))).squeeze(2)
conf = F.sigmoid(output.index_select(2, Variable(torch.cuda.LongTensor([4]))).squeeze(2))
# [nB, nA, nC, nW, nH] | (bs, 5, 1, 13, 13)
# cls = output.index_select(2, Variable(torch.linspace(5,5+nC-1,nC).long().cuda()))
# cls = cls.view(nB*nA, nC, nH*nW).transpose(1,2).contiguous().view(nB*nA*nH*nW, nC)
t1 = time.time()
pred_boxes = torch.cuda.FloatTensor(4, nB, nA, N)
grid_x = []
grid_y = []
anchor_w = []
anchor_h = []
scale = []
feature_size = []
for fs in self.feature_scale:
feature_h = self.input_size[0] // fs
feature_w = self.input_size[1] // fs
# print("feature_h:",feature_h)
# print("feature_w:",feature_w)
feature_size.append([feature_h, feature_w])
grid_x.append(torch.linspace(0, feature_w - 1, feature_w).repeat(feature_h, 1)
.repeat(nB * nA, 1, 1).view(nB, nA, feature_h * feature_w).cuda())
grid_y.append(torch.linspace(0, feature_h - 1, feature_h).repeat(feature_w, 1).t()
.repeat(nB * nA, 1, 1).view(nB, nA, feature_h * feature_w).cuda())
scale.append((torch.ones(nB, nA, feature_h * feature_w) * fs).cuda())
grid_x = torch.cat(grid_x, 2) # (nB, nA, N)
grid_y = torch.cat(grid_y, 2)
scale = torch.cat(scale, 2)
for i in range(3):
aw = torch.Tensor(self.anchors[6 * i:6 * (i + 1)]).view(nA, -1)
.index_select(1, torch.LongTensor([0])).cuda()
ah = torch.Tensor(self.anchors[6 * i:6 * (i + 1)]).view(nA, -1)
.index_select(1, torch.LongTensor([1])).cuda()
anchor_w.append(aw.repeat(nB, feature_size[i][0] * feature_size[i][1])
.view(nB, nA, feature_size[i][0] * feature_size[i][1]))
anchor_h.append(ah.repeat(nB, feature_size[i][0] * feature_size[i][1])
.view(nB, nA, feature_size[i][0] * feature_size[i][1]))
anchor_w = torch.cat(anchor_w, 2)
anchor_h = torch.cat(anchor_h, 2)
pred_boxes[0] = (x.data + grid_x) * scale
pred_boxes[1] = (y.data + grid_y) * scale
pred_boxes[2] = torch.exp(w.data) * anchor_w
pred_boxes[3] = torch.exp(h.data) * anchor_h
pred_boxes = convert2cpu(pred_boxes.permute(1, 2, 3, 0).contiguous()) # (nB, nA, N, 4)
t2 = time.time()
nGT = 0
iou_scores = []
obj_mask = []
noobj_mask = []
tx = []
ty = []
tw = []
th = []
tconf = []
tcls = []
start_N = 0
detected50 = torch.zeros(0)
detected75 = torch.zeros(0)
for imap in range(3):
nGT, iou_scores_temp, obj_mask_temp, noobj_mask_temp, tx_temp, ty_temp, tw_temp, th_temp, tconf_temp,
tcls_temp, detected50_temp, detected75_temp = build_targets(
pred_boxes[:, :, start_N:start_N + feature_size[imap][0] * feature_size[imap][1], :],
target.data.cuda(),
conf[:, :, start_N:start_N + feature_size[imap][0] * feature_size[imap][1]],
torch.Tensor(self.anchors[6 * imap:6 * (imap + 1)]).view(nA, -1).cuda(),
nA,
feature_size[imap],
self.input_size,
self.thresh)
if not len(detected50):
detected50 = torch.zeros(nGT).cuda()
if not len(detected75):
detected75 = torch.zeros(nGT).cuda()
detected50 += detected50_temp
detected75 += detected75_temp
start_N += feature_size[imap][0] * feature_size[imap][1]
iou_scores.append(iou_scores_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
obj_mask.append(obj_mask_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
noobj_mask.append(noobj_mask_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
tx.append(tx_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
ty.append(ty_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
tw.append(tw_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
th.append(th_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
tconf.append(tconf_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
tcls.append(tcls_temp.view(nB, nA, feature_size[imap][0] * feature_size[imap][1]))
iou_scores = torch.cat(iou_scores, 2)
obj_mask = torch.cat(obj_mask, 2)
noobj_mask = torch.cat(noobj_mask, 2)
tx = torch.cat(tx, 2)
ty = torch.cat(ty, 2)
tw = torch.cat(tw, 2)
th = torch.cat(th, 2)
tconf = torch.cat(tconf, 2)
tcls = torch.cat(tcls, 2)
# Take care of class mask
idx_start = 0
cls_mask_list = []
tcls_list = []
for i in range(len(counts)):
if counts[i] == 0:
cur_mask = torch.zeros(nA, N).cuda()
cur_tcls = torch.zeros(nA, N).cuda()
else:
cur_mask = torch.sum(obj_mask[idx_start:idx_start + counts[i]].float(), dim=0)
cur_tcls = torch.sum(tcls[idx_start:idx_start + counts[i]], dim=0)
cls_mask_list.append(cur_mask)
tcls_list.append(cur_tcls)
idx_start += counts[i]
cls_mask = torch.stack(cls_mask_list) # (bs, nA, N)
tcls = torch.stack(tcls_list)
cls_mask = (cls_mask == 1)
conf50 = (conf > 0.5).float().data
iou50 = (iou_scores > 0.5).float()
detected_mask = conf50 * tconf
precision = torch.sum(iou50 * detected_mask) / (conf50.sum() + 1e-16)
detected50 = (detected50 > 0).float()
detected75 = (detected75 > 0).float()
recall50 = detected50.sum() / (nGT + 1e-16)
recall75 = detected75.sum() / (nGT + 1e-16)
nProposals = int((conf > 0.25).float().sum().item())
tx = Variable(tx)
ty = Variable(ty)
tw = Variable(tw)
th = Variable(th)
tconf = Variable(tconf)
obj_mask = Variable(obj_mask.bool())
noobj_mask = Variable(noobj_mask.bool())
# cls_mask = Variable(cls_mask.view(-1, 1).repeat(1,cs).cuda())
cls = cls[Variable(cls_mask.view(-1, 1).repeat(1, cs))].view(-1, cs)
cls_max_ids = cls_max_ids[cls_mask.view(-1)]
tcls = Variable(tcls[cls_mask].long())
cls_acc = float(torch.sum(cls_max_ids == tcls.data)) / (cls_max_ids.numel() + 1e-16)
ClassificationLoss = nn.CrossEntropyLoss()
MseLoss = nn.MSELoss()
BceLoss = nn.BCELoss()
t3 = time.time()
loss_x = self.coord_scale * MseLoss(x[obj_mask], tx[obj_mask])
loss_y = self.coord_scale * MseLoss(y[obj_mask], ty[obj_mask])
loss_w = self.coord_scale * MseLoss(w[obj_mask], tw[obj_mask])
loss_h = self.coord_scale * MseLoss(h[obj_mask], th[obj_mask])
loss_conf_obj = BceLoss(conf[obj_mask], tconf[obj_mask])
loss_conf_noobj = BceLoss(conf[noobj_mask], tconf[noobj_mask])
loss_conf = self.obj_scale * loss_conf_obj + self.noobj_scale * loss_conf_noobj
if len(cls):
loss_cls = self.class_scale * ClassificationLoss(cls, tcls)
else:
loss_cls = Variable(torch.Tensor([0]).float().cuda())
# # pdb.set_trace()
# ids = [9,11,12,16]
# new_cls, new_tcls = select_classes(cls, tcls, ids)
# new_tcls = Variable(torch.from_numpy(new_tcls).long().cuda())
# loss_cls_new = self.class_scale * nn.CrossEntropyLoss(size_average=False)(new_cls, new_tcls)
# loss_cls_new *= 10
# loss_cls += loss_cls_new
loss = loss_x + loss_y + loss_w + loss_h + loss_conf + loss_cls
t4 = time.time()
if False:
print('-----------------------------------')
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: nGT %d, precision %f, recall50 %f, recall75 %f, cls_acc %f, loss: x %f, y %f, w %f, h %f, conf %f, cls %f, total %f' %
# (self.seen, nGT, precision, recall50, recall75, cls_acc, loss_x.item(), loss_y.item(),
# loss_w.item(), loss_h.item(), loss_conf.item(), loss_cls.item(), loss.item()))
# print('%d: nGT %d, recall %d, proposals %d, loss: x %f, y %f, w %f, h %f, conf %f, cls %f, cls_new %f, total %f' % (self.seen, nGT, nCorrect, nProposals, loss_x.data[0], loss_y.data[0], loss_w.data[0], loss_h.data[0], loss_conf.data[0], loss_cls.data[0], loss_cls_new.data[0], loss.data[0]))
return loss,loss_x.item() + loss_y.item() + loss_w.item() + loss_h.item(),loss_conf.item(),loss_cls.item(),cls_acc,recall50.item(),recall75.item(),nProposals
def select_classes(pred, tgt, ids):
# convert tgt to numpy
tgt = tgt.cpu().data.numpy()
new_tgt = [(tgt == d) * i for i, d in enumerate(ids)]
new_tgt = np.max(np.stack(new_tgt), axis=0)
idxes = np.argwhere(new_tgt > 0).squeeze()
new_pred = pred[idxes]
new_pred = new_pred[:, ids]
new_tgt = new_tgt[idxes]
return new_pred, new_tgt