/object-detection-usages

The brief implementation and using examples of object detection usages like, IoU, NMS, soft-NMS, SmoothL1、IoU loss、GIoU loss、 DIoU loss、CIoU loss, cross-entropy、focal-loss、GHM, AP/MAP and so on by Pytorch.

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object-detection-usages

the implementation and using examples of object detection usages like, IoU, NMS, soft-NMS, SmoothL1、IoUloss、GIoUloss、 DIoUloss、CIoUloss, cross-entropy、focal-loss、GHM, AP/MAP and so on by Pytorch.

  1. IoU

    Blog: https://zhuanlan.zhihu.com/p/47189358

    def get_iou(pred_bbox, gt_bbox):
    '''
    :param pred_bbox: [x1, y1, x2, y2]
    :param gt_bbox:  [x1, y1, x2, y2]
    :return: iou
    '''

    ixmin = max(pred_bbox[0], gt_bbox[0])
    iymin = max(pred_bbox[1], gt_bbox[1])
    ixmax = min(pred_bbox[2], gt_bbox[2])
    iymax = min(pred_bbox[3], gt_bbox[3])
    iw = np.maximum(ixmax - ixmin + 1.0, 0.)
    ih = np.maximum(iymax - iymin + 1.0, 0.)

    inters = iw * ih

    # uni=s1+s2-inters
    uni = (pred_bbox[2] - pred_bbox[0] + 1.0) * (pred_bbox[3] - pred_bbox[1] + 1.0) + \
          (gt_bbox[2] - gt_bbox[0] + 1.0) * (gt_bbox[3] - gt_bbox[1] + 1.0) - inters

    iou = inters / uni

    return iou

  2. NMS、Soft-NMS、Softer-NMS

    Blog:https://zhuanlan.zhihu.com/p/54709759

    def nms(dets, thres):
    '''
    https://github.com/rbgirshick/py-faster-rcnn/blob/master/lib/nms/py_cpu_nms.py
    :param dets:  [[x1,y1,x2,y2,score], [x1,y1,x2,y2,score],,,]
    :param thres: for example 0.5
    :return: the rest ids of dets
    '''
    x1 = dets[:, 0]
    y1 = dets[:, 1]
    x2 = dets[:, 2]
    y2 = dets[:, 3]
    areas = (x2 - x1 + 1) * (y2 - y1 + 1)
    scores = dets[:, 4]
    order = scores.argsort()[::-1]

    keep = []
    while order.size > 0:
        i = order[0]
        keep.append(i)
        xx1 = np.maximum(x1[i], x1[order[1:]])
        xx2 = np.maximum(x2[i], x2[order[1:]])
        yy1 = np.maximum(y1[i], y1[order[1:]])
        yy2 = np.minimum(y2[i], y2[order[1:]])

        w = np.maximum(xx2 - xx1 + 1.0, 0.0)
        h = np.maximum(yy2 - yy1 + 1.0, 0.0)

        inters = w * h
        unis = areas[i] + areas[order[1:]] - inters
        ious = inters / unis

        inds = np.where(ious <= thres)[0]  # return the rest boxxes whose iou<=thres

        order = order[
            inds + 1]  # for exmaple, [1,0,2,3,4] compare '1', the rest is 0,2 who is the id, then oder id is 1,3

    return keep

    def soft_nms(dets, iou_thresh=0.3, sigma=0.5, thresh=0.001, method=2):
    '''
    https://github.com/DocF/Soft-NMS/blob/master/soft_nms.py
    :param dets: [[x1, y1, x2, y2, score]，[x1, y1, x2, y2, score]，[x1, y1, x2, y2, score]]
    :param iou_thresh: iou thresh
    :param sigma: std of gaussian
    :param thresh: the last score thresh
    :param method: 1、linear 2、gaussian 3、originl nms
    :return: keep bboxes
    '''
    N = dets.shape[0]  # the size of bboxes
    x1 = dets[:, 0]
    y1 = dets[:, 1]
    x2 = dets[:, 2]
    y2 = dets[:, 3]
    areas = (x2 - x1 + 1) * (y2 - y1 + 1)

    for i in range(N):
        temp_box = dets[i, :4]
        temp_score = dets[i, 4]
        temp_area = areas[i]
        pos = i + 1

        if i != N - 1:
            maxscore = np.max(dets[:, 4][pos:])
            maxpos = np.argmax(dets[:, 4][pos:])
        else:
            maxscore = dets[:, 4][-1]
            maxpos = -1

        if temp_score < maxscore:
            dets[i, :4] = dets[maxpos + i + 1, :4]
            dets[maxpos + i + 1, :4] = temp_box

            dets[i, 4] = dets[maxpos + i + 1, 4]
            dets[maxpos + i + 1, 4] = temp_score

            areas[i] = areas[maxpos + i + 1]
            areas[maxpos + i + 1] = temp_area

        xx1 = np.maximum(x1[i], x1[pos:])
        xx2 = np.maximum(x2[i], x2[pos:])
        yy1 = np.maximum(y1[i], y1[pos:])
        yy2 = np.maximum(y2[i], y2[pos:])

        w = np.maximum(xx2 - xx1 + 1.0, 0.)
        h = np.maximum(yy2 - yy1 + 1.0, 0.)

        inters = w * h
        ious = inters / (areas[i] + areas[pos:] - inters)

        if method == 1:
            weight = np.ones(ious.shape)
            weight[ious > iou_thresh] = weight[ious > iou_thresh] - ious[ious > iou_thresh]
        elif method == 2:
            weight = np.exp(-ious * ious / sigma)
        else:
            weight = np.ones(ious.shape)
            weight[ious > iou_thresh] = 0

        dets[pos:, 4] = dets[pos:, 4] * weight

    inds = np.argwhere(dets[:, 4] > thresh)
    keep = inds.astype(int)[0]

    return keep

  3. The regression loss of object detection：SmoothL1/IoU/GIoU/DIoU/CIoU Loss

    Blog: https://blog.csdn.net/yang_daxia/article/details/91360606

    https://zhuanlan.zhihu.com/p/104236411

    def smooth_l1_loss(preds, bboxes, beta=1.0, reduction='mean'):
    '''
    https://github.com/open-mmlab/mmdetection/blob/master/mmdet/models/losses/smooth_l1_loss.py
    :param preds:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param bbox:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param beta: float
    :return: loss
    '''
    x_diff = torch.abs(preds - bboxes)
    loss = torch.where(x_diff < beta, 0.5 * x_diff * x_diff / beta, x_diff - 0.5 * beta)

    if reduction == 'mean':
        loss = torch.mean(loss)
    elif reduction == 'sum':
        loss = torch.sum(loss)
    else:
        pass
    return loss

    def iou_loss(preds, bbox, eps=1e-6, reduction='mean'):
    '''
    https://github.com/open-mmlab/mmdetection/blob/master/mmdet/models/losses/iou_loss.py
    :param preds:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param bbox:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :return: loss
    '''
    x1 = torch.max(preds[:, 0], bbox[:, 0])
    y1 = torch.max(preds[:, 1], bbox[:, 1])
    x2 = torch.min(preds[:, 2], bbox[:, 2])
    y2 = torch.min(preds[:, 3], bbox[:, 3])

    w = (x2 - x1 + 1.0).clamp(0.)
    h = (y2 - y1 + 1.0).clamp(0.)

    inters = w * h

    uni = (preds[:, 2] - preds[:, 0] + 1.0) * (preds[:, 3] - preds[:, 1] + 1.0) + (bbox[:, 2] - bbox[:, 0] + 1.0) * (
            bbox[:, 3] - bbox[:, 1] + 1.0) - inters

    ious = (inters / uni).clamp(min=eps)
    loss = -ious.log()

    if reduction == 'mean':
        loss = torch.mean(loss)
    elif reduction == 'sum':
        loss = torch.sum(loss)
    else:
        raise NotImplementedError
    return loss

    def giou_loss(preds, bbox, eps=1e-7, reduction='mean'):
    '''
   https://github.com/sfzhang15/ATSS/blob/master/atss_core/modeling/rpn/atss/loss.py#L36
    :param preds:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param bbox:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :return: loss
    '''
    ix1 = torch.max(preds[:, 0], bbox[:, 0])
    iy1 = torch.max(preds[:, 1], bbox[:, 1])
    ix2 = torch.min(preds[:, 2], bbox[:, 2])
    iy2 = torch.min(preds[:, 3], bbox[:, 3])

    iw = (ix2 - ix1 + 1.0).clamp(0.)
    ih = (iy2 - iy1 + 1.0).clamp(0.)

    # overlap
    inters = iw * ih

    # union
    uni = (preds[:, 2] - preds[:, 0] + 1.0) * (preds[:, 3] - preds[:, 1] + 1.0) + (bbox[:, 2] - bbox[:, 0] + 1.0) * (
            bbox[:, 3] - bbox[:, 1] + 1.0) - inters + eps

    # ious
    ious = inters / uni

    ex1 = torch.min(preds[:, 0], bbox[:, 0])
    ey1 = torch.min(preds[:, 1], bbox[:, 1])
    ex2 = torch.max(preds[:, 2], bbox[:, 2])
    ey2 = torch.max(preds[:, 3], bbox[:, 3])
    ew = (ex2 - ex1 + 1.0).clamp(min=0.)
    eh = (ey2 - ey1 + 1.0).clamp(min=0.)

    # enclose erea
    enclose = ew * eh + eps

    giou = ious - (enclose - uni) / enclose

    loss = 1 - giou

    if reduction == 'mean':
        loss = torch.mean(loss)
    elif reduction == 'sum':
        loss = torch.sum(loss)
    else:
        raise NotImplementedError
    return loss

    def diou_loss(preds, bbox, eps=1e-7, reduction='mean'):
    '''
    https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/loss/multibox_loss.py
    :param preds:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param bbox:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param eps: eps to avoid divide 0
    :param reduction: mean or sum
    :return: diou-loss
    '''
    ix1 = torch.max(preds[:, 0], bbox[:, 0])
    iy1 = torch.max(preds[:, 1], bbox[:, 1])
    ix2 = torch.min(preds[:, 2], bbox[:, 2])
    iy2 = torch.min(preds[:, 3], bbox[:, 3])

    iw = (ix2 - ix1 + 1.0).clamp(min=0.)
    ih = (iy2 - iy1 + 1.0).clamp(min=0.)

    # overlaps
    inters = iw * ih

    # union
    uni = (preds[:, 2] - preds[:, 0] + 1.0) * (preds[:, 3] - preds[:, 1] + 1.0) + (bbox[:, 2] - bbox[:, 0] + 1.0) * (
            bbox[:, 3] - bbox[:, 1] + 1.0) - inters

    # iou
    iou = inters / (uni + eps)

    # inter_diag
    cxpreds = (preds[:, 2] + preds[:, 0]) / 2
    cypreds = (preds[:, 3] + preds[:, 1]) / 2

    cxbbox = (bbox[:, 2] + bbox[:, 0]) / 2
    cybbox = (bbox[:, 3] + bbox[:, 1]) / 2

    inter_diag = (cxbbox - cxpreds) ** 2 + (cybbox - cypreds) ** 2

    # outer_diag
    ox1 = torch.min(preds[:, 0], bbox[:, 0])
    oy1 = torch.min(preds[:, 1], bbox[:, 1])
    ox2 = torch.max(preds[:, 2], bbox[:, 2])
    oy2 = torch.max(preds[:, 3], bbox[:, 3])

    outer_diag = (ox1 - ox2) ** 2 + (oy1 - oy2) ** 2

    diou = iou - inter_diag / outer_diag
    diou = torch.clamp(diou, min=-1.0, max=1.0)

    diou_loss = 1 - diou

    if reduction == 'mean':
        loss = torch.mean(diou_loss)
    elif reduction == 'sum':
        loss = torch.sum(diou_loss)
    else:
        raise NotImplementedError
    return loss

    def diou_loss(preds, bbox, eps=1e-7, reduction='mean'):
    '''
    https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/loss/multibox_loss.py
    :param preds:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param bbox:[[x1,y1,x2,y2], [x1,y1,x2,y2],,,]
    :param eps: eps to avoid divide 0
    :param reduction: mean or sum
    :return: diou-loss
    '''
    ix1 = torch.max(preds[:, 0], bbox[:, 0])
    iy1 = torch.max(preds[:, 1], bbox[:, 1])
    ix2 = torch.min(preds[:, 2], bbox[:, 2])
    iy2 = torch.min(preds[:, 3], bbox[:, 3])

    iw = (ix2 - ix1 + 1.0).clamp(min=0.)
    ih = (iy2 - iy1 + 1.0).clamp(min=0.)

    # overlaps
    inters = iw * ih

    # union
    uni = (preds[:, 2] - preds[:, 0] + 1.0) * (preds[:, 3] - preds[:, 1] + 1.0) + (bbox[:, 2] - bbox[:, 0] + 1.0) * (
            bbox[:, 3] - bbox[:, 1] + 1.0) - inters

    # iou
    iou = inters / (uni + eps)

    # inter_diag
    cxpreds = (preds[:, 2] + preds[:, 0]) / 2
    cypreds = (preds[:, 3] + preds[:, 1]) / 2

    cxbbox = (bbox[:, 2] + bbox[:, 0]) / 2
    cybbox = (bbox[:, 3] + bbox[:, 1]) / 2

    inter_diag = (cxbbox - cxpreds) ** 2 + (cybbox - cypreds) ** 2

    # outer_diag
    ox1 = torch.min(preds[:, 0], bbox[:, 0])
    oy1 = torch.min(preds[:, 1], bbox[:, 1])
    ox2 = torch.max(preds[:, 2], bbox[:, 2])
    oy2 = torch.max(preds[:, 3], bbox[:, 3])

    outer_diag = (ox1 - ox2) ** 2 + (oy1 - oy2) ** 2

    diou = iou - inter_diag / outer_diag

    # calculate v,alpha
    wbbox = bbox[:, 2] - bbox[:, 0] + 1.0
    hbbox = bbox[:, 3] - bbox[:, 1] + 1.0
    wpreds = preds[:, 2] - preds[:, 0] + 1.0
    hpreds = preds[:, 3] - preds[:, 1] + 1.0
    v = torch.pow((torch.atan(wbbox / hbbox) - torch.atan(wpreds / hpreds)), 2) * (4 / (math.pi ** 2))
    alpha = v / (1 - iou + v)
    ciou = diou - alpha * v
    ciou = torch.clamp(ciou, min=-1.0, max=1.0)

    ciou_loss = 1 - ciou
    if reduction == 'mean':
        loss = torch.mean(ciou_loss)
    elif reduction == 'sum':
        loss = torch.sum(ciou_loss)
    else:
        raise NotImplementedError
    return loss

  4. The classification loss of object detection:cross-entropy/focal-loss/GHM

    Blog:https://blog.csdn.net/qq_22210253/article/details/85229988 (cross-entropy)

    https://www.cnblogs.com/king-lps/p/9497836.html (focal-loss)

    https://zhuanlan.zhihu.com/p/80594704 (GHM-loss)

    def cross_entropy_loss(preds, targets):
    '''
    https://pytorch-cn.readthedocs.io/zh/latest/package_references/torch-nn/
    :param preds: [N,C]
    :param targets:[N]
    :return:loss
    '''
    loss = F.cross_entropy(preds, targets)
    return loss


def cross_entropy_loss2(preds, targets):
    '''
    https://pytorch-cn.readthedocs.io/zh/latest/package_references/torch-nn/
    :param preds: [N,C]
    :param targets:[N]
    :return: loss
    '''
    log_softmax = F.log_softmax(preds, dim=1)
    loss = F.nll_loss(log_softmax, targets)
    return loss

    class focal_loss(torch.nn.Module):
    def __init__(self, gamma=2, alpha=0.25):
        super(focal_loss, self).__init__()
        self.gamma = gamma
        self.alpha = alpha

    def forward(self, preds, targets):
        '''
        https://github.com/c0nn3r/RetinaNet/blob/master/focal_loss.py
        :param preds: [N,C]
        :param targets:[N]
        :return: focal-loss
        '''
        logpt = -F.cross_entropy(preds, targets)
        pt = torch.exp(logpt)
        focal_loss = -self.alpha * (1 - pt) ** self.gamma * logpt
        return focal_loss

    class GHMC_loss(torch.nn.Module):
    def __init__(self, bins=10, momentum=0, use_sigmiod=True, loss_weight=1.0):
        super(GHMC_loss, self).__init__()
        self.bins = bins
        self.momentum = momentum
        self.edges = [float(x) / bins for x in range(bins + 1)]
        self.edges[-1] += 1e-6
        if momentum > 0:
            self.acc_sum = [0.0 for _ in range(bins)]
        self.use_sigmoid = use_sigmiod
        self.loss_weight = loss_weight

    def forward(self, pred, target, label_weight):
        '''

        :param pred:[batch_num, class_num]:
        :param target:[batch_num, class_num]:Binary class target for each sample.
        :param label_weight:[batch_num, class_num]: the value is 1 if the sample is valid and 0 if ignored.
        :return: GHMC_Loss
        '''
        if not self.use_sigmoid:
            raise NotImplementedError
        target, label_weight = target.float(), label_weight.float()
        edges = self.edges
        mmt = self.momentum
        weights = torch.zeros_like(pred)

        # gradient length
        g = torch.abs(pred.sigmoid().detach() - target)
        valid = label_weight > 0
        total = max(valid.float().sum().item(), 1.0)
        n = 0  # the number of valid bins

        for i in range(self.bins):
            inds = (g >= edges[i]) & (g <= edges[i + 1]) & valid
            num_in_bins = inds.sum().item()
            if num_in_bins > 0:
                if mmt > 0:
                    self.acc_sum[i] = mmt * self.acc_sum[i] + (1 - mmt) * num_in_bins
                    weights[inds] = total / self.acc_sum[i]
                else:
                    weights[inds] = total / num_in_bins
                n += 1

        if n > 0:
            weights = weights / n

        loss = F.binary_cross_entropy_with_logits(pred, target, weights, reduction='sum') / total

        return loss * self.loss_weight

  5. AP、MAP

    Blog:https://zhuanlan.zhihu.com/p/48992451

    def voc_ap(rec, prec, use_07_metric=True):
    '''
    https://github.com/amdegroot/ssd.pytorch/blob/5b0b77faa955c1917b0c710d770739ba8fbff9b7/eval.py#L364
    :param prec: [n]
    :param rec: [n]
    :param use_07_metric: use_o7_metric or use_10_metric
    :return: ap
    '''
    if use_07_metric:
        ap = 0.
        for t in np.arange(0., 1.1, 0.1):
            if np.sum(rec >= t) == 0:
                p = 0
            else:
                p = np.max(prec[rec >= t])
            ap = ap + p / 11.
    else:
        mrec = np.concatenate(([0.], rec, [1.]))
        mpre = np.concatenate(([0.], prec, [0.]))
        #
        for i in range(mpre.size - 1, 0, -1):
            mpre[i - 1] = np.maximum(mpre[i - 1], mpre[i])

        i = np.where(mrec[1:] != mrec[:-1])[0]

        # and sum (\Delta recall) * prec
        ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])

    return ap