def test_box_offset_to_8c(self): # tests corners to normalized offsets boxes_3d = np.asarray([ [-0.59, 1.9, 25.01, 3.2, 1.61, 1.66, 0.], [-0.49, 1.8, 25.01, 3.2, 1.61, 1.78, 0.]], dtype=np.float32) boxes_3d_gt = np.asarray([ [-0.69, 1.69, 25.01, 3.2, 1.62, 1.61, -1.59], [-0.49, 1.78, 25.01, 3.2, 1.63, 1.61, -1.57]], dtype=np.float32) boxes_3d_tensor = tf.convert_to_tensor(boxes_3d, dtype=tf.float32) boxes_3d_gt_tensor = tf.convert_to_tensor(boxes_3d_gt, dtype=tf.float32) boxes_8c = \ box_8c_encoder.tf_box_3d_to_box_8co(boxes_3d_tensor) boxes_8c_gt = \ box_8c_encoder.tf_box_3d_to_box_8co(boxes_3d_gt_tensor) # Convert to normalized offsets normalized_offsets = box_8c_encoder.tf_box_8c_to_offsets( boxes_8c, boxes_8c_gt) # Convert the offsets back to boxes_8c # This should gives us the gt boxes back boxes_8c_gt_back = box_8c_encoder.tf_offsets_to_box_8c( boxes_8c, normalized_offsets) sess = tf.Session() with sess.as_default(): boxes_8c_out = boxes_8c_gt_back.eval() boxes_8c_gt_out = boxes_8c_gt.eval() np.testing.assert_almost_equal(boxes_8c_out, boxes_8c_gt_out, decimal=3, err_msg='Offset to box_8co mistmatch')
def build(self): rpn_model = self._rpn_model # Share the same prediction dict as RPN prediction_dict = rpn_model.build() top_anchors = prediction_dict[RpnModel.PRED_TOP_ANCHORS] ground_plane = rpn_model.placeholders[RpnModel.PL_GROUND_PLANE] class_labels = rpn_model.placeholders[RpnModel.PL_LABEL_CLASSES] with tf.variable_scope('avod_projection'): if self._config.expand_proposals_xz > 0.0: expand_length = self._config.expand_proposals_xz # Expand anchors along x and z with tf.variable_scope('expand_xz'): expanded_dim_x = top_anchors[:, 3] + expand_length expanded_dim_z = top_anchors[:, 5] + expand_length expanded_anchors = tf.stack([ top_anchors[:, 0], top_anchors[:, 1], top_anchors[:, 2], expanded_dim_x, top_anchors[:, 4], expanded_dim_z ], axis=1) avod_projection_in = expanded_anchors else: avod_projection_in = top_anchors with tf.variable_scope('bev'): # Project top anchors into bev and image spaces bev_proposal_boxes, bev_proposal_boxes_norm = \ anchor_projector.project_to_bev( avod_projection_in, self.dataset.kitti_utils.bev_extents) # Reorder projected boxes into [y1, x1, y2, x2] bev_proposal_boxes_tf_order = \ anchor_projector.reorder_projected_boxes( bev_proposal_boxes) bev_proposal_boxes_norm_tf_order = \ anchor_projector.reorder_projected_boxes( bev_proposal_boxes_norm) with tf.variable_scope('img'): image_shape = tf.cast( tf.shape( rpn_model.placeholders[RpnModel.PL_IMG_INPUT])[0:2], tf.float32) img_proposal_boxes, img_proposal_boxes_norm = \ anchor_projector.tf_project_to_image_space( avod_projection_in, rpn_model.placeholders[RpnModel.PL_CALIB_P2], image_shape) # Only reorder the normalized img img_proposal_boxes_norm_tf_order = \ anchor_projector.reorder_projected_boxes( img_proposal_boxes_norm) with tf.variable_scope('img_r'): image_r_shape = tf.cast( tf.shape( rpn_model.placeholders[RpnModel.PL_IMG_R_INPUT])[0:2], tf.float32) img_r_proposal_boxes, img_r_proposal_boxes_norm = \ anchor_projector.tf_project_to_image_space( avod_projection_in, rpn_model.placeholders[RpnModel.PL_CALIB_P3], image_r_shape) # Only reorder the normalized img img_r_proposal_boxes_norm_tf_order = \ anchor_projector.reorder_projected_boxes( img_r_proposal_boxes_norm) #bev_feature_maps = rpn_model.bev_feature_maps img_feature_maps = rpn_model.img_feature_maps img_r_feature_maps = rpn_model.img_r_feature_maps """ if not (self._path_drop_probabilities[0] == self._path_drop_probabilities[1] == 1.0): with tf.variable_scope('avod_path_drop'): img_mask = rpn_model.img_path_drop_mask #bev_mask = rpn_model.bev_path_drop_mask img_r_mask = rpn_model.img_r_path_drop_mask img_feature_maps = tf.multiply(img_feature_maps, img_mask) #bev_feature_maps = tf.multiply(bev_feature_maps, # bev_mask) img_r_feature_maps = tf.multiply(img_r_feature_maps, img_r_mask) else: #bev_mask = tf.constant(1.0) img_mask = tf.constant(1.0) img_r_mask = tf.constant(1.0) """ img_mask = tf.constant(1.0) img_r_mask = tf.constant(1.0) # ROI Pooling with tf.variable_scope('avod_roi_pooling'): def get_box_indices(boxes): proposals_shape = boxes.get_shape().as_list() if any(dim is None for dim in proposals_shape): proposals_shape = tf.shape(boxes) ones_mat = tf.ones(proposals_shape[:2], dtype=tf.int32) multiplier = tf.expand_dims( tf.range(start=0, limit=proposals_shape[0]), 1) return tf.reshape(ones_mat * multiplier, [-1]) """ bev_boxes_norm_batches = tf.expand_dims( bev_proposal_boxes_norm, axis=0) # These should be all 0's since there is only 1 image tf_box_indices = get_box_indices(bev_boxes_norm_batches) # Do ROI Pooling on BEV bev_rois = tf.image.crop_and_resize( bev_feature_maps, bev_proposal_boxes_norm_tf_order, tf_box_indices, self._proposal_roi_crop_size, name='bev_rois') """ img_boxes_norm_batches = tf.expand_dims(img_proposal_boxes_norm, axis=0) # These should be all 0's since there is only 1 image tf_box_indices = get_box_indices(img_boxes_norm_batches) # Do ROI Pooling on image img_rois = tf.image.crop_and_resize( img_feature_maps, img_proposal_boxes_norm_tf_order, tf_box_indices, (32, 32), name='img_rois') img_r_rois = tf.image.crop_and_resize( img_r_feature_maps, img_r_proposal_boxes_norm_tf_order, tf_box_indices, (32, 32), name='img_r_rois') img_rois = self._sub_mean(img_rois) img_r_rois = self._sub_mean(img_r_rois) cos_simi = tf.reduce_sum(img_rois * img_r_rois, \ axis=[1, 2], keep_dims=True) cos_simi = cos_simi / (tf.norm(img_rois + 1e-5, axis=[1, 2], keep_dims=True) * \ tf.norm(img_r_rois + 1e-5, axis=[1, 2], keep_dims=True)) cos_simi = tf.nn.relu(cos_simi) img_rois = tf.image.resize_bilinear( img_rois, self._proposal_roi_crop_size) * cos_simi img_r_rois = tf.image.resize_bilinear( img_r_rois, self._proposal_roi_crop_size) * cos_simi # Fully connected layers (Box Predictor) avod_layers_config = self.model_config.layers_config.avod_config fc_output_layers = \ avod_fc_layers_builder.build( layers_config=avod_layers_config, input_rois=[img_rois, img_r_rois], input_weights=[img_mask, img_r_mask], num_final_classes=self._num_final_classes, box_rep=self._box_rep, top_anchors=top_anchors, ground_plane=ground_plane, is_training=self._is_training) all_cls_logits = \ fc_output_layers[avod_fc_layers_builder.KEY_CLS_LOGITS] all_offsets = fc_output_layers[avod_fc_layers_builder.KEY_OFFSETS] # This may be None all_angle_vectors = \ fc_output_layers.get(avod_fc_layers_builder.KEY_ANGLE_VECTORS) with tf.variable_scope('softmax'): all_cls_softmax = tf.nn.softmax(all_cls_logits) ###################################################### # Subsample mini_batch for the loss function ###################################################### # Get the ground truth tensors anchors_gt = rpn_model.placeholders[RpnModel.PL_LABEL_ANCHORS] if self._box_rep in ['box_3d', 'box_4ca']: boxes_3d_gt = rpn_model.placeholders[RpnModel.PL_LABEL_BOXES_3D] orientations_gt = boxes_3d_gt[:, 6] elif self._box_rep in ['box_8c', 'box_8co', 'box_4c']: boxes_3d_gt = rpn_model.placeholders[RpnModel.PL_LABEL_BOXES_3D] else: raise NotImplementedError('Ground truth tensors not implemented') # Project anchor_gts to 2D bev with tf.variable_scope('avod_gt_projection'): bev_anchor_boxes_gt, _ = anchor_projector.project_to_bev( anchors_gt, self.dataset.kitti_utils.bev_extents) bev_anchor_boxes_gt_tf_order = \ anchor_projector.reorder_projected_boxes(bev_anchor_boxes_gt) with tf.variable_scope('avod_box_list'): # Convert to box_list format anchor_box_list_gt = box_list.BoxList(bev_anchor_boxes_gt_tf_order) anchor_box_list = box_list.BoxList(bev_proposal_boxes_tf_order) mb_mask, mb_class_label_indices, mb_gt_indices = \ self.sample_mini_batch( anchor_box_list_gt=anchor_box_list_gt, anchor_box_list=anchor_box_list, class_labels=class_labels) # Create classification one_hot vector with tf.variable_scope('avod_one_hot_classes'): mb_classification_gt = tf.one_hot( mb_class_label_indices, depth=self._num_final_classes, on_value=1.0 - self._config.label_smoothing_epsilon, off_value=(self._config.label_smoothing_epsilon / self.dataset.num_classes)) # TODO: Don't create a mini batch in test mode # Mask predictions with tf.variable_scope('avod_apply_mb_mask'): # Classification mb_classifications_logits = tf.boolean_mask( all_cls_logits, mb_mask) mb_classifications_softmax = tf.boolean_mask( all_cls_softmax, mb_mask) # Offsets mb_offsets = tf.boolean_mask(all_offsets, mb_mask) # Angle Vectors if all_angle_vectors is not None: mb_angle_vectors = tf.boolean_mask(all_angle_vectors, mb_mask) else: mb_angle_vectors = None # Encode anchor offsets with tf.variable_scope('avod_encode_mb_anchors'): mb_anchors = tf.boolean_mask(top_anchors, mb_mask) if self._box_rep == 'box_3d': # Gather corresponding ground truth anchors for each mb sample mb_anchors_gt = tf.gather(anchors_gt, mb_gt_indices) mb_offsets_gt = anchor_encoder.tf_anchor_to_offset( mb_anchors, mb_anchors_gt) # Gather corresponding ground truth orientation for each # mb sample mb_orientations_gt = tf.gather(orientations_gt, mb_gt_indices) elif self._box_rep in ['box_8c', 'box_8co']: # Get boxes_3d ground truth mini-batch and convert to box_8c mb_boxes_3d_gt = tf.gather(boxes_3d_gt, mb_gt_indices) if self._box_rep == 'box_8c': mb_boxes_8c_gt = \ box_8c_encoder.tf_box_3d_to_box_8c(mb_boxes_3d_gt) elif self._box_rep == 'box_8co': mb_boxes_8c_gt = \ box_8c_encoder.tf_box_3d_to_box_8co(mb_boxes_3d_gt) # Convert proposals: anchors -> box_3d -> box8c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(top_anchors, fix_lw=True) proposal_boxes_8c = \ box_8c_encoder.tf_box_3d_to_box_8c(proposal_boxes_3d) # Get mini batch offsets mb_boxes_8c = tf.boolean_mask(proposal_boxes_8c, mb_mask) mb_offsets_gt = box_8c_encoder.tf_box_8c_to_offsets( mb_boxes_8c, mb_boxes_8c_gt) # Flatten the offsets to a (N x 24) vector mb_offsets_gt = tf.reshape(mb_offsets_gt, [-1, 24]) elif self._box_rep in ['box_4c', 'box_4ca']: # Get ground plane for box_4c conversion ground_plane = self._rpn_model.placeholders[ self._rpn_model.PL_GROUND_PLANE] # Convert gt boxes_3d -> box_4c mb_boxes_3d_gt = tf.gather(boxes_3d_gt, mb_gt_indices) mb_boxes_4c_gt = box_4c_encoder.tf_box_3d_to_box_4c( mb_boxes_3d_gt, ground_plane) # Convert proposals: anchors -> box_3d -> box_4c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(top_anchors, fix_lw=True) proposal_boxes_4c = \ box_4c_encoder.tf_box_3d_to_box_4c(proposal_boxes_3d, ground_plane) # Get mini batch mb_boxes_4c = tf.boolean_mask(proposal_boxes_4c, mb_mask) mb_offsets_gt = box_4c_encoder.tf_box_4c_to_offsets( mb_boxes_4c, mb_boxes_4c_gt) if self._box_rep == 'box_4ca': # Gather corresponding ground truth orientation for each # mb sample mb_orientations_gt = tf.gather(orientations_gt, mb_gt_indices) else: raise NotImplementedError( 'Anchor encoding not implemented for', self._box_rep) ###################################################### # ROI summary images ###################################################### avod_mini_batch_size = \ self.dataset.kitti_utils.mini_batch_utils.avod_mini_batch_size """ with tf.variable_scope('bev_avod_rois'): mb_bev_anchors_norm = tf.boolean_mask( bev_proposal_boxes_norm_tf_order, mb_mask) mb_bev_box_indices = tf.zeros_like(mb_gt_indices, dtype=tf.int32) # Show the ROIs of the BEV input density map # for the mini batch anchors bev_input_rois = tf.image.crop_and_resize( self._rpn_model._bev_preprocessed, mb_bev_anchors_norm, mb_bev_box_indices, (32, 32)) bev_input_roi_summary_images = tf.split( bev_input_rois, self._bev_depth, axis=3) tf.summary.image('bev_avod_rois', bev_input_roi_summary_images[-1], max_outputs=avod_mini_batch_size) """ with tf.variable_scope('img_avod_rois'): # ROIs on image input mb_img_anchors_norm = tf.boolean_mask( img_proposal_boxes_norm_tf_order, mb_mask) mb_img_box_indices = tf.zeros_like(mb_gt_indices, dtype=tf.int32) # Do test ROI pooling on mini batch img_input_rois = tf.image.crop_and_resize( self._rpn_model._img_preprocessed, mb_img_anchors_norm, mb_img_box_indices, (32, 32)) tf.summary.image('img_avod_rois', img_input_rois, max_outputs=avod_mini_batch_size) with tf.variable_scope('img_r_avod_rois'): # ROIs on image input mb_img_r_anchors_norm = tf.boolean_mask( img_r_proposal_boxes_norm_tf_order, mb_mask) mb_img_r_box_indices = tf.zeros_like(mb_gt_indices, dtype=tf.int32) # Do test ROI pooling on mini batch img_r_input_rois = tf.image.crop_and_resize( self._rpn_model._img_r_preprocessed, mb_img_r_anchors_norm, mb_img_r_box_indices, (32, 32)) tf.summary.image('img_r_avod_rois', img_r_input_rois, max_outputs=avod_mini_batch_size) ###################################################### # Final Predictions ###################################################### # Get orientations from angle vectors if all_angle_vectors is not None: with tf.variable_scope('avod_orientation'): all_orientations = \ orientation_encoder.tf_angle_vector_to_orientation( all_angle_vectors) # Apply offsets to regress proposals with tf.variable_scope('avod_regression'): if self._box_rep == 'box_3d': prediction_anchors = \ anchor_encoder.offset_to_anchor(top_anchors, all_offsets) elif self._box_rep in ['box_8c', 'box_8co']: # Reshape the 24-dim regressed offsets to (N x 3 x 8) reshaped_offsets = tf.reshape(all_offsets, [-1, 3, 8]) # Given the offsets, get the boxes_8c prediction_boxes_8c = \ box_8c_encoder.tf_offsets_to_box_8c(proposal_boxes_8c, reshaped_offsets) # Convert corners back to box3D prediction_boxes_3d = \ box_8c_encoder.box_8c_to_box_3d(prediction_boxes_8c) # Convert the box_3d to anchor format for nms prediction_anchors = \ box_3d_encoder.tf_box_3d_to_anchor(prediction_boxes_3d) elif self._box_rep in ['box_4c', 'box_4ca']: # Convert predictions box_4c -> box_3d prediction_boxes_4c = \ box_4c_encoder.tf_offsets_to_box_4c(proposal_boxes_4c, all_offsets) prediction_boxes_3d = \ box_4c_encoder.tf_box_4c_to_box_3d(prediction_boxes_4c, ground_plane) # Convert to anchor format for nms prediction_anchors = \ box_3d_encoder.tf_box_3d_to_anchor(prediction_boxes_3d) else: raise NotImplementedError('Regression not implemented for', self._box_rep) # Apply Non-oriented NMS in BEV with tf.variable_scope('avod_nms'): bev_extents = self.dataset.kitti_utils.bev_extents with tf.variable_scope('bev_projection'): # Project predictions into BEV avod_bev_boxes, _ = anchor_projector.project_to_bev( prediction_anchors, bev_extents) avod_bev_boxes_tf_order = \ anchor_projector.reorder_projected_boxes( avod_bev_boxes) # Get top score from second column onward all_top_scores = tf.reduce_max(all_cls_logits[:, 1:], axis=1) # Apply NMS in BEV nms_indices = tf.image.non_max_suppression( avod_bev_boxes_tf_order, all_top_scores, max_output_size=self._nms_size, iou_threshold=self._nms_iou_threshold) # Gather predictions from NMS indices top_classification_logits = tf.gather(all_cls_logits, nms_indices) top_classification_softmax = tf.gather(all_cls_softmax, nms_indices) top_prediction_anchors = tf.gather(prediction_anchors, nms_indices) if self._box_rep == 'box_3d': top_orientations = tf.gather(all_orientations, nms_indices) elif self._box_rep in ['box_8c', 'box_8co']: top_prediction_boxes_3d = tf.gather(prediction_boxes_3d, nms_indices) top_prediction_boxes_8c = tf.gather(prediction_boxes_8c, nms_indices) elif self._box_rep == 'box_4c': top_prediction_boxes_3d = tf.gather(prediction_boxes_3d, nms_indices) top_prediction_boxes_4c = tf.gather(prediction_boxes_4c, nms_indices) elif self._box_rep == 'box_4ca': top_prediction_boxes_3d = tf.gather(prediction_boxes_3d, nms_indices) top_prediction_boxes_4c = tf.gather(prediction_boxes_4c, nms_indices) top_orientations = tf.gather(all_orientations, nms_indices) else: raise NotImplementedError('NMS gather not implemented for', self._box_rep) if self._train_val_test in ['train', 'val']: # Additional entries are added to the shared prediction_dict # Mini batch predictions prediction_dict[self.PRED_MB_CLASSIFICATION_LOGITS] = \ mb_classifications_logits prediction_dict[self.PRED_MB_CLASSIFICATION_SOFTMAX] = \ mb_classifications_softmax prediction_dict[self.PRED_MB_OFFSETS] = mb_offsets # Mini batch ground truth prediction_dict[self.PRED_MB_CLASSIFICATIONS_GT] = \ mb_classification_gt prediction_dict[self.PRED_MB_OFFSETS_GT] = mb_offsets_gt # Top NMS predictions prediction_dict[self.PRED_TOP_CLASSIFICATION_LOGITS] = \ top_classification_logits prediction_dict[self.PRED_TOP_CLASSIFICATION_SOFTMAX] = \ top_classification_softmax prediction_dict[self.PRED_TOP_PREDICTION_ANCHORS] = \ top_prediction_anchors # Mini batch predictions (for debugging) prediction_dict[self.PRED_MB_MASK] = mb_mask # prediction_dict[self.PRED_MB_POS_MASK] = mb_pos_mask prediction_dict[self.PRED_MB_CLASS_INDICES_GT] = \ mb_class_label_indices # All predictions (for debugging) prediction_dict[self.PRED_ALL_CLASSIFICATIONS] = \ all_cls_logits prediction_dict[self.PRED_ALL_OFFSETS] = all_offsets # Path drop masks (for debugging) #prediction_dict['bev_mask'] = bev_mask prediction_dict['img_mask'] = img_mask prediction_dict['img_r_mask'] = img_r_mask else: # self._train_val_test == 'test' prediction_dict[self.PRED_TOP_CLASSIFICATION_SOFTMAX] = \ top_classification_softmax prediction_dict[self.PRED_TOP_PREDICTION_ANCHORS] = \ top_prediction_anchors if self._box_rep == 'box_3d': prediction_dict[self.PRED_MB_ANCHORS_GT] = mb_anchors_gt prediction_dict[self.PRED_MB_ORIENTATIONS_GT] = mb_orientations_gt prediction_dict[self.PRED_MB_ANGLE_VECTORS] = mb_angle_vectors prediction_dict[self.PRED_TOP_ORIENTATIONS] = top_orientations # For debugging prediction_dict[self.PRED_ALL_ANGLE_VECTORS] = all_angle_vectors elif self._box_rep in ['box_8c', 'box_8co']: prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d # Store the corners before converting for visualization purposes prediction_dict[self.PRED_TOP_BOXES_8C] = top_prediction_boxes_8c elif self._box_rep == 'box_4c': prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d prediction_dict[self.PRED_TOP_BOXES_4C] = top_prediction_boxes_4c elif self._box_rep == 'box_4ca': if self._train_val_test in ['train', 'val']: prediction_dict[self.PRED_MB_ORIENTATIONS_GT] = \ mb_orientations_gt prediction_dict[self.PRED_MB_ANGLE_VECTORS] = mb_angle_vectors prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d prediction_dict[self.PRED_TOP_BOXES_4C] = top_prediction_boxes_4c prediction_dict[self.PRED_TOP_ORIENTATIONS] = top_orientations else: raise NotImplementedError('Prediction dict not implemented for', self._box_rep) # prediction_dict[self.PRED_MAX_IOUS] = max_ious # prediction_dict[self.PRED_ALL_IOUS] = all_ious return prediction_dict
def build(self): rpn_model = self._rpn_model # Share the same prediction dict as RPN prediction_dict = rpn_model.build() top_anchors = prediction_dict[RpnModel.PRED_TOP_ANCHORS] ground_plane = rpn_model.placeholders[RpnModel.PL_GROUND_PLANE] class_labels = rpn_model.placeholders[RpnModel.PL_LABEL_CLASSES] with tf.variable_scope('avod_projection'): if self._config.expand_proposals_xz > 0.0: expand_length = self._config.expand_proposals_xz # Expand anchors along x and z with tf.variable_scope('expand_xz'): expanded_dim_x = top_anchors[:, 3] + expand_length expanded_dim_z = top_anchors[:, 5] + expand_length expanded_anchors = tf.stack([ top_anchors[:, 0], top_anchors[:, 1], top_anchors[:, 2], expanded_dim_x, top_anchors[:, 4], expanded_dim_z ], axis=1) avod_projection_in = expanded_anchors else: avod_projection_in = top_anchors with tf.variable_scope('bev'): # Project top anchors into bev and image spaces # bev_proposal_boxes are boxes' x and z coordinate relative to bev_extents # bev_proposal_boxes_norm are normalized boxes in bev_extents' range bev_proposal_boxes, bev_proposal_boxes_norm = \ anchor_projector.project_to_bev( avod_projection_in, self.dataset.kitti_utils.bev_extents) # Reorder projected boxes into [y1, x1, y2, x2] bev_proposal_boxes_tf_order = \ anchor_projector.reorder_projected_boxes( bev_proposal_boxes) bev_proposal_boxes_norm_tf_order = \ anchor_projector.reorder_projected_boxes( bev_proposal_boxes_norm) with tf.variable_scope('img'): image_shape = tf.cast( tf.shape( rpn_model.placeholders[RpnModel.PL_IMG_INPUT])[0:2], tf.float32) img_proposal_boxes, img_proposal_boxes_norm = \ anchor_projector.tf_project_to_image_space( avod_projection_in, rpn_model.placeholders[RpnModel.PL_CALIB_P2], image_shape) # Only reorder the normalized img img_proposal_boxes_norm_tf_order = \ anchor_projector.reorder_projected_boxes( img_proposal_boxes_norm) bev_feature_maps = rpn_model.bev_feature_maps img_feature_maps = rpn_model.img_feature_maps if not (self._path_drop_probabilities[0] == self._path_drop_probabilities[1] == 1.0): with tf.variable_scope('avod_path_drop'): img_mask = rpn_model.img_path_drop_mask bev_mask = rpn_model.bev_path_drop_mask img_feature_maps = tf.multiply(img_feature_maps, img_mask) bev_feature_maps = tf.multiply(bev_feature_maps, bev_mask) else: bev_mask = tf.constant(1.0) img_mask = tf.constant(1.0) # ROI Pooling with tf.variable_scope('avod_roi_pooling'): def get_box_indices(boxes): proposals_shape = boxes.get_shape().as_list() if any(dim is None for dim in proposals_shape): proposals_shape = tf.shape(boxes) ones_mat = tf.ones(proposals_shape[:2], dtype=tf.int32) multiplier = tf.expand_dims( tf.range(start=0, limit=proposals_shape[0]), 1) return tf.reshape(ones_mat * multiplier, [-1]) bev_boxes_norm_batches = tf.expand_dims(bev_proposal_boxes_norm, axis=0) # These should be all 0's since there is only 1 image tf_box_indices = get_box_indices(bev_boxes_norm_batches) # Do ROI Pooling on BEV # tf_box_indices contains 1D tensor with size [num_boxes], each element specifies # batch index to whom this box belongs. Because the batch size here is 1, so it # doesn't matter # bev_rois is a 4-D tensor of shape [num_boxes, crop_height, crop_width, depth] #################################################################################### # TODO PROJECT: set bev_feature_maps or img_feature_maps to zeros for testing # bev_feature_maps = tf.zeros_like(bev_feature_maps) # self.bev_feature_maps = tf.zeros_like(bev_feature_maps) # bev_feature_maps = self.bev_feature_maps #################################################################################### bev_rois = tf.image.crop_and_resize( bev_feature_maps, bev_proposal_boxes_norm_tf_order, tf_box_indices, self._proposal_roi_crop_size, name='bev_rois') # Do ROI Pooling on image img_rois = tf.image.crop_and_resize( img_feature_maps, img_proposal_boxes_norm_tf_order, tf_box_indices, self._proposal_roi_crop_size, name='img_rois') #################################################################################### # TODO PROJECT: create member variables for accessing # bev_rois4moe = tf.image.crop_and_resize( # bev_feature_maps, # bev_proposal_boxes_norm_tf_order, # tf_box_indices, # [28,28], # name='bev_rois4moe') # # Do ROI Pooling on image # img_rois4moe = tf.image.crop_and_resize( # img_feature_maps, # img_proposal_boxes_norm_tf_order, # tf_box_indices, # [28,28], # name='img_rois4moe') #################################################################################### #################################################################################### # TODO PROJECT: create member variables for accessing # self.bev_rois = bev_rois # self.img_rois = img_rois self.bev_boxes = bev_proposal_boxes_tf_order self.bev_boxes_norm = bev_proposal_boxes_norm self.img_boxes = img_proposal_boxes self.img_boxes_norm = img_proposal_boxes_norm # self.bev_mask = rpn_model.bev_path_drop_mask # self.img_mask = rpn_model.img_path_drop_mask #################################################################################### #################################################################################### # TODO PROJECT: scale the features to features with larger maximum values # self.max_img_feature_val = tf.reduce_max(img_rois, axis=None) # self.max_bev_feature_val = tf.reduce_max(bev_rois, axis=None) # # bev_rois_moe = tf.cond(tf.greater(self.max_img_feature_val, self.max_bev_feature_val), # lambda: self.scale_bev(bev_rois, img_rois), # lambda: bev_rois) # img_rois_moe = tf.cond(tf.greater(self.max_bev_feature_val, self.max_img_feature_val), # lambda: self.scale_img(bev_rois, img_rois), # lambda: img_rois) #################################################################################### #################################################################################### # TODO PROJECT: insert code here to add mixture of experts # self._moe_model = MoeModel(img_rois, bev_rois, img_proposal_boxes, bev_proposal_boxes) # self._moe_model = MoeModel(img_feature_maps, bev_feature_maps, img_proposal_boxes, bev_proposal_boxes) # self._moe_model._set_up_input_pls() # self.moe_prediction = self._moe_model.build() #################################################################################### #################################################################################### # TODO PROJECT: weight the feature before average img and bev # img_weights = tf.reshape(self.moe_prediction['img_weight'],[-1,1,1,1]) # bev_weights = tf.reshape(self.moe_prediction['bev_weight'],[-1,1,1,1]) # img_weights = 0.5 * tf.ones([1024,1,1,1], tf.float32) # bev_weights = 0.5 * tf.ones([1024,1,1,1], tf.float32) # weighted_img_rois = tf.multiply(img_weights,img_rois) # weighted_bev_rois = tf.multiply(bev_weights,bev_rois) #################################################################################### #################################################################################### # TODO PROJECT: create fused bev _, bev_mar_boxes_norm = cf.add_margin_to_regions( bev_proposal_boxes, self.dataset.kitti_utils.bev_extents) bev_pixels_loc = cf.bev_pixel_eq_1_loc( self._rpn_model._bev_preprocessed) max_height = self.dataset.config.kitti_utils_config.bev_generator.slices.height_hi min_height = self.dataset.config.kitti_utils_config.bev_generator.slices.height_lo num_slices = self.dataset.config.kitti_utils_config.bev_generator.slices.num_slices height_list = [ min_height + (2 * x + 1) * (max_height - min_height) / (2.0 * num_slices) for x in range(num_slices) ] print("bev_preprocess shape: ", (self._rpn_model._bev_preprocessed).shape) velo_pc = cf.bev_pixel_loc_to_3d_velo( bev_pixels_loc, tf.shape(self._rpn_model._bev_preprocessed)[1:3], height_list, self.dataset.kitti_utils.bev_extents) print("PL_CALIB_P2 shape: ", self._rpn_model.placeholders[RpnModel.PL_CALIB_P2].shape) p_2d = anchor_projector.project_to_image_tensor( tf.transpose(tf.cast(velo_pc, tf.float32)), self._rpn_model.placeholders[RpnModel.PL_CALIB_P2]) print("image feature maps [0] shape: ", img_feature_maps[0].shape) features_at_p_2d = tf.gather_nd( img_feature_maps[0], tf.cast(tf.round(tf.transpose(p_2d)), tf.int32)) print("features_at_p_2d shape: ", features_at_p_2d.shape) new_bev = cf.create_fused_bev( tf.shape(self._rpn_model._bev_preprocessed), bev_pixels_loc, features_at_p_2d) # raise Exception("finish fused_bev generation!") self._new_bev_feature_extractor = feature_extractor_builder.get_extractor( self.model_config.layers_config.bev_feature_extractor) self.new_bev_feature_maps, self.new_bev_end_points = \ self._new_bev_feature_extractor.build( new_bev, self._bev_pixel_size, self._is_training, scope='new_bev_vgg' ) new_bev_rois = tf.image.crop_and_resize( self.new_bev_feature_maps, bev_proposal_boxes_norm_tf_order, tf_box_indices, self._proposal_roi_crop_size, name='new_bev_rois') #################################################################################### # Fully connected layers (Box Predictor) avod_layers_config = self.model_config.layers_config.avod_config # fc_output_layers = \ # avod_fc_layers_builder.build( # layers_config=avod_layers_config, # input_rois=[bev_rois, img_rois], # input_weights=[bev_mask, img_mask], # num_final_classes=self._num_final_classes, # box_rep=self._box_rep, # top_anchors=top_anchors, # ground_plane=ground_plane, # is_training=self._is_training) #################################################################################### # TODO PROJECT: average img and bev features first and then concat with new bev rois_sum = tf.reduce_sum([bev_rois, img_rois], axis=0) rois_mean = tf.divide(rois_sum, tf.reduce_sum([bev_mask, img_mask])) fc_output_layers = \ avod_fc_layers_builder.build( layers_config=avod_layers_config, input_rois=[rois_mean, new_bev_rois], input_weights=[1, img_mask], num_final_classes=self._num_final_classes, box_rep=self._box_rep, top_anchors=top_anchors, ground_plane=ground_plane, is_training=self._is_training) #################################################################################### #################################################################################### # TODO PROJECT: input weighted bev_rois and img_rois to output layer # fc_output_layers = \ # avod_fc_layers_builder.build( # layers_config=avod_layers_config, # input_rois=[weighted_bev_rois, weighted_img_rois], # input_weights=[bev_mask * bev_weights, img_mask * img_weights], # num_final_classes=self._num_final_classes, # box_rep=self._box_rep, # top_anchors=top_anchors, # ground_plane=ground_plane, # is_training=self._is_training) #################################################################################### all_cls_logits = \ fc_output_layers[avod_fc_layers_builder.KEY_CLS_LOGITS] all_offsets = fc_output_layers[avod_fc_layers_builder.KEY_OFFSETS] # This may be None all_angle_vectors = \ fc_output_layers.get(avod_fc_layers_builder.KEY_ANGLE_VECTORS) with tf.variable_scope('softmax'): all_cls_softmax = tf.nn.softmax(all_cls_logits) ###################################################### # Subsample mini_batch for the loss function ###################################################### # Get the ground truth tensors anchors_gt = rpn_model.placeholders[RpnModel.PL_LABEL_ANCHORS] if self._box_rep in ['box_3d', 'box_4ca']: boxes_3d_gt = rpn_model.placeholders[RpnModel.PL_LABEL_BOXES_3D] orientations_gt = boxes_3d_gt[:, 6] elif self._box_rep in ['box_8c', 'box_8co', 'box_4c']: boxes_3d_gt = rpn_model.placeholders[RpnModel.PL_LABEL_BOXES_3D] else: raise NotImplementedError('Ground truth tensors not implemented') # Project anchor_gts to 2D bev with tf.variable_scope('avod_gt_projection'): bev_anchor_boxes_gt, _ = anchor_projector.project_to_bev( anchors_gt, self.dataset.kitti_utils.bev_extents) bev_anchor_boxes_gt_tf_order = \ anchor_projector.reorder_projected_boxes(bev_anchor_boxes_gt) with tf.variable_scope('avod_box_list'): # Convert to box_list format anchor_box_list_gt = box_list.BoxList(bev_anchor_boxes_gt_tf_order) anchor_box_list = box_list.BoxList(bev_proposal_boxes_tf_order) mb_mask, mb_class_label_indices, mb_gt_indices = \ self.sample_mini_batch( anchor_box_list_gt=anchor_box_list_gt, anchor_box_list=anchor_box_list, class_labels=class_labels) # Create classification one_hot vector with tf.variable_scope('avod_one_hot_classes'): mb_classification_gt = tf.one_hot( mb_class_label_indices, depth=self._num_final_classes, on_value=1.0 - self._config.label_smoothing_epsilon, off_value=(self._config.label_smoothing_epsilon / self.dataset.num_classes)) # TODO: Don't create a mini batch in test mode # Mask predictions with tf.variable_scope('avod_apply_mb_mask'): # Classification mb_classifications_logits = tf.boolean_mask( all_cls_logits, mb_mask) mb_classifications_softmax = tf.boolean_mask( all_cls_softmax, mb_mask) # Offsets mb_offsets = tf.boolean_mask(all_offsets, mb_mask) # Angle Vectors if all_angle_vectors is not None: mb_angle_vectors = tf.boolean_mask(all_angle_vectors, mb_mask) else: mb_angle_vectors = None # Encode anchor offsets with tf.variable_scope('avod_encode_mb_anchors'): mb_anchors = tf.boolean_mask(top_anchors, mb_mask) if self._box_rep == 'box_3d': # Gather corresponding ground truth anchors for each mb sample mb_anchors_gt = tf.gather(anchors_gt, mb_gt_indices) mb_offsets_gt = anchor_encoder.tf_anchor_to_offset( mb_anchors, mb_anchors_gt) # Gather corresponding ground truth orientation for each # mb sample mb_orientations_gt = tf.gather(orientations_gt, mb_gt_indices) elif self._box_rep in ['box_8c', 'box_8co']: # Get boxes_3d ground truth mini-batch and convert to box_8c mb_boxes_3d_gt = tf.gather(boxes_3d_gt, mb_gt_indices) if self._box_rep == 'box_8c': mb_boxes_8c_gt = \ box_8c_encoder.tf_box_3d_to_box_8c(mb_boxes_3d_gt) elif self._box_rep == 'box_8co': mb_boxes_8c_gt = \ box_8c_encoder.tf_box_3d_to_box_8co(mb_boxes_3d_gt) # Convert proposals: anchors -> box_3d -> box8c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(top_anchors, fix_lw=True) proposal_boxes_8c = \ box_8c_encoder.tf_box_3d_to_box_8c(proposal_boxes_3d) # Get mini batch offsets mb_boxes_8c = tf.boolean_mask(proposal_boxes_8c, mb_mask) mb_offsets_gt = box_8c_encoder.tf_box_8c_to_offsets( mb_boxes_8c, mb_boxes_8c_gt) # Flatten the offsets to a (N x 24) vector mb_offsets_gt = tf.reshape(mb_offsets_gt, [-1, 24]) elif self._box_rep in ['box_4c', 'box_4ca']: # Get ground plane for box_4c conversion ground_plane = self._rpn_model.placeholders[ self._rpn_model.PL_GROUND_PLANE] # Convert gt boxes_3d -> box_4c mb_boxes_3d_gt = tf.gather(boxes_3d_gt, mb_gt_indices) mb_boxes_4c_gt = box_4c_encoder.tf_box_3d_to_box_4c( mb_boxes_3d_gt, ground_plane) # Convert proposals: anchors -> box_3d -> box_4c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(top_anchors, fix_lw=True) proposal_boxes_4c = \ box_4c_encoder.tf_box_3d_to_box_4c(proposal_boxes_3d, ground_plane) # Get mini batch mb_boxes_4c = tf.boolean_mask(proposal_boxes_4c, mb_mask) mb_offsets_gt = box_4c_encoder.tf_box_4c_to_offsets( mb_boxes_4c, mb_boxes_4c_gt) if self._box_rep == 'box_4ca': # Gather corresponding ground truth orientation for each # mb sample mb_orientations_gt = tf.gather(orientations_gt, mb_gt_indices) else: raise NotImplementedError( 'Anchor encoding not implemented for', self._box_rep) ###################################################### # ROI summary images ###################################################### avod_mini_batch_size = \ self.dataset.kitti_utils.mini_batch_utils.avod_mini_batch_size with tf.variable_scope('bev_avod_rois'): mb_bev_anchors_norm = tf.boolean_mask( bev_proposal_boxes_norm_tf_order, mb_mask) mb_bev_box_indices = tf.zeros_like(mb_gt_indices, dtype=tf.int32) # Show the ROIs of the BEV input density map # for the mini batch anchors bev_input_rois = tf.image.crop_and_resize( self._rpn_model._bev_preprocessed, mb_bev_anchors_norm, mb_bev_box_indices, (32, 32)) bev_input_roi_summary_images = tf.split(bev_input_rois, self._bev_depth, axis=3) tf.summary.image('bev_avod_rois', bev_input_roi_summary_images[-1], max_outputs=avod_mini_batch_size) with tf.variable_scope('img_avod_rois'): # ROIs on image input mb_img_anchors_norm = tf.boolean_mask( img_proposal_boxes_norm_tf_order, mb_mask) mb_img_box_indices = tf.zeros_like(mb_gt_indices, dtype=tf.int32) # Do test ROI pooling on mini batch img_input_rois = tf.image.crop_and_resize( self._rpn_model._img_preprocessed, mb_img_anchors_norm, mb_img_box_indices, (32, 32)) tf.summary.image('img_avod_rois', img_input_rois, max_outputs=avod_mini_batch_size) ###################################################### # Final Predictions ###################################################### # Get orientations from angle vectors if all_angle_vectors is not None: with tf.variable_scope('avod_orientation'): all_orientations = \ orientation_encoder.tf_angle_vector_to_orientation( all_angle_vectors) # Apply offsets to regress proposals with tf.variable_scope('avod_regression'): if self._box_rep == 'box_3d': prediction_anchors = \ anchor_encoder.offset_to_anchor(top_anchors, all_offsets) elif self._box_rep in ['box_8c', 'box_8co']: # Reshape the 24-dim regressed offsets to (N x 3 x 8) reshaped_offsets = tf.reshape(all_offsets, [-1, 3, 8]) # Given the offsets, get the boxes_8c prediction_boxes_8c = \ box_8c_encoder.tf_offsets_to_box_8c(proposal_boxes_8c, reshaped_offsets) # Convert corners back to box3D prediction_boxes_3d = \ box_8c_encoder.box_8c_to_box_3d(prediction_boxes_8c) # Convert the box_3d to anchor format for nms prediction_anchors = \ box_3d_encoder.tf_box_3d_to_anchor(prediction_boxes_3d) elif self._box_rep in ['box_4c', 'box_4ca']: # Convert predictions box_4c -> box_3d prediction_boxes_4c = \ box_4c_encoder.tf_offsets_to_box_4c(proposal_boxes_4c, all_offsets) prediction_boxes_3d = \ box_4c_encoder.tf_box_4c_to_box_3d(prediction_boxes_4c, ground_plane) # Convert to anchor format for nms prediction_anchors = \ box_3d_encoder.tf_box_3d_to_anchor(prediction_boxes_3d) else: raise NotImplementedError('Regression not implemented for', self._box_rep) # Apply Non-oriented NMS in BEV with tf.variable_scope('avod_nms'): bev_extents = self.dataset.kitti_utils.bev_extents with tf.variable_scope('bev_projection'): # Project predictions into BEV avod_bev_boxes, _ = anchor_projector.project_to_bev( prediction_anchors, bev_extents) avod_bev_boxes_tf_order = \ anchor_projector.reorder_projected_boxes( avod_bev_boxes) # Get top score from second column onward all_top_scores = tf.reduce_max(all_cls_logits[:, 1:], axis=1) # Apply NMS in BEV nms_indices = tf.image.non_max_suppression( avod_bev_boxes_tf_order, all_top_scores, max_output_size=self._nms_size, iou_threshold=self._nms_iou_threshold) # Gather predictions from NMS indices top_classification_logits = tf.gather(all_cls_logits, nms_indices) top_classification_softmax = tf.gather(all_cls_softmax, nms_indices) top_prediction_anchors = tf.gather(prediction_anchors, nms_indices) if self._box_rep == 'box_3d': top_orientations = tf.gather(all_orientations, nms_indices) elif self._box_rep in ['box_8c', 'box_8co']: top_prediction_boxes_3d = tf.gather(prediction_boxes_3d, nms_indices) top_prediction_boxes_8c = tf.gather(prediction_boxes_8c, nms_indices) elif self._box_rep == 'box_4c': top_prediction_boxes_3d = tf.gather(prediction_boxes_3d, nms_indices) top_prediction_boxes_4c = tf.gather(prediction_boxes_4c, nms_indices) elif self._box_rep == 'box_4ca': top_prediction_boxes_3d = tf.gather(prediction_boxes_3d, nms_indices) top_prediction_boxes_4c = tf.gather(prediction_boxes_4c, nms_indices) top_orientations = tf.gather(all_orientations, nms_indices) else: raise NotImplementedError('NMS gather not implemented for', self._box_rep) if self._train_val_test in ['train', 'val']: # Additional entries are added to the shared prediction_dict # Mini batch predictions prediction_dict[self.PRED_MB_CLASSIFICATION_LOGITS] = \ mb_classifications_logits prediction_dict[self.PRED_MB_CLASSIFICATION_SOFTMAX] = \ mb_classifications_softmax prediction_dict[self.PRED_MB_OFFSETS] = mb_offsets # Mini batch ground truth prediction_dict[self.PRED_MB_CLASSIFICATIONS_GT] = \ mb_classification_gt prediction_dict[self.PRED_MB_OFFSETS_GT] = mb_offsets_gt # Top NMS predictions prediction_dict[self.PRED_TOP_CLASSIFICATION_LOGITS] = \ top_classification_logits prediction_dict[self.PRED_TOP_CLASSIFICATION_SOFTMAX] = \ top_classification_softmax prediction_dict[self.PRED_TOP_PREDICTION_ANCHORS] = \ top_prediction_anchors # Mini batch predictions (for debugging) prediction_dict[self.PRED_MB_MASK] = mb_mask # prediction_dict[self.PRED_MB_POS_MASK] = mb_pos_mask prediction_dict[self.PRED_MB_CLASS_INDICES_GT] = \ mb_class_label_indices # All predictions (for debugging) prediction_dict[self.PRED_ALL_CLASSIFICATIONS] = \ all_cls_logits prediction_dict[self.PRED_ALL_OFFSETS] = all_offsets # Path drop masks (for debugging) prediction_dict['bev_mask'] = bev_mask prediction_dict['img_mask'] = img_mask else: # self._train_val_test == 'test' prediction_dict[self.PRED_TOP_CLASSIFICATION_SOFTMAX] = \ top_classification_softmax prediction_dict[self.PRED_TOP_PREDICTION_ANCHORS] = \ top_prediction_anchors if self._box_rep == 'box_3d': prediction_dict[self.PRED_MB_ANCHORS_GT] = mb_anchors_gt prediction_dict[self.PRED_MB_ORIENTATIONS_GT] = mb_orientations_gt prediction_dict[self.PRED_MB_ANGLE_VECTORS] = mb_angle_vectors prediction_dict[self.PRED_TOP_ORIENTATIONS] = top_orientations # For debugging prediction_dict[self.PRED_ALL_ANGLE_VECTORS] = all_angle_vectors # 8c means 8 corners elif self._box_rep in ['box_8c', 'box_8co']: prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d # Store the corners before converting for visualization purposes prediction_dict[self.PRED_TOP_BOXES_8C] = top_prediction_boxes_8c # 4c means 4 corners elif self._box_rep == 'box_4c': prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d prediction_dict[self.PRED_TOP_BOXES_4C] = top_prediction_boxes_4c elif self._box_rep == 'box_4ca': if self._train_val_test in ['train', 'val']: prediction_dict[self.PRED_MB_ORIENTATIONS_GT] = \ mb_orientations_gt prediction_dict[self.PRED_MB_ANGLE_VECTORS] = mb_angle_vectors prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d prediction_dict[self.PRED_TOP_BOXES_4C] = top_prediction_boxes_4c prediction_dict[self.PRED_TOP_ORIENTATIONS] = top_orientations else: raise NotImplementedError('Prediction dict not implemented for', self._box_rep) # prediction_dict[self.PRED_MAX_IOUS] = max_ious # prediction_dict[self.PRED_ALL_IOUS] = all_ious return prediction_dict
def build(self): # Setup input placeholders self._set_up_input_pls() # Setup feature extractors self._set_up_feature_extractors() bev_proposal_input = self.bev_feature_maps img_proposal_input = self.img_feature_maps fusion_mean_div_factor = 2.0 # If both img and bev probabilites are set to 1.0, don't do # path drop. if not (self._path_drop_probabilities[0] == self._path_drop_probabilities[1] == 1.0): with tf.variable_scope('rpn_path_drop'): random_values = tf.random_uniform(shape=[3], minval=0.0, maxval=1.0) img_mask, bev_mask = self.create_path_drop_masks( self._path_drop_probabilities[0], self._path_drop_probabilities[1], random_values) img_proposal_input = tf.multiply(img_proposal_input, img_mask) bev_proposal_input = tf.multiply(bev_proposal_input, bev_mask) self.img_path_drop_mask = img_mask self.bev_path_drop_mask = bev_mask # Overwrite the division factor fusion_mean_div_factor = img_mask + bev_mask with tf.variable_scope('proposal_roi_pooling'): with tf.variable_scope('box_indices'): def get_box_indices(boxes): proposals_shape = boxes.get_shape().as_list() if any(dim is None for dim in proposals_shape): proposals_shape = tf.shape(boxes) ones_mat = tf.ones(proposals_shape[:2], dtype=tf.int32) multiplier = tf.expand_dims( tf.range(start=0, limit=proposals_shape[0]), 1) return tf.reshape(ones_mat * multiplier, [-1]) bev_boxes_norm_batches = tf.expand_dims( self._bev_anchors_norm_pl, axis=0) # These should be all 0's since there is only 1 image tf_box_indices = get_box_indices(bev_boxes_norm_batches) # Do ROI Pooling on BEV bev_proposal_rois = tf.image.crop_and_resize( bev_proposal_input, self._bev_anchors_norm_pl, tf_box_indices, self._proposal_roi_crop_size) # Do ROI Pooling on image img_proposal_rois = tf.image.crop_and_resize( img_proposal_input, self._img_anchors_norm_pl, tf_box_indices, self._proposal_roi_crop_size) # Fully connected layers (Box Predictor) avod_layers_config = self.model_config.layers_config.avod_config with tf.variable_scope('proposal_roi_fusion'): feat_fusion_out = None fc_layers_type = avod_layers_config.WhichOneof('fc_layers') if fc_layers_type == 'basic_fc_layers': fusion_method = \ avod_layers_config.basic_fc_layers.fusion_method elif fc_layers_type == 'fusion_fc_layers': fusion_method = \ avod_layers_config.fusion_fc_layers.fusion_method if fusion_method == 'mean': tf_features_sum = tf.add(bev_proposal_rois, img_proposal_rois) feat_fusion_out = tf.divide(tf_features_sum, fusion_mean_div_factor) elif fusion_method == 'concat': feat_fusion_out = tf.concat( [bev_proposal_rois, img_proposal_rois], axis=3) else: raise ValueError('Invalid fusion method', self._fusion_method) all_anchors = self.placeholders[self.PL_ANCHORS] ground_plane = self.placeholders[self.PL_GROUND_PLANE] fc_output_layers = \ avod_fc_layers_builder.build( layers_config=avod_layers_config, input_rois=[feat_fusion_out], input_weights=[1.0], num_final_classes=self._num_final_classes, box_rep=self._box_rep, top_anchors=all_anchors, ground_plane=ground_plane, is_training=self._is_training) all_cls_logits = \ fc_output_layers[avod_fc_layers_builder.KEY_CLS_LOGITS] all_offsets = fc_output_layers[avod_fc_layers_builder.KEY_OFFSETS] # This may be None all_angle_vectors = \ fc_output_layers.get(avod_fc_layers_builder.KEY_ANGLE_VECTORS) with tf.variable_scope('softmax'): all_cls_softmax = tf.nn.softmax( all_cls_logits) ###################################################### # Subsample mini_batch for the loss function ###################################################### # Get the ground truth tensors anchors_gt = self.placeholders[self.PL_LABEL_ANCHORS] if self._box_rep in ['box_3d', 'box_4ca']: boxes_3d_gt = self.placeholders[self.PL_LABEL_BOXES_3D] orientations_gt = boxes_3d_gt[:, 6] elif self._box_rep in ['box_8c', 'box_8co', 'box_4c']: boxes_3d_gt = self.placeholders[self.PL_LABEL_BOXES_3D] else: raise NotImplementedError('Ground truth tensors not implemented') if self._train_val_test in ['train', 'val']: with tf.variable_scope('bev'): # Project all anchors into bev and image spaces bev_proposal_boxes, bev_proposal_boxes_norm = \ anchor_projector.project_to_bev( all_anchors, self.dataset.kitti_utils.bev_extents) # Reorder projected boxes into [y1, x1, y2, x2] bev_proposal_boxes_tf_order = \ anchor_projector.reorder_projected_boxes( bev_proposal_boxes) with tf.variable_scope('img'): image_shape = tf.cast(tf.shape( self.placeholders[self.PL_IMG_INPUT])[0:2], tf.float32) img_proposal_boxes, img_proposal_boxes_norm = \ anchor_projector.tf_project_to_image_space( all_anchors, self.placeholders[self.PL_CALIB_P2], image_shape) # Project anchor_gts to 2D bev with tf.variable_scope('avod_gt_projection'): bev_anchor_boxes_gt, _ = anchor_projector.project_to_bev( anchors_gt, self.dataset.kitti_utils.bev_extents) bev_anchor_boxes_gt_tf_order = \ anchor_projector.reorder_projected_boxes( bev_anchor_boxes_gt) with tf.variable_scope('avod_box_list'): # Convert to box_list format anchor_box_list_gt = \ box_list.BoxList(bev_anchor_boxes_gt_tf_order) anchor_box_list = \ box_list.BoxList(bev_proposal_boxes_tf_order) class_labels = self.placeholders[self.PL_LABEL_CLASSES] mb_mask, mb_class_label_indices, mb_gt_indices = \ self.sample_mini_batch( anchor_box_list_gt=anchor_box_list_gt, anchor_box_list=anchor_box_list, class_labels=class_labels) # Create classification one_hot vector with tf.variable_scope('avod_one_hot_classes'): mb_classification_gt = tf.one_hot( mb_class_label_indices, depth=self._num_final_classes, on_value=1.0 - self._config.label_smoothing_epsilon, off_value=(self._config.label_smoothing_epsilon / self.dataset.num_classes)) # Mask predictions with tf.variable_scope('avod_apply_mb_mask'): # Classification mb_classifications_logits = tf.boolean_mask( all_cls_logits, mb_mask) mb_classifications_softmax = tf.boolean_mask( all_cls_softmax, mb_mask) # Offsets mb_offsets = tf.boolean_mask(all_offsets, mb_mask) # Angle Vectors if all_angle_vectors is not None: mb_angle_vectors = tf.boolean_mask( all_angle_vectors, mb_mask) else: mb_angle_vectors = None # Encode anchor offsets with tf.variable_scope('avod_encode_mb_anchors'): mb_anchors = tf.boolean_mask(all_anchors, mb_mask) if self._box_rep == 'box_3d': # Gather corresponding ground truth anchors for each mb # sample mb_anchors_gt = tf.gather(anchors_gt, mb_gt_indices) mb_offsets_gt = anchor_encoder.tf_anchor_to_offset( mb_anchors, mb_anchors_gt) # Gather corresponding ground truth orientation for each # mb sample mb_orientations_gt = tf.gather(orientations_gt, mb_gt_indices) elif self._box_rep in ['box_8c', 'box_8co']: # Get boxes_3d ground truth mini-batch and convert to box_8c mb_boxes_3d_gt = tf.gather(boxes_3d_gt, mb_gt_indices) if self._box_rep == 'box_8c': mb_boxes_8c_gt = \ box_8c_encoder.tf_box_3d_to_box_8c(mb_boxes_3d_gt) elif self._box_rep == 'box_8co': mb_boxes_8c_gt = \ box_8c_encoder.tf_box_3d_to_box_8co(mb_boxes_3d_gt) # Convert proposals: anchors -> box_3d -> box8c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(all_anchors, fix_lw=True) proposal_boxes_8c = \ box_8c_encoder.tf_box_3d_to_box_8c(proposal_boxes_3d) # Get mini batch offsets mb_boxes_8c = tf.boolean_mask(proposal_boxes_8c, mb_mask) mb_offsets_gt = box_8c_encoder.tf_box_8c_to_offsets( mb_boxes_8c, mb_boxes_8c_gt) # Flatten the offsets to a (N x 24) vector mb_offsets_gt = tf.reshape(mb_offsets_gt, [-1, 24]) elif self._box_rep in ['box_4c', 'box_4ca']: # Get ground plane for box_4c conversion ground_plane = self.placeholders[ self.PL_GROUND_PLANE] # Convert gt boxes_3d -> box_4c mb_boxes_3d_gt = tf.gather(boxes_3d_gt, mb_gt_indices) mb_boxes_4c_gt = box_4c_encoder.tf_box_3d_to_box_4c( mb_boxes_3d_gt, ground_plane) # Convert proposals: anchors -> box_3d -> box_4c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(all_anchors, fix_lw=True) proposal_boxes_4c = \ box_4c_encoder.tf_box_3d_to_box_4c(proposal_boxes_3d, ground_plane) # Get mini batch mb_boxes_4c = tf.boolean_mask(proposal_boxes_4c, mb_mask) mb_offsets_gt = box_4c_encoder.tf_box_4c_to_offsets( mb_boxes_4c, mb_boxes_4c_gt) if self._box_rep == 'box_4ca': # Gather corresponding ground truth orientation for each # mb sample mb_orientations_gt = tf.gather(orientations_gt, mb_gt_indices) else: raise NotImplementedError( 'Anchor encoding not implemented for', self._box_rep) elif self._train_val_test in ['test']: # In test-mode, skip mini-batch processing and just calculate # box conversions. if self._box_rep in ['box_4c', 'box_4ca']: # Convert proposals: anchors -> box_3d -> box_4c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(all_anchors, fix_lw=True) proposal_boxes_4c = \ box_4c_encoder.tf_box_3d_to_box_4c(proposal_boxes_3d, ground_plane) elif self._box_rep in ['box_8c', 'box_8co']: # Convert proposals: anchors -> box_3d -> box8c proposal_boxes_3d = \ box_3d_encoder.anchors_to_box_3d(all_anchors, fix_lw=True) proposal_boxes_8c = \ box_8c_encoder.tf_box_3d_to_box_8c(proposal_boxes_3d) ###################################################### # Final Predictions ###################################################### # Get orientations from angle vectors if all_angle_vectors is not None: with tf.variable_scope('avod_orientation'): all_orientations = \ orientation_encoder.tf_angle_vector_to_orientation( all_angle_vectors) # Apply offsets to regress proposals with tf.variable_scope('avod_regression'): if self._box_rep == 'box_3d': prediction_anchors = \ anchor_encoder.offset_to_anchor(all_anchors, all_offsets) elif self._box_rep in ['box_8c', 'box_8co']: # Reshape the 24-dim regressed offsets to (N x 3 x 8) reshaped_offsets = tf.reshape(all_offsets, [-1, 3, 8]) # Given the offsets, get the boxes_8c prediction_boxes_8c = \ box_8c_encoder.tf_offsets_to_box_8c(proposal_boxes_8c, reshaped_offsets) # Convert corners back to box3D prediction_boxes_3d = \ box_8c_encoder.box_8c_to_box_3d(prediction_boxes_8c) # Convert the box_3d to anchor format for nms prediction_anchors = \ box_3d_encoder.tf_box_3d_to_anchor(prediction_boxes_3d) elif self._box_rep in ['box_4c', 'box_4ca']: # Convert predictions box_4c -> box_3d prediction_boxes_4c = \ box_4c_encoder.tf_offsets_to_box_4c(proposal_boxes_4c, all_offsets) prediction_boxes_3d = \ box_4c_encoder.tf_box_4c_to_box_3d(prediction_boxes_4c, ground_plane) # Convert to anchor format for nms prediction_anchors = \ box_3d_encoder.tf_box_3d_to_anchor(prediction_boxes_3d) else: raise NotImplementedError('Regression not implemented for', self._box_rep) # Apply Non-oriented NMS in BEV with tf.variable_scope('avod_nms'): bev_extents = self.dataset.kitti_utils.bev_extents with tf.variable_scope('bev_projection'): # Project predictions into BEV avod_bev_boxes, _ = anchor_projector.project_to_bev( prediction_anchors, bev_extents) avod_bev_boxes_tf_order = \ anchor_projector.reorder_projected_boxes( avod_bev_boxes) # Get top score from second column onward all_top_scores = tf.reduce_max(all_cls_logits[:, 1:], axis=1) # Apply NMS in BEV nms_indices = tf.image.non_max_suppression( avod_bev_boxes_tf_order, all_top_scores, max_output_size=self._nms_size, iou_threshold=self._nms_iou_threshold) # Gather predictions from NMS indices top_classification_logits = tf.gather(all_cls_logits, nms_indices) top_classification_softmax = tf.gather(all_cls_softmax, nms_indices) top_prediction_anchors = tf.gather(prediction_anchors, nms_indices) if self._box_rep == 'box_3d': top_orientations = tf.gather( all_orientations, nms_indices) elif self._box_rep in ['box_8c', 'box_8co']: top_prediction_boxes_3d = tf.gather( prediction_boxes_3d, nms_indices) top_prediction_boxes_8c = tf.gather( prediction_boxes_8c, nms_indices) elif self._box_rep == 'box_4c': top_prediction_boxes_3d = tf.gather( prediction_boxes_3d, nms_indices) top_prediction_boxes_4c = tf.gather( prediction_boxes_4c, nms_indices) elif self._box_rep == 'box_4ca': top_prediction_boxes_3d = tf.gather( prediction_boxes_3d, nms_indices) top_prediction_boxes_4c = tf.gather( prediction_boxes_4c, nms_indices) top_orientations = tf.gather( all_orientations, nms_indices) else: raise NotImplementedError('NMS gather not implemented for', self._box_rep) prediction_dict = dict() if self._train_val_test in ['train', 'val']: # Additional entries are added to the shared prediction_dict # Mini batch predictions prediction_dict[self.PRED_MB_CLASSIFICATION_LOGITS] = \ mb_classifications_logits prediction_dict[self.PRED_MB_CLASSIFICATION_SOFTMAX] = \ mb_classifications_softmax prediction_dict[self.PRED_MB_OFFSETS] = mb_offsets # Mini batch ground truth prediction_dict[self.PRED_MB_CLASSIFICATIONS_GT] = \ mb_classification_gt prediction_dict[self.PRED_MB_OFFSETS_GT] = mb_offsets_gt # Top NMS predictions prediction_dict[self.PRED_TOP_CLASSIFICATION_LOGITS] = \ top_classification_logits prediction_dict[self.PRED_TOP_CLASSIFICATION_SOFTMAX] = \ top_classification_softmax prediction_dict[self.PRED_TOP_PREDICTION_ANCHORS] = \ top_prediction_anchors else: # self._train_val_test == 'test' prediction_dict[self.PRED_TOP_CLASSIFICATION_SOFTMAX] = \ top_classification_softmax prediction_dict[self.PRED_TOP_PREDICTION_ANCHORS] = \ top_prediction_anchors if self._box_rep == 'box_3d': if self._train_val_test in ['train', 'val']: prediction_dict[self.PRED_MB_ANCHORS_GT] = mb_anchors_gt prediction_dict[self.PRED_MB_ORIENTATIONS_GT] = \ mb_orientations_gt prediction_dict[self.PRED_MB_ANGLE_VECTORS] = mb_angle_vectors prediction_dict[self.PRED_TOP_ORIENTATIONS] = top_orientations # For debugging prediction_dict[self.PRED_ALL_ANGLE_VECTORS] = all_angle_vectors elif self._box_rep in ['box_8c', 'box_8co']: prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d # Store the corners before converting for visualization purposes prediction_dict[self.PRED_TOP_BOXES_8C] = top_prediction_boxes_8c elif self._box_rep == 'box_4c': prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d prediction_dict[self.PRED_TOP_BOXES_4C] = top_prediction_boxes_4c elif self._box_rep == 'box_4ca': if self._train_val_test in ['train', 'val']: prediction_dict[self.PRED_MB_ORIENTATIONS_GT] = \ mb_orientations_gt prediction_dict[self.PRED_MB_ANGLE_VECTORS] = mb_angle_vectors prediction_dict[self.PRED_TOP_PREDICTION_BOXES_3D] = \ top_prediction_boxes_3d prediction_dict[self.PRED_TOP_BOXES_4C] = top_prediction_boxes_4c prediction_dict[self.PRED_TOP_ORIENTATIONS] = top_orientations else: raise NotImplementedError('Prediction dict not implemented for', self._box_rep) return prediction_dict