def graph_fn():
corners = tf.constant([[0, 0, 1, 1],
[0, 0.1, 1, 1.1],
[0, -0.1, 1, 0.9],
[0, 10, 1, 11],
[0, 10.1, 1, 11.1],
[0, 100, 1, 101]], tf.float32)
boxes = box_list.BoxList(corners)
boxes.add_field('scores', tf.constant([.1, .75, .9, .5, .5, .8]))
thresh = .6
filtered_boxes = box_list_ops.filter_greater_than(boxes, thresh)
return filtered_boxes.get()
def test_filter_greater_than(self):
corners = tf.constant(
[[0, 0, 1, 1], [0, 0.1, 1, 1.1], [0, -0.1, 1, 0.9], [0, 10, 1, 11],
[0, 10.1, 1, 11.1], [0, 100, 1, 101]], tf.float32)
boxes = box_list.BoxList(corners)
boxes.add_field('scores', tf.constant([.1, .75, .9, .5, .5, .8]))
thresh = .6
exp_output = [[0, 0.1, 1, 1.1], [0, -0.1, 1, 0.9], [0, 100, 1, 101]]
filtered_boxes = box_list_ops.filter_greater_than(boxes, thresh)
with self.test_session() as sess:
filtered_output = sess.run(filtered_boxes.get())
self.assertAllClose(filtered_output, exp_output)
def test_filter_greater_than(self):
corners = tf.constant([[0, 0, 1, 1],
[0, 0.1, 1, 1.1],
[0, -0.1, 1, 0.9],
[0, 10, 1, 11],
[0, 10.1, 1, 11.1],
[0, 100, 1, 101]], tf.float32)
boxes = box_list.BoxList(corners)
boxes.add_field('scores', tf.constant([.1, .75, .9, .5, .5, .8]))
thresh = .6
exp_output = [[0, 0.1, 1, 1.1], [0, -0.1, 1, 0.9], [0, 100, 1, 101]]
filtered_boxes = box_list_ops.filter_greater_than(boxes, thresh)
with self.test_session() as sess:
filtered_output = sess.run(filtered_boxes.get())
self.assertAllClose(filtered_output, exp_output)
def multiclass_non_max_suppression(boxes,
scores,
score_thresh,
iou_thresh,
max_size_per_class,
max_total_size=0,
clip_window=None,
change_coordinate_frame=False,
masks=None,
additional_fields=None,
scope=None):
"""Multi-class version of non maximum suppression.
This op greedily selects a subset of detection bounding boxes, pruning
away boxes that have high IOU (intersection over union) overlap (> thresh)
with already selected boxes. It operates independently for each class for
which scores are provided (via the scores field of the input box_list),
pruning boxes with score less than a provided threshold prior to
applying NMS.
Please note that this operation is performed on *all* classes, therefore any
background classes should be removed prior to calling this function.
Args:
boxes: A [k, q, 4] float32 tensor containing k detections. `q` can be either
number of classes or 1 depending on whether a separate box is predicted
per class.
scores: A [k, num_classes] float32 tensor containing the scores for each of
the k detections.
score_thresh: scalar threshold for score (low scoring boxes are removed).
iou_thresh: scalar threshold for IOU (new boxes that have high IOU overlap
with previously selected boxes are removed).
max_size_per_class: maximum number of retained boxes per class.
max_total_size: maximum number of boxes retained over all classes. By
default returns all boxes retained after capping boxes per class.
clip_window: A float32 tensor of the form [y_min, x_min, y_max, x_max]
representing the window to clip and normalize boxes to before performing
non-max suppression.
change_coordinate_frame: Whether to normalize coordinates after clipping
relative to clip_window (this can only be set to True if a clip_window
is provided)
masks: (optional) a [k, q, mask_height, mask_width] float32 tensor
containing box masks. `q` can be either number of classes or 1 depending
on whether a separate mask is predicted per class.
additional_fields: (optional) If not None, a dictionary that maps keys to
tensors whose first dimensions are all of size `k`. After non-maximum
suppression, all tensors corresponding to the selected boxes will be
added to resulting BoxList.
scope: name scope.
Returns:
a BoxList holding M boxes with a rank-1 scores field representing
corresponding scores for each box with scores sorted in decreasing order
and a rank-1 classes field representing a class label for each box.
If masks, keypoints, keypoint_heatmaps is not None, the boxlist will
contain masks, keypoints, keypoint_heatmaps corresponding to boxes.
Raises:
ValueError: if iou_thresh is not in [0, 1] or if input boxlist does not have
a valid scores field.
"""
if not 0 <= iou_thresh <= 1.0:
raise ValueError('iou_thresh must be between 0 and 1')
if scores.shape.ndims != 2:
raise ValueError('scores field must be of rank 2')
if scores.shape[1].value is None:
raise ValueError('scores must have statically defined second '
'dimension')
if boxes.shape.ndims != 3:
raise ValueError('boxes must be of rank 3.')
if not (boxes.shape[1].value == scores.shape[1].value
or boxes.shape[1].value == 1):
raise ValueError('second dimension of boxes must be either 1 or equal '
'to the second dimension of scores')
if boxes.shape[2].value != 4:
raise ValueError('last dimension of boxes must be of size 4.')
if change_coordinate_frame and clip_window is None:
raise ValueError(
'if change_coordinate_frame is True, then a clip_window'
'must be specified.')
with tf.name_scope(scope, 'MultiClassNonMaxSuppression'):
num_boxes = tf.shape(boxes)[0]
num_scores = tf.shape(scores)[0]
num_classes = scores.get_shape()[1]
length_assert = tf.Assert(tf.equal(num_boxes, num_scores), [
'Incorrect scores field length: actual vs expected.', num_scores,
num_boxes
])
selected_boxes_list = []
per_class_boxes_list = tf.unstack(boxes, axis=1)
if masks is not None:
per_class_masks_list = tf.unstack(masks, axis=1)
boxes_ids = (range(num_classes)
if len(per_class_boxes_list) > 1 else [0] * num_classes)
for class_idx, boxes_idx in zip(range(num_classes), boxes_ids):
per_class_boxes = per_class_boxes_list[boxes_idx]
boxlist_and_class_scores = box_list.BoxList(per_class_boxes)
with tf.control_dependencies([length_assert]):
class_scores = tf.reshape(
tf.slice(scores, [0, class_idx], tf.stack([num_scores,
1])), [-1])
boxlist_and_class_scores.add_field(fields.BoxListFields.scores,
class_scores)
if masks is not None:
per_class_masks = per_class_masks_list[boxes_idx]
boxlist_and_class_scores.add_field(fields.BoxListFields.masks,
per_class_masks)
if additional_fields is not None:
for key, tensor in additional_fields.items():
boxlist_and_class_scores.add_field(key, tensor)
boxlist_filtered = box_list_ops.filter_greater_than(
boxlist_and_class_scores, score_thresh)
if clip_window is not None:
boxlist_filtered = box_list_ops.clip_to_window(
boxlist_filtered, clip_window)
if change_coordinate_frame:
boxlist_filtered = box_list_ops.change_coordinate_frame(
boxlist_filtered, clip_window)
max_selection_size = tf.minimum(max_size_per_class,
boxlist_filtered.num_boxes())
selected_indices = tf.image.non_max_suppression(
boxlist_filtered.get(),
boxlist_filtered.get_field(fields.BoxListFields.scores),
max_selection_size,
iou_threshold=iou_thresh)
nms_result = box_list_ops.gather(boxlist_filtered,
selected_indices)
nms_result.add_field(fields.BoxListFields.classes, (tf.zeros_like(
nms_result.get_field(fields.BoxListFields.scores)) +
class_idx))
selected_boxes_list.append(nms_result)
selected_boxes = box_list_ops.concatenate(selected_boxes_list)
sorted_boxes = box_list_ops.sort_by_field(selected_boxes,
fields.BoxListFields.scores)
if max_total_size:
max_total_size = tf.minimum(max_total_size,
sorted_boxes.num_boxes())
sorted_boxes = box_list_ops.gather(sorted_boxes,
tf.range(max_total_size))
return sorted_boxes
def multiclass_non_max_suppression(boxes,
scores,
score_thresh,
iou_thresh,
max_size_per_class,
max_total_size=0,
clip_window=None,
change_coordinate_frame=False,
masks=None,
additional_fields=None,
scope=None):
"""Multi-class version of non maximum suppression.
This op greedily selects a subset of detection bounding boxes, pruning
away boxes that have high IOU (intersection over union) overlap (> thresh)
with already selected boxes. It operates independently for each class for
which scores are provided (via the scores field of the input box_list),
pruning boxes with score less than a provided threshold prior to
applying NMS.
Please note that this operation is performed on *all* classes, therefore any
background classes should be removed prior to calling this function.
Args:
boxes: A [k, q, 4] float32 tensor containing k detections. `q` can be either
number of classes or 1 depending on whether a separate box is predicted
per class.
scores: A [k, num_classes] float32 tensor containing the scores for each of
the k detections.
score_thresh: scalar threshold for score (low scoring boxes are removed).
iou_thresh: scalar threshold for IOU (new boxes that have high IOU overlap
with previously selected boxes are removed).
max_size_per_class: maximum number of retained boxes per class.
max_total_size: maximum number of boxes retained over all classes. By
default returns all boxes retained after capping boxes per class.
clip_window: A float32 tensor of the form [y_min, x_min, y_max, x_max]
representing the window to clip and normalize boxes to before performing
non-max suppression.
change_coordinate_frame: Whether to normalize coordinates after clipping
relative to clip_window (this can only be set to True if a clip_window
is provided)
masks: (optional) a [k, q, mask_height, mask_width] float32 tensor
containing box masks. `q` can be either number of classes or 1 depending
on whether a separate mask is predicted per class.
additional_fields: (optional) If not None, a dictionary that maps keys to
tensors whose first dimensions are all of size `k`. After non-maximum
suppression, all tensors corresponding to the selected boxes will be
added to resulting BoxList.
scope: name scope.
Returns:
a BoxList holding M boxes with a rank-1 scores field representing
corresponding scores for each box with scores sorted in decreasing order
and a rank-1 classes field representing a class label for each box.
If masks, keypoints, keypoint_heatmaps is not None, the boxlist will
contain masks, keypoints, keypoint_heatmaps corresponding to boxes.
Raises:
ValueError: if iou_thresh is not in [0, 1] or if input boxlist does not have
a valid scores field.
"""
if not 0 <= iou_thresh <= 1.0:
raise ValueError('iou_thresh must be between 0 and 1')
if scores.shape.ndims != 2:
raise ValueError('scores field must be of rank 2')
if scores.shape[1].value is None:
raise ValueError('scores must have statically defined second '
'dimension')
if boxes.shape.ndims != 3:
raise ValueError('boxes must be of rank 3.')
if not (boxes.shape[1].value == scores.shape[1].value or
boxes.shape[1].value == 1):
raise ValueError('second dimension of boxes must be either 1 or equal '
'to the second dimension of scores')
if boxes.shape[2].value != 4:
raise ValueError('last dimension of boxes must be of size 4.')
if change_coordinate_frame and clip_window is None:
raise ValueError('if change_coordinate_frame is True, then a clip_window'
'must be specified.')
with tf.name_scope(scope, 'MultiClassNonMaxSuppression'):
num_boxes = tf.shape(boxes)[0]
num_scores = tf.shape(scores)[0]
num_classes = scores.get_shape()[1]
length_assert = tf.Assert(
tf.equal(num_boxes, num_scores),
['Incorrect scores field length: actual vs expected.',
num_scores, num_boxes])
selected_boxes_list = []
per_class_boxes_list = tf.unstack(boxes, axis=1)
if masks is not None:
per_class_masks_list = tf.unstack(masks, axis=1)
boxes_ids = (range(num_classes) if len(per_class_boxes_list) > 1
else [0] * num_classes)
for class_idx, boxes_idx in zip(range(num_classes), boxes_ids):
per_class_boxes = per_class_boxes_list[boxes_idx]
boxlist_and_class_scores = box_list.BoxList(per_class_boxes)
with tf.control_dependencies([length_assert]):
class_scores = tf.reshape(
tf.slice(scores, [0, class_idx], tf.stack([num_scores, 1])), [-1])
boxlist_and_class_scores.add_field(fields.BoxListFields.scores,
class_scores)
if masks is not None:
per_class_masks = per_class_masks_list[boxes_idx]
boxlist_and_class_scores.add_field(fields.BoxListFields.masks,
per_class_masks)
if additional_fields is not None:
for key, tensor in additional_fields.items():
boxlist_and_class_scores.add_field(key, tensor)
boxlist_filtered = box_list_ops.filter_greater_than(
boxlist_and_class_scores, score_thresh)
if clip_window is not None:
boxlist_filtered = box_list_ops.clip_to_window(
boxlist_filtered, clip_window)
if change_coordinate_frame:
boxlist_filtered = box_list_ops.change_coordinate_frame(
boxlist_filtered, clip_window)
max_selection_size = tf.minimum(max_size_per_class,
boxlist_filtered.num_boxes())
selected_indices = tf.image.non_max_suppression(
boxlist_filtered.get(),
boxlist_filtered.get_field(fields.BoxListFields.scores),
max_selection_size,
iou_threshold=iou_thresh)
nms_result = box_list_ops.gather(boxlist_filtered, selected_indices)
nms_result.add_field(
fields.BoxListFields.classes, (tf.zeros_like(
nms_result.get_field(fields.BoxListFields.scores)) + class_idx))
selected_boxes_list.append(nms_result)
selected_boxes = box_list_ops.concatenate(selected_boxes_list)
sorted_boxes = box_list_ops.sort_by_field(selected_boxes,
fields.BoxListFields.scores)
if max_total_size:
max_total_size = tf.minimum(max_total_size,
sorted_boxes.num_boxes())
sorted_boxes = box_list_ops.gather(sorted_boxes,
tf.range(max_total_size))
return sorted_boxes
