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| # Copyright (c) OpenMMLab. All rights reserved. | |
| import copy | |
| import warnings | |
| import torch | |
| import torch.nn as nn | |
| import torch.nn.functional as F | |
| from mmcv import ConfigDict | |
| from mmcv.ops import nms | |
| from ..builder import HEADS | |
| from .guided_anchor_head import GuidedAnchorHead | |
| class GARPNHead(GuidedAnchorHead): | |
| """Guided-Anchor-based RPN head.""" | |
| def __init__(self, | |
| in_channels, | |
| init_cfg=dict( | |
| type='Normal', | |
| layer='Conv2d', | |
| std=0.01, | |
| override=dict( | |
| type='Normal', | |
| name='conv_loc', | |
| std=0.01, | |
| bias_prob=0.01)), | |
| **kwargs): | |
| super(GARPNHead, self).__init__( | |
| 1, in_channels, init_cfg=init_cfg, **kwargs) | |
| def _init_layers(self): | |
| """Initialize layers of the head.""" | |
| self.rpn_conv = nn.Conv2d( | |
| self.in_channels, self.feat_channels, 3, padding=1) | |
| super(GARPNHead, self)._init_layers() | |
| def forward_single(self, x): | |
| """Forward feature of a single scale level.""" | |
| x = self.rpn_conv(x) | |
| x = F.relu(x, inplace=True) | |
| (cls_score, bbox_pred, shape_pred, | |
| loc_pred) = super(GARPNHead, self).forward_single(x) | |
| return cls_score, bbox_pred, shape_pred, loc_pred | |
| def loss(self, | |
| cls_scores, | |
| bbox_preds, | |
| shape_preds, | |
| loc_preds, | |
| gt_bboxes, | |
| img_metas, | |
| gt_bboxes_ignore=None): | |
| losses = super(GARPNHead, self).loss( | |
| cls_scores, | |
| bbox_preds, | |
| shape_preds, | |
| loc_preds, | |
| gt_bboxes, | |
| None, | |
| img_metas, | |
| gt_bboxes_ignore=gt_bboxes_ignore) | |
| return dict( | |
| loss_rpn_cls=losses['loss_cls'], | |
| loss_rpn_bbox=losses['loss_bbox'], | |
| loss_anchor_shape=losses['loss_shape'], | |
| loss_anchor_loc=losses['loss_loc']) | |
| def _get_bboxes_single(self, | |
| cls_scores, | |
| bbox_preds, | |
| mlvl_anchors, | |
| mlvl_masks, | |
| img_shape, | |
| scale_factor, | |
| cfg, | |
| rescale=False): | |
| cfg = self.test_cfg if cfg is None else cfg | |
| cfg = copy.deepcopy(cfg) | |
| # deprecate arguments warning | |
| if 'nms' not in cfg or 'max_num' in cfg or 'nms_thr' in cfg: | |
| warnings.warn( | |
| 'In rpn_proposal or test_cfg, ' | |
| 'nms_thr has been moved to a dict named nms as ' | |
| 'iou_threshold, max_num has been renamed as max_per_img, ' | |
| 'name of original arguments and the way to specify ' | |
| 'iou_threshold of NMS will be deprecated.') | |
| if 'nms' not in cfg: | |
| cfg.nms = ConfigDict(dict(type='nms', iou_threshold=cfg.nms_thr)) | |
| if 'max_num' in cfg: | |
| if 'max_per_img' in cfg: | |
| assert cfg.max_num == cfg.max_per_img, f'You ' \ | |
| f'set max_num and max_per_img at the same time, ' \ | |
| f'but get {cfg.max_num} ' \ | |
| f'and {cfg.max_per_img} respectively' \ | |
| 'Please delete max_num which will be deprecated.' | |
| else: | |
| cfg.max_per_img = cfg.max_num | |
| if 'nms_thr' in cfg: | |
| assert cfg.nms.iou_threshold == cfg.nms_thr, f'You set ' \ | |
| f'iou_threshold in nms and ' \ | |
| f'nms_thr at the same time, but get ' \ | |
| f'{cfg.nms.iou_threshold} and {cfg.nms_thr}' \ | |
| f' respectively. Please delete the ' \ | |
| f'nms_thr which will be deprecated.' | |
| assert cfg.nms.get('type', 'nms') == 'nms', 'GARPNHead only support ' \ | |
| 'naive nms.' | |
| mlvl_proposals = [] | |
| for idx in range(len(cls_scores)): | |
| rpn_cls_score = cls_scores[idx] | |
| rpn_bbox_pred = bbox_preds[idx] | |
| anchors = mlvl_anchors[idx] | |
| mask = mlvl_masks[idx] | |
| assert rpn_cls_score.size()[-2:] == rpn_bbox_pred.size()[-2:] | |
| # if no location is kept, end. | |
| if mask.sum() == 0: | |
| continue | |
| rpn_cls_score = rpn_cls_score.permute(1, 2, 0) | |
| if self.use_sigmoid_cls: | |
| rpn_cls_score = rpn_cls_score.reshape(-1) | |
| scores = rpn_cls_score.sigmoid() | |
| else: | |
| rpn_cls_score = rpn_cls_score.reshape(-1, 2) | |
| # remind that we set FG labels to [0, num_class-1] | |
| # since mmdet v2.0 | |
| # BG cat_id: num_class | |
| scores = rpn_cls_score.softmax(dim=1)[:, :-1] | |
| # filter scores, bbox_pred w.r.t. mask. | |
| # anchors are filtered in get_anchors() beforehand. | |
| scores = scores[mask] | |
| rpn_bbox_pred = rpn_bbox_pred.permute(1, 2, 0).reshape(-1, | |
| 4)[mask, :] | |
| if scores.dim() == 0: | |
| rpn_bbox_pred = rpn_bbox_pred.unsqueeze(0) | |
| anchors = anchors.unsqueeze(0) | |
| scores = scores.unsqueeze(0) | |
| # filter anchors, bbox_pred, scores w.r.t. scores | |
| if cfg.nms_pre > 0 and scores.shape[0] > cfg.nms_pre: | |
| _, topk_inds = scores.topk(cfg.nms_pre) | |
| rpn_bbox_pred = rpn_bbox_pred[topk_inds, :] | |
| anchors = anchors[topk_inds, :] | |
| scores = scores[topk_inds] | |
| # get proposals w.r.t. anchors and rpn_bbox_pred | |
| proposals = self.bbox_coder.decode( | |
| anchors, rpn_bbox_pred, max_shape=img_shape) | |
| # filter out too small bboxes | |
| if cfg.min_bbox_size >= 0: | |
| w = proposals[:, 2] - proposals[:, 0] | |
| h = proposals[:, 3] - proposals[:, 1] | |
| valid_mask = (w > cfg.min_bbox_size) & (h > cfg.min_bbox_size) | |
| if not valid_mask.all(): | |
| proposals = proposals[valid_mask] | |
| scores = scores[valid_mask] | |
| # NMS in current level | |
| proposals, _ = nms(proposals, scores, cfg.nms.iou_threshold) | |
| proposals = proposals[:cfg.nms_post, :] | |
| mlvl_proposals.append(proposals) | |
| proposals = torch.cat(mlvl_proposals, 0) | |
| if cfg.get('nms_across_levels', False): | |
| # NMS across multi levels | |
| proposals, _ = nms(proposals[:, :4], proposals[:, -1], | |
| cfg.nms.iou_threshold) | |
| proposals = proposals[:cfg.max_per_img, :] | |
| else: | |
| scores = proposals[:, 4] | |
| num = min(cfg.max_per_img, proposals.shape[0]) | |
| _, topk_inds = scores.topk(num) | |
| proposals = proposals[topk_inds, :] | |
| return proposals | |