# Copyright (c) 2021 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. # # The code is based on https://github.com/csuhan/s2anet/blob/master/mmdet/models/anchor_heads_rotated/s2anet_head.py import paddle from paddle import ParamAttr import paddle.nn as nn import paddle.nn.functional as F from paddle.nn.initializer import Normal, Constant from ppdet.core.workspace import register from ppdet.modeling import ops from ppdet.modeling import bbox_utils from ppdet.modeling.proposal_generator.target_layer import RBoxAssigner import numpy as np class S2ANetAnchorGenerator(nn.Layer): """ AnchorGenerator by paddle """ def __init__(self, base_size, scales, ratios, scale_major=True, ctr=None): super(S2ANetAnchorGenerator, self).__init__() self.base_size = base_size self.scales = paddle.to_tensor(scales) self.ratios = paddle.to_tensor(ratios) self.scale_major = scale_major self.ctr = ctr self.base_anchors = self.gen_base_anchors() @property def num_base_anchors(self): return self.base_anchors.shape[0] def gen_base_anchors(self): w = self.base_size h = self.base_size if self.ctr is None: x_ctr = 0.5 * (w - 1) y_ctr = 0.5 * (h - 1) else: x_ctr, y_ctr = self.ctr h_ratios = paddle.sqrt(self.ratios) w_ratios = 1 / h_ratios if self.scale_major: ws = (w * w_ratios[:] * self.scales[:]).reshape([-1]) hs = (h * h_ratios[:] * self.scales[:]).reshape([-1]) else: ws = (w * self.scales[:] * w_ratios[:]).reshape([-1]) hs = (h * self.scales[:] * h_ratios[:]).reshape([-1]) base_anchors = paddle.stack( [ x_ctr - 0.5 * (ws - 1), y_ctr - 0.5 * (hs - 1), x_ctr + 0.5 * (ws - 1), y_ctr + 0.5 * (hs - 1) ], axis=-1) base_anchors = paddle.round(base_anchors) return base_anchors def _meshgrid(self, x, y, row_major=True): yy, xx = paddle.meshgrid(y, x) yy = yy.reshape([-1]) xx = xx.reshape([-1]) if row_major: return xx, yy else: return yy, xx def forward(self, featmap_size, stride=16): # featmap_size*stride project it to original area feat_h = featmap_size[0] feat_w = featmap_size[1] shift_x = paddle.arange(0, feat_w, 1, 'int32') * stride shift_y = paddle.arange(0, feat_h, 1, 'int32') * stride shift_xx, shift_yy = self._meshgrid(shift_x, shift_y) shifts = paddle.stack([shift_xx, shift_yy, shift_xx, shift_yy], axis=-1) all_anchors = self.base_anchors[:, :] + shifts[:, :] all_anchors = all_anchors.reshape([feat_h * feat_w, 4]) return all_anchors def valid_flags(self, featmap_size, valid_size): feat_h, feat_w = featmap_size valid_h, valid_w = valid_size assert valid_h <= feat_h and valid_w <= feat_w valid_x = paddle.zeros([feat_w], dtype='int32') valid_y = paddle.zeros([feat_h], dtype='int32') valid_x[:valid_w] = 1 valid_y[:valid_h] = 1 valid_xx, valid_yy = self._meshgrid(valid_x, valid_y) valid = valid_xx & valid_yy valid = paddle.reshape(valid, [-1, 1]) valid = paddle.expand(valid, [-1, self.num_base_anchors]).reshape([-1]) return valid class AlignConv(nn.Layer): def __init__(self, in_channels, out_channels, kernel_size=3, groups=1): super(AlignConv, self).__init__() self.kernel_size = kernel_size self.align_conv = paddle.vision.ops.DeformConv2D( in_channels, out_channels, kernel_size=self.kernel_size, padding=(self.kernel_size - 1) // 2, groups=groups, weight_attr=ParamAttr(initializer=Normal(0, 0.01)), bias_attr=None) @paddle.no_grad() def get_offset(self, anchors, featmap_size, stride): """ Args: anchors: [M,5] xc,yc,w,h,angle featmap_size: (feat_h, feat_w) stride: 8 Returns: """ anchors = paddle.reshape(anchors, [-1, 5]) # (NA,5) dtype = anchors.dtype feat_h = featmap_size[0] feat_w = featmap_size[1] pad = (self.kernel_size - 1) // 2 idx = paddle.arange(-pad, pad + 1, dtype=dtype) yy, xx = paddle.meshgrid(idx, idx) xx = paddle.reshape(xx, [-1]) yy = paddle.reshape(yy, [-1]) # get sampling locations of default conv xc = paddle.arange(0, feat_w, dtype=dtype) yc = paddle.arange(0, feat_h, dtype=dtype) yc, xc = paddle.meshgrid(yc, xc) xc = paddle.reshape(xc, [-1, 1]) yc = paddle.reshape(yc, [-1, 1]) x_conv = xc + xx y_conv = yc + yy # get sampling locations of anchors # x_ctr, y_ctr, w, h, a = np.unbind(anchors, dim=1) x_ctr = anchors[:, 0] y_ctr = anchors[:, 1] w = anchors[:, 2] h = anchors[:, 3] a = anchors[:, 4] x_ctr = paddle.reshape(x_ctr, [-1, 1]) y_ctr = paddle.reshape(y_ctr, [-1, 1]) w = paddle.reshape(w, [-1, 1]) h = paddle.reshape(h, [-1, 1]) a = paddle.reshape(a, [-1, 1]) x_ctr = x_ctr / stride y_ctr = y_ctr / stride w_s = w / stride h_s = h / stride cos, sin = paddle.cos(a), paddle.sin(a) dw, dh = w_s / self.kernel_size, h_s / self.kernel_size x, y = dw * xx, dh * yy xr = cos * x - sin * y yr = sin * x + cos * y x_anchor, y_anchor = xr + x_ctr, yr + y_ctr # get offset filed offset_x = x_anchor - x_conv offset_y = y_anchor - y_conv offset = paddle.stack([offset_y, offset_x], axis=-1) offset = paddle.reshape( offset, [feat_h * feat_w, self.kernel_size * self.kernel_size * 2]) offset = paddle.transpose(offset, [1, 0]) offset = paddle.reshape( offset, [1, self.kernel_size * self.kernel_size * 2, feat_h, feat_w]) return offset def forward(self, x, refine_anchors, featmap_size, stride): offset = self.get_offset(refine_anchors, featmap_size, stride) x = F.relu(self.align_conv(x, offset)) return x @register class S2ANetHead(nn.Layer): """ S2Anet head Args: stacked_convs (int): number of stacked_convs feat_in (int): input channels of feat feat_out (int): output channels of feat num_classes (int): num_classes anchor_strides (list): stride of anchors anchor_scales (list): scale of anchors anchor_ratios (list): ratios of anchors target_means (list): target_means target_stds (list): target_stds align_conv_type (str): align_conv_type ['Conv', 'AlignConv'] align_conv_size (int): kernel size of align_conv use_sigmoid_cls (bool): use sigmoid_cls or not reg_loss_weight (list): loss weight for regression """ __shared__ = ['num_classes'] __inject__ = ['anchor_assign'] def __init__(self, stacked_convs=2, feat_in=256, feat_out=256, num_classes=15, anchor_strides=[8, 16, 32, 64, 128], anchor_scales=[4], anchor_ratios=[1.0], target_means=0.0, target_stds=1.0, align_conv_type='AlignConv', align_conv_size=3, use_sigmoid_cls=True, anchor_assign=RBoxAssigner().__dict__, reg_loss_weight=[1.0, 1.0, 1.0, 1.0, 1.1], cls_loss_weight=[1.1, 1.05], reg_loss_type='l1', is_training=True): super(S2ANetHead, self).__init__() self.stacked_convs = stacked_convs self.feat_in = feat_in self.feat_out = feat_out self.anchor_list = None self.anchor_scales = anchor_scales self.anchor_ratios = anchor_ratios self.anchor_strides = anchor_strides self.anchor_strides = paddle.to_tensor(anchor_strides) self.anchor_base_sizes = list(anchor_strides) self.means = paddle.ones(shape=[5]) * target_means self.stds = paddle.ones(shape=[5]) * target_stds assert align_conv_type in ['AlignConv', 'Conv', 'DCN'] self.align_conv_type = align_conv_type self.align_conv_size = align_conv_size self.use_sigmoid_cls = use_sigmoid_cls self.cls_out_channels = num_classes if self.use_sigmoid_cls else 1 self.sampling = False self.anchor_assign = anchor_assign self.reg_loss_weight = reg_loss_weight self.cls_loss_weight = cls_loss_weight self.alpha = 1.0 self.beta = 1.0 self.reg_loss_type = reg_loss_type self.is_training = is_training self.s2anet_head_out = None # anchor self.anchor_generators = [] for anchor_base in self.anchor_base_sizes: self.anchor_generators.append( S2ANetAnchorGenerator(anchor_base, anchor_scales, anchor_ratios)) self.anchor_generators = nn.LayerList(self.anchor_generators) self.fam_cls_convs = nn.Sequential() self.fam_reg_convs = nn.Sequential() for i in range(self.stacked_convs): chan_in = self.feat_in if i == 0 else self.feat_out self.fam_cls_convs.add_sublayer( 'fam_cls_conv_{}'.format(i), nn.Conv2D( in_channels=chan_in, out_channels=self.feat_out, kernel_size=3, padding=1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0)))) self.fam_cls_convs.add_sublayer('fam_cls_conv_{}_act'.format(i), nn.ReLU()) self.fam_reg_convs.add_sublayer( 'fam_reg_conv_{}'.format(i), nn.Conv2D( in_channels=chan_in, out_channels=self.feat_out, kernel_size=3, padding=1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0)))) self.fam_reg_convs.add_sublayer('fam_reg_conv_{}_act'.format(i), nn.ReLU()) self.fam_reg = nn.Conv2D( self.feat_out, 5, 1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0))) prior_prob = 0.01 bias_init = float(-np.log((1 - prior_prob) / prior_prob)) self.fam_cls = nn.Conv2D( self.feat_out, self.cls_out_channels, 1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(bias_init))) if self.align_conv_type == "AlignConv": self.align_conv = AlignConv(self.feat_out, self.feat_out, self.align_conv_size) elif self.align_conv_type == "Conv": self.align_conv = nn.Conv2D( self.feat_out, self.feat_out, self.align_conv_size, padding=(self.align_conv_size - 1) // 2, bias_attr=ParamAttr(initializer=Constant(0))) elif self.align_conv_type == "DCN": self.align_conv_offset = nn.Conv2D( self.feat_out, 2 * self.align_conv_size**2, 1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0))) self.align_conv = paddle.vision.ops.DeformConv2D( self.feat_out, self.feat_out, self.align_conv_size, padding=(self.align_conv_size - 1) // 2, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=False) self.or_conv = nn.Conv2D( self.feat_out, self.feat_out, kernel_size=3, padding=1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0))) # ODM self.odm_cls_convs = nn.Sequential() self.odm_reg_convs = nn.Sequential() for i in range(self.stacked_convs): ch_in = self.feat_out # ch_in = int(self.feat_out / 8) if i == 0 else self.feat_out self.odm_cls_convs.add_sublayer( 'odm_cls_conv_{}'.format(i), nn.Conv2D( in_channels=ch_in, out_channels=self.feat_out, kernel_size=3, stride=1, padding=1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0)))) self.odm_cls_convs.add_sublayer('odm_cls_conv_{}_act'.format(i), nn.ReLU()) self.odm_reg_convs.add_sublayer( 'odm_reg_conv_{}'.format(i), nn.Conv2D( in_channels=self.feat_out, out_channels=self.feat_out, kernel_size=3, stride=1, padding=1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0)))) self.odm_reg_convs.add_sublayer('odm_reg_conv_{}_act'.format(i), nn.ReLU()) self.odm_cls = nn.Conv2D( self.feat_out, self.cls_out_channels, 3, padding=1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(bias_init))) self.odm_reg = nn.Conv2D( self.feat_out, 5, 3, padding=1, weight_attr=ParamAttr(initializer=Normal(0.0, 0.01)), bias_attr=ParamAttr(initializer=Constant(0))) self.featmap_sizes = [] self.base_anchors_list = [] self.refine_anchor_list = [] def forward(self, feats): fam_reg_branch_list = [] fam_cls_branch_list = [] odm_reg_branch_list = [] odm_cls_branch_list = [] self.featmap_sizes_list = [] self.base_anchors_list = [] self.refine_anchor_list = [] for feat_idx in range(len(feats)): feat = feats[feat_idx] fam_cls_feat = self.fam_cls_convs(feat) fam_cls = self.fam_cls(fam_cls_feat) # [N, CLS, H, W] --> [N, H, W, CLS] fam_cls = fam_cls.transpose([0, 2, 3, 1]) fam_cls_reshape = paddle.reshape( fam_cls, [fam_cls.shape[0], -1, self.cls_out_channels]) fam_cls_branch_list.append(fam_cls_reshape) fam_reg_feat = self.fam_reg_convs(feat) fam_reg = self.fam_reg(fam_reg_feat) # [N, 5, H, W] --> [N, H, W, 5] fam_reg = fam_reg.transpose([0, 2, 3, 1]) fam_reg_reshape = paddle.reshape(fam_reg, [fam_reg.shape[0], -1, 5]) fam_reg_branch_list.append(fam_reg_reshape) # prepare anchor featmap_size = (paddle.shape(feat)[2], paddle.shape(feat)[3]) self.featmap_sizes_list.append(featmap_size) init_anchors = self.anchor_generators[feat_idx]( featmap_size, self.anchor_strides[feat_idx]) init_anchors = paddle.to_tensor(init_anchors, dtype='float32') NA = featmap_size[0] * featmap_size[1] init_anchors = paddle.reshape(init_anchors, [NA, 4]) init_anchors = self.rect2rbox(init_anchors) self.base_anchors_list.append(init_anchors) if self.is_training: refine_anchor = self.bbox_decode(fam_reg.detach(), init_anchors) else: fam_reg1 = fam_reg.clone() fam_reg1.stop_gradient = True refine_anchor = self.bbox_decode(fam_reg1, init_anchors) self.refine_anchor_list.append(refine_anchor) if self.align_conv_type == 'AlignConv': align_feat = self.align_conv(feat, refine_anchor.clone(), featmap_size, self.anchor_strides[feat_idx]) elif self.align_conv_type == 'DCN': align_offset = self.align_conv_offset(feat) align_feat = self.align_conv(feat, align_offset) elif self.align_conv_type == 'Conv': align_feat = self.align_conv(feat) or_feat = self.or_conv(align_feat) odm_reg_feat = or_feat odm_cls_feat = or_feat odm_reg_feat = self.odm_reg_convs(odm_reg_feat) odm_cls_feat = self.odm_cls_convs(odm_cls_feat) odm_cls_score = self.odm_cls(odm_cls_feat) # [N, CLS, H, W] --> [N, H, W, CLS] odm_cls_score = odm_cls_score.transpose([0, 2, 3, 1]) odm_cls_score_shape = odm_cls_score.shape odm_cls_score_reshape = paddle.reshape(odm_cls_score, [ odm_cls_score_shape[0], odm_cls_score_shape[1] * odm_cls_score_shape[2], self.cls_out_channels ]) odm_cls_branch_list.append(odm_cls_score_reshape) odm_bbox_pred = self.odm_reg(odm_reg_feat) # [N, 5, H, W] --> [N, H, W, 5] odm_bbox_pred = odm_bbox_pred.transpose([0, 2, 3, 1]) odm_bbox_pred_reshape = paddle.reshape(odm_bbox_pred, [-1, 5]) odm_bbox_pred_reshape = paddle.unsqueeze( odm_bbox_pred_reshape, axis=0) odm_reg_branch_list.append(odm_bbox_pred_reshape) self.s2anet_head_out = (fam_cls_branch_list, fam_reg_branch_list, odm_cls_branch_list, odm_reg_branch_list) return self.s2anet_head_out def get_prediction(self, nms_pre=2000): refine_anchors = self.refine_anchor_list fam_cls_branch_list = self.s2anet_head_out[0] fam_reg_branch_list = self.s2anet_head_out[1] odm_cls_branch_list = self.s2anet_head_out[2] odm_reg_branch_list = self.s2anet_head_out[3] pred_scores, pred_bboxes = self.get_bboxes( odm_cls_branch_list, odm_reg_branch_list, refine_anchors, nms_pre, self.cls_out_channels, self.use_sigmoid_cls) return pred_scores, pred_bboxes def smooth_l1_loss(self, pred, label, delta=1.0 / 9.0): """ Args: pred: pred score label: label delta: delta Returns: loss """ assert pred.shape == label.shape and label.numel() > 0 assert delta > 0 diff = paddle.abs(pred - label) loss = paddle.where(diff < delta, 0.5 * diff * diff / delta, diff - 0.5 * delta) return loss def get_fam_loss(self, fam_target, s2anet_head_out, reg_loss_type='gwd'): (labels, label_weights, bbox_targets, bbox_weights, bbox_gt_bboxes, pos_inds, neg_inds) = fam_target fam_cls_branch_list, fam_reg_branch_list, odm_cls_branch_list, odm_reg_branch_list = s2anet_head_out fam_cls_losses = [] fam_bbox_losses = [] st_idx = 0 num_total_samples = len(pos_inds) + len( neg_inds) if self.sampling else len(pos_inds) num_total_samples = max(1, num_total_samples) for idx, feat_size in enumerate(self.featmap_sizes_list): feat_anchor_num = feat_size[0] * feat_size[1] # step1: get data feat_labels = labels[st_idx:st_idx + feat_anchor_num] feat_label_weights = label_weights[st_idx:st_idx + feat_anchor_num] feat_bbox_targets = bbox_targets[st_idx:st_idx + feat_anchor_num, :] feat_bbox_weights = bbox_weights[st_idx:st_idx + feat_anchor_num, :] # step2: calc cls loss feat_labels = feat_labels.reshape(-1) feat_label_weights = feat_label_weights.reshape(-1) fam_cls_score = fam_cls_branch_list[idx] fam_cls_score = paddle.squeeze(fam_cls_score, axis=0) fam_cls_score1 = fam_cls_score feat_labels = paddle.to_tensor(feat_labels) feat_labels_one_hot = paddle.nn.functional.one_hot( feat_labels, self.cls_out_channels + 1) feat_labels_one_hot = feat_labels_one_hot[:, 1:] feat_labels_one_hot.stop_gradient = True num_total_samples = paddle.to_tensor( num_total_samples, dtype='float32', stop_gradient=True) fam_cls = F.sigmoid_focal_loss( fam_cls_score1, feat_labels_one_hot, normalizer=num_total_samples, reduction='none') feat_label_weights = feat_label_weights.reshape( feat_label_weights.shape[0], 1) feat_label_weights = np.repeat( feat_label_weights, self.cls_out_channels, axis=1) feat_label_weights = paddle.to_tensor( feat_label_weights, stop_gradient=True) fam_cls = fam_cls * feat_label_weights fam_cls_total = paddle.sum(fam_cls) fam_cls_losses.append(fam_cls_total) # step3: regression loss feat_bbox_targets = paddle.to_tensor( feat_bbox_targets, dtype='float32', stop_gradient=True) feat_bbox_targets = paddle.reshape(feat_bbox_targets, [-1, 5]) fam_bbox_pred = fam_reg_branch_list[idx] fam_bbox_pred = paddle.squeeze(fam_bbox_pred, axis=0) fam_bbox_pred = paddle.reshape(fam_bbox_pred, [-1, 5]) fam_bbox = self.smooth_l1_loss(fam_bbox_pred, feat_bbox_targets) loss_weight = paddle.to_tensor( self.reg_loss_weight, dtype='float32', stop_gradient=True) fam_bbox = paddle.multiply(fam_bbox, loss_weight) feat_bbox_weights = paddle.to_tensor( feat_bbox_weights, stop_gradient=True) if reg_loss_type == 'l1': fam_bbox = fam_bbox * feat_bbox_weights fam_bbox_total = paddle.sum(fam_bbox) / num_total_samples elif reg_loss_type == 'iou' or reg_loss_type == 'gwd': fam_bbox = paddle.sum(fam_bbox, axis=-1) feat_bbox_weights = paddle.sum(feat_bbox_weights, axis=-1) try: from rbox_iou_ops import rbox_iou except Exception as e: print("import custom_ops error, try install rbox_iou_ops " \ "following ppdet/ext_op/README.md", e) sys.stdout.flush() sys.exit(-1) # calc iou fam_bbox_decode = self.delta2rbox(self.base_anchors_list[idx], fam_bbox_pred) bbox_gt_bboxes = paddle.to_tensor( bbox_gt_bboxes, dtype=fam_bbox_decode.dtype, place=fam_bbox_decode.place) bbox_gt_bboxes.stop_gradient = True iou = rbox_iou(fam_bbox_decode, bbox_gt_bboxes) iou = paddle.diag(iou) if reg_loss_type == 'gwd': bbox_gt_bboxes_level = bbox_gt_bboxes[st_idx:st_idx + feat_anchor_num, :] fam_bbox_total = self.gwd_loss(fam_bbox_decode, bbox_gt_bboxes_level) fam_bbox_total = fam_bbox_total * feat_bbox_weights fam_bbox_total = paddle.sum( fam_bbox_total) / num_total_samples fam_bbox_losses.append(fam_bbox_total) st_idx += feat_anchor_num fam_cls_loss = paddle.add_n(fam_cls_losses) fam_cls_loss_weight = paddle.to_tensor( self.cls_loss_weight[0], dtype='float32', stop_gradient=True) fam_cls_loss = fam_cls_loss * fam_cls_loss_weight fam_reg_loss = paddle.add_n(fam_bbox_losses) return fam_cls_loss, fam_reg_loss def get_odm_loss(self, odm_target, s2anet_head_out, reg_loss_type='gwd'): (labels, label_weights, bbox_targets, bbox_weights, bbox_gt_bboxes, pos_inds, neg_inds) = odm_target fam_cls_branch_list, fam_reg_branch_list, odm_cls_branch_list, odm_reg_branch_list = s2anet_head_out odm_cls_losses = [] odm_bbox_losses = [] st_idx = 0 num_total_samples = len(pos_inds) + len( neg_inds) if self.sampling else len(pos_inds) num_total_samples = max(1, num_total_samples) for idx, feat_size in enumerate(self.featmap_sizes_list): feat_anchor_num = feat_size[0] * feat_size[1] # step1: get data feat_labels = labels[st_idx:st_idx + feat_anchor_num] feat_label_weights = label_weights[st_idx:st_idx + feat_anchor_num] feat_bbox_targets = bbox_targets[st_idx:st_idx + feat_anchor_num, :] feat_bbox_weights = bbox_weights[st_idx:st_idx + feat_anchor_num, :] # step2: calc cls loss feat_labels = feat_labels.reshape(-1) feat_label_weights = feat_label_weights.reshape(-1) odm_cls_score = odm_cls_branch_list[idx] odm_cls_score = paddle.squeeze(odm_cls_score, axis=0) odm_cls_score1 = odm_cls_score feat_labels = paddle.to_tensor(feat_labels) feat_labels_one_hot = paddle.nn.functional.one_hot( feat_labels, self.cls_out_channels + 1) feat_labels_one_hot = feat_labels_one_hot[:, 1:] feat_labels_one_hot.stop_gradient = True num_total_samples = paddle.to_tensor( num_total_samples, dtype='float32', stop_gradient=True) odm_cls = F.sigmoid_focal_loss( odm_cls_score1, feat_labels_one_hot, normalizer=num_total_samples, reduction='none') feat_label_weights = feat_label_weights.reshape( feat_label_weights.shape[0], 1) feat_label_weights = np.repeat( feat_label_weights, self.cls_out_channels, axis=1) feat_label_weights = paddle.to_tensor(feat_label_weights) feat_label_weights.stop_gradient = True odm_cls = odm_cls * feat_label_weights odm_cls_total = paddle.sum(odm_cls) odm_cls_losses.append(odm_cls_total) # # step3: regression loss feat_bbox_targets = paddle.to_tensor( feat_bbox_targets, dtype='float32') feat_bbox_targets = paddle.reshape(feat_bbox_targets, [-1, 5]) feat_bbox_targets.stop_gradient = True odm_bbox_pred = odm_reg_branch_list[idx] odm_bbox_pred = paddle.squeeze(odm_bbox_pred, axis=0) odm_bbox_pred = paddle.reshape(odm_bbox_pred, [-1, 5]) odm_bbox = self.smooth_l1_loss(odm_bbox_pred, feat_bbox_targets) loss_weight = paddle.to_tensor( self.reg_loss_weight, dtype='float32', stop_gradient=True) odm_bbox = paddle.multiply(odm_bbox, loss_weight) feat_bbox_weights = paddle.to_tensor( feat_bbox_weights, stop_gradient=True) if reg_loss_type == 'l1': odm_bbox = odm_bbox * feat_bbox_weights odm_bbox_total = paddle.sum(odm_bbox) / num_total_samples elif reg_loss_type == 'iou' or reg_loss_type == 'gwd': odm_bbox = paddle.sum(odm_bbox, axis=-1) feat_bbox_weights = paddle.sum(feat_bbox_weights, axis=-1) try: from rbox_iou_ops import rbox_iou except Exception as e: print("import custom_ops error, try install rbox_iou_ops " \ "following ppdet/ext_op/README.md", e) sys.stdout.flush() sys.exit(-1) # calc iou odm_bbox_decode = self.delta2rbox(self.refine_anchor_list[idx], odm_bbox_pred) bbox_gt_bboxes = paddle.to_tensor( bbox_gt_bboxes, dtype=odm_bbox_decode.dtype, place=odm_bbox_decode.place) bbox_gt_bboxes.stop_gradient = True iou = rbox_iou(odm_bbox_decode, bbox_gt_bboxes) iou = paddle.diag(iou) if reg_loss_type == 'gwd': bbox_gt_bboxes_level = bbox_gt_bboxes[st_idx:st_idx + feat_anchor_num, :] odm_bbox_total = self.gwd_loss(odm_bbox_decode, bbox_gt_bboxes_level) odm_bbox_total = odm_bbox_total * feat_bbox_weights odm_bbox_total = paddle.sum( odm_bbox_total) / num_total_samples odm_bbox_losses.append(odm_bbox_total) st_idx += feat_anchor_num odm_cls_loss = paddle.add_n(odm_cls_losses) odm_cls_loss_weight = paddle.to_tensor( self.cls_loss_weight[1], dtype='float32', stop_gradient=True) odm_cls_loss = odm_cls_loss * odm_cls_loss_weight odm_reg_loss = paddle.add_n(odm_bbox_losses) return odm_cls_loss, odm_reg_loss def get_loss(self, inputs): # inputs: im_id image im_shape scale_factor gt_bbox gt_class is_crowd # compute loss fam_cls_loss_lst = [] fam_reg_loss_lst = [] odm_cls_loss_lst = [] odm_reg_loss_lst = [] im_shape = inputs['im_shape'] for im_id in range(im_shape.shape[0]): np_im_shape = inputs['im_shape'][im_id].numpy() np_scale_factor = inputs['scale_factor'][im_id].numpy() # data_format: (xc, yc, w, h, theta) gt_bboxes = inputs['gt_rbox'][im_id].numpy() gt_labels = inputs['gt_class'][im_id].numpy() is_crowd = inputs['is_crowd'][im_id].numpy() gt_labels = gt_labels + 1 # featmap_sizes anchors_list_all = np.concatenate(self.base_anchors_list) # get im_feat fam_cls_feats_list = [e[im_id] for e in self.s2anet_head_out[0]] fam_reg_feats_list = [e[im_id] for e in self.s2anet_head_out[1]] odm_cls_feats_list = [e[im_id] for e in self.s2anet_head_out[2]] odm_reg_feats_list = [e[im_id] for e in self.s2anet_head_out[3]] im_s2anet_head_out = (fam_cls_feats_list, fam_reg_feats_list, odm_cls_feats_list, odm_reg_feats_list) # FAM im_fam_target = self.anchor_assign(anchors_list_all, gt_bboxes, gt_labels, is_crowd) if im_fam_target is not None: im_fam_cls_loss, im_fam_reg_loss = self.get_fam_loss( im_fam_target, im_s2anet_head_out, self.reg_loss_type) fam_cls_loss_lst.append(im_fam_cls_loss) fam_reg_loss_lst.append(im_fam_reg_loss) # ODM np_refine_anchors_list = paddle.concat( self.refine_anchor_list).numpy() np_refine_anchors_list = np.concatenate(np_refine_anchors_list) np_refine_anchors_list = np_refine_anchors_list.reshape(-1, 5) im_odm_target = self.anchor_assign(np_refine_anchors_list, gt_bboxes, gt_labels, is_crowd) if im_odm_target is not None: im_odm_cls_loss, im_odm_reg_loss = self.get_odm_loss( im_odm_target, im_s2anet_head_out, self.reg_loss_type) odm_cls_loss_lst.append(im_odm_cls_loss) odm_reg_loss_lst.append(im_odm_reg_loss) fam_cls_loss = paddle.add_n(fam_cls_loss_lst) fam_reg_loss = paddle.add_n(fam_reg_loss_lst) odm_cls_loss = paddle.add_n(odm_cls_loss_lst) odm_reg_loss = paddle.add_n(odm_reg_loss_lst) return { 'fam_cls_loss': fam_cls_loss, 'fam_reg_loss': fam_reg_loss, 'odm_cls_loss': odm_cls_loss, 'odm_reg_loss': odm_reg_loss } def get_bboxes(self, cls_score_list, bbox_pred_list, mlvl_anchors, nms_pre, cls_out_channels, use_sigmoid_cls): assert len(cls_score_list) == len(bbox_pred_list) == len(mlvl_anchors) mlvl_bboxes = [] mlvl_scores = [] idx = 0 for cls_score, bbox_pred, anchors in zip(cls_score_list, bbox_pred_list, mlvl_anchors): cls_score = paddle.reshape(cls_score, [-1, cls_out_channels]) if use_sigmoid_cls: scores = F.sigmoid(cls_score) else: scores = F.softmax(cls_score, axis=-1) # bbox_pred = bbox_pred.permute(1, 2, 0).reshape(-1, 5) bbox_pred = paddle.transpose(bbox_pred, [1, 2, 0]) bbox_pred = paddle.reshape(bbox_pred, [-1, 5]) anchors = paddle.reshape(anchors, [-1, 5]) if scores.shape[0] > nms_pre: # Get maximum scores for foreground classes. if use_sigmoid_cls: max_scores = paddle.max(scores, axis=1) else: max_scores = paddle.max(scores[:, 1:], axis=1) topk_val, topk_inds = paddle.topk(max_scores, nms_pre) anchors = paddle.gather(anchors, topk_inds) bbox_pred = paddle.gather(bbox_pred, topk_inds) scores = paddle.gather(scores, topk_inds) bbox_delta = paddle.reshape(bbox_pred, [-1, 5]) bboxes = self.delta2rbox(anchors, bbox_delta) mlvl_bboxes.append(bboxes) mlvl_scores.append(scores) idx += 1 mlvl_bboxes = paddle.concat(mlvl_bboxes, axis=0) mlvl_scores = paddle.concat(mlvl_scores) return mlvl_scores, mlvl_bboxes def rect2rbox(self, bboxes): """ :param bboxes: shape (n, 4) (xmin, ymin, xmax, ymax) :return: dbboxes: shape (n, 5) (x_ctr, y_ctr, w, h, angle) """ bboxes = paddle.reshape(bboxes, [-1, 4]) num_boxes = paddle.shape(bboxes)[0] x_ctr = (bboxes[:, 2] + bboxes[:, 0]) / 2.0 y_ctr = (bboxes[:, 3] + bboxes[:, 1]) / 2.0 edges1 = paddle.abs(bboxes[:, 2] - bboxes[:, 0]) edges2 = paddle.abs(bboxes[:, 3] - bboxes[:, 1]) rbox_w = paddle.maximum(edges1, edges2) rbox_h = paddle.minimum(edges1, edges2) # set angle inds = edges1 < edges2 inds = paddle.cast(inds, 'int32') rboxes_angle = inds * np.pi / 2.0 rboxes = paddle.stack( (x_ctr, y_ctr, rbox_w, rbox_h, rboxes_angle), axis=1) return rboxes # deltas to rbox def delta2rbox(self, rrois, deltas, wh_ratio_clip=1e-6): """ :param rrois: (cx, cy, w, h, theta) :param deltas: (dx, dy, dw, dh, dtheta) :param means: means of anchor :param stds: stds of anchor :param wh_ratio_clip: clip threshold of wh_ratio :return: """ deltas = paddle.reshape(deltas, [-1, 5]) rrois = paddle.reshape(rrois, [-1, 5]) # fix dy2st bug denorm_deltas = deltas * self.stds + self.means denorm_deltas = paddle.add( paddle.multiply(deltas, self.stds), self.means) dx = denorm_deltas[:, 0] dy = denorm_deltas[:, 1] dw = denorm_deltas[:, 2] dh = denorm_deltas[:, 3] dangle = denorm_deltas[:, 4] max_ratio = np.abs(np.log(wh_ratio_clip)) dw = paddle.clip(dw, min=-max_ratio, max=max_ratio) dh = paddle.clip(dh, min=-max_ratio, max=max_ratio) rroi_x = rrois[:, 0] rroi_y = rrois[:, 1] rroi_w = rrois[:, 2] rroi_h = rrois[:, 3] rroi_angle = rrois[:, 4] gx = dx * rroi_w * paddle.cos(rroi_angle) - dy * rroi_h * paddle.sin( rroi_angle) + rroi_x gy = dx * rroi_w * paddle.sin(rroi_angle) + dy * rroi_h * paddle.cos( rroi_angle) + rroi_y gw = rroi_w * dw.exp() gh = rroi_h * dh.exp() ga = np.pi * dangle + rroi_angle ga = (ga + np.pi / 4) % np.pi - np.pi / 4 ga = paddle.to_tensor(ga) gw = paddle.to_tensor(gw, dtype='float32') gh = paddle.to_tensor(gh, dtype='float32') bboxes = paddle.stack([gx, gy, gw, gh, ga], axis=-1) return bboxes def bbox_decode(self, bbox_preds, anchors): """decode bbox from deltas Args: bbox_preds: [N,H,W,5] anchors: [H*W,5] return: bboxes: [N,H,W,5] """ num_imgs, H, W, _ = bbox_preds.shape bbox_delta = paddle.reshape(bbox_preds, [-1, 5]) bboxes = self.delta2rbox(anchors, bbox_delta) return bboxes def trace(self, A): tr = paddle.diagonal(A, axis1=-2, axis2=-1) tr = paddle.sum(tr, axis=-1) return tr def sqrt_newton_schulz_autograd(self, A, numIters): A_shape = A.shape batchSize = A_shape[0] dim = A_shape[1] normA = A * A normA = paddle.sum(normA, axis=1) normA = paddle.sum(normA, axis=1) normA = paddle.sqrt(normA) normA1 = normA.reshape([batchSize, 1, 1]) Y = paddle.divide(A, paddle.expand_as(normA1, A)) I = paddle.eye(dim, dim).reshape([1, dim, dim]) l0 = [] for i in range(batchSize): l0.append(I) I = paddle.concat(l0, axis=0) I.stop_gradient = False Z = paddle.eye(dim, dim).reshape([1, dim, dim]) l1 = [] for i in range(batchSize): l1.append(Z) Z = paddle.concat(l1, axis=0) Z.stop_gradient = False for i in range(numIters): T = 0.5 * (3.0 * I - Z.bmm(Y)) Y = Y.bmm(T) Z = T.bmm(Z) sA = Y * paddle.sqrt(normA1).reshape([batchSize, 1, 1]) sA = paddle.expand_as(sA, A) return sA def wasserstein_distance_sigma(sigma1, sigma2): wasserstein_distance_item2 = paddle.matmul( sigma1, sigma1) + paddle.matmul( sigma2, sigma2) - 2 * self.sqrt_newton_schulz_autograd( paddle.matmul( paddle.matmul(sigma1, paddle.matmul(sigma2, sigma2)), sigma1), 10) wasserstein_distance_item2 = self.trace(wasserstein_distance_item2) return wasserstein_distance_item2 def xywhr2xyrs(self, xywhr): xywhr = paddle.reshape(xywhr, [-1, 5]) xy = xywhr[:, :2] wh = paddle.clip(xywhr[:, 2:4], min=1e-7, max=1e7) r = xywhr[:, 4] cos_r = paddle.cos(r) sin_r = paddle.sin(r) R = paddle.stack( (cos_r, -sin_r, sin_r, cos_r), axis=-1).reshape([-1, 2, 2]) S = 0.5 * paddle.nn.functional.diag_embed(wh) return xy, R, S def gwd_loss(self, pred, target, fun='log', tau=1.0, alpha=1.0, normalize=False): xy_p, R_p, S_p = self.xywhr2xyrs(pred) xy_t, R_t, S_t = self.xywhr2xyrs(target) xy_distance = (xy_p - xy_t).square().sum(axis=-1) Sigma_p = R_p.matmul(S_p.square()).matmul(R_p.transpose([0, 2, 1])) Sigma_t = R_t.matmul(S_t.square()).matmul(R_t.transpose([0, 2, 1])) whr_distance = paddle.diagonal( S_p, axis1=-2, axis2=-1).square().sum(axis=-1) whr_distance = whr_distance + paddle.diagonal( S_t, axis1=-2, axis2=-1).square().sum(axis=-1) _t = Sigma_p.matmul(Sigma_t) _t_tr = paddle.diagonal(_t, axis1=-2, axis2=-1).sum(axis=-1) _t_det_sqrt = paddle.diagonal(S_p, axis1=-2, axis2=-1).prod(axis=-1) _t_det_sqrt = _t_det_sqrt * paddle.diagonal( S_t, axis1=-2, axis2=-1).prod(axis=-1) whr_distance = whr_distance + (-2) * ( (_t_tr + 2 * _t_det_sqrt).clip(0).sqrt()) distance = (xy_distance + alpha * alpha * whr_distance).clip(0) if normalize: wh_p = pred[..., 2:4].clip(min=1e-7, max=1e7) wh_t = target[..., 2:4].clip(min=1e-7, max=1e7) scale = ((wh_p.log() + wh_t.log()).sum(dim=-1) / 4).exp() distance = distance / scale if fun == 'log': distance = paddle.log1p(distance) if tau >= 1.0: return 1 - 1 / (tau + distance) return distance