# Copyright (c) 2018 PaddlePaddle Authors. All Rights Reserved. # # 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. from __future__ import division import unittest import numpy as np from op_test import OpTest from paddle.fluid import core def sigmoid(x): return 1.0 / (1.0 + np.exp(-1.0 * x)) def mse(x, y, num): return ((y - x)**2).sum() / num def bce(x, y, mask): x = x.reshape((-1)) y = y.reshape((-1)) mask = mask.reshape((-1)) error_sum = 0.0 count = 0 for i in range(x.shape[0]): if mask[i] > 0: error_sum += y[i] * np.log(x[i]) + (1 - y[i]) * np.log(1 - x[i]) count += 1 return error_sum / (-1.0 * count) def box_iou(box1, box2): b1_x1 = box1[0] - box1[2] / 2 b1_x2 = box1[0] + box1[2] / 2 b1_y1 = box1[1] - box1[3] / 2 b1_y2 = box1[1] + box1[3] / 2 b2_x1 = box2[0] - box2[2] / 2 b2_x2 = box2[0] + box2[2] / 2 b2_y1 = box2[1] - box2[3] / 2 b2_y2 = box2[1] + box2[3] / 2 b1_area = (b1_x2 - b1_x1) * (b1_y2 - b1_y1) b2_area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1) inter_rect_x1 = max(b1_x1, b2_x1) inter_rect_y1 = max(b1_y1, b2_y1) inter_rect_x2 = min(b1_x2, b2_x2) inter_rect_y2 = min(b1_y2, b2_y2) inter_area = max(inter_rect_x2 - inter_rect_x1, 0) * max( inter_rect_y2 - inter_rect_y1, 0) return inter_area / (b1_area + b2_area + inter_area) def build_target(gtboxs, attrs, grid_size): n, b, _ = gtboxs.shape ignore_thresh = attrs["ignore_thresh"] anchors = attrs["anchors"] class_num = attrs["class_num"] an_num = len(anchors) // 2 obj_mask = np.zeros((n, an_num, grid_size, grid_size)).astype('float32') noobj_mask = np.ones((n, an_num, grid_size, grid_size)).astype('float32') tx = np.zeros((n, an_num, grid_size, grid_size)).astype('float32') ty = np.zeros((n, an_num, grid_size, grid_size)).astype('float32') tw = np.zeros((n, an_num, grid_size, grid_size)).astype('float32') th = np.zeros((n, an_num, grid_size, grid_size)).astype('float32') tconf = np.zeros((n, an_num, grid_size, grid_size)).astype('float32') tcls = np.zeros( (n, an_num, grid_size, grid_size, class_num)).astype('float32') for i in range(n): for j in range(b): if gtboxs[i, j, :].sum() == 0: continue gt_label = int(gtboxs[i, j, 0]) gx = gtboxs[i, j, 1] * grid_size gy = gtboxs[i, j, 2] * grid_size gw = gtboxs[i, j, 3] * grid_size gh = gtboxs[i, j, 4] * grid_size gi = int(gx) gj = int(gy) gtbox = [0, 0, gw, gh] max_iou = 0 for k in range(an_num): anchor_box = [0, 0, anchors[2 * k], anchors[2 * k + 1]] iou = box_iou(gtbox, anchor_box) if iou > max_iou: max_iou = iou best_an_index = k if iou > ignore_thresh: noobj_mask[i, best_an_index, gj, gi] = 0 obj_mask[i, best_an_index, gj, gi] = 1 noobj_mask[i, best_an_index, gj, gi] = 0 tx[i, best_an_index, gj, gi] = gx - gi ty[i, best_an_index, gj, gi] = gy - gj tw[i, best_an_index, gj, gi] = np.log(gw / anchors[2 * best_an_index]) th[i, best_an_index, gj, gi] = np.log( gh / anchors[2 * best_an_index + 1]) tconf[i, best_an_index, gj, gi] = 1 tcls[i, best_an_index, gj, gi, gt_label] = 1 return (tx, ty, tw, th, tconf, tcls, obj_mask, noobj_mask) def YoloV3Loss(x, gtbox, attrs): n, c, h, w = x.shape an_num = len(attrs['anchors']) // 2 class_num = attrs["class_num"] x = x.reshape((n, an_num, 5 + class_num, h, w)).transpose((0, 1, 3, 4, 2)) pred_x = sigmoid(x[:, :, :, :, 0]) pred_y = sigmoid(x[:, :, :, :, 1]) pred_w = x[:, :, :, :, 2] pred_h = x[:, :, :, :, 3] pred_conf = sigmoid(x[:, :, :, :, 4]) pred_cls = sigmoid(x[:, :, :, :, 5:]) tx, ty, tw, th, tconf, tcls, obj_mask, noobj_mask = build_target( gtbox, attrs, x.shape[2]) obj_mask_expand = np.tile( np.expand_dims(obj_mask, 4), (1, 1, 1, 1, int(attrs['class_num']))) loss_x = mse(pred_x * obj_mask, tx * obj_mask, obj_mask.sum()) loss_y = mse(pred_y * obj_mask, ty * obj_mask, obj_mask.sum()) loss_w = mse(pred_w * obj_mask, tw * obj_mask, obj_mask.sum()) loss_h = mse(pred_h * obj_mask, th * obj_mask, obj_mask.sum()) loss_conf_obj = bce(pred_conf * obj_mask, tconf * obj_mask, obj_mask) loss_conf_noobj = bce(pred_conf * noobj_mask, tconf * noobj_mask, noobj_mask) loss_class = bce(pred_cls * obj_mask_expand, tcls * obj_mask_expand, obj_mask_expand) return attrs['lambda_xy'] * (loss_x + loss_y) \ + attrs['lambda_wh'] * (loss_w + loss_h) \ + attrs['lambda_conf_obj'] * loss_conf_obj \ + attrs['lambda_conf_noobj'] * loss_conf_noobj \ + attrs['lambda_class'] * loss_class class TestYolov3LossOp(OpTest): def setUp(self): self.lambda_xy = 1.0 self.lambda_wh = 1.0 self.lambda_conf_obj = 1.0 self.lambda_conf_noobj = 1.0 self.lambda_class = 1.0 self.initTestCase() self.op_type = 'yolov3_loss' x = np.random.random(size=self.x_shape).astype('float32') gtbox = np.random.random(size=self.gtbox_shape).astype('float32') gtbox[:, :, 0] = np.random.randint(0, self.class_num, self.gtbox_shape[:2]) self.attrs = { "anchors": self.anchors, "class_num": self.class_num, "ignore_thresh": self.ignore_thresh, "lambda_xy": self.lambda_xy, "lambda_wh": self.lambda_wh, "lambda_conf_obj": self.lambda_conf_obj, "lambda_conf_noobj": self.lambda_conf_noobj, "lambda_class": self.lambda_class, } self.inputs = {'X': x, 'GTBox': gtbox} self.outputs = { 'Loss': np.array([YoloV3Loss(x, gtbox, self.attrs)]).astype('float32') } def test_check_output(self): place = core.CPUPlace() self.check_output_with_place(place, atol=1e-3) def test_check_grad_ignore_gtbox(self): place = core.CPUPlace() self.check_grad_with_place( place, ['X'], 'Loss', no_grad_set=set("GTBox"), max_relative_error=0.06) def initTestCase(self): self.anchors = [10, 13, 12, 12] self.class_num = 10 self.ignore_thresh = 0.5 self.x_shape = (5, len(self.anchors) // 2 * (5 + self.class_num), 7, 7) self.gtbox_shape = (5, 5, 5) self.lambda_xy = 2.5 self.lambda_wh = 0.8 self.lambda_conf_obj = 1.5 self.lambda_conf_noobj = 0.5 self.lambda_class = 1.2 if __name__ == "__main__": unittest.main()