def test_nms_match(self):
if not torch.cuda.is_available():
return
from mmcv.ops import nms, nms_match
iou_thr = 0.6
# empty input
empty_dets = np.array([])
assert len(nms_match(empty_dets, iou_thr)) == 0
# non empty ndarray input
np_dets = np.array(
[[49.1, 32.4, 51.0, 35.9, 0.9], [49.3, 32.9, 51.0, 35.3, 0.9],
[35.3, 11.5, 39.9, 14.5, 0.4], [35.2, 11.7, 39.7, 15.7, 0.3]],
dtype=np.float32)
np_groups = nms_match(np_dets, iou_thr)
assert isinstance(np_groups[0], np.ndarray)
assert len(np_groups) == 2
tensor_dets = torch.from_numpy(np_dets)
boxes = tensor_dets[:, :4]
scores = tensor_dets[:, 4]
nms_keep_inds = nms(boxes.contiguous(), scores.contiguous(),
iou_thr)[1]
assert set([g[0].item()
for g in np_groups]) == set(nms_keep_inds.tolist())
# non empty tensor input
tensor_dets = torch.from_numpy(np_dets)
tensor_groups = nms_match(tensor_dets, iou_thr)
assert isinstance(tensor_groups[0], torch.Tensor)
for i in range(len(tensor_groups)):
assert np.equal(tensor_groups[i].numpy(), np_groups[i]).all()
# input of wrong shape
wrong_dets = np.zeros((2, 3))
with pytest.raises(AssertionError):
nms_match(wrong_dets, iou_thr)
def _sample_neg(self,
assign_result,
num_expected,
bboxes,
feats=None,
img_meta=None,
**kwargs):
"""Sample negative samples.
Score-HLR sampler is done in the following steps:
1. Take the maximum positive score prediction of each negative samples
as s_i.
2. Filter out negative samples whose s_i <= score_thr, the left samples
are called valid samples.
3. Use NMS-Match to divide valid samples into different groups,
samples in the same group will greatly overlap with each other
4. Rank the matched samples in two-steps to get Score-HLR.
(1) In the same group, rank samples with their scores.
(2) In the same score rank across different groups,
rank samples with their scores again.
5. Linearly map Score-HLR to the final label weights.
Args:
assign_result (:obj:`AssignResult`): result of assigner.
num_expected (int): Expected number of samples.
bboxes (Tensor): bbox to be sampled.
feats (Tensor): Features come from FPN.
img_meta (dict): Meta information dictionary.
"""
neg_inds = torch.nonzero(assign_result.gt_inds == 0).flatten()
num_neg = neg_inds.size(0)
if num_neg == 0:
return neg_inds, None
with torch.no_grad():
neg_bboxes = bboxes[neg_inds]
neg_rois = bbox2roi([neg_bboxes])
bbox_result = self.context._bbox_forward(feats, neg_rois)
cls_score, bbox_pred = bbox_result['cls_score'], bbox_result[
'bbox_pred']
ori_loss = self.bbox_head.loss(
cls_score=cls_score,
bbox_pred=None,
rois=None,
labels=neg_inds.new_full((num_neg, ),
self.bbox_head.num_classes),
label_weights=cls_score.new_ones(num_neg),
bbox_targets=None,
bbox_weights=None,
reduction_override='none')['loss_cls']
# filter out samples with the max score lower than score_thr
max_score, argmax_score = cls_score.softmax(-1)[:, :-1].max(-1)
valid_inds = (max_score > self.score_thr).nonzero().view(-1)
invalid_inds = (max_score <= self.score_thr).nonzero().view(-1)
num_valid = valid_inds.size(0)
num_invalid = invalid_inds.size(0)
num_expected = min(num_neg, num_expected)
num_hlr = min(num_valid, num_expected)
num_rand = num_expected - num_hlr
if num_valid > 0:
valid_rois = neg_rois[valid_inds]
valid_max_score = max_score[valid_inds]
valid_argmax_score = argmax_score[valid_inds]
valid_bbox_pred = bbox_pred[valid_inds]
# valid_bbox_pred shape: [num_valid, #num_classes, 4]
valid_bbox_pred = valid_bbox_pred.view(valid_bbox_pred.size(0),
-1, 4)
selected_bbox_pred = valid_bbox_pred[range(num_valid),
valid_argmax_score]
pred_bboxes = self.bbox_head.bbox_coder.decode(
valid_rois[:, 1:], selected_bbox_pred)
pred_bboxes_with_score = torch.cat(
[pred_bboxes, valid_max_score[:, None]], -1)
group = nms_match(pred_bboxes_with_score, self.iou_thr)
# imp: importance
imp = cls_score.new_zeros(num_valid)
for g in group:
g_score = valid_max_score[g]
# g_score has already sorted
rank = g_score.new_tensor(range(g_score.size(0)))
imp[g] = num_valid - rank + g_score
_, imp_rank_inds = imp.sort(descending=True)
_, imp_rank = imp_rank_inds.sort()
hlr_inds = imp_rank_inds[:num_expected]
if num_rand > 0:
rand_inds = torch.randperm(num_invalid)[:num_rand]
select_inds = torch.cat(
[valid_inds[hlr_inds], invalid_inds[rand_inds]])
else:
select_inds = valid_inds[hlr_inds]
neg_label_weights = cls_score.new_ones(num_expected)
up_bound = max(num_expected, num_valid)
imp_weights = (up_bound -
imp_rank[hlr_inds].float()) / up_bound
neg_label_weights[:num_hlr] = imp_weights
neg_label_weights[num_hlr:] = imp_weights.min()
neg_label_weights = (self.bias +
(1 - self.bias) * neg_label_weights).pow(
self.k)
ori_selected_loss = ori_loss[select_inds]
new_loss = ori_selected_loss * neg_label_weights
norm_ratio = ori_selected_loss.sum() / new_loss.sum()
neg_label_weights *= norm_ratio
else:
neg_label_weights = cls_score.new_ones(num_expected)
select_inds = torch.randperm(num_neg)[:num_expected]
return neg_inds[select_inds], neg_label_weights
