maskrcnn_benchmark/modeling/rpn/inference.py

# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved.
import logging

import torch

from maskrcnn_benchmark.modeling.box_coder import BoxCoder
from maskrcnn_benchmark.structures.bounding_box import BoxList, _onnx_clip_boxes_to_image
from maskrcnn_benchmark.structures.boxlist_ops import cat_boxlist
from maskrcnn_benchmark.structures.boxlist_ops import boxlist_nms
from maskrcnn_benchmark.structures.boxlist_ops import boxlist_ml_nms
from maskrcnn_benchmark.structures.boxlist_ops import remove_small_boxes

from ..utils import permute_and_flatten
import pdb


class RPNPostProcessor(torch.nn.Module):
    """
    Performs post-processing on the outputs of the RPN boxes, before feeding the
    proposals to the heads
    """

    def __init__(
        self, pre_nms_top_n, post_nms_top_n, nms_thresh, min_size, box_coder=None, fpn_post_nms_top_n=None, onnx=False
    ):
        """
        Arguments:
            pre_nms_top_n (int)
            post_nms_top_n (int)
            nms_thresh (float)
            min_size (int)
            box_coder (BoxCoder)
            fpn_post_nms_top_n (int)
        """
        super(RPNPostProcessor, self).__init__()
        self.pre_nms_top_n = pre_nms_top_n
        self.post_nms_top_n = post_nms_top_n
        self.nms_thresh = nms_thresh
        self.min_size = min_size
        self.onnx = onnx

        if box_coder is None:
            box_coder = BoxCoder(weights=(1.0, 1.0, 1.0, 1.0))
        self.box_coder = box_coder

        if fpn_post_nms_top_n is None:
            fpn_post_nms_top_n = post_nms_top_n
        self.fpn_post_nms_top_n = fpn_post_nms_top_n

    def add_gt_proposals(self, proposals, targets):
        """
        Arguments:
            proposals: list[BoxList]
            targets: list[BoxList]
        """
        # Get the device we're operating on
        device = proposals[0].bbox.device

        gt_boxes = [target.copy_with_fields([]) for target in targets]

        # later cat of bbox requires all fields to be present for all bbox
        # so we need to add a dummy for objectness that's missing
        for gt_box in gt_boxes:
            gt_box.add_field("objectness", torch.ones(len(gt_box), device=device))

        proposals = [cat_boxlist((proposal, gt_box)) for proposal, gt_box in zip(proposals, gt_boxes)]

        return proposals

    def forward_for_single_feature_map(self, anchors, objectness, box_regression):
        """
        Arguments:
            anchors: list[BoxList]
            objectness: tensor of size N, A, H, W
            box_regression: tensor of size N, A * 4, H, W
        """
        device = objectness.device
        N, A, H, W = objectness.shape

        # put in the same format as anchors
        objectness = objectness.permute(0, 2, 3, 1).reshape(N, -1)
        objectness = objectness.sigmoid()
        box_regression = box_regression.view(N, -1, 4, H, W).permute(0, 3, 4, 1, 2)
        box_regression = box_regression.reshape(N, -1, 4)

        num_anchors = A * H * W

        pre_nms_top_n = min(self.pre_nms_top_n, num_anchors)
        objectness, topk_idx = objectness.topk(pre_nms_top_n, dim=1, sorted=True)

        batch_idx = torch.arange(N, device=device)[:, None]
        box_regression = box_regression[batch_idx, topk_idx]

        image_shapes = [box.size for box in anchors]
        concat_anchors = torch.cat([a.bbox for a in anchors], dim=0)
        concat_anchors = concat_anchors.reshape(N, -1, 4)[batch_idx, topk_idx]

        proposals = self.box_coder.decode(box_regression.view(-1, 4), concat_anchors.view(-1, 4))

        proposals = proposals.view(N, -1, 4)

        result = []
        for proposal, score, im_shape in zip(proposals, objectness, image_shapes):
            if self.onnx:
                proposal = _onnx_clip_boxes_to_image(proposal, im_shape)
                boxlist = BoxList(proposal, im_shape, mode="xyxy")
            else:
                boxlist = BoxList(proposal, im_shape, mode="xyxy")
                boxlist = boxlist.clip_to_image(remove_empty=False)

            boxlist.add_field("objectness", score)
            boxlist = remove_small_boxes(boxlist, self.min_size)
            boxlist = boxlist_nms(
                boxlist,
                self.nms_thresh,
                max_proposals=self.post_nms_top_n,
                score_field="objectness",
            )
            result.append(boxlist)
        return result

    def forward(self, anchors, objectness, box_regression, targets=None):
        """
        Arguments:
            anchors: list[list[BoxList]]
            objectness: list[tensor]
            box_regression: list[tensor]

        Returns:
            boxlists (list[BoxList]): the post-processed anchors, after
                applying box decoding and NMS
        """
        sampled_boxes = []
        num_levels = len(objectness)
        anchors = list(zip(*anchors))
        for a, o, b in zip(anchors, objectness, box_regression):
            sampled_boxes.append(self.forward_for_single_feature_map(a, o, b))

        boxlists = list(zip(*sampled_boxes))
        boxlists = [cat_boxlist(boxlist) for boxlist in boxlists]

        if num_levels > 1:
            boxlists = self.select_over_all_levels(boxlists)

        # append ground-truth bboxes to proposals
        if self.training and targets is not None:
            boxlists = self.add_gt_proposals(boxlists, targets)

        return boxlists

    def select_over_all_levels(self, boxlists):
        num_images = len(boxlists)
        # different behavior during training and during testing:
        # during training, post_nms_top_n is over *all* the proposals combined, while
        # during testing, it is over the proposals for each image
        # TODO resolve this difference and make it consistent. It should be per image,
        # and not per batch
        if self.training:
            objectness = torch.cat([boxlist.get_field("objectness") for boxlist in boxlists], dim=0)
            box_sizes = [len(boxlist) for boxlist in boxlists]
            post_nms_top_n = min(self.fpn_post_nms_top_n, len(objectness))
            _, inds_sorted = torch.topk(objectness, post_nms_top_n, dim=0, sorted=True)
            inds_mask = torch.zeros_like(objectness, dtype=torch.bool)
            inds_mask[inds_sorted] = 1
            inds_mask = inds_mask.split(box_sizes)
            for i in range(num_images):
                boxlists[i] = boxlists[i][inds_mask[i]]
        else:
            for i in range(num_images):
                objectness = boxlists[i].get_field("objectness")
                post_nms_top_n = min(self.fpn_post_nms_top_n, len(objectness))
                _, inds_sorted = torch.topk(objectness, post_nms_top_n, dim=0, sorted=True)
                boxlists[i] = boxlists[i][inds_sorted]
        return boxlists


def make_rpn_postprocessor(config, rpn_box_coder, is_train):
    fpn_post_nms_top_n = config.MODEL.RPN.FPN_POST_NMS_TOP_N_TRAIN
    if not is_train:
        fpn_post_nms_top_n = config.MODEL.RPN.FPN_POST_NMS_TOP_N_TEST

    pre_nms_top_n = config.MODEL.RPN.PRE_NMS_TOP_N_TRAIN
    post_nms_top_n = config.MODEL.RPN.POST_NMS_TOP_N_TRAIN
    if not is_train:
        pre_nms_top_n = config.MODEL.RPN.PRE_NMS_TOP_N_TEST
        post_nms_top_n = config.MODEL.RPN.POST_NMS_TOP_N_TEST
    nms_thresh = config.MODEL.RPN.NMS_THRESH
    min_size = config.MODEL.RPN.MIN_SIZE
    onnx = config.MODEL.ONNX
    box_selector = RPNPostProcessor(
        pre_nms_top_n=pre_nms_top_n,
        post_nms_top_n=post_nms_top_n,
        nms_thresh=nms_thresh,
        min_size=min_size,
        box_coder=rpn_box_coder,
        fpn_post_nms_top_n=fpn_post_nms_top_n,
        onnx=onnx,
    )
    return box_selector


class RetinaPostProcessor(torch.nn.Module):
    """
    Performs post-processing on the outputs of the RetinaNet boxes.
    This is only used in the testing.
    """

    def __init__(
        self,
        pre_nms_thresh,
        pre_nms_top_n,
        nms_thresh,
        fpn_post_nms_top_n,
        min_size,
        num_classes,
        box_coder=None,
    ):
        """
        Arguments:
            pre_nms_thresh (float)
            pre_nms_top_n (int)
            nms_thresh (float)
            fpn_post_nms_top_n (int)
            min_size (int)
            num_classes (int)
            box_coder (BoxCoder)
        """
        super(RetinaPostProcessor, self).__init__()
        self.pre_nms_thresh = pre_nms_thresh
        self.pre_nms_top_n = pre_nms_top_n
        self.nms_thresh = nms_thresh
        self.fpn_post_nms_top_n = fpn_post_nms_top_n
        self.min_size = min_size
        self.num_classes = num_classes

        if box_coder is None:
            box_coder = BoxCoder(weights=(10.0, 10.0, 5.0, 5.0))
        self.box_coder = box_coder

    def forward_for_single_feature_map(self, anchors, box_cls, box_regression):
        """
        Arguments:
            anchors: list[BoxList]
            box_cls: tensor of size N, A * C, H, W
            box_regression: tensor of size N, A * 4, H, W
        """
        device = box_cls.device
        N, _, H, W = box_cls.shape
        A = box_regression.size(1) // 4
        C = box_cls.size(1) // A

        # put in the same format as anchors
        box_cls = permute_and_flatten(box_cls, N, A, C, H, W)
        box_cls = box_cls.sigmoid()

        box_regression = permute_and_flatten(box_regression, N, A, 4, H, W)
        box_regression = box_regression.reshape(N, -1, 4)

        num_anchors = A * H * W

        candidate_inds = box_cls > self.pre_nms_thresh

        pre_nms_top_n = candidate_inds.view(N, -1).sum(1)
        pre_nms_top_n = pre_nms_top_n.clamp(max=self.pre_nms_top_n)

        results = []
        for per_box_cls, per_box_regression, per_pre_nms_top_n, per_candidate_inds, per_anchors in zip(
            box_cls, box_regression, pre_nms_top_n, candidate_inds, anchors
        ):
            # Sort and select TopN
            # TODO most of this can be made out of the loop for
            # all images.
            # TODO:Yang: Not easy to do. Because the numbers of detections are
            # different in each image. Therefore, this part needs to be done
            # per image.
            per_box_cls = per_box_cls[per_candidate_inds]

            per_box_cls, top_k_indices = per_box_cls.topk(per_pre_nms_top_n, sorted=False)

            per_candidate_nonzeros = per_candidate_inds.nonzero()[top_k_indices, :]

            per_box_loc = per_candidate_nonzeros[:, 0]
            per_class = per_candidate_nonzeros[:, 1]
            per_class += 1

            detections = self.box_coder.decode(
                per_box_regression[per_box_loc, :].view(-1, 4), per_anchors.bbox[per_box_loc, :].view(-1, 4)
            )

            boxlist = BoxList(detections, per_anchors.size, mode="xyxy")
            boxlist.add_field("labels", per_class)
            boxlist.add_field("scores", per_box_cls)
            boxlist = boxlist.clip_to_image(remove_empty=False)
            boxlist = remove_small_boxes(boxlist, self.min_size)
            results.append(boxlist)

        return results

    # TODO very similar to filter_results from PostProcessor
    # but filter_results is per image
    # TODO Yang: solve this issue in the future. No good solution
    # right now.
    def select_over_all_levels(self, boxlists):
        num_images = len(boxlists)
        results = []
        for i in range(num_images):
            scores = boxlists[i].get_field("scores")
            labels = boxlists[i].get_field("labels")
            boxes = boxlists[i].bbox
            boxlist = boxlists[i]
            result = []
            # skip the background
            for j in range(1, self.num_classes):
                inds = (labels == j).nonzero().view(-1)

                scores_j = scores[inds]
                boxes_j = boxes[inds, :].view(-1, 4)
                boxlist_for_class = BoxList(boxes_j, boxlist.size, mode="xyxy")
                boxlist_for_class.add_field("scores", scores_j)
                boxlist_for_class = boxlist_nms(boxlist_for_class, self.nms_thresh, score_field="scores")
                num_labels = len(boxlist_for_class)
                boxlist_for_class.add_field(
                    "labels", torch.full((num_labels,), j, dtype=torch.int64, device=scores.device)
                )
                result.append(boxlist_for_class)

            result = cat_boxlist(result)
            number_of_detections = len(result)

            # Limit to max_per_image detections **over all classes**
            if number_of_detections > self.fpn_post_nms_top_n > 0:
                cls_scores = result.get_field("scores")
                image_thresh, _ = torch.kthvalue(cls_scores.cpu(), number_of_detections - self.fpn_post_nms_top_n + 1)
                keep = cls_scores >= image_thresh.item()
                keep = torch.nonzero(keep).squeeze(1)
                result = result[keep]
            results.append(result)
        return results

    def forward(self, anchors, objectness, box_regression, targets=None):
        """
        Arguments:
            anchors: list[list[BoxList]]
            objectness: list[tensor]
            box_regression: list[tensor]

        Returns:
            boxlists (list[BoxList]): the post-processed anchors, after
                applying box decoding and NMS
        """
        sampled_boxes = []
        anchors = list(zip(*anchors))
        for a, o, b in zip(anchors, objectness, box_regression):
            sampled_boxes.append(self.forward_for_single_feature_map(a, o, b))

        boxlists = list(zip(*sampled_boxes))
        boxlists = [cat_boxlist(boxlist) for boxlist in boxlists]

        boxlists = self.select_over_all_levels(boxlists)

        return boxlists


def make_retina_postprocessor(config, rpn_box_coder, is_train):
    pre_nms_thresh = config.MODEL.RETINANET.INFERENCE_TH
    pre_nms_top_n = config.MODEL.RETINANET.PRE_NMS_TOP_N
    nms_thresh = config.MODEL.RETINANET.NMS_TH
    fpn_post_nms_top_n = config.MODEL.RETINANET.DETECTIONS_PER_IMG
    min_size = 0

    box_selector = RetinaPostProcessor(
        pre_nms_thresh=pre_nms_thresh,
        pre_nms_top_n=pre_nms_top_n,
        nms_thresh=nms_thresh,
        fpn_post_nms_top_n=fpn_post_nms_top_n,
        min_size=min_size,
        num_classes=config.MODEL.RETINANET.NUM_CLASSES,
        box_coder=rpn_box_coder,
    )

    return box_selector


class FCOSPostProcessor(torch.nn.Module):
    """
    Performs post-processing on the outputs of the RetinaNet boxes.
    This is only used in the testing.
    """

    def __init__(
        self,
        pre_nms_thresh,
        pre_nms_top_n,
        nms_thresh,
        fpn_post_nms_top_n,
        min_size,
        num_classes,
        bbox_aug_enabled=False,
    ):
        """
        Arguments:
            pre_nms_thresh (float)
            pre_nms_top_n (int)
            nms_thresh (float)
            fpn_post_nms_top_n (int)
            min_size (int)
            num_classes (int)
            box_coder (BoxCoder)
        """
        super(FCOSPostProcessor, self).__init__()
        self.pre_nms_thresh = pre_nms_thresh
        self.pre_nms_top_n = pre_nms_top_n
        self.nms_thresh = nms_thresh
        self.fpn_post_nms_top_n = fpn_post_nms_top_n
        self.min_size = min_size
        self.num_classes = num_classes
        self.bbox_aug_enabled = bbox_aug_enabled

    def forward_for_single_feature_map(self, locations, box_cls, box_regression, centerness, image_sizes):
        """
        Arguments:
            anchors: list[BoxList]
            box_cls: tensor of size N, A * C, H, W
            box_regression: tensor of size N, A * 4, H, W
        """
        N, C, H, W = box_cls.shape

        # put in the same format as locations
        box_cls = box_cls.view(N, C, H, W).permute(0, 2, 3, 1)
        box_cls = box_cls.reshape(N, -1, C).sigmoid()
        box_regression = box_regression.view(N, 4, H, W).permute(0, 2, 3, 1)
        box_regression = box_regression.reshape(N, -1, 4)
        centerness = centerness.view(N, 1, H, W).permute(0, 2, 3, 1)
        centerness = centerness.reshape(N, -1).sigmoid()

        candidate_inds = box_cls > self.pre_nms_thresh
        pre_nms_top_n = candidate_inds.reshape(N, -1).sum(1)
        pre_nms_top_n = pre_nms_top_n.clamp(max=self.pre_nms_top_n)

        # multiply the classification scores with centerness scores
        box_cls = box_cls * centerness[:, :, None]

        results = []
        for i in range(N):
            per_box_cls = box_cls[i]
            per_candidate_inds = candidate_inds[i]
            per_box_cls = per_box_cls[per_candidate_inds]

            per_candidate_nonzeros = per_candidate_inds.nonzero()
            per_box_loc = per_candidate_nonzeros[:, 0]
            per_class = per_candidate_nonzeros[:, 1] + 1

            per_box_regression = box_regression[i]
            per_box_regression = per_box_regression[per_box_loc]
            per_locations = locations[per_box_loc]

            per_pre_nms_top_n = pre_nms_top_n[i]

            if per_candidate_inds.sum().item() > per_pre_nms_top_n.item():
                per_box_cls, top_k_indices = per_box_cls.topk(per_pre_nms_top_n, sorted=False)
                per_class = per_class[top_k_indices]
                per_box_regression = per_box_regression[top_k_indices]
                per_locations = per_locations[top_k_indices]

            detections = torch.stack(
                [
                    per_locations[:, 0] - per_box_regression[:, 0],
                    per_locations[:, 1] - per_box_regression[:, 1],
                    per_locations[:, 0] + per_box_regression[:, 2],
                    per_locations[:, 1] + per_box_regression[:, 3],
                ],
                dim=1,
            )

            h, w = image_sizes[i]
            boxlist = BoxList(detections, (int(w), int(h)), mode="xyxy")
            boxlist.add_field("centers", per_locations)
            boxlist.add_field("labels", per_class)
            boxlist.add_field("scores", torch.sqrt(per_box_cls))
            boxlist = boxlist.clip_to_image(remove_empty=False)
            boxlist = remove_small_boxes(boxlist, self.min_size)
            results.append(boxlist)

        return results

    def forward(self, locations, box_cls, box_regression, centerness, image_sizes):
        """
        Arguments:
            anchors: list[list[BoxList]]
            box_cls: list[tensor]
            box_regression: list[tensor]
            image_sizes: list[(h, w)]
        Returns:
            boxlists (list[BoxList]): the post-processed anchors, after
                applying box decoding and NMS
        """
        sampled_boxes = []
        for _, (l, o, b, c) in enumerate(zip(locations, box_cls, box_regression, centerness)):
            sampled_boxes.append(self.forward_for_single_feature_map(l, o, b, c, image_sizes))

        boxlists = list(zip(*sampled_boxes))
        boxlists = [cat_boxlist(boxlist) for boxlist in boxlists]
        if not self.bbox_aug_enabled:
            boxlists = self.select_over_all_levels(boxlists)

        return boxlists

    # TODO very similar to filter_results from PostProcessor
    # but filter_results is per image
    # TODO Yang: solve this issue in the future. No good solution
    # right now.
    def select_over_all_levels(self, boxlists):
        num_images = len(boxlists)
        results = []
        for i in range(num_images):
            # multiclass nms
            result = boxlist_ml_nms(boxlists[i], self.nms_thresh)
            number_of_detections = len(result)

            # Limit to max_per_image detections **over all classes**
            if number_of_detections > self.fpn_post_nms_top_n > 0:
                cls_scores = result.get_field("scores")
                image_thresh, _ = torch.kthvalue(cls_scores.cpu(), number_of_detections - self.fpn_post_nms_top_n + 1)
                keep = cls_scores >= image_thresh.item()
                keep = torch.nonzero(keep).squeeze(1)
                result = result[keep]
            results.append(result)
        return results


def make_fcos_postprocessor(config, is_train=False):
    pre_nms_thresh = config.MODEL.FCOS.INFERENCE_TH
    if is_train:
        pre_nms_thresh = config.MODEL.FCOS.INFERENCE_TH_TRAIN
    pre_nms_top_n = config.MODEL.FCOS.PRE_NMS_TOP_N
    fpn_post_nms_top_n = config.MODEL.FCOS.DETECTIONS_PER_IMG
    if is_train:
        pre_nms_top_n = config.MODEL.FCOS.PRE_NMS_TOP_N_TRAIN
        fpn_post_nms_top_n = config.MODEL.FCOS.POST_NMS_TOP_N_TRAIN
    nms_thresh = config.MODEL.FCOS.NMS_TH

    box_selector = FCOSPostProcessor(
        pre_nms_thresh=pre_nms_thresh,
        pre_nms_top_n=pre_nms_top_n,
        nms_thresh=nms_thresh,
        fpn_post_nms_top_n=fpn_post_nms_top_n,
        min_size=0,
        num_classes=config.MODEL.FCOS.NUM_CLASSES,
    )

    return box_selector


class ATSSPostProcessor(torch.nn.Module):
    def __init__(
        self,
        pre_nms_thresh,
        pre_nms_top_n,
        nms_thresh,
        fpn_post_nms_top_n,
        min_size,
        num_classes,
        box_coder,
        bbox_aug_enabled=False,
        bbox_aug_vote=False,
        score_agg="MEAN",
        mdetr_style_aggregate_class_num=-1,
    ):
        super(ATSSPostProcessor, self).__init__()
        self.pre_nms_thresh = pre_nms_thresh
        self.pre_nms_top_n = pre_nms_top_n
        self.nms_thresh = nms_thresh
        self.fpn_post_nms_top_n = fpn_post_nms_top_n
        self.min_size = min_size
        self.num_classes = num_classes
        self.bbox_aug_enabled = bbox_aug_enabled
        self.box_coder = box_coder
        self.bbox_aug_vote = bbox_aug_vote
        self.score_agg = score_agg
        self.mdetr_style_aggregate_class_num = mdetr_style_aggregate_class_num

    def forward_for_single_feature_map(
        self,
        box_regression,
        centerness,
        anchors,
        box_cls=None,
        token_logits=None,
        dot_product_logits=None,
        positive_map=None,
    ):

        N, _, H, W = box_regression.shape

        A = box_regression.size(1) // 4

        if box_cls is not None:
            C = box_cls.size(1) // A

        if token_logits is not None:
            T = token_logits.size(1) // A

        # put in the same format as anchors
        if box_cls is not None:
            # print('Classification.')
            box_cls = permute_and_flatten(box_cls, N, A, C, H, W)
            box_cls = box_cls.sigmoid()

        # binary focal loss version
        if token_logits is not None:
            # print('Token.')
            token_logits = permute_and_flatten(token_logits, N, A, T, H, W)
            token_logits = token_logits.sigmoid()
            # turn back to original classes
            scores = convert_grounding_to_od_logits(
                logits=token_logits, box_cls=box_cls, positive_map=positive_map, score_agg=self.score_agg
            )
            box_cls = scores

        # binary dot product focal version
        if dot_product_logits is not None:
            # print('Dot Product.')
            dot_product_logits = dot_product_logits.sigmoid()
            if self.mdetr_style_aggregate_class_num != -1:
                scores = convert_grounding_to_od_logits_v2(
                    logits=dot_product_logits,
                    num_class=self.mdetr_style_aggregate_class_num,
                    positive_map=positive_map,
                    score_agg=self.score_agg,
                    disable_minus_one=False,
                )
            else:
                scores = convert_grounding_to_od_logits(
                    logits=dot_product_logits, box_cls=box_cls, positive_map=positive_map, score_agg=self.score_agg
                )
            box_cls = scores

        box_regression = permute_and_flatten(box_regression, N, A, 4, H, W)
        box_regression = box_regression.reshape(N, -1, 4)

        candidate_inds = box_cls > self.pre_nms_thresh
        pre_nms_top_n = candidate_inds.reshape(N, -1).sum(1)
        pre_nms_top_n = pre_nms_top_n.clamp(max=self.pre_nms_top_n)

        centerness = permute_and_flatten(centerness, N, A, 1, H, W)
        centerness = centerness.reshape(N, -1).sigmoid()

        # multiply the classification scores with centerness scores

        box_cls = box_cls * centerness[:, :, None]

        results = []

        for per_box_cls, per_box_regression, per_pre_nms_top_n, per_candidate_inds, per_anchors in zip(
            box_cls, box_regression, pre_nms_top_n, candidate_inds, anchors
        ):
            per_box_cls = per_box_cls[per_candidate_inds]

            per_box_cls, top_k_indices = per_box_cls.topk(per_pre_nms_top_n, sorted=False)

            per_candidate_nonzeros = per_candidate_inds.nonzero()[top_k_indices, :]

            per_box_loc = per_candidate_nonzeros[:, 0]
            per_class = per_candidate_nonzeros[:, 1] + 1

            # print(per_class)

            detections = self.box_coder.decode(
                per_box_regression[per_box_loc, :].view(-1, 4), per_anchors.bbox[per_box_loc, :].view(-1, 4)
            )

            boxlist = BoxList(detections, per_anchors.size, mode="xyxy")
            boxlist.add_field("labels", per_class)
            boxlist.add_field("scores", torch.sqrt(per_box_cls))
            boxlist = boxlist.clip_to_image(remove_empty=False)
            boxlist = remove_small_boxes(boxlist, self.min_size)
            results.append(boxlist)

        return results

    def forward(
        self,
        box_regression,
        centerness,
        anchors,
        box_cls=None,
        token_logits=None,
        dot_product_logits=None,
        positive_map=None,
    ):
        sampled_boxes = []
        anchors = list(zip(*anchors))
        for idx, (b, c, a) in enumerate(zip(box_regression, centerness, anchors)):
            o = None
            t = None
            d = None
            if box_cls is not None:
                o = box_cls[idx]
            if token_logits is not None:
                t = token_logits[idx]
            if dot_product_logits is not None:
                d = dot_product_logits[idx]

            sampled_boxes.append(self.forward_for_single_feature_map(b, c, a, o, t, d, positive_map))

        boxlists = list(zip(*sampled_boxes))
        boxlists = [cat_boxlist(boxlist) for boxlist in boxlists]
        if not (self.bbox_aug_enabled and not self.bbox_aug_vote):
            boxlists = self.select_over_all_levels(boxlists)

        return boxlists

    # TODO very similar to filter_results from PostProcessor
    # but filter_results is per image
    # TODO Yang: solve this issue in the future. No good solution
    # right now.
    def select_over_all_levels(self, boxlists):
        num_images = len(boxlists)
        results = []
        for i in range(num_images):
            # multiclass nms
            result = boxlist_ml_nms(boxlists[i], self.nms_thresh)
            number_of_detections = len(result)

            # Limit to max_per_image detections **over all classes**
            if number_of_detections > self.fpn_post_nms_top_n > 0:
                cls_scores = result.get_field("scores")
                image_thresh, _ = torch.kthvalue(
                    # TODO: confirm with Pengchuan and Xiyang, torch.kthvalue is not implemented for 'Half'
                    # cls_scores.cpu(),
                    cls_scores.cpu().float(),
                    number_of_detections - self.fpn_post_nms_top_n + 1,
                )
                keep = cls_scores >= image_thresh.item()
                keep = torch.nonzero(keep).squeeze(1)
                result = result[keep]
            results.append(result)
        return results


def convert_grounding_to_od_logits(logits, box_cls, positive_map, score_agg=None):
    scores = torch.zeros(logits.shape[0], logits.shape[1], box_cls.shape[2]).to(logits.device)
    # 256 -> 80, average for each class
    if positive_map is not None:
        # score aggregation method
        if score_agg == "MEAN":
            for label_j in positive_map:
                scores[:, :, label_j - 1] = logits[:, :, torch.LongTensor(positive_map[label_j])].mean(-1)
        elif score_agg == "MAX":
            # torch.max() returns (values, indices)
            for label_j in positive_map:
                scores[:, :, label_j - 1] = logits[:, :, torch.LongTensor(positive_map[label_j])].max(-1)[0]
        elif score_agg == "ONEHOT":
            # one hot
            scores = logits[:, :, : len(positive_map)]
        else:
            raise NotImplementedError
    return scores


def convert_grounding_to_od_logits_v2(logits, num_class, positive_map, score_agg=None, disable_minus_one=True):

    scores = torch.zeros(logits.shape[0], logits.shape[1], num_class).to(logits.device)
    # 256 -> 80, average for each class
    if positive_map is not None:
        # score aggregation method
        if score_agg == "MEAN":
            for label_j in positive_map:
                locations_label_j = positive_map[label_j]
                if isinstance(locations_label_j, int):
                    locations_label_j = [locations_label_j]
                scores[:, :, label_j if disable_minus_one else label_j - 1] = logits[
                    :, :, torch.LongTensor(locations_label_j)
                ].mean(-1)
        elif score_agg == "POWER":
            for label_j in positive_map:
                locations_label_j = positive_map[label_j]
                if isinstance(locations_label_j, int):
                    locations_label_j = [locations_label_j]

                probability = torch.prod(logits[:, :, torch.LongTensor(locations_label_j)], dim=-1).squeeze(-1)
                probability = torch.pow(probability, 1 / len(locations_label_j))
                scores[:, :, label_j if disable_minus_one else label_j - 1] = probability
        elif score_agg == "MAX":
            # torch.max() returns (values, indices)
            for label_j in positive_map:
                scores[:, :, label_j if disable_minus_one else label_j - 1] = logits[
                    :, :, torch.LongTensor(positive_map[label_j])
                ].max(-1)[0]
        elif score_agg == "ONEHOT":
            # one hot
            scores = logits[:, :, : len(positive_map)]
        else:
            raise NotImplementedError
    return scores


def make_atss_postprocessor(config, box_coder, is_train=False):
    pre_nms_thresh = config.MODEL.ATSS.INFERENCE_TH
    if is_train:
        pre_nms_thresh = config.MODEL.ATSS.INFERENCE_TH_TRAIN
    pre_nms_top_n = config.MODEL.ATSS.PRE_NMS_TOP_N
    fpn_post_nms_top_n = config.MODEL.ATSS.DETECTIONS_PER_IMG
    if is_train:
        pre_nms_top_n = config.MODEL.ATSS.PRE_NMS_TOP_N_TRAIN
        fpn_post_nms_top_n = config.MODEL.ATSS.POST_NMS_TOP_N_TRAIN
    nms_thresh = config.MODEL.ATSS.NMS_TH
    score_agg = config.MODEL.DYHEAD.SCORE_AGG

    box_selector = ATSSPostProcessor(
        pre_nms_thresh=pre_nms_thresh,
        pre_nms_top_n=pre_nms_top_n,
        nms_thresh=nms_thresh,
        fpn_post_nms_top_n=fpn_post_nms_top_n,
        min_size=0,
        num_classes=config.MODEL.ATSS.NUM_CLASSES,
        box_coder=box_coder,
        bbox_aug_enabled=config.TEST.USE_MULTISCALE,
        score_agg=score_agg,
        mdetr_style_aggregate_class_num=config.TEST.MDETR_STYLE_AGGREGATE_CLASS_NUM,
    )

    return box_selector