def forward(self,
odm_data,
priors,
targets,
arm_data=None,
filter_object=False):
"""Multibox Loss
Args:
predictions (tuple): A tuple containing loc preds, conf preds,
and prior boxes from SSD net.
conf shape: torch.size(batch_size,num_priors,num_classes)
loc shape: torch.size(batch_size,num_priors,4)
priors shape: torch.size(num_priors,4)
ground_truth (tensor): Ground truth boxes and labels for a batch,
shape: [batch_size,num_objs,5] (last idx is the label).
arm_data (tuple): arm branch containg arm_loc and arm_conf
filter_object: whether filter out the prediction according to the arm conf score
"""
loc_data, conf_data = odm_data
if arm_data:
arm_loc, arm_conf = arm_data
priors = priors.data
num = loc_data.size(0)
num_priors = (priors.size(0))
# match priors (default boxes) and ground truth boxes
loc_t = torch.Tensor(num, num_priors, 4)
conf_t = torch.LongTensor(num, num_priors)
for idx in range(num):
truths = targets[idx][:, :-1].data
labels = targets[idx][:, -1].data
#for object detection
if self.num_classes == 2:
labels = labels > 0
if arm_data:
refine_match(self.threshold, truths, priors, self.variance,
labels, loc_t, conf_t, idx, arm_loc[idx].data)
else:
match(self.threshold, truths, priors, self.variance, labels,
loc_t, conf_t, idx)
if GPU:
loc_t = loc_t.cuda()
conf_t = conf_t.cuda()
# wrap targets
loc_t = Variable(loc_t, requires_grad=False)
conf_t = Variable(conf_t, requires_grad=False)
if arm_data and filter_object:
arm_conf_data = arm_conf.data[:, :, 1]
pos = conf_t > 0
object_score_index = arm_conf_data <= self.object_score
pos[object_score_index] = 0
else:
pos = conf_t > 0
# Localization Loss (Smooth L1)
# Shape: [batch,num_priors,4]
pos_idx = pos.unsqueeze(pos.dim()).expand_as(loc_data)
loc_p = loc_data[pos_idx].view(-1, 4)
loc_t = loc_t[pos_idx].view(-1, 4)
loss_l = F.smooth_l1_loss(loc_p, loc_t, size_average=False)
# Compute max conf across batch for hard negative mining
batch_conf = conf_data.view(-1, self.num_classes)
loss_c = log_sum_exp(batch_conf) - batch_conf.gather(
1, conf_t.view(-1, 1))
# Hard Negative Mining
loss_c[pos] = 0 # filter out pos boxes for now
loss_c = loss_c.view(num, -1)
_, loss_idx = loss_c.sort(1, descending=True)
_, idx_rank = loss_idx.sort(1)
num_pos = pos.long().sum(1, keepdim=True)
num_neg = torch.clamp(self.negpos_ratio * num_pos, max=pos.size(1) - 1)
neg = idx_rank < num_neg.expand_as(idx_rank)
# Confidence Loss Including Positive and Negative Examples
pos_idx = pos.unsqueeze(2).expand_as(conf_data)
neg_idx = neg.unsqueeze(2).expand_as(conf_data)
conf_p = conf_data[(pos_idx + neg_idx).gt(0)].view(
-1, self.num_classes)
targets_weighted = conf_t[(pos + neg).gt(0)]
loss_c = F.cross_entropy(conf_p, targets_weighted, size_average=False)
# Sum of losses: L(x,c,l,g) = (Lconf(x, c) + αLloc(x,l,g)) / N
N = num_pos.data.sum()
loss_l /= N
loss_c /= N
return loss_l, loss_c
def forward(self,
predictions,
targets,
use_arm=False,
filter_object=False,
filter_score=0,
debug=False):
"""Multibox Loss
Args:
predictions (tuple): A tuple containing loc preds, conf preds,
and prior boxes from SSD net.
conf shape: torch.size(batch_size,num_priors,num_classes)
loc shape: torch.size(batch_size,num_priors,4)
priors shape: torch.size(num_priors,4)
ground_truth (tensor): Ground truth boxes and labels for a batch,
shape: [batch_size,num_objs,5] (last idx is the label).
"""
# arm_loc_data, arm_conf_data, loc_data, conf_data, priors = predictions
if use_arm:
arm_loc_data, arm_conf_data, loc_data, conf_data, priors = predictions
else:
loc_data, conf_data, _, _, priors = predictions
num = loc_data.size(0)
priors = priors[:loc_data.size(1), :]
num_priors = (priors.size(0))
num_classes = self.num_classes
# match priors (default boxes) and ground truth boxes
loc_t = torch.Tensor(num, num_priors, 4)
conf_t = torch.LongTensor(num, num_priors)
defaults = priors.data
for idx in range(num):
truths = targets[idx][:, :-1].data
labels = targets[idx][:, -1].data
if self.num_classes == 2:
labels = labels > 0
if use_arm:
bbox_weight = refine_match(self.threshold,
truths,
defaults,
self.variance,
labels,
loc_t,
conf_t,
idx,
arm_loc_data[idx].data,
use_weight=False)
else:
match(self.threshold, truths, defaults, self.variance, labels,
loc_t, conf_t, idx)
if self.use_gpu:
loc_t = loc_t.cuda()
conf_t = conf_t.cuda()
# wrap targets
loc_t = Variable(loc_t, requires_grad=False)
conf_t = Variable(conf_t, requires_grad=False)
if use_arm and filter_object:
P = F.softmax(arm_conf_data, 2)
arm_conf_data_temp = P[:, :, 1]
object_score_index = arm_conf_data_temp <= self.object_score
pos = conf_t > 0
pos[object_score_index.detach()] = 0
else:
pos = conf_t > 0
num_pos = pos.sum(1, keepdim=True)
# Localization Loss (Smooth L1)
# Shape: [batch,num_priors,4]
pos_idx = pos.unsqueeze(pos.dim()).expand_as(loc_data)
loc_p = loc_data[pos_idx].view(-1, 4)
loc_t = loc_t[pos_idx].view(-1, 4)
if debug:
if use_arm:
print("odm pos num: ", str(loc_t.size(0)), str(loc_t.size(1)))
else:
print("arm pos num", str(loc_t.size(0)), str(loc_t.size(1)))
loss_l = F.smooth_l1_loss(loc_p, loc_t, size_average=False)
# Compute max conf across batch for hard negative mining
batch_conf = conf_data.view(-1, self.num_classes)
loss_c = log_sum_exp(batch_conf) - batch_conf.gather(
1, conf_t.view(-1, 1))
# Hard Negative Mining
loss_c[pos.view(-1, 1)] = 0 # filter out pos boxes for now
loss_c = loss_c.view(num, -1)
_, loss_idx = loss_c.sort(1, descending=True)
_, idx_rank = loss_idx.sort(1)
num_pos = pos.long().sum(1, keepdim=True)
num_neg = torch.clamp(self.negpos_ratio * num_pos, max=pos.size(1) - 1)
neg = idx_rank < num_neg.expand_as(idx_rank)
# Confidence Loss Including Positive and Negative Examples
pos_idx = pos.unsqueeze(2).expand_as(conf_data)
neg_idx = neg.unsqueeze(2).expand_as(conf_data)
conf_p = conf_data[(pos_idx + neg_idx).gt(0)].view(
-1, self.num_classes)
targets_weighted = conf_t[(pos + neg).gt(0)]
loss_c = F.cross_entropy(conf_p, targets_weighted, size_average=False)
N = num_pos.data.sum()
loss_l /= float(N)
loss_c /= float(N)
return loss_l, loss_c
def forward(self,
odm_data,
priors,
targets,
arm_data=None,
filter_object=False):
loc_data, conf_data = odm_data
if arm_data:
arm_loc, arm_conf = arm_data
priors = priors.detach()
num = loc_data.size(0)
num_priors = (priors.size(0))
# match priors (default boxes) and ground truth boxes
loc_t = torch.Tensor(num, num_priors, 4)
conf_t = torch.LongTensor(num, num_priors)
for idx in range(num):
truths = targets[idx][:, :-1].detach()
labels = targets[idx][:, -1].detach()
#for object detection
if self.num_classes == 2:
labels = labels > 0
if arm_data:
refine_match(self.threshold, truths, priors, self.variance,
labels, loc_t, conf_t, idx, arm_loc[idx].detach())
else:
match(self.threshold, truths, priors, self.variance, labels,
loc_t, conf_t, idx)
if GPU:
loc_t = loc_t.cuda()
conf_t = conf_t.cuda()
if arm_data and filter_object:
P = F.softmax(arm_conf, 2)
arm_conf_tmp = P[:, :, 1]
object_score_index = arm_conf_tmp <= self.object_score
pos = conf_t > 0
pos[object_score_index.detach()] = 0
else:
pos = conf_t > 0
# Localization Loss (Smooth L1)
# Shape: [batch,num_priors,4]
pos_idx = pos.unsqueeze(pos.dim()).expand_as(loc_data)
loc_p = loc_data[pos_idx].view(-1, 4)
loc_t = loc_t[pos_idx].view(-1, 4)
loss_l = F.smooth_l1_loss(loc_p, loc_t, reduction='sum')
# Compute max conf across batch for hard negative mining
batch_conf = conf_data.view(-1, self.num_classes)
#loss_c = log_sum_exp(batch_conf) - batch_conf.gather(1, conf_t.view(-1,1))
loss_c = F.cross_entropy(batch_conf,
conf_t.view(-1),
ignore_index=-1,
reduction='none')
loss_c = loss_c.view(num, -1)
# Hard Negative Mining
pos_loss_c = loss_c[pos]
loss_c[pos] = 0 # filter out pos boxes for now
#loss_c = loss_c.view(num, -1)
_, loss_idx = loss_c.sort(1, descending=True)
_, idx_rank = loss_idx.sort(1)
num_pos = pos.long().sum(1, keepdim=True)
num_neg = torch.clamp(self.negpos_ratio * num_pos, max=pos.size(1) - 1)
neg = idx_rank < num_neg.expand_as(idx_rank)
neg_loss_c = loss_c[neg]
# Confidence Loss Including Positive and Negative Examples
# pos_idx = pos.unsqueeze(2).expand_as(conf_data)
# neg_idx = neg.unsqueeze(2).expand_as(conf_data)
#conf_p = conf_data[(pos_idx+neg_idx).gt(0)].view(-1,self.num_classes)
#targets_weighted = conf_t[(pos+neg).gt(0)]
#loss_c = F.cross_entropy(conf_p, targets_weighted, size_average=False)
# Sum of losses: L(x,c,l,g) = (Lconf(x, c) + αLloc(x,l,g)) / N
loss_c = pos_loss_c.sum() + neg_loss_c.sum()
N = num_pos.data.sum().float()
loss_l = loss_l / N
loss_c = loss_c / N
return loss_l, loss_c
