def resize_and_crop_boxes(boxes, image_scale, output_size, offset): """Resizes boxes to output size with scale and offset. Args: boxes: `Tensor` of shape [N, 4] representing ground truth boxes. image_scale: 2D float `Tensor` representing scale factors that apply to [height, width] of input image. output_size: 2D `Tensor` or `int` representing [height, width] of target output image size. offset: 2D `Tensor` representing top-left corner [y0, x0] to crop scaled boxes. Returns: boxes: `Tensor` of shape [N, 4] representing the scaled boxes. """ # Adjusts box coordinates based on image_scale and offset. boxes *= tf.tile(tf.expand_dims(image_scale, axis=0), [1, 2]) boxes -= tf.tile(tf.expand_dims(offset, axis=0), [1, 2]) # Clips the boxes. boxes = box_utils.clip_boxes(boxes, output_size) return boxes
def call(self, box_outputs, class_outputs, anchor_boxes, image_shape): # Collects outputs from all levels into a list. boxes = [] scores = [] for i in range(self._min_level, self._max_level + 1): box_outputs_i_shape = tf.shape(box_outputs[i]) batch_size = box_outputs_i_shape[0] num_anchors_per_locations = box_outputs_i_shape[-1] // 4 num_classes = tf.shape( class_outputs[i])[-1] // num_anchors_per_locations # Applies score transformation and remove the implicit background class. scores_i = tf.sigmoid( tf.reshape(class_outputs[i], [batch_size, -1, num_classes])) scores_i = tf.slice(scores_i, [0, 0, 1], [-1, -1, -1]) # Box decoding. # The anchor boxes are shared for all data in a batch. # One stage detector only supports class agnostic box regression. anchor_boxes_i = tf.reshape(anchor_boxes[i], [batch_size, -1, 4]) box_outputs_i = tf.reshape(box_outputs[i], [batch_size, -1, 4]) boxes_i = box_utils.decode_boxes(box_outputs_i, anchor_boxes_i) # Box clipping. boxes_i = box_utils.clip_boxes(boxes_i, image_shape) boxes.append(boxes_i) scores.append(scores_i) boxes = tf.concat(boxes, axis=1) scores = tf.concat(scores, axis=1) nmsed_boxes, nmsed_scores, nmsed_classes, valid_detections = ( self._generate_detections(tf.expand_dims(boxes, axis=2), scores)) # Adds 1 to offset the background class which has index 0. nmsed_classes += 1 return nmsed_boxes, nmsed_scores, nmsed_classes, valid_detections
def oln_multilevel_propose_rois(self, rpn_boxes, rpn_scores, anchor_boxes, image_shape, rpn_pre_nms_top_k=2000, rpn_post_nms_top_k=1000, rpn_nms_threshold=0.7, rpn_score_threshold=0.0, rpn_min_size_threshold=0.0, decode_boxes=True, clip_boxes=True, use_batched_nms=False, apply_sigmoid_to_score=True, is_box_lrtb=False, rpn_object_scores=None,): """Proposes RoIs given a group of candidates from different FPN levels. The following describes the steps: 1. For each individual level: a. Adjust scores for each level if specified by rpn_object_scores. b. Apply sigmoid transform if specified. c. Decode boxes (either of xyhw or left-right-top-bottom format) if specified. d. Clip boxes if specified. e. Filter small boxes and those fall outside image if specified. f. Apply pre-NMS filtering including pre-NMS top k and score thresholding. g. Apply NMS. 2. Aggregate post-NMS boxes from each level. 3. Apply an overall top k to generate the final selected RoIs. Args: rpn_boxes: a dict with keys representing FPN levels and values representing box tenors of shape [batch_size, feature_h, feature_w, num_anchors * 4]. rpn_scores: a dict with keys representing FPN levels and values representing logit tensors of shape [batch_size, feature_h, feature_w, num_anchors]. anchor_boxes: a dict with keys representing FPN levels and values representing anchor box tensors of shape [batch_size, feature_h, feature_w, num_anchors * 4]. image_shape: a tensor of shape [batch_size, 2] where the last dimension are [height, width] of the scaled image. rpn_pre_nms_top_k: an integer of top scoring RPN proposals *per level* to keep before applying NMS. Default: 2000. rpn_post_nms_top_k: an integer of top scoring RPN proposals *in total* to keep after applying NMS. Default: 1000. rpn_nms_threshold: a float between 0 and 1 representing the IoU threshold used for NMS. If 0.0, no NMS is applied. Default: 0.7. rpn_score_threshold: a float between 0 and 1 representing the minimal box score to keep before applying NMS. This is often used as a pre-filtering step for better performance. If 0, no filtering is applied. Default: 0. rpn_min_size_threshold: a float representing the minimal box size in each side (w.r.t. the scaled image) to keep before applying NMS. This is often used as a pre-filtering step for better performance. If 0, no filtering is applied. Default: 0. decode_boxes: a boolean indicating whether `rpn_boxes` needs to be decoded using `anchor_boxes`. If False, use `rpn_boxes` directly and ignore `anchor_boxes`. Default: True. clip_boxes: a boolean indicating whether boxes are first clipped to the scaled image size before appliying NMS. If False, no clipping is applied and `image_shape` is ignored. Default: True. use_batched_nms: a boolean indicating whether NMS is applied in batch using `tf.image.combined_non_max_suppression`. Currently only available in CPU/GPU. Default: False. apply_sigmoid_to_score: a boolean indicating whether apply sigmoid to `rpn_scores` before applying NMS. Default: True. is_box_lrtb: a bool indicating whether boxes are in lrtb (=left,right,top, bottom) format. rpn_object_scores: a predicted objectness score (e.g., centerness). In OLN, we use object_scores=centerness as a replacement of the scores at each level. A dict with keys representing FPN levels and values representing logit tensors of shape [batch_size, feature_h, feature_w, num_anchors]. Returns: selected_rois: a tensor of shape [batch_size, rpn_post_nms_top_k, 4], representing the box coordinates of the selected proposals w.r.t. the scaled image. selected_roi_scores: a tensor of shape [batch_size, rpn_post_nms_top_k, 1],representing the scores of the selected proposals. """ with tf.name_scope('multilevel_propose_rois'): rois = [] roi_scores = [] image_shape = tf.expand_dims(image_shape, axis=1) for level in sorted(rpn_scores.keys()): with tf.name_scope('level_%d' % level): _, feature_h, feature_w, num_anchors_per_location = ( rpn_scores[level].get_shape().as_list()) num_boxes = feature_h * feature_w * num_anchors_per_location this_level_scores = tf.reshape(rpn_scores[level], [-1, num_boxes]) this_level_boxes = tf.reshape(rpn_boxes[level], [-1, num_boxes, 4]) this_level_anchors = tf.cast( tf.reshape(anchor_boxes[level], [-1, num_boxes, 4]), dtype=this_level_scores.dtype) if rpn_object_scores: this_level_object_scores = rpn_object_scores[level] this_level_object_scores = tf.reshape(this_level_object_scores, [-1, num_boxes]) this_level_object_scores = tf.cast(this_level_object_scores, this_level_scores.dtype) this_level_scores = this_level_object_scores if apply_sigmoid_to_score: this_level_scores = tf.sigmoid(this_level_scores) if decode_boxes: if is_box_lrtb: # Box in left-right-top-bottom format. this_level_boxes = box_utils.decode_boxes_lrtb( this_level_boxes, this_level_anchors) else: # Box in standard x-y-h-w format. this_level_boxes = box_utils.decode_boxes( this_level_boxes, this_level_anchors) if clip_boxes: this_level_boxes = box_utils.clip_boxes( this_level_boxes, image_shape) if rpn_min_size_threshold > 0.0: this_level_boxes, this_level_scores = box_utils.filter_boxes( this_level_boxes, this_level_scores, image_shape, rpn_min_size_threshold) this_level_pre_nms_top_k = min(num_boxes, rpn_pre_nms_top_k) this_level_post_nms_top_k = min(num_boxes, rpn_post_nms_top_k) if rpn_nms_threshold > 0.0: if use_batched_nms: this_level_rois, this_level_roi_scores, _, _ = ( tf.image.combined_non_max_suppression( tf.expand_dims(this_level_boxes, axis=2), tf.expand_dims(this_level_scores, axis=-1), max_output_size_per_class=this_level_pre_nms_top_k, max_total_size=this_level_post_nms_top_k, iou_threshold=rpn_nms_threshold, score_threshold=rpn_score_threshold, pad_per_class=False, clip_boxes=False)) else: if rpn_score_threshold > 0.0: this_level_boxes, this_level_scores = ( box_utils.filter_boxes_by_scores(this_level_boxes, this_level_scores, rpn_score_threshold)) this_level_boxes, this_level_scores = box_utils.top_k_boxes( this_level_boxes, this_level_scores, k=this_level_pre_nms_top_k) this_level_roi_scores, this_level_rois = ( nms.sorted_non_max_suppression_padded( this_level_scores, this_level_boxes, max_output_size=this_level_post_nms_top_k, iou_threshold=rpn_nms_threshold)) else: this_level_rois, this_level_roi_scores = box_utils.top_k_boxes( this_level_rois, this_level_scores, k=this_level_post_nms_top_k) rois.append(this_level_rois) roi_scores.append(this_level_roi_scores) all_rois = tf.concat(rois, axis=1) all_roi_scores = tf.concat(roi_scores, axis=1) with tf.name_scope('top_k_rois'): _, num_valid_rois = all_roi_scores.get_shape().as_list() overall_top_k = min(num_valid_rois, rpn_post_nms_top_k) selected_rois, selected_roi_scores = box_utils.top_k_boxes( all_rois, all_roi_scores, k=overall_top_k) return selected_rois, selected_roi_scores
def _parse_train_data(self, data): """Parse data for ShapeMask training.""" classes = data['groundtruth_classes'] boxes = data['groundtruth_boxes'] masks = data['groundtruth_instance_masks'] is_crowds = data['groundtruth_is_crowd'] # Skips annotations with `is_crowd` = True. if self._skip_crowd_during_training and self._is_training: num_groundtrtuhs = tf.shape(classes)[0] with tf.control_dependencies([num_groundtrtuhs, is_crowds]): indices = tf.cond( tf.greater(tf.size(is_crowds), 0), lambda: tf.where(tf.logical_not(is_crowds))[:, 0], lambda: tf.cast(tf.range(num_groundtrtuhs), tf.int64)) classes = tf.gather(classes, indices) boxes = tf.gather(boxes, indices) masks = tf.gather(masks, indices) # Gets original image and its size. image = data['image'] image_shape = tf.shape(image)[0:2] # If not using category, makes all categories with id = 0. if not self._use_category: classes = tf.cast(tf.greater(classes, 0), dtype=tf.float32) # Normalizes image with mean and std pixel values. image = input_utils.normalize_image(image) # Flips image randomly during training. if self._aug_rand_hflip: image, boxes, masks = input_utils.random_horizontal_flip( image, boxes, masks) # Converts boxes from normalized coordinates to pixel coordinates. boxes = box_utils.denormalize_boxes(boxes, image_shape) # Resizes and crops image. image, image_info = input_utils.resize_and_crop_image( image, self._output_size, self._output_size, aug_scale_min=self._aug_scale_min, aug_scale_max=self._aug_scale_max) image_scale = image_info[2, :] offset = image_info[3, :] # Resizes and crops boxes and masks. boxes = input_utils.resize_and_crop_boxes(boxes, image_scale, image_info[1, :], offset) # Filters out ground truth boxes that are all zeros. indices = box_utils.get_non_empty_box_indices(boxes) boxes = tf.gather(boxes, indices) classes = tf.gather(classes, indices) masks = tf.gather(masks, indices) # Assigns anchors. input_anchor = anchor.Anchor(self._min_level, self._max_level, self._num_scales, self._aspect_ratios, self._anchor_size, self._output_size) anchor_labeler = anchor.AnchorLabeler(input_anchor, self._match_threshold, self._unmatched_threshold) (cls_targets, box_targets, num_positives) = anchor_labeler.label_anchors( boxes, tf.cast(tf.expand_dims(classes, axis=1), tf.float32)) # Sample groundtruth masks/boxes/classes for mask branch. num_masks = tf.shape(masks)[0] mask_shape = tf.shape(masks)[1:3] # Pad sampled boxes/masks/classes to a constant batch size. padded_boxes = pad_to_size(boxes, self._num_sampled_masks) padded_classes = pad_to_size(classes, self._num_sampled_masks) padded_masks = pad_to_size(masks, self._num_sampled_masks) # Randomly sample groundtruth masks for mask branch training. For the image # without groundtruth masks, it will sample the dummy padded tensors. rand_indices = tf.random.shuffle( tf.range(tf.maximum(num_masks, self._num_sampled_masks))) rand_indices = tf.math.mod(rand_indices, tf.maximum(num_masks, 1)) rand_indices = rand_indices[0:self._num_sampled_masks] rand_indices = tf.reshape(rand_indices, [self._num_sampled_masks]) sampled_boxes = tf.gather(padded_boxes, rand_indices) sampled_classes = tf.gather(padded_classes, rand_indices) sampled_masks = tf.gather(padded_masks, rand_indices) # Jitter the sampled boxes to mimic the noisy detections. sampled_boxes = box_utils.jitter_boxes( sampled_boxes, noise_scale=self._box_jitter_scale) sampled_boxes = box_utils.clip_boxes(sampled_boxes, self._output_size) # Compute mask targets in feature crop. A feature crop fully contains a # sampled box. mask_outer_boxes = box_utils.compute_outer_boxes( sampled_boxes, tf.shape(image)[0:2], scale=self._outer_box_scale) mask_outer_boxes = box_utils.clip_boxes(mask_outer_boxes, self._output_size) # Compensate the offset of mask_outer_boxes to map it back to original image # scale. mask_outer_boxes_ori = mask_outer_boxes mask_outer_boxes_ori += tf.tile(tf.expand_dims(offset, axis=0), [1, 2]) mask_outer_boxes_ori /= tf.tile(tf.expand_dims(image_scale, axis=0), [1, 2]) norm_mask_outer_boxes_ori = box_utils.normalize_boxes( mask_outer_boxes_ori, mask_shape) # Set sampled_masks shape to [batch_size, height, width, 1]. sampled_masks = tf.cast(tf.expand_dims(sampled_masks, axis=-1), tf.float32) mask_targets = tf.image.crop_and_resize( sampled_masks, norm_mask_outer_boxes_ori, box_indices=tf.range(self._num_sampled_masks), crop_size=[self._mask_crop_size, self._mask_crop_size], method='bilinear', extrapolation_value=0, name='train_mask_targets') mask_targets = tf.where(tf.greater_equal(mask_targets, 0.5), tf.ones_like(mask_targets), tf.zeros_like(mask_targets)) mask_targets = tf.squeeze(mask_targets, axis=-1) if self._up_sample_factor > 1: fine_mask_targets = tf.image.crop_and_resize( sampled_masks, norm_mask_outer_boxes_ori, box_indices=tf.range(self._num_sampled_masks), crop_size=[ self._mask_crop_size * self._up_sample_factor, self._mask_crop_size * self._up_sample_factor ], method='bilinear', extrapolation_value=0, name='train_mask_targets') fine_mask_targets = tf.where( tf.greater_equal(fine_mask_targets, 0.5), tf.ones_like(fine_mask_targets), tf.zeros_like(fine_mask_targets)) fine_mask_targets = tf.squeeze(fine_mask_targets, axis=-1) else: fine_mask_targets = mask_targets # If bfloat16 is used, casts input image to tf.bfloat16. if self._use_bfloat16: image = tf.cast(image, dtype=tf.bfloat16) valid_image = tf.cast(tf.not_equal(num_masks, 0), tf.int32) if self._mask_train_class == 'all': mask_is_valid = valid_image * tf.ones_like(sampled_classes, tf.int32) else: # Get the intersection of sampled classes with training splits. mask_valid_classes = tf.cast( tf.expand_dims( class_utils.coco_split_class_ids(self._mask_train_class), 1), sampled_classes.dtype) match = tf.reduce_any( tf.equal(tf.expand_dims(sampled_classes, 0), mask_valid_classes), 0) mask_is_valid = valid_image * tf.cast(match, tf.int32) # Packs labels for model_fn outputs. labels = { 'cls_targets': cls_targets, 'box_targets': box_targets, 'anchor_boxes': input_anchor.multilevel_boxes, 'num_positives': num_positives, 'image_info': image_info, # For ShapeMask. 'mask_targets': mask_targets, 'fine_mask_targets': fine_mask_targets, 'mask_is_valid': mask_is_valid, } inputs = { 'image': image, 'image_info': image_info, 'mask_boxes': sampled_boxes, 'mask_outer_boxes': mask_outer_boxes, 'mask_classes': sampled_classes, } return inputs, labels
def __call__(self, box_outputs, class_outputs, anchor_boxes, image_shape, is_single_fg_score=False, keep_nms=True): """Generate final detections for Object Localization Network (OLN). Args: box_outputs: a tensor of shape of [batch_size, K, num_classes * 4] representing the class-specific box coordinates relative to anchors. class_outputs: a tensor of shape of [batch_size, K, num_classes] representing the class logits before applying score activiation. anchor_boxes: a tensor of shape of [batch_size, K, 4] representing the corresponding anchor boxes w.r.t `box_outputs`. image_shape: a tensor of shape of [batch_size, 2] storing the image height and width w.r.t. the scaled image, i.e. the same image space as `box_outputs` and `anchor_boxes`. is_single_fg_score: a Bool indicator of whether class_outputs includes the background scores concatenated or not. By default, class_outputs is a concatenation of both scores for the foreground and background. That is, scores_without_bg=False. keep_nms: a Bool indicator of whether to perform NMS or not. Returns: nms_boxes: `float` Tensor of shape [batch_size, max_total_size, 4] representing top detected boxes in [y1, x1, y2, x2]. nms_scores: `float` Tensor of shape [batch_size, max_total_size] representing sorted confidence scores for detected boxes. The values are between [0, 1]. nms_classes: `int` Tensor of shape [batch_size, max_total_size] representing classes for detected boxes. valid_detections: `int` Tensor of shape [batch_size] only the top `valid_detections` boxes are valid detections. """ if is_single_fg_score: # Concatenates dummy background scores. dummy_bg_scores = tf.zeros_like(class_outputs) class_outputs = tf.stack([dummy_bg_scores, class_outputs], -1) else: class_outputs = tf.nn.softmax(class_outputs, axis=-1) # Removes the background class. class_outputs_shape = tf.shape(class_outputs) batch_size = class_outputs_shape[0] num_locations = class_outputs_shape[1] num_classes = class_outputs_shape[-1] num_detections = num_locations * (num_classes - 1) class_outputs = tf.slice(class_outputs, [0, 0, 1], [-1, -1, -1]) box_outputs = tf.reshape( box_outputs, tf.stack([batch_size, num_locations, num_classes, 4], axis=-1)) box_outputs = tf.slice(box_outputs, [0, 0, 1, 0], [-1, -1, -1, -1]) anchor_boxes = tf.tile(tf.expand_dims(anchor_boxes, axis=2), [1, 1, num_classes - 1, 1]) box_outputs = tf.reshape( box_outputs, tf.stack([batch_size, num_detections, 4], axis=-1)) anchor_boxes = tf.reshape( anchor_boxes, tf.stack([batch_size, num_detections, 4], axis=-1)) # Box decoding. For RPN outputs, box_outputs are all zeros. decoded_boxes = box_utils.decode_boxes(box_outputs, anchor_boxes, weights=[10.0, 10.0, 5.0, 5.0]) # Box clipping decoded_boxes = box_utils.clip_boxes(decoded_boxes, image_shape) decoded_boxes = tf.reshape( decoded_boxes, tf.stack([batch_size, num_locations, num_classes - 1, 4], axis=-1)) if keep_nms: nmsed_boxes, nmsed_scores, nmsed_classes, valid_detections = ( self._generate_detections(decoded_boxes, class_outputs)) # Adds 1 to offset the background class which has index 0. nmsed_classes += 1 else: nmsed_boxes = decoded_boxes[:, :, 0, :] nmsed_scores = class_outputs[:, :, 0] nmsed_classes = tf.cast(tf.ones_like(nmsed_scores), tf.int32) valid_detections = tf.cast( tf.reduce_sum(tf.ones_like(nmsed_scores), axis=-1), tf.int32) return nmsed_boxes, nmsed_scores, nmsed_classes, valid_detections
def call(self, box_outputs, class_outputs, anchor_boxes, image_shape): """Generate final detections. Args: box_outputs: a tensor of shape of [batch_size, K, num_classes * 4] representing the class-specific box coordinates relative to anchors. class_outputs: a tensor of shape of [batch_size, K, num_classes] representing the class logits before applying score activiation. anchor_boxes: a tensor of shape of [batch_size, K, 4] representing the corresponding anchor boxes w.r.t `box_outputs`. image_shape: a tensor of shape of [batch_size, 2] storing the image height and width w.r.t. the scaled image, i.e. the same image space as `box_outputs` and `anchor_boxes`. Returns: nms_boxes: `float` Tensor of shape [batch_size, max_total_size, 4] representing top detected boxes in [y1, x1, y2, x2]. nms_scores: `float` Tensor of shape [batch_size, max_total_size] representing sorted confidence scores for detected boxes. The values are between [0, 1]. nms_classes: `int` Tensor of shape [batch_size, max_total_size] representing classes for detected boxes. valid_detections: `int` Tensor of shape [batch_size] only the top `valid_detections` boxes are valid detections. """ class_outputs = tf.nn.softmax(class_outputs, axis=-1) # Removes the background class. class_outputs_shape = tf.shape(class_outputs) batch_size = class_outputs_shape[0] num_locations = class_outputs_shape[1] num_classes = class_outputs_shape[-1] num_detections = num_locations * (num_classes - 1) class_outputs = tf.slice(class_outputs, [0, 0, 1], [-1, -1, -1]) box_outputs = tf.reshape( box_outputs, tf.stack([batch_size, num_locations, num_classes, 4], axis=-1)) box_outputs = tf.slice(box_outputs, [0, 0, 1, 0], [-1, -1, -1, -1]) anchor_boxes = tf.tile(tf.expand_dims(anchor_boxes, axis=2), [1, 1, num_classes - 1, 1]) box_outputs = tf.reshape( box_outputs, tf.stack([batch_size, num_detections, 4], axis=-1)) anchor_boxes = tf.reshape( anchor_boxes, tf.stack([batch_size, num_detections, 4], axis=-1)) # Box decoding. decoded_boxes = box_utils.decode_boxes(box_outputs, anchor_boxes, weights=[10.0, 10.0, 5.0, 5.0]) # Box clipping decoded_boxes = box_utils.clip_boxes(decoded_boxes, image_shape) decoded_boxes = tf.reshape( decoded_boxes, tf.stack([batch_size, num_locations, num_classes - 1, 4], axis=-1)) nmsed_boxes, nmsed_scores, nmsed_classes, valid_detections = ( self._generate_detections(decoded_boxes, class_outputs)) # Adds 1 to offset the background class which has index 0. nmsed_classes += 1 return nmsed_boxes, nmsed_scores, nmsed_classes, valid_detections