Merge pull request #6150 from wanghaox/prior_box

prior box operator for ssd

paddle/operators/prior_box_op.cc

+/* Copyright (c) 2016 PaddlePaddle Authors. All Rights Reserve.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
+
+#include "paddle/operators/prior_box_op.h"
+
+namespace paddle {
+namespace operators {
+
+class PriorBoxOp : public framework::OperatorWithKernel {
+ public:
+  using framework::OperatorWithKernel::OperatorWithKernel;
+
+  void InferShape(framework::InferShapeContext* ctx) const override {
+    PADDLE_ENFORCE(ctx->HasInput("Input"),
+                   "Input(Input) of PriorBoxOp should not be null.");
+    PADDLE_ENFORCE(ctx->HasInput("Image"),
+                   "Input(Image) of PriorBoxOp should not be null.");
+
+    auto image_dims = ctx->GetInputDim("Image");
+    auto input_dims = ctx->GetInputDim("Input");
+    PADDLE_ENFORCE(image_dims.size() == 4, "The layout of image is NCHW.");
+    PADDLE_ENFORCE(input_dims.size() == 4, "The layout of input is NCHW.");
+
+    PADDLE_ENFORCE_LT(input_dims[2], image_dims[2],
+                      "The height of input must smaller than image.");
+
+    PADDLE_ENFORCE_LT(input_dims[3], image_dims[3],
+                      "The width of input must smaller than image.");
+
+    auto min_sizes = ctx->Attrs().Get<std::vector<int>>("min_sizes");
+    auto max_sizes = ctx->Attrs().Get<std::vector<int>>("max_sizes");
+    auto variances = ctx->Attrs().Get<std::vector<float>>("variances");
+    auto aspect_ratios = ctx->Attrs().Get<std::vector<float>>("aspect_ratios");
+    bool flip = ctx->Attrs().Get<bool>("flip");
+
+    PADDLE_ENFORCE_GT(min_sizes.size(), 0,
+                      "Size of min_sizes must be at least 1.");
+    for (size_t i = 0; i < min_sizes.size(); ++i) {
+      PADDLE_ENFORCE_GT(min_sizes[i], 0, "min_sizes[%d] must be positive.", i);
+    }
+
+    std::vector<float> aspect_ratios_vec;
+    ExpandAspectRatios(aspect_ratios, flip, aspect_ratios_vec);
+
+    int num_priors = aspect_ratios_vec.size() * min_sizes.size();
+    if (max_sizes.size() > 0) {
+      PADDLE_ENFORCE_EQ(max_sizes.size(), min_sizes.size(),
+                        "The number of min_size and max_size must be equal.");
+      for (size_t i = 0; i < min_sizes.size(); ++i) {
+        PADDLE_ENFORCE_GT(max_sizes[i], min_sizes[i],
+                          "max_size[%d] must be greater than min_size[%d].", i,
+                          i);
+        num_priors += 1;
+      }
+    }
+
+    PADDLE_ENFORCE_EQ(variances.size(), 4, "Must and only provide 4 variance.");
+    for (size_t i = 0; i < variances.size(); ++i) {
+      PADDLE_ENFORCE_GT(variances[i], 0.0,
+                        "variance[%d] must be greater than 0.", i);
+    }
+
+    const float step_h = ctx->Attrs().Get<float>("step_h");
+    PADDLE_ENFORCE_GT(step_h, 0.0, "step_h should be larger than 0.");
+    const float step_w = ctx->Attrs().Get<float>("step_w");
+    PADDLE_ENFORCE_GT(step_w, 0.0, "step_w should be larger than 0.");
+
+    std::vector<int64_t> dim_vec(4);
+    dim_vec[0] = input_dims[2];
+    dim_vec[1] = input_dims[3];
+    dim_vec[2] = num_priors;
+    dim_vec[3] = 4;
+    ctx->SetOutputDim("Boxes", framework::make_ddim(dim_vec));
+    ctx->SetOutputDim("Variances", framework::make_ddim(dim_vec));
+  }
+};
+
+class PriorBoxOpMaker : public framework::OpProtoAndCheckerMaker {
+ public:
+  PriorBoxOpMaker(OpProto* proto, OpAttrChecker* op_checker)
+      : OpProtoAndCheckerMaker(proto, op_checker) {
+    AddInput("Input",
+             "(Tensor, default Tensor<float>), "
+             "the input feature data of PriorBoxOp, The layout is NCHW.");
+    AddInput("Image",
+             "(Tensor, default Tensor<float>), "
+             "the input image data of PriorBoxOp, The layout is NCHW.");
+    AddOutput("Boxes",
+              "(Tensor, default Tensor<float>), the output prior boxes of "
+              "PriorBoxOp. The layout is [H, W, num_priors, 4]. "
+              "H is the height of input, W is the width of input, num_priors "
+              "is the box count of each position.");
+    AddOutput("Variances",
+              "(Tensor, default Tensor<float>), the expanded variances of "
+              "PriorBoxOp. The layout is [H, W, num_priors, 4]. "
+              "H is the height of input, W is the width of input, num_priors "
+              "is the box count of each position.");
+    AddAttr<std::vector<int>>("min_sizes", "(vector<int>) ",
+                              "List of min sizes of generated prior boxes.");
+    AddAttr<std::vector<int>>("max_sizes", "(vector<int>) ",
+                              "List of max sizes of generated prior boxes.");
+    AddAttr<std::vector<float>>(
+        "aspect_ratios", "(vector<float>) ",
+        "List of aspect ratios of generated prior boxes.");
+    AddAttr<std::vector<float>>(
+        "variances", "(vector<float>) ",
+        "List of variances to be encoded in prior boxes.");
+    AddAttr<bool>("flip", "(bool) ", "Whether to flip aspect ratios.")
+        .SetDefault(true);
+    AddAttr<bool>("clip", "(bool) ", "Whether to clip out-of-boundary boxes.")
+        .SetDefault(true);
+    AddAttr<float>("step_w",
+                   "Prior boxes step across width, 0 for auto calculation.")
+        .SetDefault(0.0);
+    AddAttr<float>("step_h",
+                   "Prior boxes step across height, 0 for auto calculation.")
+        .SetDefault(0.0);
+    AddAttr<float>("offset",
+                   "(float) "
+                   "Prior boxes center offset.")
+        .SetDefault(0.5);
+    AddComment(R"DOC(
+Prior box operator
+Generate prior boxes for SSD(Single Shot MultiBox Detector) algorithm.
+Each position of the input produce N prior boxes, N is determined by
+ the count of min_sizes, max_sizes and aspect_ratios, The size of the
+ box is in range(min_size, max_size) interval, which is generated in
+ sequence according to the aspect_ratios.
+
+Please get more information from the following papers:
+https://arxiv.org/abs/1512.02325.
+)DOC");
+  }
+};
+
+}  // namespace operators
+}  // namespace paddle
+
+namespace ops = paddle::operators;
+REGISTER_OP_WITHOUT_GRADIENT(prior_box, ops::PriorBoxOp, ops::PriorBoxOpMaker);
+REGISTER_OP_CPU_KERNEL(
+    prior_box, ops::PriorBoxOpKernel<paddle::platform::CPUPlace, float>,
+    ops::PriorBoxOpKernel<paddle::platform::CPUPlace, double>);

paddle/operators/prior_box_op.h

+/* Copyright (c) 2016 PaddlePaddle Authors. All Rights Reserve.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License. */
+
+#pragma once
+#include "paddle/framework/op_registry.h"
+#include "paddle/operators/math/math_function.h"
+#include "paddle/platform/transform.h"
+
+namespace paddle {
+namespace operators {
+
+inline void ExpandAspectRatios(const std::vector<float>& input_aspect_ratior,
+                               bool flip,
+                               std::vector<float>& output_aspect_ratior) {
+  constexpr float epsilon = 1e-6;
+  output_aspect_ratior.clear();
+  output_aspect_ratior.push_back(1.);
+  for (size_t i = 0; i < input_aspect_ratior.size(); ++i) {
+    float ar = input_aspect_ratior[i];
+    bool already_exist = false;
+    for (size_t j = 0; j < output_aspect_ratior.size(); ++j) {
+      if (fabs(ar - output_aspect_ratior[j]) < epsilon) {
+        already_exist = true;
+        break;
+      }
+    }
+    if (!already_exist) {
+      output_aspect_ratior.push_back(ar);
+      if (flip) {
+        output_aspect_ratior.push_back(1. / ar);
+      }
+    }
+  }
+}
+
+template <typename T>
+struct ClipFunctor {
+  HOSTDEVICE T operator()(T in) const {
+    return std::min<T>(std::max<T>(in, 0.), 1.);
+  }
+};
+
+template <typename Place, typename T>
+class PriorBoxOpKernel : public framework::OpKernel<T> {
+ public:
+  void Compute(const framework::ExecutionContext& ctx) const override {
+    auto* input = ctx.Input<paddle::framework::Tensor>("Input");
+    auto* image = ctx.Input<paddle::framework::Tensor>("Image");
+    auto* boxes = ctx.Output<paddle::framework::Tensor>("Boxes");
+    auto* vars = ctx.Output<paddle::framework::Tensor>("Variances");
+
+    auto min_sizes = ctx.Attr<std::vector<int>>("min_sizes");
+    auto max_sizes = ctx.Attr<std::vector<int>>("max_sizes");
+    auto input_aspect_ratio = ctx.Attr<std::vector<float>>("aspect_ratios");
+    auto variances = ctx.Attr<std::vector<float>>("variances");
+    auto flip = ctx.Attr<bool>("flip");
+    auto clip = ctx.Attr<bool>("clip");
+
+    std::vector<float> aspect_ratios;
+    ExpandAspectRatios(input_aspect_ratio, flip, aspect_ratios);
+
+    T step_w = static_cast<T>(ctx.Attr<float>("step_w"));
+    T step_h = static_cast<T>(ctx.Attr<float>("step_h"));
+    T offset = static_cast<T>(ctx.Attr<float>("offset"));
+
+    auto img_width = image->dims()[3];
+    auto img_height = image->dims()[2];
+
+    auto feature_width = input->dims()[3];
+    auto feature_height = input->dims()[2];
+
+    T step_width, step_height;
+    if (step_w == 0 || step_h == 0) {
+      step_width = static_cast<T>(img_width) / feature_width;
+      step_height = static_cast<T>(img_height) / feature_height;
+    } else {
+      step_width = step_w;
+      step_height = step_h;
+    }
+
+    int num_priors = aspect_ratios.size() * min_sizes.size();
+    if (max_sizes.size() > 0) {
+      num_priors += max_sizes.size();
+    }
+
+    boxes->mutable_data<T>(ctx.GetPlace());
+    vars->mutable_data<T>(ctx.GetPlace());
+
+    auto e_boxes = framework::EigenTensor<T, 4>::From(*boxes);
+    for (int h = 0; h < feature_height; ++h) {
+      for (int w = 0; w < feature_width; ++w) {
+        T center_x = (w + offset) * step_width;
+        T center_y = (h + offset) * step_height;
+        T box_width, box_height;
+        int idx = 0;
+        for (size_t s = 0; s < min_sizes.size(); ++s) {
+          int min_size = min_sizes[s];
+          // first prior: aspect_ratio = 1, size = min_size
+          box_width = box_height = min_size;
+          // xmin
+          e_boxes(h, w, idx, 0) = (center_x - box_width / 2.) / img_width;
+          // ymin
+          e_boxes(h, w, idx, 1) = (center_y - box_height / 2.) / img_height;
+          // xmax
+          e_boxes(h, w, idx, 2) = (center_x + box_width / 2.) / img_width;
+          // ymax
+          e_boxes(h, w, idx, 3) = (center_y + box_height / 2.) / img_height;
+
+          idx++;
+          if (max_sizes.size() > 0) {
+            int max_size = max_sizes[s];
+            // second prior: aspect_ratio = 1,
+            // size = sqrt(min_size * max_size)
+            box_width = box_height = sqrt(min_size * max_size);
+            // xmin
+            e_boxes(h, w, idx, 0) = (center_x - box_width / 2.) / img_width;
+            // ymin
+            e_boxes(h, w, idx, 1) = (center_y - box_height / 2.) / img_height;
+            // xmax
+            e_boxes(h, w, idx, 2) = (center_x + box_width / 2.) / img_width;
+            // ymax
+            e_boxes(h, w, idx, 3) = (center_y + box_height / 2.) / img_height;
+            idx++;
+          }
+
+          // rest of priors
+          for (size_t r = 0; r < aspect_ratios.size(); ++r) {
+            float ar = aspect_ratios[r];
+            if (fabs(ar - 1.) < 1e-6) {
+              continue;
+            }
+            box_width = min_size * sqrt(ar);
+            box_height = min_size / sqrt(ar);
+            // xmin
+            e_boxes(h, w, idx, 0) = (center_x - box_width / 2.) / img_width;
+            // ymin
+            e_boxes(h, w, idx, 1) = (center_y - box_height / 2.) / img_height;
+            // xmax
+            e_boxes(h, w, idx, 2) = (center_x + box_width / 2.) / img_width;
+            // ymax
+            e_boxes(h, w, idx, 3) = (center_y + box_height / 2.) / img_height;
+            idx++;
+          }
+        }
+      }
+    }
+
+    if (clip) {
+      platform::Transform<platform::CPUDeviceContext> trans;
+      ClipFunctor<T> clip_func;
+      trans(ctx.template device_context<platform::CPUDeviceContext>(),
+            boxes->data<T>(), boxes->data<T>() + boxes->numel(),
+            boxes->data<T>(), clip_func);
+    }
+
+    framework::Tensor var_t;
+    var_t.mutable_data<T>(
+        framework::make_ddim({1, static_cast<int>(variances.size())}),
+        ctx.GetPlace());
+    auto var_et = framework::EigenTensor<T, 2>::From(var_t);
+    for (size_t i = 0; i < variances.size(); ++i) {
+      var_et(0, i) = variances[i];
+    }
+
+    int box_num = feature_height * feature_width * num_priors;
+    auto var_dim = vars->dims();
+    vars->Resize({box_num, static_cast<int>(variances.size())});
+
+    auto e_vars = framework::EigenMatrix<T, Eigen::RowMajor>::From(*vars);
+    e_vars = var_et.broadcast(Eigen::DSizes<int, 2>(box_num, 1));
+
+    vars->Resize(var_dim);
+  }
+};  // namespace operators
+
+}  // namespace operators
+}  // namespace paddle

python/paddle/v2/fluid/tests/test_prior_box_op.py

+#   Copyright (c) 2018 PaddlePaddle Authors. All Rights Reserve.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+import numpy as np
+import sys
+import math
+from op_test import OpTest
+
+
+class TestPriorBoxOp(OpTest):
+    def set_data(self):
+        self.init_test_params()
+        self.init_test_input()
+        self.init_test_output()
+        self.inputs = {'Input': self.input, 'Image': self.image}
+
+        self.attrs = {
+            'min_sizes': self.min_sizes,
+            'max_sizes': self.max_sizes,
+            'aspect_ratios': self.aspect_ratios,
+            'variances': self.variances,
+            'flip': self.flip,
+            'clip': self.clip,
+            'step_w': self.step_w,
+            'step_h': self.step_h,
+            'offset': self.offset
+        }
+
+        self.outputs = {'Boxes': self.out_boxes, 'Variances': self.out_var}
+
+    def test_check_output(self):
+        self.check_output()
+
+    def test_check_grad(self):
+        return
+
+    def setUp(self):
+        self.op_type = "prior_box"
+        self.set_data()
+
+    def init_test_params(self):
+        self.layer_w = 4
+        self.layer_h = 4
+
+        self.image_w = 20
+        self.image_h = 20
+
+        self.step_w = float(self.image_w) / float(self.layer_w)
+        self.step_h = float(self.image_h) / float(self.layer_h)
+
+        self.input_channels = 2
+        self.image_channels = 3
+        self.batch_size = 10
+
+        self.min_sizes = [2, 4]
+        self.min_sizes = np.array(self.min_sizes).astype('int64')
+        self.max_sizes = [5, 10]
+        self.max_sizes = np.array(self.max_sizes).astype('int64')
+        self.aspect_ratios = [2.0, 3.0]
+        self.flip = True
+        self.real_aspect_ratios = [1, 2.0, 1.0 / 2.0, 3.0, 1.0 / 3.0]
+        self.aspect_ratios = np.array(
+            self.aspect_ratios, dtype=np.float).flatten()
+        self.variances = [0.1, 0.1, 0.2, 0.2]
+        self.variances = np.array(self.variances, dtype=np.float).flatten()
+
+        self.clip = True
+
+        self.num_priors = len(self.real_aspect_ratios) * len(self.min_sizes)
+        if len(self.max_sizes) > 1:
+            self.num_priors += len(self.max_sizes)
+        self.offset = 0.5
+
+    def init_test_input(self):
+        self.image = np.random.random(
+            (self.batch_size, self.image_channels, self.image_w,
+             self.image_h)).astype('float32')
+
+        self.input = np.random.random(
+            (self.batch_size, self.input_channels, self.layer_w,
+             self.layer_h)).astype('float32')
+
+    def init_test_output(self):
+        out_dim = (self.layer_h, self.layer_w, self.num_priors, 4)
+        out_boxes = np.zeros(out_dim).astype('float32')
+        out_var = np.zeros(out_dim).astype('float32')
+
+        idx = 0
+        for h in range(self.layer_h):
+            for w in range(self.layer_w):
+                c_x = (w + self.offset) * self.step_w
+                c_y = (h + self.offset) * self.step_h
+                idx = 0
+                for s in range(len(self.min_sizes)):
+                    min_size = self.min_sizes[s]
+                    c_w = c_h = min_size / 2.
+                    out_boxes[h, w, idx, :] = [
+                        (c_x - c_w) / self.image_w, (c_y - c_h) / self.image_h,
+                        (c_x + c_w) / self.image_w, (c_y + c_h) / self.image_h
+                    ]
+                    idx += 1
+
+                    if len(self.max_sizes) > 0:
+                        max_size = self.max_sizes[s]
+                        # second prior: aspect_ratio = 1,
+                        c_w = c_h = math.sqrt(min_size * max_size) / 2
+                        out_boxes[h, w, idx, :] = [(c_x - c_w) / self.image_w,
+                                                   (c_y - c_h) / self.image_h,
+                                                   (c_x + c_w) / self.image_w,
+                                                   (c_y + c_h) / self.image_h]
+                        idx += 1
+
+                    # rest of priors
+                    for r in range(len(self.real_aspect_ratios)):
+                        ar = self.real_aspect_ratios[r]
+                        if math.fabs(ar - 1.) < 1e-6:
+                            continue
+                        c_w = min_size * math.sqrt(ar) / 2
+                        c_h = (min_size / math.sqrt(ar)) / 2
+                        out_boxes[h, w, idx, :] = [(c_x - c_w) / self.image_w,
+                                                   (c_y - c_h) / self.image_h,
+                                                   (c_x + c_w) / self.image_w,
+                                                   (c_y + c_h) / self.image_h]
+                        idx += 1
+        # clip the prior's coordidate such that it is within[0, 1]
+        if self.clip:
+            out_boxes = np.clip(out_boxes, 0.0, 1.0)
+        # set the variance.
+        out_var = np.tile(self.variances, (self.layer_h, self.layer_w,
+                                           self.num_priors, 1))
+        self.out_boxes = out_boxes.astype('float32')
+        self.out_var = out_var.astype('float32')
+
+
+if __name__ == '__main__':
+    unittest.main()