def quick_matching(det_boxes, gt_boxes, det_cats, gt_cats):
iou_mask = batch_iou(det_boxes, gt_boxes) >= 0.5
det_cats = np.expand_dims(det_cats, axis=1)
gt_cats = np.expand_dims(gt_cats, axis=0)
cat_mask = (det_cats == gt_cats)
matching = np.logical_and(iou_mask, cat_mask)
return matching
def quick_matching(det_boxes, gt_boxes, det_cats, gt_cats):
iou_mask = batch_iou(det_boxes, gt_boxes) >= 0.5
det_cats = np.expand_dims(det_cats, axis=1)
gt_cats = np.expand_dims(gt_cats, axis=0)
cat_mask = (det_cats == gt_cats)
matching = np.logical_and(iou_mask, cat_mask)
return matching
def end2end_label_generate(labels, gta, mc):
"""
//image_per_batch: images. Shape: batch_size x width x height x [b, g, r]
label_per_batch: labels. Shape: batch_size x object_num
delta_per_batch: bounding box deltas. Shape: batch_size x object_num x
[dx ,dy, dw, dh]
aidx_per_batch: index of anchors that are responsible for prediction.
Shape: batch_size x object_num
bbox_per_batch: scaled bounding boxes. Shape: batch_size x object_num x
[cx, cy, w, h]
"""
RF = mc.receptive_field
(W, H) = (mc.IMAGE_WIDTH, mc.IMAGE_HEIGHT)
#label_per_batch = np.zeros(mc.class_count)
#delta_per_batch = np.zeros((mc.class_count, 4))
#aidx_per_batch = np.zeros(mc.class_count)
#bbox_per_batch = np.zeros((mc.class_count,4))
#label_per_batch.append([b[4] for b in self._rois[idx][:]])
#gt_bbox = np.array([[b[0], b[1], b[2], b[3]] for b in self._rois[idx][:]])
label_per_imgs = labels
gt_bbox = gta
#bbox_per_batch = gt_bbox
#aidx_per_batch, delta_per_batch = [], []
aidx_per_image, delta_per_image = [], []
aidx_set = set()
for i in range(len(gt_bbox)):
#print(len(gt_bbox))
overlaps = utils.batch_iou(mc.Anchor_box, gt_bbox[i])
aidx = len(mc.Anchor_box)
for ov_idx in np.argsort(overlaps)[::-1]:
if overlaps[ov_idx] <= 0:
break
if ov_idx not in aidx_set:
aidx_set.add(ov_idx)
aidx = ov_idx
break
if aidx == len(mc.Anchor_box):
# even the largeset available overlap is 0, thus, choose one with the
# smallest square distance
dist = np.sum(np.square(gt_bbox[i] - mc.Anchor_box), axis=1)
for dist_idx in np.argsort(dist):
if dist_idx not in aidx_set:
aidx_set.add(dist_idx)
aidx = dist_idx
break
box_cx, box_cy, box_w, box_h = gt_bbox[i]
delta = [0] * 4
delta[0] = (box_cx - mc.Anchor_box[aidx][0]) / box_w
delta[1] = (box_cy - mc.Anchor_box[aidx][1]) / box_h
delta[2] = np.log(box_w / mc.Anchor_box[aidx][2])
delta[3] = np.log(box_h / mc.Anchor_box[aidx][3])
aidx_per_image.append(aidx)
delta_per_image.append(delta)
#delta_per_batch.append(delta_per_image)
#aidx_per_batch.append(aidx_per_image)
return label_per_imgs, delta_per_image, aidx_per_image, gt_bbox #label_per_batch, delta_per_batch, aidx_per_batch, bbox_per_batch
def train(model,
data_loaders,
optimizer,
num_epochs=1,
log_every=100,
cuda=True):
if cuda:
model.cuda()
iter_ = 0
epoch = 0
best_params = None
best_val_err = np.inf
history = {
'train_losses': [],
'train_errs': [],
'val_errs': [],
'train_loss2': []
}
print('Training the model!')
print('You can interrupt it at any time.')
while epoch < num_epochs:
model.train()
# model.train_mode()
epoch += 1
for x, y in data_loaders['train']:
if cuda:
x = x.cuda()
y = y.cuda()
iter_ += 1
optimizer.zero_grad()
out = model.forward(x)
loss = model.loss(out, y)
loss.backward()
optimizer.step()
pred = model.predict(out)
iou = torch.sum(batch_iou(y, pred))
err_rate = 100 * (1.0 - iou / out.size(0))
history['train_losses'].append(loss.item())
history['train_errs'].append(err_rate.item())
if iter_ % log_every == 0:
print "Minibatch {0: >6} | loss {1: >5.2f} | err rate {2: >5.2f}%" \
.format(iter_, loss.item(), err_rate.item())
val_err_rate = compute_error_rate(model, data_loaders['test'], cuda)
history['val_errs'].append((iter_, val_err_rate.item()))
if val_err_rate < best_val_err:
best_epoch = epoch
best_val_err = val_err_rate
m = "After epoch {0: >2} | valid err rate: {1: >5.2f}% | doing {2: >3} epochs" \
.format(epoch, val_err_rate, num_epochs)
print '{0}\n{1}\n{0}'.format('-' * len(m), m)
def compute_error_rate(model, data_loader, cuda=True):
model.eval()
iou_sum = 0
num_examples = 0
for x, y in data_loader:
if cuda:
x = x.cuda()
y = y.cuda()
with torch.no_grad():
out = model.forward(x)
pred = model.predict(out)
iou_sum += torch.sum(batch_iou(y, pred))
num_examples += x.size(0)
return 100.0 * (1.0 - iou_sum / num_examples)
def calculate_array_matches(ground_truths, predictions, iou_threshold=0.5):
ious = batch_iou(to_iou_coordinates(ground_truths),
to_iou_coordinates(predictions))
return np.where(iou_threshold < ious, 1.0, 0.0).astype(np.float32)
def compute_statistics_for_thresholding(all_boxes, all_classes, all_scores,
all_gts, config):
"""Compute tps, fps, fns, and other stuff for computing APs
Arguments:
all_boxes {[type]} -- list of predicted boxes
all_classes {[type]} -- list of predicted classes
all_scores {[type]} --list of predicted scores
all_gts {[type]} -- list of all y_trues
config {[type]} -- squeezedet config
Returns:
[type] -- boxes_per_img , boxes_per_gt, np.stack(all_tps), np.stack(all_fps), np.stack(all_fns), is_gt, all_score_thresholds
"""
boxes_per_img = []
boxes_per_gt = []
all_tps = []
all_fps = []
all_fns = []
all_score_thresholds = [[] for c in range(config.CLASSES)]
is_gt = [[] for c in range(config.CLASSES)]
#print(all_score_thresholds)
#here we compute the false positives, false negatives and true positives of the network predictions
#we cannot do everything in a numpy array as each image has a different number of filtered detections
#iterate all batches
for i in range(len(all_boxes)):
batch_gt = all_gts[i]
batch_classes = all_classes[i]
batch_scores = all_scores[i]
#shape is batch_size * achors * x
box_input = batch_gt[:, :, 1:5]
labels = batch_gt[:, :, 9:]
#print(labels.shape)
#iterate images per batch for image level analysis
for j in range(len(all_boxes[i])):
# add number of detections
boxes_per_img.append(len(all_boxes[i][j]))
#get index of non zero boxes
non_zero_idx = np.sum(box_input[j][:], axis=-1) > 0
#get non zero gt boxes
nonzero_gts = np.reshape(box_input[j][non_zero_idx], [-1, 4])
# add number of gt boxes
boxes_per_gt.append(len(nonzero_gts))
#get labels
labels_per_image = labels[j]
#get non zero labels
nonzero_labels = [
tuple[0]
for labels in labels_per_image[non_zero_idx, :].astype(int)
for tuple in enumerate(labels) if tuple[1] == 1
]
#for every class count the true positives, false positives and false negatives
tp_per_image = np.zeros(config.CLASSES)
fp_per_image = np.zeros(config.CLASSES)
fn_per_image = np.zeros(config.CLASSES)
#print(batch_classes[j])
#use this to check if predicted box has already been assigned to a different gt
assigned_idx = np.zeros_like(batch_classes[j])
# for every gt per image compute overlaps with detections
for k in range(len(nonzero_gts)):
try:
#get overlap between gt box and all predictions
ious = utils.batch_iou(np.stack(all_boxes[i][j]),
nonzero_gts[k])
#use this to check for biggest score
current_score = -1
#index of best detection
current_idx = -1
#iterate all the ious
for iou_index, iou in enumerate(ious):
# check if iou is above threshold, if classes match,
# if it has not been assigned before and if the score is bigger than the current best score
# if all conditions are satisfied this marked as the current biggest detection
if iou > config.IOU_THRESHOLD \
and batch_classes[j][iou_index] == nonzero_labels[k] \
and not assigned_idx[iou_index]\
and batch_scores[j][iou_index] > current_score:
#update current score
current_score = batch_scores[j][iou_index]
#update idx of best
current_idx = iou_index
#if nothing was assigned to this box add a false negative
if current_score < 0:
fn_per_image[nonzero_labels[k]] += 1
#for mAP calc set this to a gt
is_gt[nonzero_labels[k]].append(1)
#append 0 as the score, as we did not detect it
all_score_thresholds[nonzero_labels[k]].append(0)
else:
#otherwise add a true positive for the corresponding class
tp_per_image[nonzero_labels[k]] += 1
# set to ignore assigned box
assigned_idx[current_idx] = 1
#append it as a gt
is_gt[nonzero_labels[k]].append(1)
#save threshold
all_score_thresholds[nonzero_labels[k]].append(
current_score)
except:
fn_per_image[nonzero_labels[k]] = len(nonzero_gts[k])
#calculate false positives, that is boxes that have not been assigned to a gt
for index, ai in enumerate(assigned_idx):
#if box has not been assigned
if ai == 0:
#add a false positive to the corresponding class
fp_per_image[batch_classes[j][index]] += 1
#add this as a non gt
is_gt[batch_classes[j][index]].append(0)
#append the predicted score to the predicted class
all_score_thresholds[batch_classes[j][index]].append(
batch_scores[j][index])
all_tps.append(tp_per_image)
all_fns.append(fn_per_image)
all_fps.append(fp_per_image)
return boxes_per_img, boxes_per_gt, np.stack(all_tps), np.stack(
all_fps), np.stack(all_fns), is_gt, all_score_thresholds
