def match_targets_to_proposals(self, proposal, target):
match_quality_matrix = boxlist_iou(target, proposal)
if len(proposal) == 0:
return target[[]]
matched_idxs = self.proposal_matcher(match_quality_matrix)
target = target.copy_with_fields(["box3d", "calib"])
matched_targets = target[matched_idxs.clamp(min=0)]
matched_targets.add_field("matched_idxs", matched_idxs)
return matched_targets
def match_targets_to_proposals(self, proposal, target, copy_fields=[]):
match_quality_matrix = boxlist_iou(target, proposal)
matched_idxs = self.proposal_matcher(match_quality_matrix)
# Fast RCNN only need "labels" field for selecting the targets
target = target.copy_with_fields(["labels"] + copy_fields)
# get the targets corresponding GT for each proposal
# NB: need to clamp the indices because we can have a single
# GT in the image, and matched_idxs can be -2, which goes
# out of bounds
matched_targets = target[matched_idxs.clamp(min=0)]
matched_targets.add_field("matched_idxs", matched_idxs)
return matched_targets
def align_left_right_targets(left_targets, right_targets, thresh=0.2):
iou_matrix = boxlist_iou(left_targets, right_targets)
if iou_matrix.numel() > 0:
max_ious, max_iou_idxs = iou_matrix.max(dim=1)
high_quality = max_ious >= thresh
matched_idxs = max_iou_idxs[high_quality]
matched_right_targets = right_targets[matched_idxs]
matched_left_targets = left_targets[high_quality]
else:
matched_left_targets = left_targets[[]]
matched_right_targets = right_targets[[]]
return matched_left_targets, matched_right_targets
def match_targets_to_anchors(self, anchor, target, copied_fields=[]):
match_quality_matrix = boxlist_iou(target, anchor)
matched_idxs = self.proposal_matcher(match_quality_matrix)
# RPN doesn't need any fields from target
# for creating the labels, so clear them all
target = target.copy_with_fields(copied_fields)
# get the targets corresponding GT for each anchor
# NB: need to clamp the indices because we can have a single
# GT in the image, and matched_idxs can be -2, which goes
# out of bounds
matched_targets = target[matched_idxs.clamp(min=0)]
matched_targets.add_field("matched_idxs", matched_idxs)
return matched_targets