def bbox_head_loss_pre(rois, roi_indices, std, bboxes, labels):
"""Loss function for Head (pre).
This function processes RoIs for :func:`bbox_head_loss_post`.
Args:
rois (iterable of arrays): An iterable of arrays of
shape :math:`(R_l, 4)`, where :math:`R_l` is the number
of RoIs in the :math:`l`-th feature map.
roi_indices (iterable of arrays): An iterable of arrays of
shape :math:`(R_l,)`.
std (tuple of floats): Two coefficients used for encoding
bounding boxes.
bboxes (list of arrays): A list of arrays whose shape is
:math:`(R_n, 4)`, where :math:`R_n` is the number of
ground truth bounding boxes.
labels (list of arrays): A list of arrays whose shape is
:math:`(R_n,)`.
Returns:
tuple of four lists:
:obj:`rois`, :obj:`roi_indices`, :obj:`gt_locs`, and :obj:`gt_labels`.
* **rois**: A list of arrays of shape :math:`(R'_l, 4)`, \
where :math:`R'_l` is the number of RoIs in the :math:`l`-th \
feature map.
* **roi_indices**: A list of arrays of shape :math:`(R'_l,)`.
* **gt_locs**: A list of arrays of shape :math:`(R'_l, 4) \
indicating the bounding boxes of ground truth.
* **roi_indices**: A list of arrays of shape :math:`(R'_l,)` \
indicating the classes of ground truth.
"""
thresh = 0.5
batchsize_per_image = 512
fg_ratio = 0.25
xp = cuda.get_array_module(*rois)
n_level = len(rois)
roi_levels = xp.hstack(
xp.array((l, ) * len(rois[l]))
for l in range(n_level)).astype(np.int32)
rois = xp.vstack(rois).astype(np.float32)
roi_indices = xp.hstack(roi_indices).astype(np.int32)
rois_yx = (rois[:, 2:] + rois[:, :2]) / 2
rois_hw = rois[:, 2:] - rois[:, :2]
indices = np.unique(cuda.to_cpu(roi_indices))
gt_locs = xp.empty_like(rois)
gt_labels = xp.empty_like(roi_indices)
for i in indices:
mask = roi_indices == i
if len(bboxes[i]) > 0:
iou = utils.bbox_iou(rois[mask], bboxes[i])
gt_index = iou.argmax(axis=1)
gt_loc = bboxes[i][gt_index].copy()
else:
gt_loc = xp.empty_like(rois[mask])
# tlbr -> yxhw
gt_loc[:, 2:] -= gt_loc[:, :2]
gt_loc[:, :2] += gt_loc[:, 2:] / 2
# offset
gt_loc[:, :2] = (gt_loc[:, :2] - rois_yx[mask]) / \
rois_hw[mask] / std[0]
gt_loc[:, 2:] = xp.log(gt_loc[:, 2:] / rois_hw[mask]) / std[1]
if len(bboxes[i]) > 0:
gt_label = labels[i][gt_index] + 1
gt_label[iou.max(axis=1) < thresh] = 0
else:
gt_label = xp.zeros(int(mask.sum()), dtype=np.int32)
fg_index = xp.where(gt_label > 0)[0]
n_fg = int(batchsize_per_image * fg_ratio)
if len(fg_index) > n_fg:
gt_label[choice(fg_index, size=len(fg_index) - n_fg)] = -1
bg_index = xp.where(gt_label == 0)[0]
n_bg = batchsize_per_image - int((gt_label > 0).sum())
if len(bg_index) > n_bg:
gt_label[choice(bg_index, size=len(bg_index) - n_bg)] = -1
gt_locs[mask] = gt_loc
gt_labels[mask] = gt_label
mask = gt_labels >= 0
rois = rois[mask]
roi_indices = roi_indices[mask]
roi_levels = roi_levels[mask]
gt_locs = gt_locs[mask]
gt_labels = gt_labels[mask]
masks = [roi_levels == l for l in range(n_level)]
rois = [rois[m] for m in masks]
roi_indices = [roi_indices[m] for m in masks]
gt_locs = [gt_locs[m] for m in masks]
gt_labels = [gt_labels[m] for m in masks]
return rois, roi_indices, gt_locs, gt_labels
def rpn_loss(locs, confs, anchors, sizes, bboxes):
"""Loss function for RPN.
Args:
locs (iterable of arrays): An iterable of arrays whose shape is
:math:`(N, K_l, 4)`, where :math:`K_l` is the number of
the anchor boxes of the :math:`l`-th level.
confs (iterable of arrays): An iterable of arrays whose shape is
:math:`(N, K_l)`.
anchors (list of arrays): A list of arrays returned by
:meth:`anchors`.
sizes (list of tuples of two ints): A list of
:math:`(H_n, W_n)`, where :math:`H_n` and :math:`W_n`
are height and width of the :math:`n`-th image.
bboxes (list of arrays): A list of arrays whose shape is
:math:`(R_n, 4)`, where :math:`R_n` is the number of
ground truth bounding boxes.
Returns:
tuple of two variables:
:obj:`loc_loss` and :obj:`conf_loss`.
"""
fg_thresh = 0.7
bg_thresh = 0.3
batchsize_per_image = 256
fg_ratio = 0.25
locs = F.concat(locs)
confs = F.concat(confs)
xp = cuda.get_array_module(locs.array, confs.array)
anchors = xp.vstack(anchors)
anchors_yx = (anchors[:, 2:] + anchors[:, :2]) / 2
anchors_hw = anchors[:, 2:] - anchors[:, :2]
loc_loss = 0
conf_loss = 0
for i in range(len(sizes)):
if len(bboxes[i]) > 0:
iou = utils.bbox_iou(anchors, bboxes[i])
gt_loc = bboxes[i][iou.argmax(axis=1)].copy()
# tlbr -> yxhw
gt_loc[:, 2:] -= gt_loc[:, :2]
gt_loc[:, :2] += gt_loc[:, 2:] / 2
# offset
gt_loc[:, :2] = (gt_loc[:, :2] - anchors_yx) / anchors_hw
gt_loc[:, 2:] = xp.log(gt_loc[:, 2:] / anchors_hw)
else:
gt_loc = xp.empty_like(anchors)
gt_label = xp.empty(len(anchors), dtype=np.int32)
gt_label[:] = -1
mask = xp.logical_and(anchors[:, :2] >= 0,
anchors[:, 2:] < xp.array(sizes[i])).all(axis=1)
if len(bboxes[i]) > 0:
gt_label[xp.where(mask)[0][(iou[mask] == iou[mask].max(
axis=0)).any(axis=1)]] = 1
gt_label[xp.logical_and(mask, iou.max(axis=1) >= fg_thresh)] = 1
fg_index = xp.where(gt_label == 1)[0]
n_fg = int(batchsize_per_image * fg_ratio)
if len(fg_index) > n_fg:
gt_label[choice(fg_index, size=len(fg_index) - n_fg)] = -1
if len(bboxes[i]) > 0:
bg_index = xp.where(
xp.logical_and(mask,
iou.max(axis=1) < bg_thresh))[0]
else:
bg_index = xp.where(mask)[0]
n_bg = batchsize_per_image - int((gt_label == 1).sum())
if len(bg_index) > n_bg:
gt_label[bg_index[xp.random.randint(len(bg_index), size=n_bg)]] = 0
n_sample = (gt_label >= 0).sum()
loc_loss += F.sum(
smooth_l1(locs[i][gt_label == 1], gt_loc[gt_label == 1],
1 / 9)) / n_sample
conf_loss += F.sum(F.sigmoid_cross_entropy(
confs[i][gt_label >= 0], gt_label[gt_label >= 0], reduce='no')) \
/ n_sample
loc_loss /= len(sizes)
conf_loss /= len(sizes)
return loc_loss, conf_loss