mask_rcnn.py 25.8 KB
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from collections import OrderedDict
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from typing import Any, Callable, Optional
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from torch import nn
from torchvision.ops import MultiScaleRoIAlign

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from ...ops import misc as misc_nn_ops
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from ...transforms._presets import ObjectDetection
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from .._api import register_model, Weights, WeightsEnum
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from .._meta import _COCO_CATEGORIES
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from .._utils import _ovewrite_value_param, handle_legacy_interface
from ..resnet import resnet50, ResNet50_Weights
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from ._utils import overwrite_eps
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from .backbone_utils import _resnet_fpn_extractor, _validate_trainable_layers
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from .faster_rcnn import _default_anchorgen, FasterRCNN, FastRCNNConvFCHead, RPNHead
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__all__ = [
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    "MaskRCNN",
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    "MaskRCNN_ResNet50_FPN_Weights",
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    "MaskRCNN_ResNet50_FPN_V2_Weights",
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    "maskrcnn_resnet50_fpn",
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    "maskrcnn_resnet50_fpn_v2",
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]


class MaskRCNN(FasterRCNN):
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    """
    Implements Mask R-CNN.

    The input to the model is expected to be a list of tensors, each of shape [C, H, W], one for each
    image, and should be in 0-1 range. Different images can have different sizes.

    The behavior of the model changes depending if it is in training or evaluation mode.

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    During training, the model expects both the input tensors, as well as a targets (list of dictionary),
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    containing:
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        - boxes (``FloatTensor[N, 4]``): the ground-truth boxes in ``[x1, y1, x2, y2]`` format, with
          ``0 <= x1 < x2 <= W`` and ``0 <= y1 < y2 <= H``.
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        - labels (Int64Tensor[N]): the class label for each ground-truth box
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        - masks (UInt8Tensor[N, H, W]): the segmentation binary masks for each instance
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    The model returns a Dict[Tensor] during training, containing the classification and regression
    losses for both the RPN and the R-CNN, and the mask loss.

    During inference, the model requires only the input tensors, and returns the post-processed
    predictions as a List[Dict[Tensor]], one for each input image. The fields of the Dict are as
    follows:
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        - boxes (``FloatTensor[N, 4]``): the predicted boxes in ``[x1, y1, x2, y2]`` format, with
          ``0 <= x1 < x2 <= W`` and ``0 <= y1 < y2 <= H``.
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        - labels (Int64Tensor[N]): the predicted labels for each image
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        - scores (Tensor[N]): the scores or each prediction
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        - masks (UInt8Tensor[N, 1, H, W]): the predicted masks for each instance, in 0-1 range. In order to
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          obtain the final segmentation masks, the soft masks can be thresholded, generally
          with a value of 0.5 (mask >= 0.5)
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    Args:
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        backbone (nn.Module): the network used to compute the features for the model.
            It should contain a out_channels attribute, which indicates the number of output
            channels that each feature map has (and it should be the same for all feature maps).
            The backbone should return a single Tensor or and OrderedDict[Tensor].
        num_classes (int): number of output classes of the model (including the background).
            If box_predictor is specified, num_classes should be None.
        min_size (int): minimum size of the image to be rescaled before feeding it to the backbone
        max_size (int): maximum size of the image to be rescaled before feeding it to the backbone
        image_mean (Tuple[float, float, float]): mean values used for input normalization.
            They are generally the mean values of the dataset on which the backbone has been trained
            on
        image_std (Tuple[float, float, float]): std values used for input normalization.
            They are generally the std values of the dataset on which the backbone has been trained on
        rpn_anchor_generator (AnchorGenerator): module that generates the anchors for a set of feature
            maps.
        rpn_head (nn.Module): module that computes the objectness and regression deltas from the RPN
        rpn_pre_nms_top_n_train (int): number of proposals to keep before applying NMS during training
        rpn_pre_nms_top_n_test (int): number of proposals to keep before applying NMS during testing
        rpn_post_nms_top_n_train (int): number of proposals to keep after applying NMS during training
        rpn_post_nms_top_n_test (int): number of proposals to keep after applying NMS during testing
        rpn_nms_thresh (float): NMS threshold used for postprocessing the RPN proposals
        rpn_fg_iou_thresh (float): minimum IoU between the anchor and the GT box so that they can be
            considered as positive during training of the RPN.
        rpn_bg_iou_thresh (float): maximum IoU between the anchor and the GT box so that they can be
            considered as negative during training of the RPN.
        rpn_batch_size_per_image (int): number of anchors that are sampled during training of the RPN
            for computing the loss
        rpn_positive_fraction (float): proportion of positive anchors in a mini-batch during training
            of the RPN
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        rpn_score_thresh (float): during inference, only return proposals with a classification score
            greater than rpn_score_thresh
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        box_roi_pool (MultiScaleRoIAlign): the module which crops and resizes the feature maps in
            the locations indicated by the bounding boxes
        box_head (nn.Module): module that takes the cropped feature maps as input
        box_predictor (nn.Module): module that takes the output of box_head and returns the
            classification logits and box regression deltas.
        box_score_thresh (float): during inference, only return proposals with a classification score
            greater than box_score_thresh
        box_nms_thresh (float): NMS threshold for the prediction head. Used during inference
        box_detections_per_img (int): maximum number of detections per image, for all classes.
        box_fg_iou_thresh (float): minimum IoU between the proposals and the GT box so that they can be
            considered as positive during training of the classification head
        box_bg_iou_thresh (float): maximum IoU between the proposals and the GT box so that they can be
            considered as negative during training of the classification head
        box_batch_size_per_image (int): number of proposals that are sampled during training of the
            classification head
        box_positive_fraction (float): proportion of positive proposals in a mini-batch during training
            of the classification head
        bbox_reg_weights (Tuple[float, float, float, float]): weights for the encoding/decoding of the
            bounding boxes
        mask_roi_pool (MultiScaleRoIAlign): the module which crops and resizes the feature maps in
             the locations indicated by the bounding boxes, which will be used for the mask head.
        mask_head (nn.Module): module that takes the cropped feature maps as input
        mask_predictor (nn.Module): module that takes the output of the mask_head and returns the
            segmentation mask logits

    Example::

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        >>> import torch
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        >>> import torchvision
        >>> from torchvision.models.detection import MaskRCNN
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        >>> from torchvision.models.detection.anchor_utils import AnchorGenerator
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        >>>
        >>> # load a pre-trained model for classification and return
        >>> # only the features
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        >>> backbone = torchvision.models.mobilenet_v2(weights=MobileNet_V2_Weights.DEFAULT).features
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        >>> # MaskRCNN needs to know the number of
        >>> # output channels in a backbone. For mobilenet_v2, it's 1280
        >>> # so we need to add it here
        >>> backbone.out_channels = 1280
        >>>
        >>> # let's make the RPN generate 5 x 3 anchors per spatial
        >>> # location, with 5 different sizes and 3 different aspect
        >>> # ratios. We have a Tuple[Tuple[int]] because each feature
        >>> # map could potentially have different sizes and
        >>> # aspect ratios
        >>> anchor_generator = AnchorGenerator(sizes=((32, 64, 128, 256, 512),),
        >>>                                    aspect_ratios=((0.5, 1.0, 2.0),))
        >>>
        >>> # let's define what are the feature maps that we will
        >>> # use to perform the region of interest cropping, as well as
        >>> # the size of the crop after rescaling.
        >>> # if your backbone returns a Tensor, featmap_names is expected to
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        >>> # be ['0']. More generally, the backbone should return an
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        >>> # OrderedDict[Tensor], and in featmap_names you can choose which
        >>> # feature maps to use.
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        >>> roi_pooler = torchvision.ops.MultiScaleRoIAlign(featmap_names=['0'],
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        >>>                                                 output_size=7,
        >>>                                                 sampling_ratio=2)
        >>>
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        >>> mask_roi_pooler = torchvision.ops.MultiScaleRoIAlign(featmap_names=['0'],
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        >>>                                                      output_size=14,
        >>>                                                      sampling_ratio=2)
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        >>> # put the pieces together inside a MaskRCNN model
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        >>> model = MaskRCNN(backbone,
        >>>                  num_classes=2,
        >>>                  rpn_anchor_generator=anchor_generator,
        >>>                  box_roi_pool=roi_pooler,
        >>>                  mask_roi_pool=mask_roi_pooler)
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        >>> model.eval()
        >>> x = [torch.rand(3, 300, 400), torch.rand(3, 500, 400)]
        >>> predictions = model(x)
    """
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    def __init__(
        self,
        backbone,
        num_classes=None,
        # transform parameters
        min_size=800,
        max_size=1333,
        image_mean=None,
        image_std=None,
        # RPN parameters
        rpn_anchor_generator=None,
        rpn_head=None,
        rpn_pre_nms_top_n_train=2000,
        rpn_pre_nms_top_n_test=1000,
        rpn_post_nms_top_n_train=2000,
        rpn_post_nms_top_n_test=1000,
        rpn_nms_thresh=0.7,
        rpn_fg_iou_thresh=0.7,
        rpn_bg_iou_thresh=0.3,
        rpn_batch_size_per_image=256,
        rpn_positive_fraction=0.5,
        rpn_score_thresh=0.0,
        # Box parameters
        box_roi_pool=None,
        box_head=None,
        box_predictor=None,
        box_score_thresh=0.05,
        box_nms_thresh=0.5,
        box_detections_per_img=100,
        box_fg_iou_thresh=0.5,
        box_bg_iou_thresh=0.5,
        box_batch_size_per_image=512,
        box_positive_fraction=0.25,
        bbox_reg_weights=None,
        # Mask parameters
        mask_roi_pool=None,
        mask_head=None,
        mask_predictor=None,
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        **kwargs,
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    ):
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        if not isinstance(mask_roi_pool, (MultiScaleRoIAlign, type(None))):
            raise TypeError(
                f"mask_roi_pool should be of type MultiScaleRoIAlign or None instead of {type(mask_roi_pool)}"
            )
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        if num_classes is not None:
            if mask_predictor is not None:
                raise ValueError("num_classes should be None when mask_predictor is specified")

        out_channels = backbone.out_channels

        if mask_roi_pool is None:
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            mask_roi_pool = MultiScaleRoIAlign(featmap_names=["0", "1", "2", "3"], output_size=14, sampling_ratio=2)
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        if mask_head is None:
            mask_layers = (256, 256, 256, 256)
            mask_dilation = 1
            mask_head = MaskRCNNHeads(out_channels, mask_layers, mask_dilation)

        if mask_predictor is None:
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            mask_predictor_in_channels = 256  # == mask_layers[-1]
            mask_dim_reduced = 256
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            mask_predictor = MaskRCNNPredictor(mask_predictor_in_channels, mask_dim_reduced, num_classes)
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        super().__init__(
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            backbone,
            num_classes,
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            # transform parameters
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            min_size,
            max_size,
            image_mean,
            image_std,
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            # RPN-specific parameters
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            rpn_anchor_generator,
            rpn_head,
            rpn_pre_nms_top_n_train,
            rpn_pre_nms_top_n_test,
            rpn_post_nms_top_n_train,
            rpn_post_nms_top_n_test,
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            rpn_nms_thresh,
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            rpn_fg_iou_thresh,
            rpn_bg_iou_thresh,
            rpn_batch_size_per_image,
            rpn_positive_fraction,
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            rpn_score_thresh,
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            # Box parameters
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            box_roi_pool,
            box_head,
            box_predictor,
            box_score_thresh,
            box_nms_thresh,
            box_detections_per_img,
            box_fg_iou_thresh,
            box_bg_iou_thresh,
            box_batch_size_per_image,
            box_positive_fraction,
            bbox_reg_weights,
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            **kwargs,
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        )
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        self.roi_heads.mask_roi_pool = mask_roi_pool
        self.roi_heads.mask_head = mask_head
        self.roi_heads.mask_predictor = mask_predictor


class MaskRCNNHeads(nn.Sequential):
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    _version = 2

    def __init__(self, in_channels, layers, dilation, norm_layer: Optional[Callable[..., nn.Module]] = None):
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        """
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        Args:
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            in_channels (int): number of input channels
            layers (list): feature dimensions of each FCN layer
            dilation (int): dilation rate of kernel
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            norm_layer (callable, optional): Module specifying the normalization layer to use. Default: None
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        """
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        blocks = []
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        next_feature = in_channels
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        for layer_features in layers:
            blocks.append(
                misc_nn_ops.Conv2dNormActivation(
                    next_feature,
                    layer_features,
                    kernel_size=3,
                    stride=1,
                    padding=dilation,
                    dilation=dilation,
                    norm_layer=norm_layer,
                )
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            )
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            next_feature = layer_features

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        super().__init__(*blocks)
        for layer in self.modules():
            if isinstance(layer, nn.Conv2d):
                nn.init.kaiming_normal_(layer.weight, mode="fan_out", nonlinearity="relu")
                if layer.bias is not None:
                    nn.init.zeros_(layer.bias)

    def _load_from_state_dict(
        self,
        state_dict,
        prefix,
        local_metadata,
        strict,
        missing_keys,
        unexpected_keys,
        error_msgs,
    ):
        version = local_metadata.get("version", None)

        if version is None or version < 2:
            num_blocks = len(self)
            for i in range(num_blocks):
                for type in ["weight", "bias"]:
                    old_key = f"{prefix}mask_fcn{i+1}.{type}"
                    new_key = f"{prefix}{i}.0.{type}"
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                    if old_key in state_dict:
                        state_dict[new_key] = state_dict.pop(old_key)
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        super()._load_from_state_dict(
            state_dict,
            prefix,
            local_metadata,
            strict,
            missing_keys,
            unexpected_keys,
            error_msgs,
        )
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class MaskRCNNPredictor(nn.Sequential):
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    def __init__(self, in_channels, dim_reduced, num_classes):
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        super().__init__(
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            OrderedDict(
                [
                    ("conv5_mask", nn.ConvTranspose2d(in_channels, dim_reduced, 2, 2, 0)),
                    ("relu", nn.ReLU(inplace=True)),
                    ("mask_fcn_logits", nn.Conv2d(dim_reduced, num_classes, 1, 1, 0)),
                ]
            )
        )
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        for name, param in self.named_parameters():
            if "weight" in name:
                nn.init.kaiming_normal_(param, mode="fan_out", nonlinearity="relu")
            # elif "bias" in name:
            #     nn.init.constant_(param, 0)


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_COMMON_META = {
    "categories": _COCO_CATEGORIES,
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    "min_size": (1, 1),
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}


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class MaskRCNN_ResNet50_FPN_Weights(WeightsEnum):
    COCO_V1 = Weights(
        url="https://download.pytorch.org/models/maskrcnn_resnet50_fpn_coco-bf2d0c1e.pth",
        transforms=ObjectDetection,
        meta={
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            **_COMMON_META,
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            "num_params": 44401393,
            "recipe": "https://github.com/pytorch/vision/tree/main/references/detection#mask-r-cnn",
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            "_metrics": {
                "COCO-val2017": {
                    "box_map": 37.9,
                    "mask_map": 34.6,
                }
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            },
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            "_docs": """These weights were produced by following a similar training recipe as on the paper.""",
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        },
    )
    DEFAULT = COCO_V1


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class MaskRCNN_ResNet50_FPN_V2_Weights(WeightsEnum):
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    COCO_V1 = Weights(
        url="https://download.pytorch.org/models/maskrcnn_resnet50_fpn_v2_coco-73cbd019.pth",
        transforms=ObjectDetection,
        meta={
            **_COMMON_META,
            "num_params": 46359409,
            "recipe": "https://github.com/pytorch/vision/pull/5773",
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            "_metrics": {
                "COCO-val2017": {
                    "box_map": 47.4,
                    "mask_map": 41.8,
                }
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            },
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            "_docs": """These weights were produced using an enhanced training recipe to boost the model accuracy.""",
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        },
    )
    DEFAULT = COCO_V1
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@register_model()
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@handle_legacy_interface(
    weights=("pretrained", MaskRCNN_ResNet50_FPN_Weights.COCO_V1),
    weights_backbone=("pretrained_backbone", ResNet50_Weights.IMAGENET1K_V1),
)
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def maskrcnn_resnet50_fpn(
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    *,
    weights: Optional[MaskRCNN_ResNet50_FPN_Weights] = None,
    progress: bool = True,
    num_classes: Optional[int] = None,
    weights_backbone: Optional[ResNet50_Weights] = ResNet50_Weights.IMAGENET1K_V1,
    trainable_backbone_layers: Optional[int] = None,
    **kwargs: Any,
) -> MaskRCNN:
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    """Mask R-CNN model with a ResNet-50-FPN backbone from the `Mask R-CNN
    <https://arxiv.org/abs/1703.06870>`_ paper.
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    .. betastatus:: detection module

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    The input to the model is expected to be a list of tensors, each of shape ``[C, H, W]``, one for each
    image, and should be in ``0-1`` range. Different images can have different sizes.

    The behavior of the model changes depending if it is in training or evaluation mode.

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    During training, the model expects both the input tensors, as well as a targets (list of dictionary),
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    containing:
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        - boxes (``FloatTensor[N, 4]``): the ground-truth boxes in ``[x1, y1, x2, y2]`` format, with
          ``0 <= x1 < x2 <= W`` and ``0 <= y1 < y2 <= H``.
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        - labels (``Int64Tensor[N]``): the class label for each ground-truth box
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        - masks (``UInt8Tensor[N, H, W]``): the segmentation binary masks for each instance
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    The model returns a ``Dict[Tensor]`` during training, containing the classification and regression
    losses for both the RPN and the R-CNN, and the mask loss.

    During inference, the model requires only the input tensors, and returns the post-processed
    predictions as a ``List[Dict[Tensor]]``, one for each input image. The fields of the ``Dict`` are as
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    follows, where ``N`` is the number of detected instances:
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        - boxes (``FloatTensor[N, 4]``): the predicted boxes in ``[x1, y1, x2, y2]`` format, with
          ``0 <= x1 < x2 <= W`` and ``0 <= y1 < y2 <= H``.
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        - labels (``Int64Tensor[N]``): the predicted labels for each instance
        - scores (``Tensor[N]``): the scores or each instance
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        - masks (``UInt8Tensor[N, 1, H, W]``): the predicted masks for each instance, in ``0-1`` range. In order to
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          obtain the final segmentation masks, the soft masks can be thresholded, generally
          with a value of 0.5 (``mask >= 0.5``)

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    For more details on the output and on how to plot the masks, you may refer to :ref:`instance_seg_output`.

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    Mask R-CNN is exportable to ONNX for a fixed batch size with inputs images of fixed size.

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    Example::

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        >>> model = torchvision.models.detection.maskrcnn_resnet50_fpn(weights=MaskRCNN_ResNet50_FPN_Weights.DEFAULT)
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        >>> model.eval()
        >>> x = [torch.rand(3, 300, 400), torch.rand(3, 500, 400)]
        >>> predictions = model(x)
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        >>>
        >>> # optionally, if you want to export the model to ONNX:
        >>> torch.onnx.export(model, x, "mask_rcnn.onnx", opset_version = 11)
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    Args:
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        weights (:class:`~torchvision.models.detection.MaskRCNN_ResNet50_FPN_Weights`, optional): The
            pretrained weights to use. See
            :class:`~torchvision.models.detection.MaskRCNN_ResNet50_FPN_Weights` below for
            more details, and possible values. By default, no pre-trained
            weights are used.
        progress (bool, optional): If True, displays a progress bar of the
            download to stderr. Default is True.
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        num_classes (int, optional): number of output classes of the model (including the background)
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        weights_backbone (:class:`~torchvision.models.ResNet50_Weights`, optional): The
            pretrained weights for the backbone.
        trainable_backbone_layers (int, optional): number of trainable (not frozen) layers starting from
            final block. Valid values are between 0 and 5, with 5 meaning all backbone layers are
            trainable. If ``None`` is passed (the default) this value is set to 3.
        **kwargs: parameters passed to the ``torchvision.models.detection.mask_rcnn.MaskRCNN``
            base class. Please refer to the `source code
            <https://github.com/pytorch/vision/blob/main/torchvision/models/detection/mask_rcnn.py>`_
            for more details about this class.

    .. autoclass:: torchvision.models.detection.MaskRCNN_ResNet50_FPN_Weights
        :members:
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    """
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    weights = MaskRCNN_ResNet50_FPN_Weights.verify(weights)
    weights_backbone = ResNet50_Weights.verify(weights_backbone)

    if weights is not None:
        weights_backbone = None
        num_classes = _ovewrite_value_param(num_classes, len(weights.meta["categories"]))
    elif num_classes is None:
        num_classes = 91

    is_trained = weights is not None or weights_backbone is not None
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    trainable_backbone_layers = _validate_trainable_layers(is_trained, trainable_backbone_layers, 5, 3)
    norm_layer = misc_nn_ops.FrozenBatchNorm2d if is_trained else nn.BatchNorm2d
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    backbone = resnet50(weights=weights_backbone, progress=progress, norm_layer=norm_layer)
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    backbone = _resnet_fpn_extractor(backbone, trainable_backbone_layers)
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    model = MaskRCNN(backbone, num_classes=num_classes, **kwargs)

    if weights is not None:
        model.load_state_dict(weights.get_state_dict(progress=progress))
        if weights == MaskRCNN_ResNet50_FPN_Weights.COCO_V1:
            overwrite_eps(model, 0.0)

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    return model
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@register_model()
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def maskrcnn_resnet50_fpn_v2(
    *,
    weights: Optional[MaskRCNN_ResNet50_FPN_V2_Weights] = None,
    progress: bool = True,
    num_classes: Optional[int] = None,
    weights_backbone: Optional[ResNet50_Weights] = None,
    trainable_backbone_layers: Optional[int] = None,
    **kwargs: Any,
) -> MaskRCNN:
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    """Improved Mask R-CNN model with a ResNet-50-FPN backbone from the `Benchmarking Detection Transfer
    Learning with Vision Transformers <https://arxiv.org/abs/2111.11429>`_ paper.
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    .. betastatus:: detection module

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    :func:`~torchvision.models.detection.maskrcnn_resnet50_fpn` for more details.

    Args:
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        weights (:class:`~torchvision.models.detection.MaskRCNN_ResNet50_FPN_V2_Weights`, optional): The
            pretrained weights to use. See
            :class:`~torchvision.models.detection.MaskRCNN_ResNet50_FPN_V2_Weights` below for
            more details, and possible values. By default, no pre-trained
            weights are used.
        progress (bool, optional): If True, displays a progress bar of the
            download to stderr. Default is True.
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        num_classes (int, optional): number of output classes of the model (including the background)
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        weights_backbone (:class:`~torchvision.models.ResNet50_Weights`, optional): The
            pretrained weights for the backbone.
        trainable_backbone_layers (int, optional): number of trainable (not frozen) layers starting from
            final block. Valid values are between 0 and 5, with 5 meaning all backbone layers are
            trainable. If ``None`` is passed (the default) this value is set to 3.
        **kwargs: parameters passed to the ``torchvision.models.detection.mask_rcnn.MaskRCNN``
            base class. Please refer to the `source code
            <https://github.com/pytorch/vision/blob/main/torchvision/models/detection/mask_rcnn.py>`_
            for more details about this class.

    .. autoclass:: torchvision.models.detection.MaskRCNN_ResNet50_FPN_V2_Weights
        :members:
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    """
    weights = MaskRCNN_ResNet50_FPN_V2_Weights.verify(weights)
    weights_backbone = ResNet50_Weights.verify(weights_backbone)

    if weights is not None:
        weights_backbone = None
        num_classes = _ovewrite_value_param(num_classes, len(weights.meta["categories"]))
    elif num_classes is None:
        num_classes = 91

    is_trained = weights is not None or weights_backbone is not None
    trainable_backbone_layers = _validate_trainable_layers(is_trained, trainable_backbone_layers, 5, 3)

    backbone = resnet50(weights=weights_backbone, progress=progress)
    backbone = _resnet_fpn_extractor(backbone, trainable_backbone_layers, norm_layer=nn.BatchNorm2d)
    rpn_anchor_generator = _default_anchorgen()
    rpn_head = RPNHead(backbone.out_channels, rpn_anchor_generator.num_anchors_per_location()[0], conv_depth=2)
    box_head = FastRCNNConvFCHead(
        (backbone.out_channels, 7, 7), [256, 256, 256, 256], [1024], norm_layer=nn.BatchNorm2d
    )
    mask_head = MaskRCNNHeads(backbone.out_channels, [256, 256, 256, 256], 1, norm_layer=nn.BatchNorm2d)
    model = MaskRCNN(
        backbone,
        num_classes=num_classes,
        rpn_anchor_generator=rpn_anchor_generator,
        rpn_head=rpn_head,
        box_head=box_head,
        mask_head=mask_head,
        **kwargs,
    )

    if weights is not None:
        model.load_state_dict(weights.get_state_dict(progress=progress))

    return model
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# The dictionary below is internal implementation detail and will be removed in v0.15
from .._utils import _ModelURLs


model_urls = _ModelURLs(
    {
        "maskrcnn_resnet50_fpn_coco": MaskRCNN_ResNet50_FPN_Weights.COCO_V1.url,
    }
)