Ignore truth rects that overlap too much (have same index in feature coordinates) (#1896)

* Add test case that makes MMOD loss go negative with certain ignore-rect configuration

* Disregard duplicate truth boxes

* Minor optimization

* Remove possibly outdated comment

* Clarify the detection count test criterion a little

* Review fix

* Review fixes:
- for perf reasons, keep only the first rect for each truth idx
- fix warning message grammar

dlib/dnn/loss.h

@@ -13,6 +13,7 @@
 #include "../svm/ranking_tools.h"
 #include <sstream>
 #include <map>
+#include <unordered_map>
 
 namespace dlib
 {
@@ -1142,6 +1143,8 @@ namespace dlib
                 std::vector<size_t> truth_idxs;
                 truth_idxs.reserve(truth->size());
 
+                std::unordered_map<size_t, rectangle> idx_to_truth_rect;
+
                 // The loss will measure the number of incorrect detections.  A detection is
                 // incorrect if it doesn't hit a truth rectangle or if it is a duplicate detection
                 // on a truth rectangle.
@@ -1156,20 +1159,33 @@ namespace dlib
                         {
                             // Ignore boxes that can't be detected by the CNN.
                             loss -= options.loss_per_missed_target;
-                            truth_idxs.push_back(0);
+                            truth_idxs.push_back(-1);
                             continue;
                         }
                         const size_t idx = (k*output_tensor.nr() + p.y())*output_tensor.nc() + p.x();
+                        const auto i = idx_to_truth_rect.find(idx);
+                        if (i != idx_to_truth_rect.end())
+                        {
+                            // Ignore duplicate truth box in feature coordinates.
+                            std::cout << "Warning, ignoring object.  We encountered a truth rectangle located at " << x.rect;
+                            std::cout << ", and we are ignoring it because it maps to the exact same feature coordinates ";
+                            std::cout << "as another truth rectangle located at " << i->second << "." << std::endl;
+
+                            loss -= options.loss_per_missed_target;
+                            truth_idxs.push_back(-1);
+                            continue;
+                        }
                         loss -= out_data[idx];
                         // compute gradient
                         g[idx] = -scale;
                         truth_idxs.push_back(idx);
+                        idx_to_truth_rect[idx] = x.rect;
                     }
                     else
                     {
                         // This box was ignored so shouldn't have been counted in the loss.
                         loss -= options.loss_per_missed_target;
-                        truth_idxs.push_back(0);
+                        truth_idxs.push_back(-1);
                     }
                 }
 
@@ -1226,16 +1242,19 @@ namespace dlib
                         if (options.overlaps_nms(best_matching_truth_box, (*truth)[i]))
                         {
                             const size_t idx = truth_idxs[i];
-                            // We are ignoring this box so we shouldn't have counted it in the
-                            // loss in the first place.  So we subtract out the loss values we
-                            // added for it in the code above.
-                            loss -= options.loss_per_missed_target-out_data[idx];
-                            g[idx] = 0;
-                            std::cout << "Warning, ignoring object.  We encountered a truth rectangle located at " << (*truth)[i].rect;
-                            std::cout << " that is suppressed by non-max-suppression ";
-                            std::cout << "because it is overlapped by another truth rectangle located at " << best_matching_truth_box 
-                                      << " (IoU:"<< box_intersection_over_union(best_matching_truth_box,(*truth)[i]) <<", Percent covered:" 
-                                      << box_percent_covered(best_matching_truth_box,(*truth)[i]) << ")." << std::endl;
+                            if (idx != -1)
+                            {
+                                // We are ignoring this box so we shouldn't have counted it in the
+                                // loss in the first place.  So we subtract out the loss values we
+                                // added for it in the code above.
+                                loss -= options.loss_per_missed_target-out_data[idx];
+                                g[idx] = 0;
+                                std::cout << "Warning, ignoring object.  We encountered a truth rectangle located at " << (*truth)[i].rect;
+                                std::cout << " that is suppressed by non-max-suppression ";
+                                std::cout << "because it is overlapped by another truth rectangle located at " << best_matching_truth_box 
+                                          << " (IoU:"<< box_intersection_over_union(best_matching_truth_box,(*truth)[i]) <<", Percent covered:" 
+                                          << box_percent_covered(best_matching_truth_box,(*truth)[i]) << ")." << std::endl;
+                            }
                         }
                     }
                 }

dlib/test/dnn.cpp

@@ -3231,6 +3231,87 @@ namespace
 
     }
 
+// ----------------------------------------------------------------------------------------
+
+    void test_loss_mmod()
+    {
+        print_spinner();
+
+        // Define input image size.
+        constexpr int nc = 20;
+        constexpr int nr = 20;
+
+        constexpr int margin = 3;
+
+        // Create a checkerboard pattern.
+        std::deque<point> labeled_points;
+        for (int y = margin; y < nr - margin; ++y)
+            for (int x = margin + 1 - y % 2; x < nc - margin; x += 2)
+                labeled_points.emplace_back(x, y);
+
+        // Create training data that follows the generated pattern.
+        typedef matrix<float> input_image_type;
+
+        const auto generate_input_image = [&labeled_points, nr, nc]()
+        {
+            input_image_type sample(nr, nc);
+            sample = -1.0;
+
+            for (const auto& point : labeled_points)
+                sample(point.y(), point.x()) = 1.0;
+
+            return sample;
+        };
+
+        const auto generate_labels = [&labeled_points]()
+        {
+            const auto point_to_rect = [](const point& point) {
+                constexpr int rect_size = 5;
+                return centered_rect(
+                    point.x(), point.y(),
+                    rect_size, rect_size
+                );
+            };
+
+            std::vector<mmod_rect> labels;
+
+            std::transform(
+                labeled_points.begin(),
+                labeled_points.end(),
+                std::back_inserter(labels),
+                point_to_rect
+            );
+
+            return labels;
+        };
+
+        const input_image_type input_image = generate_input_image();
+        const std::vector<mmod_rect> labels = generate_labels();
+
+        mmod_options options(use_image_pyramid::no, { labels });
+
+        // Define a simple network.
+        using net_type = loss_mmod<con<1,5,5,1,1,con<1,5,5,2,2,input<input_image_type>>>>;
+        net_type net(options);
+        dnn_trainer<net_type> trainer(net, sgd(0.1));
+
+        // Train the network. The loss is not supposed to go negative.
+        for (int i = 0; i < 100; ++i) {
+            print_spinner();
+            trainer.train_one_step({ input_image }, { labels });
+            DLIB_TEST(trainer.get_average_loss() >= 0.0);
+        }
+
+        // Inference should return something for the training data.
+        const auto dets = net(input_image);
+        DLIB_TEST(dets.size() > 0);
+
+        // Indeed many truth objects should be found.
+        const auto approximate_desired_det_count = (nr - 2 * margin) * (nc - 2 * margin) / 2.0;
+        DLIB_TEST(dets.size() > approximate_desired_det_count * 0.45);
+        DLIB_TEST(dets.size() < approximate_desired_det_count * 1.05);
+    }
+
 // ----------------------------------------------------------------------------------------
 
     class dnn_tester : public tester
@@ -3321,6 +3402,7 @@ namespace
             test_serialization();
             test_loss_dot();
             test_loss_multimulticlass_log();
+            test_loss_mmod();
         }
 
         void perform_test()