# Copyright (c) 2019 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 absolute_import from __future__ import division from __future__ import print_function from paddle import fluid from ppdet.core.workspace import register try: from collections.abc import Sequence except Exception: from collections import Sequence __all__ = ['YOLOv3Loss'] @register class YOLOv3Loss(object): """ Combined loss for YOLOv3 network Args: batch_size (int): training batch size ignore_thresh (float): threshold to ignore confidence loss label_smooth (bool): whether to use label smoothing use_fine_grained_loss (bool): whether use fine grained YOLOv3 loss instead of fluid.layers.yolov3_loss """ __inject__ = ['iou_loss', 'iou_aware_loss'] __shared__ = ['use_fine_grained_loss'] def __init__(self, batch_size=8, ignore_thresh=0.7, label_smooth=True, use_fine_grained_loss=False, iou_loss=None, iou_aware_loss=None, downsample=[32, 16, 8], scale_x_y=1., match_score=False): self._batch_size = batch_size self._ignore_thresh = ignore_thresh self._label_smooth = label_smooth self._use_fine_grained_loss = use_fine_grained_loss self._iou_loss = iou_loss self._iou_aware_loss = iou_aware_loss self.downsample = downsample self.scale_x_y = scale_x_y self.match_score = match_score def __call__(self, outputs, gt_box, gt_label, gt_score, targets, anchors, anchor_masks, mask_anchors, num_classes, prefix_name): if self._use_fine_grained_loss: return self._get_fine_grained_loss( outputs, targets, gt_box, self._batch_size, num_classes, mask_anchors, self._ignore_thresh) else: losses = [] for i, output in enumerate(outputs): scale_x_y = self.scale_x_y if not isinstance( self.scale_x_y, Sequence) else self.scale_x_y[i] anchor_mask = anchor_masks[i] loss = fluid.layers.yolov3_loss( x=output, gt_box=gt_box, gt_label=gt_label, gt_score=gt_score, anchors=anchors, anchor_mask=anchor_mask, class_num=num_classes, ignore_thresh=self._ignore_thresh, downsample_ratio=self.downsample[i], use_label_smooth=self._label_smooth, scale_x_y=scale_x_y, name=prefix_name + "yolo_loss" + str(i)) losses.append(fluid.layers.reduce_mean(loss)) return {'loss': sum(losses)} def _get_fine_grained_loss(self, outputs, targets, gt_box, batch_size, num_classes, mask_anchors, ignore_thresh, eps=1.e-10): """ Calculate fine grained YOLOv3 loss Args: outputs ([Variables]): List of Variables, output of backbone stages targets ([Variables]): List of Variables, The targets for yolo loss calculatation. gt_box (Variable): The ground-truth boudding boxes. batch_size (int): The training batch size num_classes (int): class num of dataset mask_anchors ([[float]]): list of anchors in each output layer ignore_thresh (float): prediction bbox overlap any gt_box greater than ignore_thresh, objectness loss will be ignored. Returns: Type: dict xy_loss (Variable): YOLOv3 (x, y) coordinates loss wh_loss (Variable): YOLOv3 (w, h) coordinates loss obj_loss (Variable): YOLOv3 objectness score loss cls_loss (Variable): YOLOv3 classification loss """ assert len(outputs) == len(targets), \ "YOLOv3 output layer number not equal target number" targets = [target * 1.0 for target in targets] loss_xys, loss_whs, loss_objs, loss_clss = [], [], [], [] if self._iou_loss is not None: loss_ious = [] if self._iou_aware_loss is not None: loss_iou_awares = [] for i, (output, target, anchors) in enumerate(zip(outputs, targets, mask_anchors)): downsample = self.downsample[i] an_num = len(anchors) // 2 if self._iou_aware_loss is not None: ioup, output = self._split_ioup(output, an_num, num_classes) x, y, w, h, obj, cls = self._split_output(output, an_num, num_classes) tx, ty, tw, th, tscale, tobj, tcls = self._split_target(target) tscale_tobj = tscale * tobj scale_x_y = self.scale_x_y if not isinstance( self.scale_x_y, Sequence) else self.scale_x_y[i] if (abs(scale_x_y - 1.0) < eps): loss_x = fluid.layers.sigmoid_cross_entropy_with_logits( x, tx) * tscale_tobj loss_x = fluid.layers.reduce_sum(loss_x, dim=[1, 2, 3]) loss_y = fluid.layers.sigmoid_cross_entropy_with_logits( y, ty) * tscale_tobj loss_y = fluid.layers.reduce_sum(loss_y, dim=[1, 2, 3]) else: dx = scale_x_y * fluid.layers.sigmoid(x) - 0.5 * (scale_x_y - 1.0) dy = scale_x_y * fluid.layers.sigmoid(y) - 0.5 * (scale_x_y - 1.0) loss_x = fluid.layers.abs(dx - tx) * tscale_tobj loss_x = fluid.layers.reduce_sum(loss_x, dim=[1, 2, 3]) loss_y = fluid.layers.abs(dy - ty) * tscale_tobj loss_y = fluid.layers.reduce_sum(loss_y, dim=[1, 2, 3]) # NOTE: we refined loss function of (w, h) as L1Loss loss_w = fluid.layers.abs(w - tw) * tscale_tobj loss_w = fluid.layers.reduce_sum(loss_w, dim=[1, 2, 3]) loss_h = fluid.layers.abs(h - th) * tscale_tobj loss_h = fluid.layers.reduce_sum(loss_h, dim=[1, 2, 3]) if self._iou_loss is not None: loss_iou = self._iou_loss(x, y, w, h, tx, ty, tw, th, anchors, downsample, self._batch_size, scale_x_y) loss_iou = loss_iou * tscale_tobj loss_iou = fluid.layers.reduce_sum(loss_iou, dim=[1, 2, 3]) loss_ious.append(fluid.layers.reduce_mean(loss_iou)) if self._iou_aware_loss is not None: loss_iou_aware = self._iou_aware_loss( ioup, x, y, w, h, tx, ty, tw, th, anchors, downsample, self._batch_size, scale_x_y) loss_iou_aware = loss_iou_aware * tobj loss_iou_aware = fluid.layers.reduce_sum( loss_iou_aware, dim=[1, 2, 3]) loss_iou_awares.append(fluid.layers.reduce_mean(loss_iou_aware)) loss_obj_pos, loss_obj_neg = self._calc_obj_loss( output, obj, tobj, gt_box, self._batch_size, anchors, num_classes, downsample, self._ignore_thresh, scale_x_y) loss_cls = fluid.layers.sigmoid_cross_entropy_with_logits(cls, tcls) loss_cls = fluid.layers.elementwise_mul(loss_cls, tobj, axis=0) loss_cls = fluid.layers.reduce_sum(loss_cls, dim=[1, 2, 3, 4]) loss_xys.append(fluid.layers.reduce_mean(loss_x + loss_y)) loss_whs.append(fluid.layers.reduce_mean(loss_w + loss_h)) loss_objs.append( fluid.layers.reduce_mean(loss_obj_pos + loss_obj_neg)) loss_clss.append(fluid.layers.reduce_mean(loss_cls)) losses_all = { "loss_xy": fluid.layers.sum(loss_xys), "loss_wh": fluid.layers.sum(loss_whs), "loss_obj": fluid.layers.sum(loss_objs), "loss_cls": fluid.layers.sum(loss_clss), } if self._iou_loss is not None: losses_all["loss_iou"] = fluid.layers.sum(loss_ious) if self._iou_aware_loss is not None: losses_all["loss_iou_aware"] = fluid.layers.sum(loss_iou_awares) return losses_all def _split_ioup(self, output, an_num, num_classes): """ Split output feature map to output, predicted iou along channel dimension """ ioup = fluid.layers.slice(output, axes=[1], starts=[0], ends=[an_num]) ioup = fluid.layers.sigmoid(ioup) oriout = fluid.layers.slice( output, axes=[1], starts=[an_num], ends=[an_num * (num_classes + 6)]) return (ioup, oriout) def _split_output(self, output, an_num, num_classes): """ Split output feature map to x, y, w, h, objectness, classification along channel dimension """ x = fluid.layers.strided_slice( output, axes=[1], starts=[0], ends=[output.shape[1]], strides=[5 + num_classes]) y = fluid.layers.strided_slice( output, axes=[1], starts=[1], ends=[output.shape[1]], strides=[5 + num_classes]) w = fluid.layers.strided_slice( output, axes=[1], starts=[2], ends=[output.shape[1]], strides=[5 + num_classes]) h = fluid.layers.strided_slice( output, axes=[1], starts=[3], ends=[output.shape[1]], strides=[5 + num_classes]) obj = fluid.layers.strided_slice( output, axes=[1], starts=[4], ends=[output.shape[1]], strides=[5 + num_classes]) clss = [] stride = output.shape[1] // an_num for m in range(an_num): clss.append( fluid.layers.slice( output, axes=[1], starts=[stride * m + 5], ends=[stride * m + 5 + num_classes])) cls = fluid.layers.transpose( fluid.layers.stack( clss, axis=1), perm=[0, 1, 3, 4, 2]) return (x, y, w, h, obj, cls) def _split_target(self, target): """ split target to x, y, w, h, objectness, classification along dimension 2 target is in shape [N, an_num, 6 + class_num, H, W] """ tx = target[:, :, 0, :, :] ty = target[:, :, 1, :, :] tw = target[:, :, 2, :, :] th = target[:, :, 3, :, :] tscale = target[:, :, 4, :, :] tobj = target[:, :, 5, :, :] tcls = fluid.layers.transpose( target[:, :, 6:, :, :], perm=[0, 1, 3, 4, 2]) tcls.stop_gradient = True return (tx, ty, tw, th, tscale, tobj, tcls) def _calc_obj_loss(self, output, obj, tobj, gt_box, batch_size, anchors, num_classes, downsample, ignore_thresh, scale_x_y): # A prediction bbox overlap any gt_bbox over ignore_thresh, # objectness loss will be ignored, process as follows: # 1. get pred bbox, which is same with YOLOv3 infer mode, use yolo_box here # NOTE: img_size is set as 1.0 to get noramlized pred bbox bbox, prob = fluid.layers.yolo_box( x=output, img_size=fluid.layers.ones( shape=[batch_size, 2], dtype="int32"), anchors=anchors, class_num=num_classes, conf_thresh=0., downsample_ratio=downsample, clip_bbox=False, scale_x_y=scale_x_y) # 2. split pred bbox and gt bbox by sample, calculate IoU between pred bbox # and gt bbox in each sample if batch_size > 1: preds = fluid.layers.split(bbox, batch_size, dim=0) gts = fluid.layers.split(gt_box, batch_size, dim=0) else: preds = [bbox] gts = [gt_box] probs = [prob] ious = [] for pred, gt in zip(preds, gts): def box_xywh2xyxy(box): x = box[:, 0] y = box[:, 1] w = box[:, 2] h = box[:, 3] return fluid.layers.stack( [ x - w / 2., y - h / 2., x + w / 2., y + h / 2., ], axis=1) pred = fluid.layers.squeeze(pred, axes=[0]) gt = box_xywh2xyxy(fluid.layers.squeeze(gt, axes=[0])) ious.append(fluid.layers.iou_similarity(pred, gt)) iou = fluid.layers.stack(ious, axis=0) # 3. Get iou_mask by IoU between gt bbox and prediction bbox, # Get obj_mask by tobj(holds gt_score), calculate objectness loss max_iou = fluid.layers.reduce_max(iou, dim=-1) iou_mask = fluid.layers.cast(max_iou <= ignore_thresh, dtype="float32") if self.match_score: max_prob = fluid.layers.reduce_max(prob, dim=-1) iou_mask = iou_mask * fluid.layers.cast( max_prob <= 0.25, dtype="float32") output_shape = fluid.layers.shape(output) an_num = len(anchors) // 2 iou_mask = fluid.layers.reshape(iou_mask, (-1, an_num, output_shape[2], output_shape[3])) iou_mask.stop_gradient = True # NOTE: tobj holds gt_score, obj_mask holds object existence mask obj_mask = fluid.layers.cast(tobj > 0., dtype="float32") obj_mask.stop_gradient = True # For positive objectness grids, objectness loss should be calculated # For negative objectness grids, objectness loss is calculated only iou_mask == 1.0 loss_obj = fluid.layers.sigmoid_cross_entropy_with_logits(obj, obj_mask) loss_obj_pos = fluid.layers.reduce_sum(loss_obj * tobj, dim=[1, 2, 3]) loss_obj_neg = fluid.layers.reduce_sum( loss_obj * (1.0 - obj_mask) * iou_mask, dim=[1, 2, 3]) return loss_obj_pos, loss_obj_neg