def filter_detections_for_dumping(args, scores, decoded_boxes_batch,
confidences):
c_mask = scores.gt(args.GEN_CONF_THRESH) # greater than minmum threshold
scores = scores[c_mask].squeeze()
if scores.dim() == 0 or scores.shape[0] == 0:
return np.zeros((0, 5)), np.zeros((0, 200))
boxes = decoded_boxes_batch[c_mask, :].clone().view(-1, 4)
numc = confidences.shape[-1]
confidences = confidences[c_mask, :].clone().view(-1, numc)
# sorted_ind = np.argsort(-scores.cpu().numpy())
# sorted_ind = sorted_ind[:topk*10]
# boxes_np = boxes.cpu().numpy()
# confidences_np = confidences.cpu().numpy()
# save_data = np.hstack((boxes_np[sorted_ind,:], confidences_np[sorted_ind, :]))
# args.GEN_TOPK, args.GEN_NMS
max_k = min(args.GEN_TOPK * 500, scores.shape[0])
ids, counts = nms(boxes, scores, args.GEN_NMS,
max_k) # idsn - ids after nms
scores = scores[ids[:min(args.GEN_TOPK, counts)]].cpu().numpy()
boxes = boxes[ids[:min(args.GEN_TOPK, counts)], :].cpu().numpy()
confidences = confidences[
ids[:min(args.GEN_TOPK, counts)], :].cpu().numpy()
cls_dets = np.hstack((boxes, scores[:, np.newaxis])).astype(np.float32,
copy=True)
save_data = np.hstack((cls_dets, confidences[:, 1:])).astype(np.float32)
#print(save_data.shape)
return cls_dets, save_data
def apply_nms(boxes, scores, sf_conf, num_nodes, conf_thresh, nms_thresh):
all_ids = torch.arange(0, scores.size(0), 1).cuda()
c_mask = scores.gt(conf_thresh) # greater than minmum threshold
new_scores = scores[c_mask].squeeze()
all_ids = all_ids[c_mask].squeeze()
if new_scores.dim() == 0:
all_ids = torch.arange(0, scores.size(0), dtype=torch.cuda.LongTensor)
c_mask = scores.gt(conf_thresh *
0.001) # greater than minmum threshold
new_scores = scores[c_mask].squeeze()
all_ids = all_ids[c_mask].squeeze()
# boxes = decoded_boxes.clone()
l_mask = c_mask.unsqueeze(1).expand_as(boxes)
boxes = boxes[l_mask].view(-1, 4)
l_mask = c_mask.unsqueeze(1).expand_as(sf_conf)
# pdb.set_trace()
sf_conf = sf_conf[l_mask].view(-1, sf_conf.size(1))
# idx of highest scoring and non-overlapping boxes per class
ids, counts = nms(boxes, new_scores, nms_thresh, num_nodes * 20)
news = ids[:counts]
new_scores = new_scores[news]
all_ids = all_ids[news]
boxes = boxes[news]
sf_conf = sf_conf[news]
# pdb.set_trace()
return boxes, all_ids, sf_conf, new_scores
def filter_detections(args, scores, decoded_boxes_batch):
c_mask = scores.gt(args.CONF_THRESH) # greater than minmum threshold
scores = scores[c_mask].squeeze()
if scores.dim() == 0 or scores.shape[0] == 0:
return np.asarray([])
boxes = decoded_boxes_batch[c_mask, :].view(-1, 4)
ids, counts = nms(boxes, scores, args.NMS_THRESH,
args.TOPK * 5) # idsn - ids after nms
scores = scores[ids[:min(args.TOPK, counts)]].cpu().numpy()
boxes = boxes[ids[:min(args.TOPK, counts)]].cpu().numpy()
cls_dets = np.hstack((boxes, scores[:, np.newaxis])).astype(np.float32,
copy=True)
return cls_dets
def filter_detections_for_tubing(args, scores, decoded_boxes_batch,
confidences):
c_mask = scores.gt(args.CONF_THRESH) # greater than minmum threshold
scores = scores[c_mask].squeeze()
if scores.dim() == 0 or scores.shape[0] == 0:
return np.zeros((0, 200))
boxes = decoded_boxes_batch[c_mask, :].clone().view(-1, 4)
numc = confidences.shape[-1]
confidences = confidences[c_mask, :].clone().view(-1, numc)
max_k = min(args.TOPK * 60, scores.shape[0])
ids, counts = nms(boxes, scores, args.NMS_THRESH,
max_k) # idsn - ids after nms
scores = scores[ids[:min(args.TOPK, counts)]].cpu().numpy()
boxes = boxes[ids[:min(args.TOPK, counts)], :].cpu().numpy()
confidences = confidences[ids[:min(args.TOPK, counts)], :].cpu().numpy()
cls_dets = np.hstack((boxes, scores[:, np.newaxis])).astype(np.float32,
copy=True)
save_data = np.hstack((cls_dets, confidences[:, 1:])).astype(np.float32)
#print(save_data.shape)
return save_data
def validate(args,
net,
anchors,
val_data_loader,
val_dataset,
iteration_num,
iou_thresh=0.5):
"""Test a FPN network on an image database."""
print('Validating at ', iteration_num)
num_images = len(val_dataset)
num_classes = args.num_classes
det_boxes = [[] for _ in range(num_classes - 1)]
gt_boxes = []
print_time = True
val_step = 20
count = 0
torch.cuda.synchronize()
ts = time.perf_counter()
softmax = nn.Softmax(dim=2).cuda()
with torch.no_grad():
for val_itr, (images, targets,
img_indexs) in enumerate(val_data_loader):
torch.cuda.synchronize()
t1 = time.perf_counter()
batch_size = images.size(0)
height, width = images.size(2), images.size(3)
images = images.cuda(0, non_blocking=True)
loc_data, conf_data = net(images)
conf_scores_all = softmax(conf_data).clone()
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
tf = time.perf_counter()
print('Forward Time {:0.3f}'.format(tf - t1))
for b in range(batch_size):
gt = targets[b].numpy()
gt[:, 0] *= width
gt[:, 2] *= width
gt[:, 1] *= height
gt[:, 3] *= height
gt_boxes.append(gt)
decoded_boxes = decode(loc_data[b], anchors,
[0.1, 0.2]).clone()
conf_scores = conf_scores_all[b].clone()
#Apply nms per class and obtain the results
for cl_ind in range(1, num_classes):
# pdb.set_trace()
scores = conf_scores[:, cl_ind].squeeze()
c_mask = scores.gt(
args.conf_thresh) # greater than minmum threshold
scores = scores[c_mask].squeeze()
# print('scores size',scores.size())
if scores.dim() == 0:
# print(len(''), ' dim ==0 ')
det_boxes[cl_ind - 1].append(np.asarray([]))
continue
boxes = decoded_boxes.clone()
l_mask = c_mask.unsqueeze(1).expand_as(boxes)
boxes = boxes[l_mask].view(-1, 4)
# idx of highest scoring and non-overlapping boxes per class
ids, counts = nms(boxes, scores, args.nms_thresh,
args.topk) # idsn - ids after nms
scores = scores[ids[:counts]].cpu().numpy()
boxes = boxes[ids[:counts]].cpu().numpy()
# print('boxes sahpe',boxes.shape)
boxes[:, 0] *= width
boxes[:, 2] *= width
boxes[:, 1] *= height
boxes[:, 3] *= height
for ik in range(boxes.shape[0]):
boxes[ik, 0] = max(0, boxes[ik, 0])
boxes[ik, 2] = min(width, boxes[ik, 2])
boxes[ik, 1] = max(0, boxes[ik, 1])
boxes[ik, 3] = min(height, boxes[ik, 3])
cls_dets = np.hstack(
(boxes, scores[:, np.newaxis])).astype(np.float32,
copy=True)
det_boxes[cl_ind - 1].append(cls_dets)
count += 1
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
te = time.perf_counter()
print('im_detect: {:d}/{:d} time taken {:0.3f}'.format(
count, num_images, te - ts))
torch.cuda.synchronize()
ts = time.perf_counter()
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
te = time.perf_counter()
print('NMS stuff Time {:0.3f}'.format(te - tf))
print('Evaluating detections for itration number ', iteration_num)
return evaluate_detections(gt_boxes,
det_boxes,
val_dataset.classes,
iou_thresh=iou_thresh)
def validate(args,
net,
val_data_loader,
val_dataset,
iteration_num,
iou_thresh=0.5):
"""Test a FPN network on an image database."""
print('Validating at ', iteration_num)
num_images = len(val_dataset)
num_classes = args.num_classes
det_boxes = [[] for _ in range(num_classes - 1)]
gt_boxes = []
print_time = True
val_step = 20
count = 0
torch.cuda.synchronize()
ts = time.perf_counter()
activation = nn.Sigmoid().cuda()
if args.loss_type == 'mbox':
activation = nn.Softmax(dim=2).cuda()
dict_for_json_dump = {}
with torch.no_grad():
for val_itr, (images, targets, batch_counts, img_indexs,
wh) in enumerate(val_data_loader):
torch.cuda.synchronize()
t1 = time.perf_counter()
batch_size = images.size(0)
images = images.cuda(0, non_blocking=True)
decoded_boxes, conf_data = net(images)
conf_scores_all = activation(conf_data).clone()
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
tf = time.perf_counter()
print('Forward Time {:0.3f}'.format(tf - t1))
for b in range(batch_size):
width, height = wh[b][0], wh[b][1]
gt = targets[b, :batch_counts[b]].numpy()
gt_boxes.append(gt)
# decoded_boxes = decode(loc_data[b], anchors).clone()
conf_scores = conf_scores_all[b]
#Apply nms per class and obtain the results
decoded_boxes_b = decoded_boxes[b]
for cl_ind in range(1, num_classes):
# pdb.set_trace()
scores = conf_scores[:, cl_ind].squeeze()
if args.loss_type == 'yolo':
scores = conf_scores[:, cl_ind].squeeze(
) * conf_scores[:, 0].squeeze() * 5.0
c_mask = scores.gt(
args.conf_thresh) # greater than minmum threshold
scores = scores[c_mask].squeeze()
# print('scores size',c_mask.sum())
if scores.dim() == 0:
# print(len(''), ' dim ==0 ')
det_boxes[cl_ind - 1].append(np.asarray([]))
continue
# boxes = decoded_boxes_b.clone()
l_mask = c_mask.unsqueeze(1).expand_as(decoded_boxes_b)
boxes = decoded_boxes_b[l_mask].clone().view(-1, 4)
# idx of highest scoring and non-overlapping boxes per class
ids, counts = nms(boxes, scores, args.nms_thresh,
args.topk * 20) # idsn - ids after nms
scores = scores[ids[:min(args.topk, counts)]].cpu().numpy()
# pick = min(scores.shape[0], 20)
# scores = scores[:pick]
boxes = boxes[ids[:min(args.topk, counts)]].cpu().numpy()
for ik in range(boxes.shape[0]):
boxes[ik, 0] = max(0, boxes[ik, 0])
boxes[ik, 2] = min(width, boxes[ik, 2])
boxes[ik, 1] = max(0, boxes[ik, 1])
boxes[ik, 3] = min(height, boxes[ik, 3])
cls_dets = np.hstack(
(boxes, scores[:, np.newaxis])).astype(np.float32,
copy=True)
det_boxes[cl_ind - 1].append(cls_dets)
count += 1
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
te = time.perf_counter()
print('im_detect: {:d}/{:d} time taken {:0.3f}'.format(
count, num_images, te - ts))
torch.cuda.synchronize()
ts = time.perf_counter()
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
te = time.perf_counter()
print('NMS stuff Time {:0.3f}'.format(te - tf))
print('Evaluating detections for itration number ', iteration_num)
return evaluate_detections(gt_boxes,
det_boxes,
val_dataset.classes,
iou_thresh=iou_thresh)
def validate_coco(args,
net,
anchors,
val_data_loader,
val_dataset,
iteration_num,
iou_thresh=0.5):
"""Test a FPN network on an image database."""
print('Validating at ', iteration_num)
annFile = '{}/instances_{}.json'.format(args.data_dir, args.val_sets[0])
cocoGT = COCO(annFile)
coco_dets = []
resFile = args.save_root + 'detections-{:05d}.json'.format(args.det_itr)
resFile_txt = open(
args.save_root + 'detections-{:05d}.txt'.format(args.det_itr), 'w')
num_images = len(val_dataset)
num_classes = args.num_classes
det_boxes = [[] for _ in range(num_classes - 1)]
gt_boxes = []
print_time = True
val_step = 20
count = 0
torch.cuda.synchronize()
ts = time.perf_counter()
softmax = nn.Softmax(dim=2).cuda()
idlist = val_dataset.idlist
all_ids = val_dataset.ids
with torch.no_grad():
for val_itr, (images, targets, img_indexs,
wh) in enumerate(val_data_loader):
# if val_itr>1:
# break
torch.cuda.synchronize()
t1 = time.perf_counter()
batch_size = images.size(0)
height, width = images.size(2), images.size(3)
images = images.cuda(0, non_blocking=True)
loc_data, conf_data = net(images)
conf_scores_all = softmax(conf_data).clone()
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
tf = time.perf_counter()
print('Forward Time {:0.3f}'.format(tf - t1))
for b in range(batch_size):
coco_image_id = int(all_ids[img_indexs[b]][1][8:])
width, height = wh[b][0], wh[b][1]
gt = targets[b].numpy()
gt[:, 0] *= width
gt[:, 2] *= width
gt[:, 1] *= height
gt[:, 3] *= height
gt_boxes.append(gt)
decoded_boxes = decode(loc_data[b], anchors,
[0.1, 0.2]).clone()
conf_scores = conf_scores_all[b].clone()
#Apply nms per class and obtain the results
for cl_ind in range(1, num_classes):
# pdb.set_trace()
scores = conf_scores[:, cl_ind].squeeze()
c_mask = scores.gt(
args.conf_thresh) # greater than minmum threshold
scores = scores[c_mask].squeeze()
# print('scores size',scores.size())
if scores.dim() == 0:
# print(len(''), ' dim ==0 ')
det_boxes[cl_ind - 1].append(np.asarray([]))
continue
boxes = decoded_boxes.clone()
l_mask = c_mask.unsqueeze(1).expand_as(boxes)
boxes = boxes[l_mask].view(-1, 4)
# idx of highest scoring and non-overlapping boxes per class
ids, counts = nms(boxes, scores, args.nms_thresh,
args.topk) # idsn - ids after nms
scores = scores[ids[:counts]].cpu().numpy()
pick = min(scores.shape[0], 20)
scores = scores[:pick]
boxes = boxes[ids[:counts]].cpu().numpy()
boxes = boxes[:pick, :]
# print('boxes sahpe',boxes.shape)
boxes[:, 0] *= width
boxes[:, 2] *= width
boxes[:, 1] *= height
boxes[:, 3] *= height
cls_id = cl_ind - 1
if len(idlist) > 0:
cls_id = idlist[cl_ind - 1]
# pdb.set_trace()
for ik in range(boxes.shape[0]):
boxes[ik, 0] = max(0, boxes[ik, 0])
boxes[ik, 2] = min(width, boxes[ik, 2])
boxes[ik, 1] = max(0, boxes[ik, 1])
boxes[ik, 3] = min(height, boxes[ik, 3])
box_ = [
round(boxes[ik, 0], 1),
round(boxes[ik, 1], 1),
round(boxes[ik, 2], 1),
round(boxes[ik, 3], 1)
]
box_[2] = round(box_[2] - box_[0], 1)
box_[3] = round(box_[3] - box_[1], 1)
box_ = [float(b) for b in box_]
coco_dets.append({
"image_id": int(coco_image_id),
"category_id": int(cls_id),
"bbox": box_,
"score": float(scores[ik]),
})
cls_dets = np.hstack(
(boxes, scores[:, np.newaxis])).astype(np.float32,
copy=True)
det_boxes[cl_ind - 1].append(cls_dets)
count += 1
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
te = time.perf_counter()
print('im_detect: {:d}/{:d} time taken {:0.3f}'.format(
count, num_images, te - ts))
torch.cuda.synchronize()
ts = time.perf_counter()
if print_time and val_itr % val_step == 0:
torch.cuda.synchronize()
te = time.perf_counter()
print('NMS stuff Time {:0.3f}'.format(te - tf))
# print('Evaluating detections for itration number ', iteration_num)
mAP, ap_all, ap_strs, det_boxes = evaluate_detections(
gt_boxes, det_boxes, val_dataset.classes, iou_thresh=iou_thresh)
for ap_str in ap_strs:
print(ap_str)
resFile_txt.write(ap_str + '\n')
ptr_str = '\nMEANAP:::=>' + str(mAP) + '\n'
print(ptr_str)
resFile_txt.write(ptr_str)
print('saving results :::::')
with open(resFile, 'w') as f:
json.dump(coco_dets, f)
cocoDt = cocoGT.loadRes(resFile)
# running evaluation
cocoEval = COCOeval(cocoGT, cocoDt, 'bbox')
# cocoEval.params.imgIds = imgIds
cocoEval.evaluate()
cocoEval.accumulate()
cocoEval.summarize()
resFile_txt.write(ptr_str)
# pdb.set_trace()
ptr_str = ''
for s in cocoEval.stats:
ptr_str += str(s) + '\n'
print('\n\nPrintning COCOeval Generated results\n\n ')
print(ptr_str)
resFile_txt.write(ptr_str)
return mAP, ap_all, ap_strs, det_boxes
