def inference(self, head, x, proposals, valid_size, img_size):
x = x[self.min_level:self.min_level + self.levels]
if not proposals.all_none:
# Run head on the given proposals
proposals, proposals_idx = proposals.contiguous
cls_logits, bbx_logits = self._head(head, x, proposals,
proposals_idx, img_size)
# Shift the proposals according to the logits
bbx_reg_weights = x[0].new(self.bbx_reg_weights)
boxes = shift_boxes(proposals.unsqueeze(1),
bbx_logits / bbx_reg_weights)
scores = torch.softmax(cls_logits, dim=1)
# Split boxes and scores by image, clip to valid size
boxes, scores = self._split_and_clip(boxes, scores, proposals_idx,
valid_size)
bbx_pred, cls_pred, obj_pred = self.prediction_generator(
boxes, scores)
else:
bbx_pred = PackedSequence([None for _ in range(x[0].size(0))])
cls_pred = PackedSequence([None for _ in range(x[0].size(0))])
obj_pred = PackedSequence([None for _ in range(x[0].size(0))])
return bbx_pred, cls_pred, obj_pred
def _match_to_lbl(self, proposals, bbx, cat, match):
cls_lbl = []
bbx_lbl = []
for i, (proposals_i, bbx_i, cat_i,
match_i) in enumerate(zip(proposals, bbx, cat, match)):
if match_i is not None:
pos = match_i >= 0
# Objectness labels
cls_lbl_i = proposals_i.new_zeros(proposals_i.size(0),
dtype=torch.long)
cls_lbl_i[pos] = cat_i[match_i[pos]] + 1 - self.num_stuff
# Bounding box regression labels
if pos.any().item():
bbx_lbl_i = calculate_shift(proposals_i[pos],
bbx_i[match_i[pos]])
bbx_lbl_i *= bbx_lbl_i.new(self.bbx_reg_weights)
else:
bbx_lbl_i = None
cls_lbl.append(cls_lbl_i)
bbx_lbl.append(bbx_lbl_i)
else:
cls_lbl.append(None)
bbx_lbl.append(None)
return PackedSequence(cls_lbl), PackedSequence(bbx_lbl)
def _match_to_lbl(self, proposals, bbx, cat, ids, msk, match):
cls_lbl = []
bbx_lbl = []
msk_lbl = []
for i, (proposals_i, bbx_i, cat_i, ids_i, msk_i,
match_i) in enumerate(zip(proposals, bbx, cat, ids, msk,
match)):
if match_i is not None:
pos = match_i >= 0
# Objectness labels
cls_lbl_i = proposals_i.new_zeros(proposals_i.size(0),
dtype=torch.long)
cls_lbl_i[pos] = cat_i[match_i[pos]] + 1 - self.num_stuff
# Bounding box regression labels
if pos.any().item():
bbx_lbl_i = calculate_shift(proposals_i[pos],
bbx_i[match_i[pos]])
bbx_lbl_i *= bbx_lbl_i.new(self.bbx_reg_weights)
iis_lbl_i = ids_i[match_i[pos]]
# Compute instance segmentation masks
msk_i = roi_sampling(
msk_i.unsqueeze(0),
proposals_i[pos],
msk_i.new_zeros(pos.long().sum().item()),
self.lbl_roi_size, #28*28
interpolation="nearest")
# Calculate mask segmentation labels
msk_lbl_i = (msk_i == iis_lbl_i.view(
-1, 1, 1, 1)).any(dim=1).to(torch.long)
if not self.void_is_background:
msk_lbl_i[(msk_i == 0).all(dim=1)] = -1
else:
bbx_lbl_i = None
msk_lbl_i = None
cls_lbl.append(cls_lbl_i)
bbx_lbl.append(bbx_lbl_i)
msk_lbl.append(msk_lbl_i)
else:
cls_lbl.append(None)
bbx_lbl.append(None)
msk_lbl.append(None)
return PackedSequence(cls_lbl), PackedSequence(
bbx_lbl), PackedSequence(msk_lbl)
def __call__(self, boxes, scores, training):
"""Perform NMS-based selection of proposals
Parameters
----------
boxes : torch.Tensor
Tensor of bounding boxes with shape N x M x 4
scores : torch.Tensor
Tensor of bounding box scores with shape N x M
training : bool
Switch between training and validation modes
Returns
-------
proposals : PackedSequence
Sequence of N tensors of selected bounding boxes with shape M_i x 4, entries can be None
"""
if training:
num_pre_nms = self.num_pre_nms_train
num_post_nms = self.num_post_nms_train
else:
num_pre_nms = self.num_pre_nms_val
num_post_nms = self.num_post_nms_val
proposals = []
indices = []
for bbx_i, obj_i in zip(boxes, scores):
try:
# Optional size pre-selection, remove very small boxes
if self.min_size > 0:
bbx_size = bbx_i[:, 2:] - bbx_i[:, :2]
valid = (bbx_size[:, 0] >=
self.min_size) & (bbx_size[:, 1] >= self.min_size)
if valid.any().item():
bbx_i, obj_i = bbx_i[valid], obj_i[valid]
else:
raise Empty
# Score pre-selection pick top num_pre_nms ones
obj_i, idx = obj_i.topk(min(obj_i.size(0), num_pre_nms))
bbx_i = bbx_i[idx]
# NMS
_idx = nms(bbx_i, obj_i, self.nms_threshold, num_post_nms)
if _idx.numel() == 0:
raise Empty
bbx_i = bbx_i[_idx]
indices.append(idx[_idx])
proposals.append(bbx_i)
except Empty:
indices.append(None)
proposals.append(None)
return PackedSequence(proposals), indices
def training(self, head, x, sem, valid_size, img_size):
"""Given input features and ground truth compute semantic segmentation loss, confusion matrix and prediction
Parameters
----------
head : torch.nn.Module
Module to compute semantic segmentation logits given an input feature map. Must be callable as `head(x)`
x : torch.Tensor
A tensor of image features with shape N x C x H x W
sem : sequence of torch.Tensor
A sequence of N tensors of ground truth semantic segmentations with shapes H_i x W_i
valid_size : list of tuple of int
List of valid image sizes in input coordinates
img_size : tuple of int
Spatial size of the, possibly padded, image tensor used as input to the network that calculates x
Returns
-------
sem_loss : torch.Tensor
A scalar tensor with the computed loss
conf_mat : torch.Tensor
A confusion matrix tensor with shape M x M, where M is the number of classes
sem_pred : PackedSequence
A sequence of N tensors of semantic segmentations with shapes H_i x W_i
"""
# Compute logits and prediction
sem_logits = self._logits(head, x, valid_size, img_size)
sem_pred = PackedSequence([sem_logits_i.max(dim=0)[1] for sem_logits_i in sem_logits])
# Compute loss and confusion matrix
sem_loss = self.loss(sem_logits, sem)
conf_mat = self._confusion_matrix(sem_pred, sem)
return sem_loss, conf_mat, sem_pred
def iss_collate_fn(items):
"""Collate function for ISS batches"""
out = {}
if len(items) > 0:
for key in items[0]:
out[key] = [item[key] for item in items]
if isinstance(items[0][key], torch.Tensor):
out[key] = PackedSequence(out[key])
return out
def inference(self, head, x, proposals, valid_size, img_size):
x = x[self.min_level:self.min_level + self.levels]
try:
if proposals.all_none:
raise Empty
# Run head on the given proposals
proposals, proposals_idx = proposals.contiguous
cls_logits, bbx_logits, _ = self._head(head, x, proposals,
proposals_idx, img_size,
True, False)
# Shift the proposals according to the logits
bbx_reg_weights = x[0].new(self.bbx_reg_weights)
boxes = shift_boxes(proposals.unsqueeze(1),
bbx_logits / bbx_reg_weights)
scores = torch.softmax(cls_logits, dim=1)
# Split boxes and scores by image, clip to valid size
boxes, scores = self._split_and_clip(boxes, scores, proposals_idx,
valid_size)
# Do nms to find final predictions
bbx_pred, cls_pred, obj_pred = self.bbx_prediction_generator(
boxes, scores)
if bbx_pred.all_none:
raise Empty
# Run head again on the finalized boxes to compute instance masks
proposals, proposals_idx = bbx_pred.contiguous
_, _, msk_logits = self._head(head, x, proposals, proposals_idx,
img_size, False, True)
# Finalize instance mask computation
msk_pred = self.msk_prediction_generator(cls_pred, msk_logits)
except Empty:
bbx_pred = PackedSequence([None for _ in range(x[0].size(0))])
cls_pred = PackedSequence([None for _ in range(x[0].size(0))])
obj_pred = PackedSequence([None for _ in range(x[0].size(0))])
msk_pred = PackedSequence([None for _ in range(x[0].size(0))])
return bbx_pred, cls_pred, obj_pred, msk_pred
def inference(self, head, x, valid_size, img_size):
"""Given input features compute semantic segmentation prediction
Parameters
----------
head : torch.nn.Module
Module to compute semantic segmentation logits given an input feature map. Must be callable as `head(x)`
x : torch.Tensor
A tensor of image features with shape N x C x H x W
valid_size : list of tuple of int
List of valid image sizes in input coordinates
img_size : tuple of int
Spatial size of the, possibly padded, image tensor used as input to the network that calculates x
Returns
-------
sem_pred : PackedSequence
A sequence of N tensors of semantic segmentations with shapes H_i x W_i
"""
sem_logits = self._logits(head, x, valid_size, img_size)
sem_pred = PackedSequence([sem_logits_i.max(dim=0)[1] for sem_logits_i in sem_logits])
return sem_pred
def __call__(self, cls_pred, msk_logits):
"""Compute mask predictions given mask logits and bounding box / class predictions
Parameters
----------
cls_pred : sequence of torch.Tensor
A sequence of N tensors with shape S_i, each containing the predicted classes of the detections selected in
each image, entries can be None.
msk_logits : torch.Tensor
A tensor with shape S x C x H x W containing the class-specific mask logits predicted for the instances
in bbx_preds. Note that S = sum_i S_i.
Returns
-------
msk_pred : PackedSequence
A sequence of N tensors with shape S_i x H x W containing the mask logits for the detections in each
image. Entries of `msk_preds` are None for images with no instances.
"""
# Prepare output lists
msk_pred = []
last_it = 0
for cls_pred_i in cls_pred:
if cls_pred_i is not None:
msk_pred_i = msk_logits[last_it:last_it + cls_pred_i.numel()]
idx = torch.arange(0,
cls_pred_i.numel(),
dtype=torch.long,
device=msk_pred_i.device)
msk_pred_i = msk_pred_i[idx, cls_pred_i, ...]
msk_pred.append(msk_pred_i)
last_it += cls_pred_i.numel()
else:
msk_pred.append(None)
return PackedSequence(msk_pred)
def __call__(self, boxes, scores):
"""Perform NMS-based selection of detections
Parameters
----------
boxes : sequence of torch.Tensor
Sequence of N tensors of class-specific bounding boxes with shapes M_i x C x 4, entries can be None
scores : sequence of torch.Tensor
Sequence of N tensors of class probabilities with shapes M_i x (C + 1), entries can be None
Returns
-------
bbx_pred : PackedSequence
A sequence of N tensors of bounding boxes with shapes S_i x 4, entries are None for images in which no
detection can be kept according to the selection parameters
cls_pred : PackedSequence
A sequence of N tensors of thing class predictions with shapes S_i, entries are None for images in which no
detection can be kept according to the selection parameters
obj_pred : PackedSequence
A sequence of N tensors of detection confidences with shapes S_i, entries are None for images in which no
detection can be kept according to the selection parameters
"""
bbx_pred, cls_pred, obj_pred = [], [], []
for bbx_i, obj_i in zip(boxes, scores):
try:
if bbx_i is None or obj_i is None:
raise Empty
# Do NMS separately for each class
bbx_pred_i, cls_pred_i, obj_pred_i = [], [], []
for cls_id, (bbx_cls_i, obj_cls_i) in enumerate(
zip(torch.unbind(bbx_i, dim=1),
torch.unbind(obj_i, dim=1)[1:])):
# Filter out low-scoring predictions
idx = obj_cls_i > self.score_threshold
if not idx.any().item():
continue
bbx_cls_i = bbx_cls_i[idx]
obj_cls_i = obj_cls_i[idx]
# Filter out empty predictions
idx = (bbx_cls_i[:, 2] > bbx_cls_i[:, 0]) & (
bbx_cls_i[:, 3] > bbx_cls_i[:, 1])
if not idx.any().item():
continue
bbx_cls_i = bbx_cls_i[idx]
obj_cls_i = obj_cls_i[idx]
# Do NMS
idx = nms(bbx_cls_i.contiguous(),
obj_cls_i.contiguous(),
threshold=self.nms_threshold,
n_max=-1)
if idx.numel() == 0:
continue
bbx_cls_i = bbx_cls_i[idx]
obj_cls_i = obj_cls_i[idx]
# Save remaining outputs
bbx_pred_i.append(bbx_cls_i)
cls_pred_i.append(
bbx_cls_i.new_full((bbx_cls_i.size(0), ),
cls_id,
dtype=torch.long))
obj_pred_i.append(obj_cls_i)
# Compact predictions from the classes
if len(bbx_pred_i) == 0:
raise Empty
bbx_pred_i = torch.cat(bbx_pred_i, dim=0)
cls_pred_i = torch.cat(cls_pred_i, dim=0)
obj_pred_i = torch.cat(obj_pred_i, dim=0)
# Do post-NMS selection (if needed)
if bbx_pred_i.size(0) > self.max_predictions:
_, idx = obj_pred_i.topk(self.max_predictions)
bbx_pred_i = bbx_pred_i[idx]
cls_pred_i = cls_pred_i[idx]
obj_pred_i = obj_pred_i[idx]
# Save results
bbx_pred.append(bbx_pred_i)
cls_pred.append(cls_pred_i)
obj_pred.append(obj_pred_i)
except Empty:
bbx_pred.append(None)
cls_pred.append(None)
obj_pred.append(None)
return PackedSequence(bbx_pred), PackedSequence(
cls_pred), PackedSequence(obj_pred)
def __call__(self, proposals, bbx, cat, iscrowd):
"""Match proposals to ground truth boxes
Parameters
----------
proposals : PackedSequence
A sequence of N tensors with shapes P_i x 4 containing bounding box proposals, entries can be None
bbx : sequence of torch.Tensor
A sequence of N tensors with shapes K_i x 4 containing ground truth bounding boxes, entries can be None
cat : sequence of torch.Tensor
A sequence of N tensors with shapes K_i containing ground truth instance -> category mappings, entries can
be None
iscrowd : sequence of torch.Tensor
Sequence of N tensors of ground truth crowd regions (shapes H_i x W_i), or ground truth crowd bounding boxes
(shapes K_i x 4), entries can be None
Returns
-------
out_proposals : PackedSequence
A sequence of N tensors with shapes S_i x 4 containing the non-void bounding box proposals, entries are None
for images that do not contain any non-void proposal
match : PackedSequence
A sequence of matching results with shape S_i, with the following semantic:
- match[i, j] == -1: the j-th anchor in image i is negative
- match[i, j] == k, k >= 0: the j-th anchor in image i is matched to bbx[i][k]
"""
out_proposals = []
match = []
for proposals_i, bbx_i, cat_i, iscrowd_i in zip(
proposals, bbx, cat, iscrowd):
try:
# Append proposals to ground truth bounding boxes before proceeding
if bbx_i is not None and proposals_i is not None:
proposals_i = torch.cat([bbx_i, proposals_i], dim=0)
elif bbx_i is not None:
proposals_i = bbx_i
else:
raise Empty
# Optionally check overlap with void
if self.void_threshold != 0 and iscrowd_i is not None:
if iscrowd_i.dtype == torch.uint8:
overlap = mask_overlap(proposals_i, iscrowd_i)
else:
overlap = bbx_overlap(proposals_i, iscrowd_i)
overlap, _ = overlap.max(dim=1)
valid = overlap < self.void_threshold
proposals_i = proposals_i[valid]
if proposals_i.size(0) == 0:
raise Empty
# Find positives and negatives based on IoU
if bbx_i is not None:
iou = ious(proposals_i, bbx_i)
best_iou, best_gt = iou.max(dim=1)
pos_idx = best_iou >= self.pos_threshold
neg_idx = (best_iou >= self.neg_threshold_lo) & (
best_iou < self.neg_threshold_hi)
else:
# No ground truth boxes: all proposals that are non-void are negative
pos_idx = proposals_i.new_zeros(proposals_i.size(0),
dtype=torch.uint8)
neg_idx = proposals_i.new_ones(proposals_i.size(0),
dtype=torch.uint8)
# Check that there are still some non-voids and do sub-sampling
if not pos_idx.any().item() and not neg_idx.any().item():
raise Empty
pos_idx, neg_idx = self._subsample(pos_idx, neg_idx)
# Gather selected proposals
out_proposals_i = proposals_i[torch.cat([pos_idx, neg_idx])]
# Save matching
match_i = out_proposals_i.new_full((out_proposals_i.size(0), ),
-1,
dtype=torch.long)
match_i[:pos_idx.numel()] = best_gt[pos_idx]
# Save to output
out_proposals.append(out_proposals_i)
match.append(match_i)
except Empty:
out_proposals.append(None)
match.append(None)
return PackedSequence(out_proposals), PackedSequence(match)
def inference(self, head, x, rpn_proposals, valid_size, img_size):
x = x[self.min_level:self.min_level + self.levels]
y = None
try:
if rpn_proposals.all_none:
raise Empty
for stage in range(len(self.stage_loss_weights)):
print('__ {} __'.format(stage))
current_head = head[stage]
_proposals, _proposals_idx = rpn_proposals.contiguous
cls_logits, bbx_logits, _, _ = self._head(
current_head, x, y, _proposals, _proposals_idx, img_size,
True, False)
bbx_reg_weights = x[0].new(self.bbx_reg_weights)
boxes = shift_boxes(_proposals.unsqueeze(1),
bbx_logits / bbx_reg_weights)
scores = torch.softmax(cls_logits, dim=1)
boxes, scores = self._split_and_clip(boxes, scores,
_proposals_idx,
valid_size)
# replicate indices
indices = []
idx = torch.arange(0, bbx_logits.size(0)).long()
indices.append(idx.repeat(bbx_logits.size(1), 1).permute(1, 0))
bbx_pred, cls_pred, obj_pred, indices_pred = self.bbx_prediction_generator(
boxes, scores, indices, stage)
if bbx_pred.all_none:
raise Empty
# Run head again on the regressed boxes to compute instance masks
_proposals, _proposals_idx = bbx_pred.contiguous
_, _, msk_logits, y = self._head(current_head, x, y,
_proposals, _proposals_idx,
img_size, False, True)
# Finalize instance mask computation
msk_pred = self.msk_prediction_generator(cls_pred, msk_logits)
# Flip to replace repeated indices with best scoring bbox
rpn_proposals_augument = []
for _proposals_i, _indices_i, rpn_proposals_i in zip(
bbx_pred, indices_pred, rpn_proposals):
rpn_proposals_i[_indices_i.flip(0)] = _proposals_i.flip(0)
rpn_proposals_augument.append(rpn_proposals_i)
rpn_proposals = PackedSequence(rpn_proposals_augument)
except Empty:
bbx_pred = PackedSequence([None for _ in range(x[0].size(0))])
cls_pred = PackedSequence([None for _ in range(x[0].size(0))])
obj_pred = PackedSequence([None for _ in range(x[0].size(0))])
msk_pred = PackedSequence([None for _ in range(x[0].size(0))])
return bbx_pred, cls_pred, obj_pred, msk_pred
# Run head on the given proposals
# proposals, proposals_idx = proposals.contiguous
# cls_logits, bbx_logits, _ = self._head(head, x, proposals, proposals_idx, img_size, True, False)
# Shift the proposals according to the logits
# bbx_reg_weights = x[0].new(self.bbx_reg_weights)
# boxes = shift_boxes(proposals.unsqueeze(1), bbx_logits / bbx_reg_weights)
# scores = torch.softmax(cls_logits, dim=1)
# Split boxes and scores by image, clip to valid size
# boxes, scores = self._split_and_clip(boxes, scores, proposals_idx, valid_size)
# Do nms to find final predictions
# bbx_pred, cls_pred, obj_pred = self.bbx_prediction_generator(boxes, scores)
# if bbx_pred.all_none:
# raise Empty
# Run head again on the finalized boxes to compute instance masks
# proposals, proposals_idx = bbx_pred.contiguous
# _, _, msk_logits = self._head(head, x, proposals, proposals_idx, img_size, False, True)
# Finalize instance mask computation
# msk_pred = self.msk_prediction_generator(cls_pred, msk_logits)
def training(self, head, x, rpn_proposals, bbx, cat, iscrowd, ids, msk,
img_size, valid_size):
x = x[self.min_level:self.min_level + self.levels]
cls_loss_sum, bbx_loss_sum, msk_loss_sum = 0.0, 0.0, 0.0
y = None
try:
#### Zero pooling ###
if rpn_proposals.all_none:
raise Empty
#Match proposals to ground truth
with torch.no_grad():
# get stage proposals Top 512 samples
proposals, match, rpn_proposals, indices = self.proposal_matcher(
rpn_proposals, bbx, cat, iscrowd, 0)
#np.savetxt('rpn_proposals_original', rpn_proposals[0].cpu(), fmt='%1.2f')
cls_lbl, bbx_lbl, msk_lbl = self._match_to_lbl(
proposals, bbx, cat, ids, msk, match)
if proposals.all_none:
raise Empty
_proposals, _proposals_idx = proposals.contiguous
for stage in range(len(self.stage_loss_weights)):
#print('__ {} __'.format(stage))
# Current head and its weighted loss coefficient lw
current_head = head[stage]
lw = self.stage_loss_weights[stage]
### Run Current head for BBox training & loss calculation ###
set_active_group(current_head, active_group(True))
cls_logits, bbx_logits, _, _ = self._head(
current_head, x, y, _proposals, _proposals_idx, img_size,
True, False)
cls_loss, bbx_loss = self.bbx_loss(cls_logits, bbx_logits,
cls_lbl, bbx_lbl)
cls_loss_sum += lw * cls_loss
bbx_loss_sum += lw * bbx_loss
#print('cls_loss_{} ='.format(stage), cls_loss.item())
#print('bbx_loss_{} ='.format(stage), bbx_loss.item())
### Get new proposals for next stage ###
_proposals, _indices = self._inference(x, _proposals,
_proposals_idx,
bbx_logits, cls_logits,
valid_size, indices,
stage)
if _proposals.all_none:
raise Empty
# Flip to replace repeated indices with best scoring bbox
rpn_proposals_augument = []
for _proposals_i, _indices_i, rpn_proposals_i in zip(
_proposals, _indices, rpn_proposals):
rpn_proposals_i[_indices_i.flip(0)] = _proposals_i.flip(0)
rpn_proposals_augument.append(rpn_proposals_i)
### New proposals for next stage ###
rpn_proposals = PackedSequence(rpn_proposals_augument)
if rpn_proposals.all_none:
raise Empty
#with torch.no_grad():
#np.savetxt('rpn_proposals_augument_{}.txt'.format(stage), rpn_proposals_augument[0].cpu().numpy(),
# fmt='%1.2f')
#### Stage pooling ###
with torch.no_grad():
# get stage proposals Top 512 samples
proposals, match, rpn_proposals, indices = self.proposal_matcher(
rpn_proposals, bbx, cat, iscrowd, stage)
#np.savetxt('rpn_proposals_{}'.format(stage), rpn_proposals[0].cpu(), fmt='%1.2f')
cls_lbl, bbx_lbl, msk_lbl = self._match_to_lbl(
proposals, bbx, cat, ids, msk, match)
# Run Previous head for Mask training & loss calculation
_proposals, _proposals_idx = _proposals.contiguous
set_active_group(current_head, active_group(True))
_, _, msk_logits, y = self._head(current_head, x, y,
_proposals, _proposals_idx,
img_size, False, True)
msk_loss = self.msk_loss(msk_logits, cls_lbl, msk_lbl)
msk_loss_sum += lw * msk_loss
#print('msk_loss_{} ='.format(stage), msk_loss.item())
except Empty:
active_group(False)
cls_loss_sum = bbx_loss_sum = msk_loss_sum = sum(x_i.sum()
for x_i in x) * 0
return cls_loss_sum, bbx_loss_sum, msk_loss_sum