def forward(self, feed_dict):
# prediction_dict = {}
output_dict = {}
# base model
base_feat = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'base_feat': base_feat})
self.add_feat('base_feat', base_feat)
# rpn model
output_dict.update(self.rpn_model.forward(feed_dict))
proposals = output_dict['proposals']
multi_stage_loss_units = []
for i in range(self.num_stages):
if self.training:
auxiliary_dict = {}
auxiliary_dict[constants.KEY_PROPOSALS] = proposals
# proposals_dict, loss_units = self.instance.target_generators[
# i].generate_targets(output_dict, feed_dict, auxiliary_dict)
losses = self.instance_info.generate_losses(
output_dict, feed_dict, auxiliary_dict)
losses, subsampled_mask = self.sampler.subsample_losses(losses)
proposals, _ = self.sampler.subsample_outputs(
proposals, subsampled_mask)
# note here base_feat (N,C,H,W),rois_batch (N,num_proposals,5)
# proposals = proposals_dict[constants.KEY_PRIMARY]
rois = box_ops.box2rois(proposals)
pooled_feat = self.rcnn_pooling(base_feat, rois.view(-1, 5))
# shape(N,C,1,1)
pooled_feat = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat = pooled_feat.mean(3).mean(2)
# rcnn_bbox_preds = self.rcnn_bbox_preds[i](pooled_feat)
# rcnn_cls_scores = self.rcnn_cls_preds[i](pooled_feat)
for attr_name in self.branches:
attr_preds = self.branches[attr_name][i](pooled_feat)
output_dict[attr_name] = attr_preds
# rcnn_cls_probs = F.softmax(rcnn_cls_scores, dim=1)
# batch_size = rois.shape[0]
# rcnn_cls_scores = rcnn_cls_scores.view(batch_size, -1,
# self.n_classes)
# rcnn_cls_probs = rcnn_cls_probs.view(batch_size, -1,
# self.n_classes)
# rcnn_bbox_preds = rcnn_bbox_preds.view(batch_size, -1, 4)
# output_dict.update({constants.KEY_})
if self.training:
losses.update_from_output(output_dict)
# decode
instance = self.instance_info.generate_instance(output_dict)
# decode for next stage
# coder = bbox_coders.build({'type': constants.KEY_BOXES_2D})
# proposals = coder.decode_batch(rcnn_bbox_preds, proposals).detach()
if self.training:
# prediction_dict[constants.KEY_TARGETS] = multi_stage_loss_units
return losses, stats
else:
return instance
def forward(self, feed_dict):
im_info = feed_dict[constants.KEY_IMAGE_INFO]
prediction_dict = {}
# base model
rpn_feat_maps, rcnn_feat_maps = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'rpn_feat_maps': rpn_feat_maps})
# rpn model
prediction_dict.update(self.rpn_model.forward(feed_dict))
proposals = prediction_dict['proposals']
multi_stage_loss_units = []
multi_stage_stats = []
for i in range(self.num_stages):
if self.training:
# proposals_dict
proposals_dict = {}
proposals_dict[constants.KEY_PRIMARY] = proposals
# gt_dict
gt_dict = {}
gt_dict[constants.KEY_PRIMARY] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
gt_dict[constants.KEY_CLASSES] = None
gt_dict[constants.KEY_BOXES_2D] = None
gt_dict[constants.KEY_CORNERS_3D_GRNET] = None
# gt_dict[constants.KEY_CORNERS_VISIBILITY] = None
# gt_dict[constants.KEY_ORIENTS_V2] = None
gt_dict[constants.KEY_DIMS] = None
# auxiliary_dict(used for encoding)
auxiliary_dict = {}
auxiliary_dict[constants.KEY_STEREO_CALIB_P2] = feed_dict[
constants.KEY_STEREO_CALIB_P2]
auxiliary_dict[constants.KEY_BOXES_2D] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
auxiliary_dict[constants.KEY_CLASSES] = feed_dict[
constants.KEY_LABEL_CLASSES]
auxiliary_dict[constants.KEY_BOXES_3D] = feed_dict[
constants.KEY_LABEL_BOXES_3D]
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
auxiliary_dict[constants.KEY_PROPOSALS] = proposals
auxiliary_dict[constants.KEY_MEAN_DIMS] = feed_dict[
constants.KEY_MEAN_DIMS]
auxiliary_dict[constants.KEY_IMAGE_INFO] = feed_dict[
constants.KEY_IMAGE_INFO]
proposals_dict, loss_units, stats = self.target_generators[
i].generate_targets(proposals_dict, gt_dict,
auxiliary_dict)
# note here base_feat (N,C,H,W),rois_batch (N,num_proposals,5)
proposals = proposals_dict[constants.KEY_PRIMARY]
rois = box_ops.box2rois(proposals)
pooled_feat = self.pyramid_rcnn_pooling(rcnn_feat_maps,
rois.view(-1, 5),
im_info[0][:2])
# shape(N,C,1,1)
pooled_feat = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat = pooled_feat.mean(3).mean(2)
rcnn_bbox_preds = self.rcnn_bbox_preds[i](pooled_feat)
rcnn_cls_scores = self.rcnn_cls_preds[i](pooled_feat)
rcnn_corners_preds = self.rcnn_corners_preds[i](pooled_feat)
# rcnn_visibility_preds = self.rcnn_visibility_preds[i](pooled_feat)
rcnn_dim_preds = self.rcnn_dim_preds[i](pooled_feat)
rcnn_cls_probs = F.softmax(rcnn_cls_scores, dim=1)
batch_size = rois.shape[0]
rcnn_cls_scores = rcnn_cls_scores.view(batch_size, -1,
self.n_classes)
rcnn_cls_probs = rcnn_cls_probs.view(batch_size, -1,
self.n_classes)
if not self.class_agnostic:
# import ipdb
# ipdb.set_trace()
if self.training:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1))
else:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1))
# not class_agnostic for dims
# import ipdb
# ipdb.set_trace()
if not self.class_agnostic_3d:
if self.training:
rcnn_dim_preds = self.squeeze_bbox_preds(
rcnn_dim_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1),
out_c=3)
else:
rcnn_dim_preds = self.squeeze_bbox_preds(
rcnn_dim_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1),
out_c=3)
rcnn_bbox_preds = rcnn_bbox_preds.view(batch_size, -1, 4)
rcnn_corners_preds = rcnn_corners_preds.view(
batch_size, rcnn_bbox_preds.shape[1], -1)
# rcnn_visibility_preds = rcnn_visibility_preds.view(
# batch_size, rcnn_bbox_preds.shape[1], -1)
rcnn_dim_preds = rcnn_dim_preds.view(batch_size, -1, 3)
if self.training:
loss_units[constants.KEY_CLASSES]['pred'] = rcnn_cls_scores
loss_units[constants.KEY_BOXES_2D]['pred'] = rcnn_bbox_preds
loss_units[constants.KEY_DIMS]['pred'] = rcnn_dim_preds
loss_units[constants.KEY_CORNERS_3D_GRNET][
'pred'] = rcnn_corners_preds
# loss_units[constants.KEY_CORNERS_VISIBILITY][
# 'pred'] = rcnn_visibility_preds
# import ipdb
# ipdb.set_trace()
multi_stage_loss_units.append([
loss_units[constants.KEY_CLASSES],
loss_units[constants.KEY_BOXES_2D],
loss_units[constants.KEY_CORNERS_3D_GRNET],
loss_units[constants.KEY_DIMS]
])
multi_stage_stats.append(stats)
else:
# decode for next stage
coder = bbox_coders.build({
'type':
constants.KEY_CORNERS_3D_GRNET
})
rcnn_corners_preds = coder.decode_batch(
rcnn_corners_preds.detach(), proposals,
feed_dict[constants.KEY_STEREO_CALIB_P2])
coder = bbox_coders.build(
self.target_generators[i]
.target_generator_config['coder_config'])
proposals = coder.decode_batch(rcnn_bbox_preds,
proposals).detach()
coder = bbox_coders.build({'type': constants.KEY_DIMS})
rcnn_dim_preds = coder.decode_batch(
rcnn_dim_preds, feed_dict[constants.KEY_MEAN_DIMS],
rcnn_cls_probs).detach()
if self.training:
prediction_dict[constants.KEY_TARGETS] = multi_stage_loss_units
prediction_dict[constants.KEY_STATS] = multi_stage_stats
prediction_dict[constants.KEY_PROPOSALS] = proposals
else:
prediction_dict[constants.KEY_CLASSES] = rcnn_cls_probs
image_info = feed_dict[constants.KEY_IMAGE_INFO]
proposals[:, :, ::2] = proposals[:, :, ::
2] / image_info[:, 3].unsqueeze(
-1).unsqueeze(-1)
proposals[:, :, 1::2] = proposals[:, :, 1::
2] / image_info[:, 2].unsqueeze(
-1).unsqueeze(-1)
# rcnn_corners_preds = coder.decode_batch(
# rcnn_corners_preds.detach(), proposals)
# import ipdb
# ipdb.set_trace()
# rcnn_corners_preds = torch.bmm(
# feed_dict[constants.KEY_STEREO_CALIB_P2_ORIG],
# rcnn_corners_preds)
# assert rcnn_corners_preds.shape[0] == 1
# rcnn_corners_preds = geometry_utils.torch_points_3d_to_points_2d(
# rcnn_corners_preds[0].view(-1, 3),
# feed_dict[constants.KEY_STEREO_CALIB_P2_ORIG][0]).view(-1, 8,
# 2)
N, M = rcnn_corners_preds.shape[:2]
rcnn_corners_preds = rcnn_corners_preds.view(N, M, 8, 2)
rcnn_corners_preds[:, :, :,
0] = rcnn_corners_preds[:, :, :,
0] / image_info[:, 3]
rcnn_corners_preds[:, :, :,
1] = rcnn_corners_preds[:, :, :,
1] / image_info[:, 2]
prediction_dict[constants.KEY_CORNERS_2D] = rcnn_corners_preds
prediction_dict[constants.KEY_BOXES_2D] = proposals
prediction_dict[constants.KEY_DIMS] = rcnn_dim_preds
if self.training:
loss_dict = self.loss(prediction_dict, feed_dict)
return prediction_dict, loss_dict
else:
return prediction_dict
def forward(self, feed_dict):
im_info = feed_dict[constants.KEY_IMAGE_INFO]
prediction_dict = {}
# base model
rpn_feat_maps, rcnn_feat_maps = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'rpn_feat_maps': rpn_feat_maps})
# rpn model
prediction_dict.update(self.rpn_model.forward(feed_dict))
proposals = prediction_dict['proposals']
multi_stage_loss_units = []
multi_stage_stats = []
for i in range(self.num_stages):
if self.training:
# proposals_dict
proposals_dict = {}
proposals_dict[constants.KEY_PRIMARY] = proposals
# gt_dict
gt_dict = {}
gt_dict[constants.KEY_PRIMARY] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
gt_dict[constants.KEY_CLASSES] = None
gt_dict[constants.KEY_BOXES_2D] = None
gt_dict[constants.KEY_CORNERS_2D] = None
gt_dict[constants.KEY_DIMS] = None
# auxiliary_dict(used for encoding)
auxiliary_dict = {}
auxiliary_dict[constants.KEY_STEREO_CALIB_P2] = feed_dict[
constants.KEY_STEREO_CALIB_P2]
auxiliary_dict[constants.KEY_BOXES_2D] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
auxiliary_dict[constants.KEY_CLASSES] = feed_dict[
constants.KEY_LABEL_CLASSES]
auxiliary_dict[constants.KEY_BOXES_3D] = feed_dict[
constants.KEY_LABEL_BOXES_3D]
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
auxiliary_dict[constants.KEY_PROPOSALS] = proposals
auxiliary_dict[constants.KEY_MEAN_DIMS] = feed_dict[
constants.KEY_MEAN_DIMS]
auxiliary_dict[constants.KEY_IMAGE_INFO] = feed_dict[
constants.KEY_IMAGE_INFO]
proposals_dict, loss_units, stats = self.target_generators[
i].generate_targets(proposals_dict, gt_dict,
auxiliary_dict)
# note here base_feat (N,C,H,W),rois_batch (N,num_proposals,5)
proposals = proposals_dict[constants.KEY_PRIMARY]
rois = box_ops.box2rois(proposals)
pooled_feat = self.pyramid_rcnn_pooling(rcnn_feat_maps,
rois.view(-1, 5),
im_info[0][:2])
# shape(N,C,1,1)
pooled_feat_for_corners = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat_for_corners = pooled_feat_for_corners.mean(3).mean(2)
rcnn_bbox_preds = self.rcnn_bbox_preds[i](pooled_feat_for_corners)
rcnn_cls_scores = self.rcnn_cls_preds[i](pooled_feat_for_corners)
rcnn_corners_preds = self.rcnn_corners_preds[i](
pooled_feat_for_corners)
rcnn_dim_preds = self.rcnn_dim_preds[i](pooled_feat_for_corners)
rcnn_cls_probs = F.softmax(rcnn_cls_scores, dim=1)
batch_size = rois.shape[0]
rcnn_cls_scores = rcnn_cls_scores.view(batch_size, -1,
self.n_classes)
rcnn_cls_probs = rcnn_cls_probs.view(batch_size, -1,
self.n_classes)
if not self.class_agnostic:
if self.training:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1))
else:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1))
# not class_agnostic for dims
if not self.class_agnostic_3d:
if self.training:
rcnn_dim_preds = self.squeeze_bbox_preds(
rcnn_dim_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1),
out_c=3)
else:
rcnn_dim_preds = self.squeeze_bbox_preds(
rcnn_dim_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1),
out_c=3)
rcnn_bbox_preds = rcnn_bbox_preds.view(batch_size, -1, 4)
rcnn_corners_preds = rcnn_corners_preds.view(
batch_size, rcnn_bbox_preds.shape[1], -1)
rcnn_dim_preds = rcnn_dim_preds.view(batch_size, -1, 3)
# shape(N,C,1,1)
if self.training:
loss_units[constants.KEY_CLASSES]['pred'] = rcnn_cls_scores
loss_units[constants.KEY_BOXES_2D]['pred'] = rcnn_bbox_preds
loss_units[constants.KEY_DIMS]['pred'] = rcnn_dim_preds
loss_units[
constants.KEY_CORNERS_2D]['pred'] = rcnn_corners_preds
multi_stage_loss_units.append([
loss_units[constants.KEY_CLASSES],
loss_units[constants.KEY_BOXES_2D],
loss_units[constants.KEY_CORNERS_2D],
loss_units[constants.KEY_DIMS]
])
multi_stage_stats.append(stats)
# decode for next stage
# corners decode
corners_coder = bbox_coders.build(
{'type': constants.KEY_CORNERS_2D_STABLE})
rcnn_corners_preds = corners_coder.decode_batch(
rcnn_corners_preds.detach(), proposals)
# bbox decode
boxes_coder = bbox_coders.build(
self.target_generators[i].
target_generator_config['coder_config'])
proposals = boxes_coder.decode_batch(rcnn_bbox_preds,
proposals).detach()
# dims decode
dims_coder = bbox_coders.build({'type': constants.KEY_DIMS})
rcnn_dim_preds = dims_coder.decode_batch(
rcnn_dim_preds, feed_dict[constants.KEY_MEAN_DIMS],
rcnn_cls_probs).detach()
if self.training:
prediction_dict[constants.KEY_TARGETS] = multi_stage_loss_units
prediction_dict[constants.KEY_STATS] = multi_stage_stats
else:
prediction_dict[constants.KEY_CLASSES] = rcnn_cls_probs
image_info = feed_dict[constants.KEY_IMAGE_INFO]
image_info = image_info.unsqueeze(1).unsqueeze(1)
proposals[:, :, ::2] = proposals[:, :, ::2] / image_info[..., 3]
proposals[:, :, 1::2] = proposals[:, :, 1::2] / image_info[..., 2]
rcnn_corners_preds[..., 0] = rcnn_corners_preds[
..., 0] / image_info[..., 3].unsqueeze(-1)
rcnn_corners_preds[..., 1] = rcnn_corners_preds[
..., 1] / image_info[..., 2].unsqueeze(-1)
prediction_dict[constants.KEY_CORNERS_2D] = rcnn_corners_preds
prediction_dict[constants.KEY_BOXES_2D] = proposals
prediction_dict[constants.KEY_DIMS] = rcnn_dim_preds
prediction_dict[constants.KEY_CORNERS_2D] = rcnn_corners_preds
if self.training:
loss_dict = self.loss(prediction_dict, feed_dict)
return prediction_dict, loss_dict
else:
return prediction_dict
def forward(self, feed_dict):
# import ipdb
# ipdb.set_trace()
im_info = feed_dict[constants.KEY_IMAGE_INFO]
prediction_dict = {}
# base model
rpn_feat_maps, rcnn_feat_maps = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'rpn_feat_maps': rpn_feat_maps})
# rpn model
prediction_dict.update(self.rpn_model.forward(feed_dict))
proposals = prediction_dict['proposals']
multi_stage_loss_units = []
multi_stage_stats = []
for i in range(self.num_stages):
if self.training:
# proposals_dict
proposals_dict = {}
proposals_dict[constants.KEY_PRIMARY] = proposals
# gt_dict
gt_dict = {}
gt_dict[constants.KEY_PRIMARY] = feed_dict[constants.
KEY_LABEL_BOXES_2D]
gt_dict[constants.KEY_CLASSES] = None
gt_dict[constants.KEY_BOXES_2D] = None
gt_dict[constants.KEY_ORIENTS_V3] = None
gt_dict[constants.KEY_DIMS] = None
# auxiliary_dict(used for encoding)
auxiliary_dict = {}
auxiliary_dict[constants.KEY_STEREO_CALIB_P2] = feed_dict[
constants.KEY_STEREO_CALIB_P2]
auxiliary_dict[constants.KEY_BOXES_2D] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
auxiliary_dict[constants.KEY_CLASSES] = feed_dict[
constants.KEY_LABEL_CLASSES]
auxiliary_dict[constants.KEY_BOXES_3D] = feed_dict[
constants.KEY_LABEL_BOXES_3D]
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
auxiliary_dict[constants.KEY_PROPOSALS] = proposals
auxiliary_dict[constants.KEY_MEAN_DIMS] = feed_dict[
constants.KEY_MEAN_DIMS]
proposals_dict, loss_units, stats = self.target_generators[
i].generate_targets(proposals_dict, gt_dict,
auxiliary_dict)
# note here base_feat (N,C,H,W),rois_batch (N,num_proposals,5)
proposals = proposals_dict[constants.KEY_PRIMARY]
rois = box_ops.box2rois(proposals)
pooled_feat = self.pyramid_rcnn_pooling(rcnn_feat_maps,
rois.view(-1, 5),
im_info[0][:2])
# shape(N,C,1,1)
pooled_feat = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat = pooled_feat.mean(3).mean(2)
rcnn_bbox_preds = self.rcnn_bbox_preds[i](pooled_feat)
rcnn_cls_scores = self.rcnn_cls_preds[i](pooled_feat)
rcnn_orient_preds = self.rcnn_orient_preds[i](pooled_feat)
rcnn_dim_preds = self.rcnn_dim_preds[i](pooled_feat)
rcnn_cls_probs = F.softmax(rcnn_cls_scores, dim=1)
batch_size = rois.shape[0]
rcnn_cls_scores = rcnn_cls_scores.view(batch_size, -1,
self.n_classes)
rcnn_cls_probs = rcnn_cls_probs.view(batch_size, -1,
self.n_classes)
if not self.class_agnostic:
# import ipdb
# ipdb.set_trace()
if self.training:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1))
else:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1))
rcnn_bbox_preds = rcnn_bbox_preds.view(batch_size, -1, 4)
rcnn_orient_preds = rcnn_orient_preds.view(batch_size, -1,
4 * self.num_bins)
rcnn_dim_preds = rcnn_dim_preds.view(batch_size, -1, 3)
if self.training:
loss_units[constants.KEY_CLASSES]['pred'] = rcnn_cls_scores
loss_units[constants.KEY_BOXES_2D]['pred'] = rcnn_bbox_preds
loss_units[constants.KEY_ORIENTS_V3]['pred'] = rcnn_orient_preds
loss_units[constants.KEY_DIMS]['pred'] = rcnn_dim_preds
# import ipdb
# ipdb.set_trace()
multi_stage_loss_units.append([
loss_units[constants.KEY_CLASSES],
loss_units[constants.KEY_BOXES_2D],
loss_units[constants.KEY_ORIENTS_V3],
loss_units[constants.KEY_DIMS]
])
multi_stage_stats.append(stats)
# decode for next stage
coder = bbox_coders.build({'type': constants.KEY_BOXES_2D})
# rpn_proposals = proposals
proposals = coder.decode_batch(rcnn_bbox_preds, proposals).detach()
coder = bbox_coders.build({'type': constants.KEY_DIMS})
rcnn_dim_preds = coder.decode_batch(
rcnn_dim_preds, feed_dict[constants.KEY_MEAN_DIMS],
rcnn_cls_probs).detach()
coder = bbox_coders.build({'type': constants.KEY_ORIENTS_V3})
# use rpn proposals to decode
rcnn_orient_preds = coder.decode_batch(
rcnn_orient_preds, self.rcnn_orient_loss.bin_centers,
proposals, feed_dict[constants.KEY_STEREO_CALIB_P2]).detach()
if self.training:
prediction_dict[constants.KEY_TARGETS] = multi_stage_loss_units
prediction_dict[constants.KEY_STATS] = multi_stage_stats
else:
prediction_dict[constants.KEY_CLASSES] = rcnn_cls_probs
prediction_dict[constants.KEY_ORIENTS_V3] = rcnn_orient_preds
image_info = feed_dict[constants.KEY_IMAGE_INFO]
proposals[:, :, ::2] = proposals[:, :, ::
2] / image_info[:, 3].unsqueeze(
-1).unsqueeze(-1)
proposals[:, :, 1::2] = proposals[:, :, 1::
2] / image_info[:, 2].unsqueeze(
-1).unsqueeze(-1)
prediction_dict[constants.KEY_BOXES_2D] = proposals
prediction_dict[constants.KEY_DIMS] = rcnn_dim_preds
prediction_dict[constants.KEY_ORIENTS_V3] = rcnn_orient_preds
return prediction_dict
def forward(self, feed_dict):
im_info = feed_dict[constants.KEY_IMAGE_INFO]
auxiliary_dict = {}
output_dict = {}
losses_dict = {}
# TODO move all auxiliary item from feed_dict to auxiliary_dict
# before get data from dataloader
if feed_dict.get(constants.KEY_STEREO_CALIB_P2) is not None:
auxiliary_dict[constants.KEY_STEREO_CALIB_P2] = feed_dict[
constants.KEY_STEREO_CALIB_P2]
# base model
rpn_feat_maps, rcnn_feat_maps = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'base_feat': rpn_feat_maps})
# rpn model
# prediction_dict.update(self.rpn_model.forward(feed_dict))
instance, rpn_losses = self.rpn_model.forward(feed_dict)
auxiliary_dict.update(instance)
proposals = auxiliary_dict[constants.KEY_BOXES_2D]
multi_stage_stats = []
for i in range(self.num_stages):
if self.training:
losses_units = self.instance_info.generate_losses(
output_dict, feed_dict, auxiliary_dict)
losses_units, subsampled_mask = self.sampler.subsample_instance(
losses_units)
proposals, _ = self.sampler.subsample_instance(
proposals, subsampled_mask)
# update auxiliary dict
# TODO subsample for all auxiliary_dict
auxiliary_dict[constants.KEY_BOXES_2D] = proposals
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
multi_stage_stats.append(
self.instance_info.generate_stats(auxiliary_dict))
rois = box_ops.box2rois(proposals)
pooled_feat = self.pyramid_rcnn_pooling(rcnn_feat_maps,
rois.view(-1, 5),
im_info[0][:2])
# shape(N,C,1,1)
pooled_feat = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat = pooled_feat.mean(3).mean(2)
# collect output from network to output_dict
for attr_name in self.branches:
attr_preds = self.branches[attr_name][i](pooled_feat)
output_dict[attr_name] = attr_preds
# unsqueeze before calc loss
batch_size = rois.shape[0]
output_dict = self.instance_info.unsqueeze(output_dict, batch_size)
if self.training:
losses_units.update_from_output(output_dict)
# decode
instance = self.instance_info.generate_instance(
output_dict, auxiliary_dict)
if self.training:
losses_dict.update(rpn_losses)
losses = self.instance_info.calc_loss(losses_units)
losses_dict.update(losses)
else:
losses_dict = None
multi_stage_stats = None
# rescale
im_info = feed_dict[constants.KEY_IMAGE_INFO]
instance = self.instance_info.affine_transform(instance, im_info)
return instance, losses_dict, multi_stage_stats
def forward(self, feed_dict):
im_info = feed_dict[constants.KEY_IMAGE_INFO]
prediction_dict = {}
# base model
rpn_feat_maps, rcnn_feat_maps = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'rpn_feat_maps': rpn_feat_maps})
# rpn model
prediction_dict.update(self.rpn_model.forward(feed_dict))
proposals = prediction_dict['proposals']
multi_stage_loss_units = []
multi_stage_stats = []
for i in range(self.num_stages):
if self.training:
# proposals_dict
proposals_dict = {}
proposals_dict[constants.KEY_PRIMARY] = proposals
# gt_dict
gt_dict = {}
gt_dict[constants.KEY_PRIMARY] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
gt_dict[constants.KEY_CLASSES] = None
gt_dict[constants.KEY_BOXES_2D] = None
gt_dict[constants.KEY_MOBILEYE] = None
gt_dict[constants.KEY_DIMS] = None
# auxiliary_dict(used for encoding)
auxiliary_dict = {}
auxiliary_dict[constants.KEY_STEREO_CALIB_P2] = feed_dict[
constants.KEY_STEREO_CALIB_P2]
auxiliary_dict[constants.KEY_BOXES_2D] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
auxiliary_dict[constants.KEY_CLASSES] = feed_dict[
constants.KEY_LABEL_CLASSES]
auxiliary_dict[constants.KEY_BOXES_3D] = feed_dict[
constants.KEY_LABEL_BOXES_3D]
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
auxiliary_dict[constants.KEY_PROPOSALS] = proposals
auxiliary_dict[constants.KEY_MEAN_DIMS] = feed_dict[
constants.KEY_MEAN_DIMS]
auxiliary_dict[constants.KEY_IMAGE_INFO] = feed_dict[
constants.KEY_IMAGE_INFO]
proposals_dict, loss_units, stats = self.target_generators[
i].generate_targets(proposals_dict, gt_dict,
auxiliary_dict)
# note here base_feat (N,C,H,W),rois_batch (N,num_proposals,5)
proposals = proposals_dict[constants.KEY_PRIMARY]
rois = box_ops.box2rois(proposals)
pooled_feat = self.pyramid_rcnn_pooling(rcnn_feat_maps,
rois.view(-1, 5),
im_info[0][:2])
# shape(N,C,1,1)
pooled_feat_for_corners = self.feature_extractor.second_stage_feature(
pooled_feat)
# pooled_feat_for_keypoint = F.upsample_bilinear(
# pooled_feat_for_corners, size=(14, 14))
keypoint_map = self.keypoint_predictor(pooled_feat)
# keypoint_map = self.rcnn_keypoint_preds(pooled_feat_for_keypoint)
keypoint_map = keypoint_map.mean(-2)
# keypoint_map = F.softmax(keypoint_map, dim=-1)
pooled_feat_for_corners = pooled_feat_for_corners.mean(3).mean(2)
rcnn_bbox_preds = self.rcnn_bbox_preds[i](pooled_feat_for_corners)
rcnn_cls_scores = self.rcnn_cls_preds[i](pooled_feat_for_corners)
rcnn_corners_preds = self.rcnn_corners_preds[i](
pooled_feat_for_corners)
rcnn_dim_preds = self.rcnn_dim_preds[i](pooled_feat_for_corners)
rcnn_cls_probs = F.softmax(rcnn_cls_scores, dim=1)
batch_size = rois.shape[0]
rcnn_cls_scores = rcnn_cls_scores.view(batch_size, -1,
self.n_classes)
rcnn_cls_probs = rcnn_cls_probs.view(batch_size, -1,
self.n_classes)
if not self.class_agnostic:
# import ipdb
# ipdb.set_trace()
if self.training:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1))
else:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1))
# not class_agnostic for dims
# import ipdb
# ipdb.set_trace()
if not self.class_agnostic_3d:
if self.training:
rcnn_dim_preds = self.squeeze_bbox_preds(
rcnn_dim_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1),
out_c=3)
else:
rcnn_dim_preds = self.squeeze_bbox_preds(
rcnn_dim_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1),
out_c=3)
rcnn_bbox_preds = rcnn_bbox_preds.view(batch_size, -1, 4)
rcnn_corners_preds = rcnn_corners_preds.view(
batch_size, rcnn_bbox_preds.shape[1], -1)
# rcnn_depth_preds = rcnn_depth_preds.view(
# batch_size, rcnn_bbox_preds.shape[1], -1)
# rcnn_center_depth_preds = rcnn_center_depth_preds.view(
# batch_size, rcnn_bbox_preds.shape[1], -1)
# concat them(depth and corners)
# rcnn_corners_preds = torch.cat(
# [rcnn_corners_preds, rcnn_depth_preds], dim=-1)
# # append center depth
# rcnn_corners_preds = torch.cat(
# [rcnn_corners_preds, rcnn_center_depth_preds], dim=-1)
# rcnn_visibility_preds = rcnn_visibility_preds.view(
# batch_size, rcnn_bbox_preds.shape[1], -1)
rcnn_dim_preds = rcnn_dim_preds.view(batch_size, -1, 3)
# decode for next stage
coder = bbox_coders.build({'type': constants.KEY_DIMS})
rcnn_dim_preds = coder.decode_batch(
rcnn_dim_preds, feed_dict[constants.KEY_MEAN_DIMS],
rcnn_cls_probs).detach()
# rcnn_corners_preds = coder.decode_batch(
# rcnn_corners_preds.detach(), proposals)
# import ipdb
# ipdb.set_trace()
# if self.training_depth:
# # predict for depth
# rois = box_ops.box2rois(proposals)
# pooled_feat_for_depth = self.pyramid_rcnn_pooling(
# rcnn_feat_maps, rois.view(-1, 5), im_info[0][:2])
# shape(N,C,1,1)
# pooled_feat_for_depth = self.third_stage_feature(pooled_feat)
# pooled_feat_for_depth = pooled_feat_for_depth.mean(3).mean(2)
# rcnn_depth_preds = self.rcnn_depth_preds[i](pooled_feat_for_depth)
# encode
# rcnn_depth_preds = 1 / (rcnn_depth_preds.sigmoid() + 1e-6) - 1
# rcnn_depth_preds = rcnn_depth_preds.view(
# batch_size, rcnn_bbox_preds.shape[1], -1)
# # concat them(depth and corners)
# rcnn_corners_preds = self.fuse_corners_and_depth(
# rcnn_corners_preds, rcnn_depth_preds)
# rcnn_corners_preds = torch.cat(
# [rcnn_corners_preds, rcnn_depth_preds], dim=-1)
# # # append center depth
# rcnn_corners_preds = torch.cat(
# [rcnn_corners_preds, rcnn_center_depth_preds], dim=-1)
if self.training:
loss_units[constants.KEY_CLASSES]['pred'] = rcnn_cls_scores
loss_units[constants.KEY_BOXES_2D]['pred'] = rcnn_bbox_preds
loss_units[constants.KEY_DIMS]['pred'] = rcnn_dim_preds
loss_units[constants.KEY_MOBILEYE]['pred'] = rcnn_corners_preds
multi_stage_loss_units.append([
loss_units[constants.KEY_CLASSES],
loss_units[constants.KEY_BOXES_2D],
loss_units[constants.KEY_MOBILEYE],
loss_units[constants.KEY_DIMS]
])
multi_stage_stats.append(stats)
coder = bbox_coders.build({'type': constants.KEY_MOBILEYE})
rcnn_corners_preds = coder.decode_batch(rcnn_corners_preds.detach(),
proposals,
keypoint_map.detach())
prediction_dict[constants.KEY_CORNERS_2D] = rcnn_corners_preds
prediction_dict[constants.KEY_KEYPOINTS_HEATMAP] = keypoint_map
# if self.training:
# corners_2d_gt = coder.decode_batch(
# loss_units[constants.KEY_MOBILEYE]['target'], proposals)
# prediction_dict['corners_2d_gt'] = corners_2d_gt
if self.training:
prediction_dict[constants.KEY_TARGETS] = multi_stage_loss_units
prediction_dict[constants.KEY_STATS] = multi_stage_stats
else:
prediction_dict[constants.KEY_CLASSES] = rcnn_cls_probs
coder = bbox_coders.build(self.target_generators[i].
target_generator_config['coder_config'])
proposals = coder.decode_batch(rcnn_bbox_preds, proposals).detach()
image_info = feed_dict[constants.KEY_IMAGE_INFO]
proposals[:, :, ::
2] = proposals[:, :, ::2] / image_info[:, 3].unsqueeze(
-1).unsqueeze(-1)
proposals[:, :,
1::2] = proposals[:, :,
1::2] / image_info[:, 2].unsqueeze(
-1).unsqueeze(-1)
rcnn_corners_preds[:, :, :,
0] = rcnn_corners_preds[:, :, :,
0] / image_info[:, None,
None, 3]
rcnn_corners_preds[:, :, :,
1] = rcnn_corners_preds[:, :, :,
1] / image_info[:, None,
None, 2]
prediction_dict[constants.KEY_BOXES_2D] = proposals
# prediction_dict[constants.KEY_DIMS] = rcnn_dim_preds
# prediction_dict[constants.KEY_CORNERS_2D] = rcnn_corners_preds
if self.training:
loss_dict = self.loss(prediction_dict, feed_dict)
return prediction_dict, loss_dict
else:
return prediction_dict
def forward(self, feed_dict):
# import ipdb
# ipdb.set_trace()
prediction_dict = {}
# base model
base_feat = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'base_feat': base_feat})
self.add_feat('base_feat', base_feat)
# rpn model
prediction_dict.update(self.rpn_model.forward(feed_dict))
proposals = prediction_dict['proposals']
multi_stage_loss_units = []
multi_stage_stats = []
for i in range(self.num_stages):
if self.training:
proposals_dict = {}
proposals_dict[constants.KEY_PRIMARY] = proposals
# gt_dict
gt_dict = {}
gt_dict[constants.KEY_PRIMARY] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
gt_dict[constants.KEY_CLASSES] = None
gt_dict[constants.KEY_BOXES_2D] = None
# auxiliary_dict(used for encoding)
auxiliary_dict = {}
auxiliary_dict[constants.KEY_BOXES_2D] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
auxiliary_dict[constants.KEY_CLASSES] = feed_dict[
constants.KEY_LABEL_CLASSES]
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
auxiliary_dict[constants.KEY_PROPOSALS] = proposals
proposals_dict, loss_units, stats = self.target_generators[
i].generate_targets(proposals_dict, gt_dict,
auxiliary_dict)
# note here base_feat (N,C,H,W),rois_batch (N,num_proposals,5)
proposals = proposals_dict[constants.KEY_PRIMARY]
rois = box_ops.box2rois(proposals)
pooled_feat = self.rcnn_pooling(base_feat, rois.view(-1, 5))
# shape(N,C,1,1)
pooled_feat = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat = pooled_feat.mean(3).mean(2)
rcnn_bbox_preds = self.rcnn_bbox_preds[i](pooled_feat)
rcnn_cls_scores = self.rcnn_cls_preds[i](pooled_feat)
rcnn_cls_probs = F.softmax(rcnn_cls_scores, dim=1)
batch_size = rois.shape[0]
rcnn_cls_scores = rcnn_cls_scores.view(batch_size, -1,
self.n_classes)
rcnn_cls_probs = rcnn_cls_probs.view(batch_size, -1,
self.n_classes)
if not self.class_agnostic:
# import ipdb
# ipdb.set_trace()
if self.training:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
loss_units[constants.KEY_CLASSES]['target'].view(-1))
else:
rcnn_bbox_preds = self.squeeze_bbox_preds(
rcnn_bbox_preds,
rcnn_cls_probs.argmax(dim=-1).view(-1))
rcnn_bbox_preds = rcnn_bbox_preds.view(batch_size, -1, 4)
if self.training:
loss_units[constants.KEY_CLASSES]['pred'] = rcnn_cls_scores
loss_units[constants.KEY_BOXES_2D]['pred'] = rcnn_bbox_preds
# import ipdb
# ipdb.set_trace()
multi_stage_loss_units.extend([
loss_units[constants.KEY_CLASSES],
loss_units[constants.KEY_BOXES_2D]
])
multi_stage_stats.append(stats)
# decode for next stage
coder = bbox_coders.build(self.target_generators[i].
target_generator_config['coder_config'])
proposals = coder.decode_batch(rcnn_bbox_preds, proposals).detach()
if self.training:
prediction_dict[constants.KEY_TARGETS] = multi_stage_loss_units
prediction_dict[constants.KEY_STATS] = multi_stage_stats
else:
prediction_dict[constants.KEY_CLASSES] = rcnn_cls_probs
image_info = feed_dict[constants.KEY_IMAGE_INFO]
proposals[:, :, ::
2] = proposals[:, :, ::2] / image_info[:, 3].unsqueeze(
-1).unsqueeze(-1)
proposals[:, :,
1::2] = proposals[:, :,
1::2] / image_info[:, 2].unsqueeze(
-1).unsqueeze(-1)
prediction_dict[constants.KEY_BOXES_2D] = proposals
if self.training:
loss_dict = self.loss(prediction_dict, feed_dict)
return prediction_dict, loss_dict
else:
return prediction_dict
def forward(self, feed_dict):
im_info = feed_dict[constants.KEY_IMAGE_INFO]
prediction_dict = {}
# base model
rpn_feat_maps, rcnn_feat_maps = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'rpn_feat_maps': rpn_feat_maps})
# rpn model
prediction_dict.update(self.rpn_model.forward(feed_dict))
proposals = prediction_dict['proposals']
multi_stage_loss_units = []
multi_stage_stats = []
for i in range(self.num_stages):
if self.training:
# proposals_dict
proposals_dict = {}
proposals_dict[constants.KEY_PRIMARY] = proposals
# gt_dict
gt_dict = {}
gt_dict[constants.KEY_PRIMARY] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
gt_dict[constants.KEY_CLASSES] = None
gt_dict[constants.KEY_BOXES_2D] = None
gt_dict[constants.KEY_CORNERS_2D] = None
# gt_dict[constants.KEY_CORNERS_VISIBILITY] = None
# gt_dict[constants.KEY_ORIENTS_V2] = None
gt_dict[constants.KEY_DIMS] = None
# auxiliary_dict(used for encoding)
auxiliary_dict = {}
auxiliary_dict[constants.KEY_STEREO_CALIB_P2] = feed_dict[
constants.KEY_STEREO_CALIB_P2]
auxiliary_dict[constants.KEY_BOXES_2D] = feed_dict[
constants.KEY_LABEL_BOXES_2D]
auxiliary_dict[constants.KEY_CLASSES] = feed_dict[
constants.KEY_LABEL_CLASSES]
auxiliary_dict[constants.KEY_BOXES_3D] = feed_dict[
constants.KEY_LABEL_BOXES_3D]
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
auxiliary_dict[constants.KEY_PROPOSALS] = proposals
auxiliary_dict[constants.KEY_MEAN_DIMS] = feed_dict[
constants.KEY_MEAN_DIMS]
auxiliary_dict[constants.KEY_IMAGE_INFO] = feed_dict[
constants.KEY_IMAGE_INFO]
proposals_dict, loss_units, stats = self.target_generators[
i].generate_targets(proposals_dict, gt_dict,
auxiliary_dict)
# note here base_feat (N,C,H,W),rois_batch (N,num_proposals,5)
proposals = proposals_dict[constants.KEY_PRIMARY]
rois = box_ops.box2rois(proposals)
pooled_feat = self.pyramid_rcnn_pooling(rcnn_feat_maps,
rois.view(-1, 5),
im_info[0][:2])
# shape(N,C,1,1)
pooled_feat_for_corners = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat_for_corners = pooled_feat_for_corners.mean(3).mean(2)
rcnn_bbox_preds = self.rcnn_bbox_preds[i](pooled_feat_for_corners)
rcnn_cls_scores = self.rcnn_cls_preds[i](pooled_feat_for_corners)
rcnn_corners_preds = self.rcnn_corners_preds[i](
pooled_feat_for_corners)
rcnn_dim_preds = self.rcnn_dim_preds[i](pooled_feat_for_corners)
rcnn_cls_probs = F.softmax(rcnn_cls_scores, dim=1)
batch_size = rois.shape[0]
rcnn_cls_scores = rcnn_cls_scores.view(batch_size, -1,
self.n_classes)
rcnn_cls_probs = rcnn_cls_probs.view(batch_size, -1,
self.n_classes)
rcnn_bbox_preds = rcnn_bbox_preds.view(batch_size, -1, 4)
rcnn_corners_preds = rcnn_corners_preds.view(
batch_size, rcnn_bbox_preds.shape[1], -1)
rcnn_dim_preds = rcnn_dim_preds.view(batch_size, -1, 3)
rcnn_depth_preds = self.rcnn_depth_preds[i](
pooled_feat_for_corners)
# rcnn_depth_preds = 1 / (rcnn_depth_preds.sigmoid() + 1e-6) - 1
rcnn_depth_preds = rcnn_depth_preds.view(batch_size,
rcnn_bbox_preds.shape[1],
-1)
rcnn_corners_preds = self.fuse_corners_and_depth(
rcnn_corners_preds, rcnn_depth_preds)
# rcnn_corners_preds = torch.cat(
# [rcnn_corners_preds, rcnn_depth_preds], dim=-1)
# # # append center depth
# rcnn_corners_preds = torch.cat(
# [rcnn_corners_preds, rcnn_center_depth_preds], dim=-1)
if self.training:
loss_units[constants.KEY_CLASSES]['pred'] = rcnn_cls_scores
loss_units[constants.KEY_BOXES_2D]['pred'] = rcnn_bbox_preds
loss_units[constants.KEY_DIMS]['pred'] = rcnn_dim_preds
loss_units[
constants.KEY_CORNERS_2D]['pred'] = rcnn_corners_preds
# loss_units[constants.KEY_CORNERS_VISIBILITY][
# 'pred'] = rcnn_visibility_preds
# import ipdb
# ipdb.set_trace()
multi_stage_loss_units.append([
loss_units[constants.KEY_CLASSES],
loss_units[constants.KEY_BOXES_2D],
loss_units[constants.KEY_CORNERS_2D],
loss_units[constants.KEY_DIMS]
])
multi_stage_stats.append(stats)
else:
# import ipdb
# ipdb.set_trace()
center_depth = rcnn_corners_preds[:, :, -1:]
coder = bbox_coders.build(
{'type': constants.KEY_CORNERS_2D_NEAREST_DEPTH})
rcnn_corners_preds = coder.decode_batch(
rcnn_corners_preds.detach(), proposals,
feed_dict[constants.KEY_STEREO_CALIB_P2])
coder = bbox_coders.build(
self.target_generators[i].
target_generator_config['coder_config'])
proposals = coder.decode_batch(rcnn_bbox_preds,
proposals).detach()
coder = bbox_coders.build({'type': constants.KEY_DIMS})
rcnn_dim_preds = coder.decode_batch(
rcnn_dim_preds, feed_dict[constants.KEY_MEAN_DIMS],
rcnn_cls_probs).detach()
if self.training:
prediction_dict[constants.KEY_TARGETS] = multi_stage_loss_units
prediction_dict[constants.KEY_STATS] = multi_stage_stats
else:
prediction_dict[constants.KEY_CENTER_DEPTH] = center_depth
prediction_dict[constants.KEY_CLASSES] = rcnn_cls_probs
image_info = feed_dict[constants.KEY_IMAGE_INFO]
proposals[:, :, ::
2] = proposals[:, :, ::2] / image_info[:, 3].unsqueeze(
-1).unsqueeze(-1)
proposals[:, :,
1::2] = proposals[:, :,
1::2] / image_info[:, 2].unsqueeze(
-1).unsqueeze(-1)
rcnn_corners_preds[:, :, :,
0] = rcnn_corners_preds[:, :, :,
0] / image_info[:, None,
None,
3:4]
rcnn_corners_preds[:, :, :,
1] = rcnn_corners_preds[:, :, :,
1] / image_info[:, None,
None,
2:3]
prediction_dict[constants.KEY_CORNERS_2D] = rcnn_corners_preds
prediction_dict[constants.KEY_BOXES_2D] = proposals
prediction_dict[constants.KEY_DIMS] = rcnn_dim_preds
prediction_dict[constants.KEY_CORNERS_2D] = rcnn_corners_preds
if self.training:
loss_dict = self.loss(prediction_dict, feed_dict)
return prediction_dict, loss_dict
else:
return prediction_dict
def forward(self, feed_dict):
output_dict = {}
losses_dict = UncoverDict()
auxiliary_dict = {}
multi_stage_stats = []
# base model
base_feat = self.feature_extractor.first_stage_feature(
feed_dict[constants.KEY_IMAGE])
feed_dict.update({'base_feat': base_feat})
# rpn model
instance, losses = self.rpn_model.forward(feed_dict)
# output_dict.update()
auxiliary_dict.update(instance)
proposals = auxiliary_dict[constants.KEY_BOXES_2D]
for i in range(self.num_stages):
if self.training:
losses_units = self.instance_info.generate_losses(
output_dict, feed_dict, auxiliary_dict)
losses_units, subsampled_mask = self.sampler.subsample_instance(
losses_units)
proposals, _ = self.sampler.subsample_instance(
proposals, subsampled_mask)
# update auxiliary dict
# TODO subsample for all auxiliary_dict
auxiliary_dict[constants.KEY_BOXES_2D] = proposals
auxiliary_dict[constants.KEY_NUM_INSTANCES] = feed_dict[
constants.KEY_NUM_INSTANCES]
multi_stage_stats.append(
self.instance_info.generate_stats(auxiliary_dict))
rois = box_ops.box2rois(proposals)
pooled_feat = self.rcnn_pooling(base_feat, rois.view(-1, 5),
1 / 16)
# shape(N,C,1,1)
pooled_feat = self.feature_extractor.second_stage_feature(
pooled_feat)
pooled_feat = pooled_feat.mean(3).mean(2)
# collect output from network to output_dict
for attr_name in self.branches:
attr_preds = self.branches[attr_name][i](pooled_feat)
output_dict[attr_name] = attr_preds
# unsqueeze before calc loss
batch_size = rois.shape[0]
output_dict = self.instance_info.unsqueeze(output_dict, batch_size)
if self.training:
losses_units.update_from_output(output_dict)
# decode
instance = self.instance_info.generate_instance(
output_dict, auxiliary_dict)
if self.training:
losses_dict.update(losses)
losses = self.instance_info.calc_loss(losses_units)
losses_dict.update(losses)
else:
losses_dict = None
multi_stage_stats = None
# rescale
im_info = feed_dict[constants.KEY_IMAGE_INFO]
instance = self.instance_info.affine_transform(instance, im_info)
return instance, losses_dict, multi_stage_stats