def im_detect(net, image):
"""Detect object classes in an image given object proposals.
Returns:
scores (ndarray): R x K array of object class scores (K includes
background as object category 0)
boxes (ndarray): R x (4*K) array of predicted bounding boxes
"""
im_data, im_scales = net.get_image_blob(image)
im_info = np.array([[im_data.shape[1], im_data.shape[2], im_scales[0]]],
dtype=np.float32)
t0 = time.time()
cls_prob, bbox_pred, rois = net(im_data, im_info)
runtime = time.time() - t0
scores = cls_prob.data.cpu().numpy()
boxes = rois.data.cpu().numpy()[:, 1:5] / im_info[0][2]
if cfg.TEST.BBOX_REG:
# Apply bounding-box regression deltas
box_deltas = bbox_pred.data.cpu().numpy()
pred_boxes = bbox_transform_inv(boxes, box_deltas)
pred_boxes = clip_boxes(pred_boxes, image.shape)
else:
# Simply repeat the boxes, once for each class
pred_boxes = np.tile(boxes, (1, scores.shape[1]))
return scores, pred_boxes, runtime
def interpret_faster_rcnn(self, cls_prob, bbox_pred, rois, im_info, nms=True, min_score=0.0, nms_thresh=0.3):
scores = cls_prob.data.squeeze()
# find class
scores, inds = scores.max(1)
keep = ((inds > 0) & (scores >= min_score)).nonzero().squeeze()
scores, inds = scores[keep], inds[keep]
# Apply bounding-box regression deltas
box_deltas = bbox_pred.data.squeeze()[keep]
boxes = rois.data.squeeze()[:, 1:5][keep]
if cfg.TRAIN.BBOX_NORMALIZE_TARGETS_PRECOMPUTED:
# Optionally normalize targets by a precomputed mean and stdev
box_deltas = box_deltas.view(-1, 4) * torch.FloatTensor(cfg.TRAIN.BBOX_NORMALIZE_STDS).cuda() \
+ torch.FloatTensor(cfg.TRAIN.BBOX_NORMALIZE_MEANS).cuda()
box_deltas = box_deltas.view(-1, 4 * self.n_classes)
box_deltas = torch.cat([box_deltas[i, (inds[i] * 4): (inds[i] * 4 + 4)] \
for i in range(len(inds))], 0)
box_deltas = box_deltas.view(-1, 4)
boxes, box_deltas = boxes.unsqueeze(0), box_deltas.unsqueeze(0)
pred_boxes = bbox_transform_inv(boxes, box_deltas, 1)
pred_boxes = clip_boxes(pred_boxes, im_info.data, 1)
pred_boxes = pred_boxes.squeeze()
pred_boxes /= im_info.data[0][2]
# nms
if nms and pred_boxes.size(0) > 0:
pred_boxes, scores, inds = nms_detections(pred_boxes, scores, nms_thresh, inds=inds)
pred_boxes = pred_boxes.cpu().numpy()
scores = scores.cpu().numpy()
inds = inds.cpu().numpy()
return pred_boxes, scores, self.classes[inds]
def im_detect(net_x, image_0, image_1):
"""Detect object classes in an image given object proposals.
Returns:
scores (ndarray): R x K array of object class scores (K includes
background as object category 0)
boxes (ndarray): R x (4*K) array of predicted bounding boxes
"""
im_data_0, im_scales_0 = net_x.get_image_blob(image_0)
# im_data_0=0*im_data_0
im_data_1, im_scales_1 = net_x.get_image_blob(image_1)
im_info = np.array(
[[im_data_0.shape[1], im_data_0.shape[2], im_scales_0[0]]],
dtype=np.float32)
cls_prob_0, bbox_pred_0, rois = net_x(im_data_0, im_data_1, im_info)
scores_0 = cls_prob_0.data.cpu().numpy()
boxes = rois.data.cpu().numpy()[:, 1:5] / im_info[0][2]
if cfg.TEST.BBOX_REG:
# Apply bounding-box regression deltas
box_deltas_0 = bbox_pred_0.data.cpu().numpy()
pred_boxes_0 = bbox_transform_inv(boxes, box_deltas_0)
pred_boxes_0 = clip_boxes(pred_boxes_0, image_0.shape)
else:
print "bbox reg compulsory"
exit(1)
return scores_0, pred_boxes_0
def im_detect(net, im_data, im_info):
features, pooled_features, cls_score, cls_prob, bbox_pred, rois, score = net(
im_data, im_info, gt_boxes=None)
scores = cls_prob.data.cpu().numpy()
# boxes = rois.data.cpu().numpy()[:, 1:5] / im_info[0][2]
boxes = rois.data.cpu().numpy()[:, 1:5]
# Apply bounding-box regression deltas
box_deltas = bbox_pred.data.cpu().numpy()
pred_boxes = bbox_transform_inv(boxes, box_deltas)
# pred_boxes = clip_boxes(pred_boxes, im_info[0][:2] / im_info[0][2])
pred_boxes = clip_boxes(pred_boxes, im_info[0][:2])
return scores, pred_boxes, rois
def predict_image(self, image, threshold, eval_mode=False):
"""
Infer buildings for a single image.
Inputs:
image :: n x m x 3 ndarray - Should be in RGB format
"""
if type(image) is str:
image = cv2.imread(image)
else:
image = image[:, :, (2, 1, 0)] # RGB -> BGR
im_data, im_scales = self.model.get_image_blob(image)
im_info = np.array(
[[im_data.shape[1], im_data.shape[2], im_scales[0]]],
dtype=np.float32)
t0 = time.time()
cls_prob, bbox_pred, rois = self.model(im_data, im_info)
runtime = time.time() - t0
scores = cls_prob.data.cpu().numpy()
boxes = rois.data.cpu().numpy()[:, 1:5] / im_info[0][2]
if cfg.TEST.BBOX_REG:
# Apply bounding-box regression deltas
box_deltas = bbox_pred.data.cpu().numpy()
pred_boxes = bbox_transform_inv(boxes, box_deltas)
pred_boxes = clip_boxes(pred_boxes, image.shape)
else:
# Simply repeat the boxes, once for each class
pred_boxes = np.tile(boxes, (1, scores.shape[1]))
current = np.concatenate(
[
pred_boxes[:, 4:8], # (skip the background class)
np.expand_dims(scores[:, 1], 1)
],
axis=1)
suppressed = current[py_cpu_nms(current.astype(np.float32), 0.3)]
suppressed = pandas.DataFrame(
suppressed, columns=['x1', 'y1', 'x2', 'y2', 'score'])
if eval_mode:
return suppressed[
suppressed['score'] >= threshold], suppressed, runtime
else:
return suppressed[suppressed['score'] >= threshold]
def interpret_faster_rcnn(self,
cls_prob,
bbox_pred,
rois,
im_info,
im_shape,
nms=True,
clip=True,
min_score=0.0):
# find class
scores, inds = cls_prob.data.max(1)
scores, inds = scores.cpu().numpy(), inds.cpu().numpy()
keep = np.where((inds > 0) & (scores >= min_score))
scores, inds = scores[keep], inds[keep]
# Apply bounding-box regression deltas
keep = keep[0]
box_deltas = bbox_pred.data.cpu().numpy()[keep]
box_deltas = np.asarray([
box_deltas[i, (inds[i] * 4):(inds[i] * 4 + 4)]
for i in range(len(inds))
],
dtype=np.float)
boxes = rois.data.cpu().numpy()[keep, 1:5] / im_info[0][2]
pred_boxes = bbox_transform_inv(boxes, box_deltas)
if clip:
pred_boxes = clip_boxes(pred_boxes, im_shape)
# nms
if nms and pred_boxes.shape[0] > 0:
pred_boxes, scores, inds = nms_detections(pred_boxes,
scores,
0.3,
inds=inds)
return pred_boxes, scores, self.classes[inds]
def proposal_layer(rpn_cls_prob_reshape,
rpn_bbox_pred,
im_info,
cfg_key,
_feat_stride,
anchor_scales,
anchor_ratios,
is_relationship=False):
# Algorithm:
#
# for each (H, W) location i
# generate A anchor boxes centered on cell i
# apply predicted bbox deltas at cell i to each of the A anchors
# clip predicted boxes to image
# remove predicted boxes with either height or width < threshold
# sort all (proposal, score) pairs by score from highest to lowest
# take top pre_nms_topN proposals before NMS
# apply NMS with threshold 0.7 to remaining proposals
# take after_nms_topN proposals after NMS
# return the top proposals (-> RoIs top, scores top)
# layer_params = yaml.load(self.param_str_)
_anchors = generate_anchors(scales=anchor_scales, ratios=anchor_ratios)
_num_anchors = _anchors.shape[0]
# don't need transpose for pytorch
# rpn_cls_prob_reshape = np.transpose(rpn_cls_prob_reshape, [0, 3, 1, 2])
# rpn_bbox_pred = np.transpose(rpn_bbox_pred, [0, 3, 1, 2])
# rpn_cls_prob_reshape = np.transpose(np.reshape(rpn_cls_prob_reshape,[1,rpn_cls_prob_reshape.shape[0],rpn_cls_prob_reshape.shape[1],rpn_cls_prob_reshape.shape[2]]),[0,3,2,1])
# rpn_bbox_pred = np.transpose(rpn_bbox_pred,[0,3,2,1])
im_info = im_info[0]
assert rpn_cls_prob_reshape.shape[0] == 1, \
'Only single item batches are supported'
# cfg_key = str(self.phase) # either 'TRAIN' or 'TEST'
# cfg_key = 'TEST'
if is_relationship:
pre_nms_topN = cfg[cfg_key].RPN_PRE_NMS_TOP_N_REGION
post_nms_topN = cfg[cfg_key].RPN_POST_NMS_TOP_N_REGION
nms_thresh = cfg[cfg_key].RPN_NMS_THRESH_REGION
min_size = cfg[cfg_key].RPN_MIN_SIZE_REGION
else:
pre_nms_topN = cfg[cfg_key].RPN_PRE_NMS_TOP_N
post_nms_topN = cfg[cfg_key].RPN_POST_NMS_TOP_N
nms_thresh = cfg[cfg_key].RPN_NMS_THRESH
min_size = cfg[cfg_key].RPN_MIN_SIZE
# the first set of _num_anchors channels are bg probs
# the second set are the fg probs, which we want
scores = rpn_cls_prob_reshape[:, _num_anchors:, :, :]
bbox_deltas = rpn_bbox_pred
# im_info = bottom[2].data[0, :]
if DEBUG:
print 'im_size: ({}, {})'.format(im_info[0], im_info[1])
print 'scale: {}'.format(im_info[2])
# 1. Generate proposals from bbox deltas and shifted anchors
height, width = scores.shape[-2:]
if DEBUG:
print 'score map size: {}'.format(scores.shape)
# Enumerate all shifts
shift_x = np.arange(0, width) * _feat_stride
shift_y = np.arange(0, height) * _feat_stride
shift_x, shift_y = np.meshgrid(shift_x, shift_y)
shifts = np.vstack((shift_x.ravel(), shift_y.ravel(), shift_x.ravel(),
shift_y.ravel())).transpose()
# Enumerate all shifted anchors:
#
# add A anchors (1, A, 4) to
# cell K shifts (K, 1, 4) to get
# shift anchors (K, A, 4)
# reshape to (K*A, 4) shifted anchors
A = _num_anchors
K = shifts.shape[0]
anchors = _anchors.reshape((1, A, 4)) + \
shifts.reshape((1, K, 4)).transpose((1, 0, 2))
anchors = anchors.reshape((K * A, 4))
# Transpose and reshape predicted bbox transformations to get them
# into the same order as the anchors:
#
# bbox deltas will be (1, 4 * A, H, W) format
# transpose to (1, H, W, 4 * A)
# reshape to (1 * H * W * A, 4) where rows are ordered by (h, w, a)
# in slowest to fastest order
bbox_deltas = bbox_deltas.transpose((0, 2, 3, 1)).reshape((-1, 4))
# Same story for the scores:
#
# scores are (1, A, H, W) format
# transpose to (1, H, W, A)
# reshape to (1 * H * W * A, 1) where rows are ordered by (h, w, a)
scores = scores.transpose((0, 2, 3, 1)).reshape((-1, 1))
# Convert anchors into proposals via bbox transformations
proposals = bbox_transform_inv(anchors, bbox_deltas)
# 2. clip predicted boxes to image
if cfg.TEST.RPN_DROPOUT_BOXES_RUNOFF_IMAGE:
_allowed_border = 16
inds_inside = np.where(
(proposals[:, 0] >= -_allowed_border)
& (proposals[:, 1] >= -_allowed_border)
& (proposals[:, 2] < im_info[1] + _allowed_border) & # width
(proposals[:, 3] < im_info[0] + _allowed_border) # height
)[0]
proposals = proposals[inds_inside, :]
proposals = clip_boxes(proposals, im_info[:2])
# 3. remove predicted boxes with either height or width < threshold
# (NOTE: convert min_size to input image scale stored in im_info[2])
keep = _filter_boxes(proposals, min_size * im_info[2])
proposals = proposals[keep, :]
scores = scores[keep]
# 4. sort all (proposal, score) pairs by score from highest to lowest
# 5. take top pre_nms_topN (e.g. 6000)
order = scores.ravel().argsort()[::-1]
if pre_nms_topN > 0:
order = order[:pre_nms_topN]
proposals = proposals[order, :]
scores = scores[order]
# 6. apply nms (e.g. threshold = 0.7)
# 7. take after_nms_topN (e.g. 2000)
# 8. return the top proposals (-> RoIs top)
# print 'proposals', proposals
# print 'scores', scores
keep = nms(np.hstack((proposals, scores)).astype(np.float32), nms_thresh)
if post_nms_topN > 0:
keep = keep[:post_nms_topN]
proposals = proposals[keep, :]
scores = scores[keep]
# Output rois blob
# Our RPN implementation only supports a single input image, so all
# batch inds are 0
batch_inds = np.zeros((proposals.shape[0], 1), dtype=np.float32)
blob = np.hstack((batch_inds, proposals.astype(np.float32, copy=False)))
# print(blob.shape)
return blob, scores.reshape(-1)
def proposal_layer(rpn_cls_prob_reshape, rpn_bbox_pred, im_info, cfg_key, _feat_stride=[16, ],
anchor_scales=[4, 8, 16, 32]):
"""
Parameters
----------
rpn_cls_prob_reshape: (1 , H , W , Ax2) outputs of RPN, prob of bg or fg
NOTICE: the old version is ordered by (1, H, W, 2, A) !!!!
rpn_bbox_pred: (1 , H , W , Ax4), rgs boxes output of RPN
im_info: a list of [image_height, image_width, scale_ratios]
cfg_key: 'TRAIN' or 'TEST'
_feat_stride: the downsampling ratio of feature map to the original input image
anchor_scales: the scales to the basic_anchor (basic anchor is [16, 16])
----------
Returns
----------
rpn_rois : (1 x H x W x A, 5) e.g. [0, x1, y1, x2, y2]
# Algorithm:
#
# for each (H, W) location i
# generate A anchor boxes centered on cell i
# apply predicted bbox deltas at cell i to each of the A anchors
# clip predicted boxes to image
# remove predicted boxes with either height or width < threshold
# sort all (proposal, score) pairs by score from highest to lowest
# take top pre_nms_topN proposals before NMS
# apply NMS with threshold 0.7 to remaining proposals
# take after_nms_topN proposals after NMS
# return the top proposals (-> RoIs top, scores top)
#layer_params = yaml.load(self.param_str_)
"""
_anchors = generate_anchors(scales=np.array(anchor_scales))
_num_anchors = _anchors.shape[0]
# rpn_cls_prob_reshape = np.transpose(rpn_cls_prob_reshape,[0,3,1,2]) #-> (1 , 2xA, H , W)
# rpn_bbox_pred = np.transpose(rpn_bbox_pred,[0,3,1,2]) # -> (1 , Ax4, H , W)
# rpn_cls_prob_reshape = np.transpose(np.reshape(rpn_cls_prob_reshape,[1,rpn_cls_prob_reshape.shape[0],rpn_cls_prob_reshape.shape[1],rpn_cls_prob_reshape.shape[2]]),[0,3,2,1])
# rpn_bbox_pred = np.transpose(rpn_bbox_pred,[0,3,2,1])
im_info = im_info[0]
assert rpn_cls_prob_reshape.shape[0] == 1, \
'Only single item batches are supported'
# cfg_key = str(self.phase) # either 'TRAIN' or 'TEST'
# cfg_key = 'TEST'
pre_nms_topN = cfg[cfg_key].RPN_PRE_NMS_TOP_N
post_nms_topN = cfg[cfg_key].RPN_POST_NMS_TOP_N
nms_thresh = cfg[cfg_key].RPN_NMS_THRESH
min_size = cfg[cfg_key].RPN_MIN_SIZE
# the first set of _num_anchors channels are bg probs
# the second set are the fg probs, which we want
scores = rpn_cls_prob_reshape[:, _num_anchors:, :, :]
bbox_deltas = rpn_bbox_pred
# im_info = bottom[2].data[0, :]
if DEBUG:
print(('im_size: ({}, {})'.format(im_info[0], im_info[1])))
print(('scale: {}'.format(im_info[2])))
# 1. Generate proposals from bbox deltas and shifted anchors
height, width = scores.shape[-2:]
if DEBUG:
print(('score map size: {}'.format(scores.shape)))
# Enumerate all shifts
shift_x = np.arange(0, width) * _feat_stride
shift_y = np.arange(0, height) * _feat_stride
shift_x, shift_y = np.meshgrid(shift_x, shift_y)
shifts = np.vstack((shift_x.ravel(), shift_y.ravel(),
shift_x.ravel(), shift_y.ravel())).transpose()
# Enumerate all shifted anchors:
#
# add A anchors (1, A, 4) to
# cell K shifts (K, 1, 4) to get
# shift anchors (K, A, 4)
# reshape to (K*A, 4) shifted anchors
A = _num_anchors
K = shifts.shape[0]
anchors = _anchors.reshape((1, A, 4)) + \
shifts.reshape((1, K, 4)).transpose((1, 0, 2))
anchors = anchors.reshape((K * A, 4))
# Transpose and reshape predicted bbox transformations to get them
# into the same order as the anchors:
#
# bbox deltas will be (1, 4 * A, H, W) format
# transpose to (1, H, W, 4 * A)
# reshape to (1 * H * W * A, 4) where rows are ordered by (h, w, a)
# in slowest to fastest order
bbox_deltas = bbox_deltas.transpose((0, 2, 3, 1)).reshape((-1, 4))
# Same story for the scores:
#
# scores are (1, A, H, W) format
# transpose to (1, H, W, A)
# reshape to (1 * H * W * A, 1) where rows are ordered by (h, w, a)
scores = scores.transpose((0, 2, 3, 1)).reshape((-1, 1))
# Convert anchors into proposals via bbox transformations
proposals = bbox_transform_inv(anchors, bbox_deltas)
# 2. clip predicted boxes to image
proposals = clip_boxes(proposals, im_info[:2])
# 3. remove predicted boxes with either height or width < threshold
# (NOTE: convert min_size to input image scale stored in im_info[2])
keep = _filter_boxes(proposals, min_size * im_info[2])
proposals = proposals[keep, :]
scores = scores[keep]
# # remove irregular boxes, too fat too tall
# keep = _filter_irregular_boxes(proposals)
# proposals = proposals[keep, :]
# scores = scores[keep]
# 4. sort all (proposal, score) pairs by score from highest to lowest
# 5. take top pre_nms_topN (e.g. 6000)
order = scores.ravel().argsort()[::-1]
if pre_nms_topN > 0:
order = order[:pre_nms_topN]
proposals = proposals[order, :]
scores = scores[order]
# 6. apply nms (e.g. threshold = 0.7)
# 7. take after_nms_topN (e.g. 300)
# 8. return the top proposals (-> RoIs top)
keep = nms(np.hstack((proposals, scores)), nms_thresh)
if post_nms_topN > 0:
keep = keep[:post_nms_topN]
proposals = proposals[keep, :]
scores = scores[keep]
# Output rois blob
# Our RPN implementation only supports a single input image, so all
# batch inds are 0
batch_inds = np.zeros((proposals.shape[0], 1), dtype=np.float32)
blob = np.hstack((batch_inds, proposals.astype(np.float32, copy=False)))
return blob
det_tic = t.tic()
cls_prob, bbox_pred, rois = net(im_data, im_info, gt_boxes,
num_boxes)
scores = cls_prob.data
box_deltas = bbox_pred.data
boxes = rois.data[:, :, 1:5]
del cls_prob, bbox_pred, rois
if cfg.TEST.BBOX_REG:
if cfg.TRAIN.BBOX_NORMALIZE_TARGETS_PRECOMPUTED:
box_deltas = box_deltas.view(-1, 4) * torch.FloatTensor(cfg.TRAIN.BBOX_NORMALIZE_STDS).cuda() \
+ torch.FloatTensor(cfg.TRAIN.BBOX_NORMALIZE_MEANS).cuda()
box_deltas = box_deltas.view(1, -1, 4 * len(imdb.classes))
pred_boxes = bbox_transform_inv(boxes, box_deltas, 1)
pred_boxes = clip_boxes(pred_boxes, im_info.data, 1)
else:
# scores.shape[1] is (cfg)BATCH_SIZE = P
pred_boxes = np.tile(boxes, (1, scores.shape[1]))
pred_boxes /= data[1][0][2]
# P x n_classes
scores = scores.squeeze()
# P x n_classes*4
pred_boxes = pred_boxes.squeeze()
det_toc = t.tic()
detect_time = det_toc - det_tic
misc_tic = t.tic()
def interpret_faster_rcnn(self,
cls_prob,
bbox_pred,
rois,
im_info,
im_shape,
nms=True,
clip=True,
min_score=0.0):
"""
1. Filter proposals with (proposal_max_class_not_background && proposal_max_class_score>=thresh).
2. Combine bbox_pred(p', 4*21_cls) and rois(p', 5) to regression bbox(p', 4*21_cls).
3. Clip bbox.
4. Use nms to filter overlap bbox.
:param cls_prob: (proposals, 21_cls) tensor
:param bbox_pred: (proposals, 4*21_cls) tensor
:param rois: (proposals, 5) tensor
:param im_info:
:param im_shape:
:param nms:
:param clip:
:param min_score:
:return: pred_boxes (p", 4)
scores (p",)
classes_string (p",)
"""
# ============================= filter proposals =============================
# find the max score class
# (proposals,) numpy
# (proposals,) numpy
scores, inds = cls_prob.data.max(1)
scores, inds = scores.cpu().numpy(), inds.cpu().numpy()
# filter foreground and scores >= thesh proposals.
# ([index, index, ...], )
keep = np.where((inds > 0) & (scores >= min_score))
# p'=len(keep[0])
# (p', ) numpy
# (p', ) numpy
scores, inds = scores[keep], inds[keep]
# =================== Apply bounding-box regression deltas ======================================
keep = keep[0]
box_deltas = bbox_pred.data.cpu().numpy()[keep]
box_deltas = np.asarray([
box_deltas[i, (inds[i] * 4):(inds[i] * 4 + 4)]
for i in range(len(inds))
],
dtype=np.float)
boxes = rois.data.cpu().numpy()[keep, 1:5] / im_info[0][2]
# (p', 4)
pred_boxes = bbox_transform_inv(boxes, box_deltas)
# =================================== clip and nms =========================================
if clip:
pred_boxes = clip_boxes(pred_boxes, im_shape)
# (p", 4) numpy
# (p",) numpy
# (p",) numpy
if nms and pred_boxes.shape[0] > 0:
pred_boxes, scores, inds = nms_detections(pred_boxes,
scores,
0.3,
inds=inds)
return pred_boxes, scores, self.classes[inds]
