import glob import random import time import os import os.path as osp import cv2 import matplotlib.pyplot as plt import numpy as np import torch import torch.nn.functional as F from utils import torch_utils import maskrcnn_benchmark.layers.nms as nms # Set printoptions torch.set_printoptions(linewidth=1320, precision=5, profile='long') np.set_printoptions(linewidth=320, formatter={'float_kind': '{:11.5g}'.format}) # format short g, %precision=5 def mkdir_if_missing(d): if not osp.exists(d): os.makedirs(d) def float3(x): # format floats to 3 decimals return float(format(x, '.3f')) def init_seeds(seed=0): random.seed(seed) np.random.seed(seed) torch_utils.init_seeds(seed=seed) def load_classes(path): """ Loads class labels at 'path' """ fp = open(path, 'r') names = fp.read().split('\n') return list(filter(None, names)) # filter removes empty strings (such as last line) def model_info(model): # Plots a line-by-line description of a PyTorch model n_p = sum(x.numel() for x in model.parameters()) # number parameters n_g = sum(x.numel() for x in model.parameters() if x.requires_grad) # number gradients print('\n%5s %50s %9s %12s %20s %12s %12s' % ('layer', 'name', 'gradient', 'parameters', 'shape', 'mu', 'sigma')) for i, (name, p) in enumerate(model.named_parameters()): name = name.replace('module_list.', '') print('%5g %50s %9s %12g %20s %12.3g %12.3g' % ( i, name, p.requires_grad, p.numel(), list(p.shape), p.mean(), p.std())) print('Model Summary: %g layers, %g parameters, %g gradients\n' % (i + 1, n_p, n_g)) def plot_one_box(x, img, color=None, label=None, line_thickness=None): # Plots one bounding box on image img tl = line_thickness or round(0.0004 * max(img.shape[0:2])) + 1 # line thickness color = color or [random.randint(0, 255) for _ in range(3)] c1, c2 = (int(x[0]), int(x[1])), (int(x[2]), int(x[3])) cv2.rectangle(img, c1, c2, color, thickness=tl) if label: tf = max(tl - 1, 1) # font thickness t_size = cv2.getTextSize(label, 0, fontScale=tl / 3, thickness=tf)[0] c2 = c1[0] + t_size[0], c1[1] - t_size[1] - 3 cv2.rectangle(img, c1, c2, color, -1) # filled cv2.putText(img, label, (c1[0], c1[1] - 2), 0, tl / 3, [225, 255, 255], thickness=tf, lineType=cv2.LINE_AA) def weights_init_normal(m): classname = m.__class__.__name__ if classname.find('Conv') != -1: torch.nn.init.normal_(m.weight.data, 0.0, 0.03) elif classname.find('BatchNorm2d') != -1: torch.nn.init.normal_(m.weight.data, 1.0, 0.03) torch.nn.init.constant_(m.bias.data, 0.0) def xyxy2xywh(x): # Convert bounding box format from [x1, y1, x2, y2] to [x, y, w, h] y = torch.zeros(x.shape) if x.dtype is torch.float32 else np.zeros(x.shape) y[:, 0] = (x[:, 0] + x[:, 2]) / 2 y[:, 1] = (x[:, 1] + x[:, 3]) / 2 y[:, 2] = x[:, 2] - x[:, 0] y[:, 3] = x[:, 3] - x[:, 1] return y def xywh2xyxy(x): # Convert bounding box format from [x, y, w, h] to [x1, y1, x2, y2] y = torch.zeros(x.shape) if x.dtype is torch.float32 else np.zeros(x.shape) y[:, 0] = (x[:, 0] - x[:, 2] / 2) y[:, 1] = (x[:, 1] - x[:, 3] / 2) y[:, 2] = (x[:, 0] + x[:, 2] / 2) y[:, 3] = (x[:, 1] + x[:, 3] / 2) return y def scale_coords(img_size, coords, img0_shape): # Rescale x1, y1, x2, y2 from 416 to image size gain_w = float(img_size[0]) / img0_shape[1] # gain = old / new gain_h = float(img_size[1]) / img0_shape[0] gain = min(gain_w, gain_h) pad_x = (img_size[0] - img0_shape[1] * gain) / 2 # width padding pad_y = (img_size[1] - img0_shape[0] * gain) / 2 # height padding coords[:, [0, 2]] -= pad_x coords[:, [1, 3]] -= pad_y coords[:, 0:4] /= gain coords[:, :4] = torch.clamp(coords[:, :4], min=0) return coords def ap_per_class(tp, conf, pred_cls, target_cls): """ Compute the average precision, given the recall and precision curves. Method originally from https://github.com/rafaelpadilla/Object-Detection-Metrics. # Arguments tp: True positives (list). conf: Objectness value from 0-1 (list). pred_cls: Predicted object classes (list). target_cls: True object classes (list). # Returns The average precision as computed in py-faster-rcnn. """ # lists/pytorch to numpy tp, conf, pred_cls, target_cls = np.array(tp), np.array(conf), np.array(pred_cls), np.array(target_cls) # Sort by objectness i = np.argsort(-conf) tp, conf, pred_cls = tp[i], conf[i], pred_cls[i] # Find unique classes unique_classes = np.unique(np.concatenate((pred_cls, target_cls), 0)) # Create Precision-Recall curve and compute AP for each class ap, p, r = [], [], [] for c in unique_classes: i = pred_cls == c n_gt = sum(target_cls == c) # Number of ground truth objects n_p = sum(i) # Number of predicted objects if (n_p == 0) and (n_gt == 0): continue elif (n_p == 0) or (n_gt == 0): ap.append(0) r.append(0) p.append(0) else: # Accumulate FPs and TPs fpc = np.cumsum(1 - tp[i]) tpc = np.cumsum(tp[i]) # Recall recall_curve = tpc / (n_gt + 1e-16) r.append(tpc[-1] / (n_gt + 1e-16)) # Precision precision_curve = tpc / (tpc + fpc) p.append(tpc[-1] / (tpc[-1] + fpc[-1])) # AP from recall-precision curve ap.append(compute_ap(recall_curve, precision_curve)) return np.array(ap), unique_classes.astype('int32'), np.array(r), np.array(p) def compute_ap(recall, precision): """ Compute the average precision, given the recall and precision curves. Code originally from https://github.com/rbgirshick/py-faster-rcnn. # Arguments recall: The recall curve (list). precision: The precision curve (list). # Returns The average precision as computed in py-faster-rcnn. """ # correct AP calculation # first append sentinel values at the end mrec = np.concatenate(([0.], recall, [1.])) mpre = np.concatenate(([0.], precision, [0.])) # compute the precision envelope for i in range(mpre.size - 1, 0, -1): mpre[i - 1] = np.maximum(mpre[i - 1], mpre[i]) # to calculate area under PR curve, look for points # where X axis (recall) changes value 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 def bbox_iou(box1, box2, x1y1x2y2=False): """ Returns the IoU of two bounding boxes """ N, M = len(box1), len(box2) if x1y1x2y2: # Get the coordinates of bounding boxes b1_x1, b1_y1, b1_x2, b1_y2 = box1[:, 0], box1[:, 1], box1[:, 2], box1[:, 3] b2_x1, b2_y1, b2_x2, b2_y2 = box2[:, 0], box2[:, 1], box2[:, 2], box2[:, 3] else: # Transform from center and width to exact coordinates b1_x1, b1_x2 = box1[:, 0] - box1[:, 2] / 2, box1[:, 0] + box1[:, 2] / 2 b1_y1, b1_y2 = box1[:, 1] - box1[:, 3] / 2, box1[:, 1] + box1[:, 3] / 2 b2_x1, b2_x2 = box2[:, 0] - box2[:, 2] / 2, box2[:, 0] + box2[:, 2] / 2 b2_y1, b2_y2 = box2[:, 1] - box2[:, 3] / 2, box2[:, 1] + box2[:, 3] / 2 # get the coordinates of the intersection rectangle inter_rect_x1 = torch.max(b1_x1.unsqueeze(1), b2_x1) inter_rect_y1 = torch.max(b1_y1.unsqueeze(1), b2_y1) inter_rect_x2 = torch.min(b1_x2.unsqueeze(1), b2_x2) inter_rect_y2 = torch.min(b1_y2.unsqueeze(1), b2_y2) # Intersection area inter_area = torch.clamp(inter_rect_x2 - inter_rect_x1, 0) * torch.clamp(inter_rect_y2 - inter_rect_y1, 0) # Union Area b1_area = ((b1_x2 - b1_x1) * (b1_y2 - b1_y1)) b1_area = ((b1_x2 - b1_x1) * (b1_y2 - b1_y1)).view(-1,1).expand(N,M) b2_area = ((b2_x2 - b2_x1) * (b2_y2 - b2_y1)).view(1,-1).expand(N,M) return inter_area / (b1_area + b2_area - inter_area + 1e-16) def build_targets_max(target, anchor_wh, nA, nC, nGh, nGw): """ returns nT, nCorrect, tx, ty, tw, th, tconf, tcls """ nB = len(target) # number of images in batch txy = torch.zeros(nB, nA, nGh, nGw, 2).cuda() # batch size, anchors, grid size twh = torch.zeros(nB, nA, nGh, nGw, 2).cuda() tconf = torch.LongTensor(nB, nA, nGh, nGw).fill_(0).cuda() tcls = torch.ByteTensor(nB, nA, nGh, nGw, nC).fill_(0).cuda() # nC = number of classes tid = torch.LongTensor(nB, nA, nGh, nGw, 1).fill_(-1).cuda() for b in range(nB): t = target[b] t_id = t[:, 1].clone().long().cuda() t = t[:,[0,2,3,4,5]] nTb = len(t) # number of targets if nTb == 0: continue #gxy, gwh = t[:, 1:3] * nG, t[:, 3:5] * nG gxy, gwh = t[: , 1:3].clone() , t[:, 3:5].clone() gxy[:, 0] = gxy[:, 0] * nGw gxy[:, 1] = gxy[:, 1] * nGh gwh[:, 0] = gwh[:, 0] * nGw gwh[:, 1] = gwh[:, 1] * nGh gi = torch.clamp(gxy[:, 0], min=0, max=nGw -1).long() gj = torch.clamp(gxy[:, 1], min=0, max=nGh -1).long() # Get grid box indices and prevent overflows (i.e. 13.01 on 13 anchors) #gi, gj = torch.clamp(gxy.long(), min=0, max=nG - 1).t() #gi, gj = gxy.long().t() # iou of targets-anchors (using wh only) box1 = gwh box2 = anchor_wh.unsqueeze(1) inter_area = torch.min(box1, box2).prod(2) iou = inter_area / (box1.prod(1) + box2.prod(2) - inter_area + 1e-16) # Select best iou_pred and anchor iou_best, a = iou.max(0) # best anchor [0-2] for each target # Select best unique target-anchor combinations if nTb > 1: _, iou_order = torch.sort(-iou_best) # best to worst # Unique anchor selection u = torch.stack((gi, gj, a), 0)[:, iou_order] # _, first_unique = np.unique(u, axis=1, return_index=True) # first unique indices first_unique = return_torch_unique_index(u, torch.unique(u, dim=1)) # torch alternative i = iou_order[first_unique] # best anchor must share significant commonality (iou) with target i = i[iou_best[i] > 0.60] # TODO: examine arbitrary threshold if len(i) == 0: continue a, gj, gi, t = a[i], gj[i], gi[i], t[i] t_id = t_id[i] if len(t.shape) == 1: t = t.view(1, 5) else: if iou_best < 0.60: continue tc, gxy, gwh = t[:, 0].long(), t[:, 1:3].clone(), t[:, 3:5].clone() gxy[:, 0] = gxy[:, 0] * nGw gxy[:, 1] = gxy[:, 1] * nGh gwh[:, 0] = gwh[:, 0] * nGw gwh[:, 1] = gwh[:, 1] * nGh # XY coordinates txy[b, a, gj, gi] = gxy - gxy.floor() # Width and height twh[b, a, gj, gi] = torch.log(gwh / anchor_wh[a]) # yolo method # twh[b, a, gj, gi] = torch.sqrt(gwh / anchor_wh[a]) / 2 # power method # One-hot encoding of label tcls[b, a, gj, gi, tc] = 1 tconf[b, a, gj, gi] = 1 tid[b, a, gj, gi] = t_id.unsqueeze(1) tbox = torch.cat([txy, twh], -1) return tconf, tbox, tid def build_targets_thres(target, anchor_wh, nA, nC, nGh, nGw): ID_THRESH = 0.5 FG_THRESH = 0.5 BG_THRESH = 0.4 nB = len(target) # number of images in batch assert(len(anchor_wh)==nA) tbox = torch.zeros(nB, nA, nGh, nGw, 4).cuda() # batch size, anchors, grid size tconf = torch.LongTensor(nB, nA, nGh, nGw).fill_(0).cuda() tid = torch.LongTensor(nB, nA, nGh, nGw, 1).fill_(-1).cuda() for b in range(nB): t = target[b] t_id = t[:, 1].clone().long().cuda() t = t[:,[0,2,3,4,5]] nTb = len(t) # number of targets if nTb == 0: continue gxy, gwh = t[: , 1:3].clone() , t[:, 3:5].clone() gxy[:, 0] = gxy[:, 0] * nGw gxy[:, 1] = gxy[:, 1] * nGh gwh[:, 0] = gwh[:, 0] * nGw gwh[:, 1] = gwh[:, 1] * nGh gxy[:, 0] = torch.clamp(gxy[:, 0], min=0, max=nGw -1) gxy[:, 1] = torch.clamp(gxy[:, 1], min=0, max=nGh -1) gt_boxes = torch.cat([gxy, gwh], dim=1) # Shape Ngx4 (xc, yc, w, h) anchor_mesh = generate_anchor(nGh, nGw, anchor_wh) anchor_list = anchor_mesh.permute(0,2,3,1).contiguous().view(-1, 4) # Shpae (nA x nGh x nGw) x 4 #print(anchor_list.shape, gt_boxes.shape) iou_pdist = bbox_iou(anchor_list, gt_boxes) # Shape (nA x nGh x nGw) x Ng iou_max, max_gt_index = torch.max(iou_pdist, dim=1) # Shape (nA x nGh x nGw), both iou_map = iou_max.view(nA, nGh, nGw) gt_index_map = max_gt_index.view(nA, nGh, nGw) #nms_map = pooling_nms(iou_map, 3) id_index = iou_map > ID_THRESH fg_index = iou_map > FG_THRESH bg_index = iou_map < BG_THRESH ign_index = (iou_map < FG_THRESH) * (iou_map > BG_THRESH) tconf[b][fg_index] = 1 tconf[b][bg_index] = 0 tconf[b][ign_index] = -1 gt_index = gt_index_map[fg_index] gt_box_list = gt_boxes[gt_index] gt_id_list = t_id[gt_index_map[id_index]] #print(gt_index.shape, gt_index_map[id_index].shape, gt_boxes.shape) if torch.sum(fg_index) > 0: tid[b][id_index] = gt_id_list.unsqueeze(1) fg_anchor_list = anchor_list.view(nA, nGh, nGw, 4)[fg_index] delta_target = encode_delta(gt_box_list, fg_anchor_list) tbox[b][fg_index] = delta_target return tconf, tbox, tid def generate_anchor(nGh, nGw, anchor_wh): nA = len(anchor_wh) yy, xx =torch.meshgrid(torch.arange(nGh), torch.arange(nGw)) xx, yy = xx.cuda(), yy.cuda() mesh = torch.stack([xx, yy], dim=0) # Shape 2, nGh, nGw mesh = mesh.unsqueeze(0).repeat(nA,1,1,1).float() # Shape nA x 2 x nGh x nGw anchor_offset_mesh = anchor_wh.unsqueeze(-1).unsqueeze(-1).repeat(1, 1, nGh,nGw) # Shape nA x 2 x nGh x nGw anchor_mesh = torch.cat([mesh, anchor_offset_mesh], dim=1) # Shape nA x 4 x nGh x nGw return anchor_mesh def encode_delta(gt_box_list, fg_anchor_list): px, py, pw, ph = fg_anchor_list[:, 0], fg_anchor_list[:,1], \ fg_anchor_list[:, 2], fg_anchor_list[:,3] gx, gy, gw, gh = gt_box_list[:, 0], gt_box_list[:, 1], \ gt_box_list[:, 2], gt_box_list[:, 3] dx = (gx - px) / pw dy = (gy - py) / ph dw = torch.log(gw/pw) dh = torch.log(gh/ph) return torch.stack([dx, dy, dw, dh], dim=1) def decode_delta(delta, fg_anchor_list): px, py, pw, ph = fg_anchor_list[:, 0], fg_anchor_list[:,1], \ fg_anchor_list[:, 2], fg_anchor_list[:,3] dx, dy, dw, dh = delta[:, 0], delta[:, 1], delta[:, 2], delta[:, 3] gx = pw * dx + px gy = ph * dy + py gw = pw * torch.exp(dw) gh = ph * torch.exp(dh) return torch.stack([gx, gy, gw, gh], dim=1) def decode_delta_map(delta_map, anchors): ''' :param: delta_map, shape (nB, nA, nGh, nGw, 4) :param: anchors, shape (nA,4) ''' nB, nA, nGh, nGw, _ = delta_map.shape anchor_mesh = generate_anchor(nGh, nGw, anchors) anchor_mesh = anchor_mesh.permute(0,2,3,1).contiguous() # Shpae (nA x nGh x nGw) x 4 anchor_mesh = anchor_mesh.unsqueeze(0).repeat(nB,1,1,1,1) pred_list = decode_delta(delta_map.view(-1,4), anchor_mesh.view(-1,4)) pred_map = pred_list.view(nB, nA, nGh, nGw, 4) return pred_map def pooling_nms(heatmap, kernel=1): pad = (kernel -1 ) // 2 hmax = F.max_pool2d(heatmap, (kernel, kernel), stride=1, padding=pad) keep = (hmax == heatmap).float() return keep * heatmap def soft_nms(dets, sigma=0.5, Nt=0.3, threshold=0.05, method=1): keep = cpu_soft_nms(np.ascontiguousarray(dets, dtype=np.float32), np.float32(sigma), np.float32(Nt), np.float32(threshold), np.uint8(method)) return keep def non_max_suppression(prediction, conf_thres=0.5, nms_thres=0.4, method=-1): """ Removes detections with lower object confidence score than 'conf_thres' Non-Maximum Suppression to further filter detections. Returns detections with shape: (x1, y1, x2, y2, object_conf, class_score, class_pred) """ output = [None for _ in range(len(prediction))] for image_i, pred in enumerate(prediction): # Filter out confidence scores below threshold # Get score and class with highest confidence v = pred[:, 4] > conf_thres v = v.nonzero().squeeze() if len(v.shape) == 0: v = v.unsqueeze(0) pred = pred[v] # If none are remaining => process next image nP = pred.shape[0] if not nP: continue # From (center x, center y, width, height) to (x1, y1, x2, y2) pred[:, :4] = xywh2xyxy(pred[:, :4]) # Non-maximum suppression if method == -1: nms_indices = nms(pred[:, :4], pred[:, 4], nms_thres) else: dets = pred[:, :5].clone().contiguous().data.cpu().numpy() nms_indices = soft_nms(dets, Nt=nms_thres, method=method) det_max = pred[nms_indices] if len(det_max) > 0: # Add max detections to outputs output[image_i] = det_max if output[image_i] is None else torch.cat((output[image_i], det_max)) return output def return_torch_unique_index(u, uv): n = uv.shape[1] # number of columns first_unique = torch.zeros(n, device=u.device).long() for j in range(n): first_unique[j] = (uv[:, j:j + 1] == u).all(0).nonzero()[0] return first_unique def strip_optimizer_from_checkpoint(filename='weights/best.pt'): # Strip optimizer from *.pt files for lighter files (reduced by 2/3 size) a = torch.load(filename, map_location='cpu') a['optimizer'] = [] torch.save(a, filename.replace('.pt', '_lite.pt')) def plot_results(): # Plot YOLO training results file 'results.txt' # import os; os.system('wget https://storage.googleapis.com/ultralytics/yolov3/results_v1.txt') plt.figure(figsize=(14, 7)) s = ['X + Y', 'Width + Height', 'Confidence', 'Classification', 'Total Loss', 'mAP', 'Recall', 'Precision'] files = sorted(glob.glob('results*.txt')) for f in files: results = np.loadtxt(f, usecols=[2, 3, 4, 5, 6, 9, 10, 11]).T # column 11 is mAP x = range(1, results.shape[1]) for i in range(8): plt.subplot(2, 4, i + 1) plt.plot(x, results[i, x], marker='.', label=f) plt.title(s[i]) if i == 0: plt.legend()