def forward_for_single_feature_map(self, anchors, objectness,
box_regression):
"""
Arguments:
anchors: list[BoxList]
objectness: tensor of size N, A, H, W
box_regression: tensor of size N, A * 4, H, W
"""
device = objectness.device
N, A, H, W = objectness.shape
# put in the same format as anchors
objectness = permute_and_flatten(objectness, N, A, 1, H, W).view(N, -1)
objectness = objectness.sigmoid()
box_regression = permute_and_flatten(box_regression, N, A, 4, H, W)
num_anchors = A * H * W
pre_nms_top_n = min(self.pre_nms_top_n, num_anchors)
objectness, topk_idx = objectness.topk(pre_nms_top_n,
dim=1,
sorted=True)
batch_idx = torch.arange(N, device=device)[:, None]
box_regression = box_regression[batch_idx, topk_idx]
image_shapes = [box.size for box in anchors]
concat_anchors = torch.cat([a.bbox for a in anchors], dim=0)
concat_anchors = concat_anchors.reshape(N, -1, 4)[batch_idx, topk_idx]
proposals = self.box_coder.decode(box_regression.view(-1, 4),
concat_anchors.view(-1, 4))
proposals = proposals.view(N, -1, 4)
result = []
for proposal, score, im_shape in zip(proposals, objectness,
image_shapes):
boxlist = BoxList(proposal, im_shape, mode="xyxy")
boxlist.add_field("objectness", score)
boxlist = boxlist.clip_to_image(remove_empty=False)
boxlist = remove_small_boxes(boxlist, self.min_size)
boxlist = boxlist_nms(
boxlist,
self.nms_thresh,
max_proposals=self.post_nms_top_n,
score_field="objectness",
)
result.append(boxlist)
return result
def filter_results(self, boxlist, num_classes):
"""Returns bounding-box detection results by thresholding on scores and
applying non-maximum suppression (NMS).
"""
# unwrap the boxlist to avoid additional overhead.
# if we had multi-class NMS, we could perform this directly on the boxlist
boxes = boxlist.bbox.reshape(-1, num_classes * 4)
scores = boxlist.get_field("scores").reshape(-1, num_classes)
device = scores.device
result = []
# Apply threshold on detection probabilities and apply NMS
# Skip j = 0, because it's the background class
inds_all = scores > self.score_thresh
for j in range(1, num_classes):
inds = inds_all[:, j].nonzero().squeeze(1)
scores_j = scores[inds, j]
boxes_j = boxes[inds, j * 4 : (j + 1) * 4]
boxlist_for_class = BoxList(boxes_j, boxlist.size, mode="xyxy")
boxlist_for_class.add_field("scores", scores_j)
boxlist_for_class = boxlist_nms(
boxlist_for_class, self.nms
)
num_labels = len(boxlist_for_class)
boxlist_for_class.add_field(
"labels", torch.full((num_labels,), j, dtype=torch.int64, device=device)
)
result.append(boxlist_for_class)
result = cat_boxlist(result)
number_of_detections = len(result)
# Limit to max_per_image detections **over all classes**
if number_of_detections > self.detections_per_img > 0:
cls_scores = result.get_field("scores")
image_thresh, _ = torch.kthvalue(
cls_scores.cpu(), number_of_detections - self.detections_per_img + 1
)
keep = cls_scores >= image_thresh.item()
keep = torch.nonzero(keep).squeeze(1)
result = result[keep]
return result
def select_over_all_levels(self, boxlists):
num_images = len(boxlists)
results = []
for i in range(num_images):
scores = boxlists[i].get_field("scores")
labels = boxlists[i].get_field("labels")
boxes = boxlists[i].bbox
boxlist = boxlists[i]
result = []
# skip the background
for j in range(1, self.num_classes):
inds = (labels == j).nonzero().view(-1)
scores_j = scores[inds]
boxes_j = boxes[inds, :].view(-1, 4)
boxlist_for_class = BoxList(boxes_j, boxlist.size, mode="xyxy")
boxlist_for_class.add_field("scores", scores_j)
boxlist_for_class = boxlist_nms(boxlist_for_class,
self.nms_thresh,
score_field="scores")
num_labels = len(boxlist_for_class)
boxlist_for_class.add_field("labels",
jt.full((num_labels, ), j).int32())
result.append(boxlist_for_class)
result = cat_boxlist(result)
number_of_detections = len(result)
# Limit to max_per_image detections **over all classes**
if number_of_detections > self.fpn_post_nms_top_n > 0:
cls_scores = result.get_field("scores")
image_thresh, _ = jt.kthvalue(
cls_scores,
number_of_detections - self.fpn_post_nms_top_n + 1)
keep = cls_scores >= image_thresh
keep = jt.nonzero(keep).squeeze(1)
result = result[keep]
results.append(result)
return results
def filter_results(self, boxlist, num_classes):
"""Returns bounding-box detection results by thresholding on scores and
applying non-maximum suppression (NMS).
"""
# unwrap the boxlist to avoid additional overhead.
# if we had multi-class NMS, we could perform this directly on the boxlist
boxes = boxlist.bbox.reshape(-1, num_classes * 4)
scores = boxlist.get_field("scores").reshape(-1, num_classes)
result = []
# Apply threshold on detection probabilities and apply NMS
# Skip j = 0, because it's the background class
# inds_all = (scores > self.score_thresh).int()
inds_all = scores > self.score_thresh
# print(self.score_thresh,num_classes)
# print(inds_all.shape)
# inds_all = inds_all.transpose(1,0)
inds_nonzeros = [ inds_all[:,j].nonzero() for j in range(1, num_classes) ]
jt.sync(inds_nonzeros)
for j in range(1, num_classes):
# with nvtx_scope("aa"):
# inds = inds_all[:,j].nonzero().squeeze(1)
# with nvtx_scope("bb"):
# scores_j = scores[inds, j]
# boxes_j = boxes[inds, j * 4 : (j + 1) * 4]
# with nvtx_scope("cc"):
# boxlist_for_class = BoxList(boxes_j, boxlist.size, mode="xyxy")
# with nvtx_scope("cc2"):
# boxlist_for_class.add_field("scores", scores_j)
# with nvtx_scope("cc3"):
# boxlist_for_class = boxlist_nms(
# boxlist_for_class, self.nms
# )
# with nvtx_scope("dd"):
# num_labels = len(boxlist_for_class)
# with nvtx_scope("dd2"):
# boxlist_for_class.add_field(
# "labels", jt.full((num_labels,), j).int32()
# )
# result.append(boxlist_for_class)
# inds = inds_all[:,j].nonzero().squeeze(1)
inds = inds_nonzeros[j-1]
if inds.shape[0] == 0:
continue
inds = inds.squeeze(1)
scores_j = scores[inds, j]
boxes_j = boxes[inds, j * 4 : (j + 1) * 4]
boxlist_for_class = BoxList(boxes_j, boxlist.size, mode="xyxy")
boxlist_for_class.add_field("scores", scores_j)
boxlist_for_class = boxlist_nms(
boxlist_for_class, self.nms
)
num_labels = len(boxlist_for_class)
# print(j,num_labels)
boxlist_for_class.add_field(
"labels", jt.full((num_labels,), j).int32()
)
result.append(boxlist_for_class)
result = cat_boxlist(result)
if not result.has_field('labels'):
result.add_field('labels',jt.empty((0,)))
if not result.has_field('scores'):
result.add_field('scores',jt.empty((0,)))
number_of_detections = len(result)
#Limit to max_per_image detections **over all classes**
if number_of_detections > self.detections_per_img > 0:
cls_scores = result.get_field("scores")
image_thresh, _ = jt.kthvalue(
cls_scores, number_of_detections - self.detections_per_img + 1
)
keep = cls_scores >= image_thresh
keep = jt.nonzero(keep).squeeze(1)
result = result[keep]
# # Absolute limit detection imgs
# if number_of_detections > self.detections_per_img > 0:
# cls_scores = result.get_field("scores")
# scores, indices = jt.topk(
# cls_scores, self.detections_per_img
# )
# result = result[indices]
return result
def forward_for_single_feature_map(self, anchors, objectness,
box_regression):
"""
Arguments:
anchors: list[BoxList]
objectness: tensor of size N, A, H, W
box_regression: tensor of size N, A * 4, H, W
"""
# global II
# import pickle
N, A, H, W = objectness.shape
# put in the same format as anchors
objectness = permute_and_flatten(objectness, N, A, 1, H,
W).reshape(N, -1)
# print('objectness',objectness.mean())
objectness = objectness.sigmoid()
box_regression = permute_and_flatten(box_regression, N, A, 4, H, W)
# print('regression',box_regression.mean())
num_anchors = A * H * W
pre_nms_top_n = min(self.pre_nms_top_n, num_anchors)
# print(pre_nms_top_n)
#print('objectness',objectness)
# objectness = jt.array(pickle.load(open(f'/home/lxl/objectness_0_{II}.pkl','rb')))
# print(objectness.shape)
objectness, topk_idx = objectness.topk(pre_nms_top_n,
dim=1,
sorted=True)
# print(II,'topk',topk_idx.sum(),topk_idx.shape)
batch_idx = jt.arange(N).unsqueeze(1)
# pickle.dump(topk_idx.numpy(),open(f'/home/lxl/topk_idx_{II}_jt.pkl','wb'))
# topk_idx_tmp = topk_idx.numpy()
# batch_idx = jt.array(pickle.load(open(f'/home/lxl/batch_idx_{II}.pkl','rb')))
# topk_idx = jt.array(pickle.load(open(f'/home/lxl/topk_idx_{II}.pkl','rb')))
# err = np.abs(topk_idx_tmp-topk_idx.numpy())
# print('Error!!!!!!!!!!!!!!!!',err.sum())
# print(err.nonzero())
#print('box_regression0',box_regression)
#batch_idx = jt.index(topk_idx.shape,dim=0)
box_regression = box_regression[batch_idx, topk_idx]
#print('box_regression1',box_regression)
image_shapes = [box.size for box in anchors]
concat_anchors = jt.contrib.concat([a.bbox for a in anchors], dim=0)
concat_anchors = concat_anchors.reshape(N, -1, 4)[batch_idx, topk_idx]
# box_regression = jt.array(pickle.load(open(f'/home/lxl/box_regression_{II}.pkl','rb')))
# concat_anchors = jt.array(pickle.load(open(f'/home/lxl/concat_anchors_{II}.pkl','rb')))
proposals = self.box_coder.decode(box_regression.reshape(-1, 4),
concat_anchors.reshape(-1, 4))
proposals = proposals.reshape(N, -1, 4)
# proposals = jt.array(pickle.load(open(f'/home/lxl/proposal_{II}.pkl','rb')))
# objectness = jt.array(pickle.load(open(f'/home/lxl/objectness_{II}.pkl','rb')))
# II+=1
result = []
for i in range(len(image_shapes)):
proposal, score, im_shape = proposals[i], objectness[
i], image_shapes[i]
boxlist = BoxList(proposal, im_shape, mode="xyxy")
boxlist.add_field("objectness", score)
boxlist = boxlist.clip_to_image(remove_empty=False)
boxlist = remove_small_boxes(boxlist, self.min_size)
boxlist = boxlist_nms(
boxlist,
self.nms_thresh,
max_proposals=self.post_nms_top_n,
score_field="objectness",
)
result.append(boxlist)
return result
