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Commit 12714f88 authored by Vivek Rathod's avatar Vivek Rathod
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update post_processing module, builders, and meta architectures.

parent c46caa56
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Showing with 1027 additions and 264 deletions
research/object_detection/builders/post_processing_builder.py
View file @ 12714f88
......@@ -28,8 +28,8 @@ def build(post_processing_config):
configuration.
Non-max suppression callable takes `boxes`, `scores`, and optionally
`clip_window`, `parallel_iterations` and `scope` as inputs. It returns
`nms_boxes`, `nms_scores`, `nms_nms_classes` and `num_detections`. See
`clip_window`, `parallel_iterations` `masks, and `scope` as inputs. It returns
`nms_boxes`, `nms_scores`, `nms_classes` `nms_masks` and `num_detections`. See
post_processing.batch_multiclass_non_max_suppression for the type and shape
of these tensors.
......@@ -55,7 +55,8 @@ def build(post_processing_config):
non_max_suppressor_fn = _build_non_max_suppressor(
post_processing_config.batch_non_max_suppression)
score_converter_fn = _build_score_converter(
post_processing_config.score_converter)
post_processing_config.score_converter,
post_processing_config.logit_scale)
return non_max_suppressor_fn, score_converter_fn
......@@ -87,7 +88,17 @@ def _build_non_max_suppressor(nms_config):
return non_max_suppressor_fn
def _build_score_converter(score_converter_config):
def _score_converter_fn_with_logit_scale(tf_score_converter_fn, logit_scale):
"""Create a function to scale logits then apply a Tensorflow function."""
def score_converter_fn(logits):
scaled_logits = tf.divide(logits, logit_scale, name='scale_logits')
return tf_score_converter_fn(scaled_logits, name='convert_scores')
score_converter_fn.__name__ = '%s_with_logit_scale' % (
tf_score_converter_fn.__name__)
return score_converter_fn
def _build_score_converter(score_converter_config, logit_scale):
"""Builds score converter based on the config.
Builds one of [tf.identity, tf.sigmoid, tf.softmax] score converters based on
......@@ -95,6 +106,7 @@ def _build_score_converter(score_converter_config):
Args:
score_converter_config: post_processing_pb2.PostProcessing.score_converter.
logit_scale: temperature to use for SOFTMAX score_converter.
Returns:
Callable score converter op.
......@@ -103,9 +115,9 @@ def _build_score_converter(score_converter_config):
ValueError: On unknown score converter.
"""
if score_converter_config == post_processing_pb2.PostProcessing.IDENTITY:
return tf.identity
return _score_converter_fn_with_logit_scale(tf.identity, logit_scale)
if score_converter_config == post_processing_pb2.PostProcessing.SIGMOID:
return tf.sigmoid
return _score_converter_fn_with_logit_scale(tf.sigmoid, logit_scale)
if score_converter_config == post_processing_pb2.PostProcessing.SOFTMAX:
return tf.nn.softmax
return _score_converter_fn_with_logit_scale(tf.nn.softmax, logit_scale)
raise ValueError('Unknown score converter.')
research/object_detection/builders/post_processing_builder_test.py
View file @ 12714f88
......@@ -48,7 +48,31 @@ class PostProcessingBuilderTest(tf.test.TestCase):
post_processing_config = post_processing_pb2.PostProcessing()
text_format.Merge(post_processing_text_proto, post_processing_config)
_, score_converter = post_processing_builder.build(post_processing_config)
self.assertEqual(score_converter, tf.identity)
self.assertEqual(score_converter.__name__, 'identity_with_logit_scale')
inputs = tf.constant([1, 1], tf.float32)
outputs = score_converter(inputs)
with self.test_session() as sess:
converted_scores = sess.run(outputs)
expected_converted_scores = sess.run(inputs)
self.assertAllClose(converted_scores, expected_converted_scores)
def test_build_identity_score_converter_with_logit_scale(self):
post_processing_text_proto = """
score_converter: IDENTITY
logit_scale: 2.0
"""
post_processing_config = post_processing_pb2.PostProcessing()
text_format.Merge(post_processing_text_proto, post_processing_config)
_, score_converter = post_processing_builder.build(post_processing_config)
self.assertEqual(score_converter.__name__, 'identity_with_logit_scale')
inputs = tf.constant([1, 1], tf.float32)
outputs = score_converter(inputs)
with self.test_session() as sess:
converted_scores = sess.run(outputs)
expected_converted_scores = sess.run(tf.constant([.5, .5], tf.float32))
self.assertAllClose(converted_scores, expected_converted_scores)
def test_build_sigmoid_score_converter(self):
post_processing_text_proto = """
......@@ -57,7 +81,7 @@ class PostProcessingBuilderTest(tf.test.TestCase):
post_processing_config = post_processing_pb2.PostProcessing()
text_format.Merge(post_processing_text_proto, post_processing_config)
_, score_converter = post_processing_builder.build(post_processing_config)
self.assertEqual(score_converter, tf.sigmoid)
self.assertEqual(score_converter.__name__, 'sigmoid_with_logit_scale')
def test_build_softmax_score_converter(self):
post_processing_text_proto = """
......@@ -66,7 +90,17 @@ class PostProcessingBuilderTest(tf.test.TestCase):
post_processing_config = post_processing_pb2.PostProcessing()
text_format.Merge(post_processing_text_proto, post_processing_config)
_, score_converter = post_processing_builder.build(post_processing_config)
self.assertEqual(score_converter, tf.nn.softmax)
self.assertEqual(score_converter.__name__, 'softmax_with_logit_scale')
def test_build_softmax_score_converter_with_temperature(self):
post_processing_text_proto = """
score_converter: SOFTMAX
logit_scale: 2.0
"""
post_processing_config = post_processing_pb2.PostProcessing()
text_format.Merge(post_processing_text_proto, post_processing_config)
_, score_converter = post_processing_builder.build(post_processing_config)
self.assertEqual(score_converter.__name__, 'softmax_with_logit_scale')
if __name__ == '__main__':
......
research/object_detection/core/post_processing.py
View file @ 12714f88
......@@ -76,8 +76,6 @@ def multiclass_non_max_suppression(boxes,
a BoxList holding M boxes with a rank-1 scores field representing
corresponding scores for each box with scores sorted in decreasing order
and a rank-1 classes field representing a class label for each box.
If masks, keypoints, keypoint_heatmaps is not None, the boxlist will
contain masks, keypoints, keypoint_heatmaps corresponding to boxes.
Raises:
ValueError: if iou_thresh is not in [0, 1] or if input boxlist does not have
......@@ -174,6 +172,7 @@ def batch_multiclass_non_max_suppression(boxes,
change_coordinate_frame=False,
num_valid_boxes=None,
masks=None,
additional_fields=None,
scope=None,
parallel_iterations=32):
"""Multi-class version of non maximum suppression that operates on a batch.
......@@ -208,6 +207,8 @@ def batch_multiclass_non_max_suppression(boxes,
masks: (optional) a [batch_size, num_anchors, q, mask_height, mask_width]
float32 tensor containing box masks. `q` can be either number of classes
or 1 depending on whether a separate mask is predicted per class.
additional_fields: (optional) If not None, a dictionary that maps keys to
tensors whose dimensions are [batch_size, num_anchors, ...].
scope: tf scope name.
parallel_iterations: (optional) number of batch items to process in
parallel.
......@@ -223,9 +224,13 @@ def batch_multiclass_non_max_suppression(boxes,
[batch_size, max_detections, mask_height, mask_width] float32 tensor
containing masks for each selected box. This is set to None if input
`masks` is None.
'nmsed_additional_fields': (optional) a dictionary of
[batch_size, max_detections, ...] float32 tensors corresponding to the
tensors specified in the input `additional_fields`. This is not returned
if input `additional_fields` is None.
'num_detections': A [batch_size] int32 tensor indicating the number of
valid detections per batch item. Only the top num_detections[i] entries in
nms_boxes[i], nms_scores[i] and nms_class[i] are valid. the rest of the
nms_boxes[i], nms_scores[i] and nms_class[i] are valid. The rest of the
entries are zero paddings.
Raises:
......@@ -239,6 +244,7 @@ def batch_multiclass_non_max_suppression(boxes,
'to the third dimension of scores')
original_masks = masks
original_additional_fields = additional_fields
with tf.name_scope(scope, 'BatchMultiClassNonMaxSuppression'):
boxes_shape = boxes.shape
batch_size = boxes_shape[0].value
......@@ -255,15 +261,61 @@ def batch_multiclass_non_max_suppression(boxes,
num_valid_boxes = tf.ones([batch_size], dtype=tf.int32) * num_anchors
# If masks aren't provided, create dummy masks so we can only have one copy
# of single_image_nms_fn and discard the dummy masks after map_fn.
# of _single_image_nms_fn and discard the dummy masks after map_fn.
if masks is None:
masks_shape = tf.stack([batch_size, num_anchors, 1, 0, 0])
masks = tf.zeros(masks_shape)
def single_image_nms_fn(args):
"""Runs NMS on a single image and returns padded output."""
(per_image_boxes, per_image_scores, per_image_masks,
per_image_num_valid_boxes) = args
if additional_fields is None:
additional_fields = {}
def _single_image_nms_fn(args):
"""Runs NMS on a single image and returns padded output.
Args:
args: A list of tensors consisting of the following:
per_image_boxes - A [num_anchors, q, 4] float32 tensor containing
detections. If `q` is 1 then same boxes are used for all classes
otherwise, if `q` is equal to number of classes, class-specific
boxes are used.
per_image_scores - A [num_anchors, num_classes] float32 tensor
containing the scores for each of the `num_anchors` detections.
per_image_masks - A [num_anchors, q, mask_height, mask_width] float32
tensor containing box masks. `q` can be either number of classes
or 1 depending on whether a separate mask is predicted per class.
per_image_additional_fields - (optional) A variable number of float32
tensors each with size [num_anchors, ...].
per_image_num_valid_boxes - A tensor of type `int32`. A 1-D tensor of
shape [batch_size] representing the number of valid boxes to be
considered for each image in the batch. This parameter allows for
ignoring zero paddings.
Returns:
'nmsed_boxes': A [max_detections, 4] float32 tensor containing the
non-max suppressed boxes.
'nmsed_scores': A [max_detections] float32 tensor containing the scores
for the boxes.
'nmsed_classes': A [max_detections] float32 tensor containing the class
for boxes.
'nmsed_masks': (optional) a [max_detections, mask_height, mask_width]
float32 tensor containing masks for each selected box. This is set to
None if input `masks` is None.
'nmsed_additional_fields': (optional) A variable number of float32
tensors each with size [max_detections, ...] corresponding to the
input `per_image_additional_fields`.
'num_detections': A [batch_size] int32 tensor indicating the number of
valid detections per batch item. Only the top num_detections[i]
entries in nms_boxes[i], nms_scores[i] and nms_class[i] are valid. The
rest of the entries are zero paddings.
"""
per_image_boxes = args[0]
per_image_scores = args[1]
per_image_masks = args[2]
per_image_additional_fields = {
key: value
for key, value in zip(additional_fields, args[3:-1])
}
per_image_num_valid_boxes = args[-1]
per_image_boxes = tf.reshape(
tf.slice(per_image_boxes, 3 * [0],
tf.stack([per_image_num_valid_boxes, -1, -1])), [-1, q, 4])
......@@ -271,12 +323,21 @@ def batch_multiclass_non_max_suppression(boxes,
tf.slice(per_image_scores, [0, 0],
tf.stack([per_image_num_valid_boxes, -1])),
[-1, num_classes])
per_image_masks = tf.reshape(
tf.slice(per_image_masks, 4 * [0],
tf.stack([per_image_num_valid_boxes, -1, -1, -1])),
[-1, q, per_image_masks.shape[2].value,
per_image_masks.shape[3].value])
if per_image_additional_fields is not None:
for key, tensor in per_image_additional_fields.items():
additional_field_shape = tensor.get_shape()
additional_field_dim = len(additional_field_shape)
per_image_additional_fields[key] = tf.reshape(
tf.slice(per_image_additional_fields[key],
additional_field_dim * [0],
tf.stack([per_image_num_valid_boxes] +
(additional_field_dim - 1) * [-1])),
[-1] + [dim.value for dim in additional_field_shape[1:]])
nmsed_boxlist = multiclass_non_max_suppression(
per_image_boxes,
per_image_scores,
......@@ -284,9 +345,10 @@ def batch_multiclass_non_max_suppression(boxes,
iou_thresh,
max_size_per_class,
max_total_size,
masks=per_image_masks,
clip_window=clip_window,
change_coordinate_frame=change_coordinate_frame)
change_coordinate_frame=change_coordinate_frame,
masks=per_image_masks,
additional_fields=per_image_additional_fields)
padded_boxlist = box_list_ops.pad_or_clip_box_list(nmsed_boxlist,
max_total_size)
num_detections = nmsed_boxlist.num_boxes()
......@@ -294,19 +356,40 @@ def batch_multiclass_non_max_suppression(boxes,
nmsed_scores = padded_boxlist.get_field(fields.BoxListFields.scores)
nmsed_classes = padded_boxlist.get_field(fields.BoxListFields.classes)
nmsed_masks = padded_boxlist.get_field(fields.BoxListFields.masks)
return [nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
num_detections]
(batch_nmsed_boxes, batch_nmsed_scores,
batch_nmsed_classes, batch_nmsed_masks,
batch_num_detections) = tf.map_fn(
single_image_nms_fn,
elems=[boxes, scores, masks, num_valid_boxes],
dtype=[tf.float32, tf.float32, tf.float32, tf.float32, tf.int32],
nmsed_additional_fields = [
padded_boxlist.get_field(key) for key in per_image_additional_fields
]
return ([nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks] +
nmsed_additional_fields + [num_detections])
num_additional_fields = 0
if additional_fields is not None:
num_additional_fields = len(additional_fields)
num_nmsed_outputs = 4 + num_additional_fields
batch_outputs = tf.map_fn(
_single_image_nms_fn,
elems=([boxes, scores, masks] + list(additional_fields.values()) +
[num_valid_boxes]),
dtype=(num_nmsed_outputs * [tf.float32] + [tf.int32]),
parallel_iterations=parallel_iterations)
batch_nmsed_boxes = batch_outputs[0]
batch_nmsed_scores = batch_outputs[1]
batch_nmsed_classes = batch_outputs[2]
batch_nmsed_masks = batch_outputs[3]
batch_nmsed_additional_fields = {
key: value
for key, value in zip(additional_fields, batch_outputs[4:-1])
}
batch_num_detections = batch_outputs[-1]
if original_masks is None:
batch_nmsed_masks = None
if original_additional_fields is None:
batch_nmsed_additional_fields = None
return (batch_nmsed_boxes, batch_nmsed_scores, batch_nmsed_classes,
batch_nmsed_masks, batch_num_detections)
batch_nmsed_masks, batch_nmsed_additional_fields,
batch_num_detections)
research/object_detection/core/post_processing_test.py
View file @ 12714f88
......@@ -497,11 +497,13 @@ class MulticlassNonMaxSuppressionTest(tf.test.TestCase):
exp_nms_classes = [[0, 0, 1, 0]]
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
num_detections) = post_processing.batch_multiclass_non_max_suppression(
nmsed_additional_fields, num_detections
) = post_processing.batch_multiclass_non_max_suppression(
boxes, scores, score_thresh, iou_thresh,
max_size_per_class=max_output_size, max_total_size=max_output_size)
self.assertIsNone(nmsed_masks)
self.assertIsNone(nmsed_additional_fields)
with self.test_session() as sess:
(nmsed_boxes, nmsed_scores, nmsed_classes,
......@@ -544,11 +546,13 @@ class MulticlassNonMaxSuppressionTest(tf.test.TestCase):
[1, 0, 0, 0]])
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
num_detections) = post_processing.batch_multiclass_non_max_suppression(
nmsed_additional_fields, num_detections
) = post_processing.batch_multiclass_non_max_suppression(
boxes, scores, score_thresh, iou_thresh,
max_size_per_class=max_output_size, max_total_size=max_output_size)
self.assertIsNone(nmsed_masks)
self.assertIsNone(nmsed_additional_fields)
# Check static shapes
self.assertAllEqual(nmsed_boxes.shape.as_list(),
exp_nms_corners.shape)
......@@ -616,11 +620,13 @@ class MulticlassNonMaxSuppressionTest(tf.test.TestCase):
[[0, 0], [0, 0]]]])
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
num_detections) = post_processing.batch_multiclass_non_max_suppression(
nmsed_additional_fields, num_detections
) = post_processing.batch_multiclass_non_max_suppression(
boxes, scores, score_thresh, iou_thresh,
max_size_per_class=max_output_size, max_total_size=max_output_size,
masks=masks)
self.assertIsNone(nmsed_additional_fields)
# Check static shapes
self.assertAllEqual(nmsed_boxes.shape.as_list(), exp_nms_corners.shape)
self.assertAllEqual(nmsed_scores.shape.as_list(), exp_nms_scores.shape)
......@@ -639,6 +645,91 @@ class MulticlassNonMaxSuppressionTest(tf.test.TestCase):
self.assertAllClose(num_detections, [2, 3])
self.assertAllClose(nmsed_masks, exp_nms_masks)
def test_batch_multiclass_nms_with_additional_fields(self):
boxes = tf.constant([[[[0, 0, 1, 1], [0, 0, 4, 5]],
[[0, 0.1, 1, 1.1], [0, 0.1, 2, 1.1]],
[[0, -0.1, 1, 0.9], [0, -0.1, 1, 0.9]],
[[0, 10, 1, 11], [0, 10, 1, 11]]],
[[[0, 10.1, 1, 11.1], [0, 10.1, 1, 11.1]],
[[0, 100, 1, 101], [0, 100, 1, 101]],
[[0, 1000, 1, 1002], [0, 999, 2, 1004]],
[[0, 1000, 1, 1002.1], [0, 999, 2, 1002.7]]]],
tf.float32)
scores = tf.constant([[[.9, 0.01], [.75, 0.05],
[.6, 0.01], [.95, 0]],
[[.5, 0.01], [.3, 0.01],
[.01, .85], [.01, .5]]])
additional_fields = {
'keypoints': tf.constant(
[[[[6, 7], [8, 9]],
[[0, 1], [2, 3]],
[[0, 0], [0, 0]],
[[0, 0], [0, 0]]],
[[[13, 14], [15, 16]],
[[8, 9], [10, 11]],
[[10, 11], [12, 13]],
[[0, 0], [0, 0]]]],
tf.float32)
}
score_thresh = 0.1
iou_thresh = .5
max_output_size = 4
exp_nms_corners = np.array([[[0, 10, 1, 11],
[0, 0, 1, 1],
[0, 0, 0, 0],
[0, 0, 0, 0]],
[[0, 999, 2, 1004],
[0, 10.1, 1, 11.1],
[0, 100, 1, 101],
[0, 0, 0, 0]]])
exp_nms_scores = np.array([[.95, .9, 0, 0],
[.85, .5, .3, 0]])
exp_nms_classes = np.array([[0, 0, 0, 0],
[1, 0, 0, 0]])
exp_nms_additional_fields = {
'keypoints': np.array([[[[0, 0], [0, 0]],
[[6, 7], [8, 9]],
[[0, 0], [0, 0]],
[[0, 0], [0, 0]]],
[[[10, 11], [12, 13]],
[[13, 14], [15, 16]],
[[8, 9], [10, 11]],
[[0, 0], [0, 0]]]])
}
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
nmsed_additional_fields, num_detections
) = post_processing.batch_multiclass_non_max_suppression(
boxes, scores, score_thresh, iou_thresh,
max_size_per_class=max_output_size, max_total_size=max_output_size,
additional_fields=additional_fields)
self.assertIsNone(nmsed_masks)
# Check static shapes
self.assertAllEqual(nmsed_boxes.shape.as_list(), exp_nms_corners.shape)
self.assertAllEqual(nmsed_scores.shape.as_list(), exp_nms_scores.shape)
self.assertAllEqual(nmsed_classes.shape.as_list(), exp_nms_classes.shape)
self.assertEqual(len(nmsed_additional_fields),
len(exp_nms_additional_fields))
for key in exp_nms_additional_fields:
self.assertAllEqual(nmsed_additional_fields[key].shape.as_list(),
exp_nms_additional_fields[key].shape)
self.assertEqual(num_detections.shape.as_list(), [2])
with self.test_session() as sess:
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_additional_fields,
num_detections) = sess.run([nmsed_boxes, nmsed_scores, nmsed_classes,
nmsed_additional_fields, num_detections])
self.assertAllClose(nmsed_boxes, exp_nms_corners)
self.assertAllClose(nmsed_scores, exp_nms_scores)
self.assertAllClose(nmsed_classes, exp_nms_classes)
for key in exp_nms_additional_fields:
self.assertAllClose(nmsed_additional_fields[key],
exp_nms_additional_fields[key])
self.assertAllClose(num_detections, [2, 3])
def test_batch_multiclass_nms_with_dynamic_batch_size(self):
boxes_placeholder = tf.placeholder(tf.float32, shape=(None, None, 2, 4))
scores_placeholder = tf.placeholder(tf.float32, shape=(None, None, 2))
......@@ -690,11 +781,13 @@ class MulticlassNonMaxSuppressionTest(tf.test.TestCase):
[[0, 0], [0, 0]]]])
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
num_detections) = post_processing.batch_multiclass_non_max_suppression(
nmsed_additional_fields, num_detections
) = post_processing.batch_multiclass_non_max_suppression(
boxes_placeholder, scores_placeholder, score_thresh, iou_thresh,
max_size_per_class=max_output_size, max_total_size=max_output_size,
masks=masks_placeholder)
self.assertIsNone(nmsed_additional_fields)
# Check static shapes
self.assertAllEqual(nmsed_boxes.shape.as_list(), [None, 4, 4])
self.assertAllEqual(nmsed_scores.shape.as_list(), [None, 4])
......@@ -765,11 +858,14 @@ class MulticlassNonMaxSuppressionTest(tf.test.TestCase):
[[0, 0], [0, 0]]]]
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
num_detections) = post_processing.batch_multiclass_non_max_suppression(
nmsed_additional_fields, num_detections
) = post_processing.batch_multiclass_non_max_suppression(
boxes, scores, score_thresh, iou_thresh,
max_size_per_class=max_output_size, max_total_size=max_output_size,
num_valid_boxes=num_valid_boxes, masks=masks)
self.assertIsNone(nmsed_additional_fields)
with self.test_session() as sess:
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
num_detections) = sess.run([nmsed_boxes, nmsed_scores, nmsed_classes,
......@@ -780,6 +876,84 @@ class MulticlassNonMaxSuppressionTest(tf.test.TestCase):
self.assertAllClose(num_detections, [1, 1])
self.assertAllClose(nmsed_masks, exp_nms_masks)
def test_batch_multiclass_nms_with_additional_fields_and_num_valid_boxes(
self):
boxes = tf.constant([[[[0, 0, 1, 1], [0, 0, 4, 5]],
[[0, 0.1, 1, 1.1], [0, 0.1, 2, 1.1]],
[[0, -0.1, 1, 0.9], [0, -0.1, 1, 0.9]],
[[0, 10, 1, 11], [0, 10, 1, 11]]],
[[[0, 10.1, 1, 11.1], [0, 10.1, 1, 11.1]],
[[0, 100, 1, 101], [0, 100, 1, 101]],
[[0, 1000, 1, 1002], [0, 999, 2, 1004]],
[[0, 1000, 1, 1002.1], [0, 999, 2, 1002.7]]]],
tf.float32)
scores = tf.constant([[[.9, 0.01], [.75, 0.05],
[.6, 0.01], [.95, 0]],
[[.5, 0.01], [.3, 0.01],
[.01, .85], [.01, .5]]])
additional_fields = {
'keypoints': tf.constant(
[[[[6, 7], [8, 9]],
[[0, 1], [2, 3]],
[[0, 0], [0, 0]],
[[0, 0], [0, 0]]],
[[[13, 14], [15, 16]],
[[8, 9], [10, 11]],
[[10, 11], [12, 13]],
[[0, 0], [0, 0]]]],
tf.float32)
}
num_valid_boxes = tf.constant([1, 1], tf.int32)
score_thresh = 0.1
iou_thresh = .5
max_output_size = 4
exp_nms_corners = [[[0, 0, 1, 1],
[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0]],
[[0, 10.1, 1, 11.1],
[0, 0, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0]]]
exp_nms_scores = [[.9, 0, 0, 0],
[.5, 0, 0, 0]]
exp_nms_classes = [[0, 0, 0, 0],
[0, 0, 0, 0]]
exp_nms_additional_fields = {
'keypoints': np.array([[[[6, 7], [8, 9]],
[[0, 0], [0, 0]],
[[0, 0], [0, 0]],
[[0, 0], [0, 0]]],
[[[13, 14], [15, 16]],
[[0, 0], [0, 0]],
[[0, 0], [0, 0]],
[[0, 0], [0, 0]]]])
}
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_masks,
nmsed_additional_fields, num_detections
) = post_processing.batch_multiclass_non_max_suppression(
boxes, scores, score_thresh, iou_thresh,
max_size_per_class=max_output_size, max_total_size=max_output_size,
num_valid_boxes=num_valid_boxes,
additional_fields=additional_fields)
self.assertIsNone(nmsed_masks)
with self.test_session() as sess:
(nmsed_boxes, nmsed_scores, nmsed_classes, nmsed_additional_fields,
num_detections) = sess.run([nmsed_boxes, nmsed_scores, nmsed_classes,
nmsed_additional_fields, num_detections])
self.assertAllClose(nmsed_boxes, exp_nms_corners)
self.assertAllClose(nmsed_scores, exp_nms_scores)
self.assertAllClose(nmsed_classes, exp_nms_classes)
for key in exp_nms_additional_fields:
self.assertAllClose(nmsed_additional_fields[key],
exp_nms_additional_fields[key])
self.assertAllClose(num_detections, [1, 1])
if __name__ == '__main__':
tf.test.main()
research/object_detection/meta_architectures/BUILD
View file @ 12714f88
......@@ -18,6 +18,7 @@ py_library(
"//tensorflow_models/object_detection/core:model",
"//tensorflow_models/object_detection/core:target_assigner",
"//tensorflow_models/object_detection/utils:shape_utils",
"//tensorflow_models/object_detection/utils:visualization_utils",
],
)
......
research/object_detection/meta_architectures/faster_rcnn_meta_arch_test.py
View file @ 12714f88
......@@ -15,6 +15,7 @@
"""Tests for object_detection.meta_architectures.faster_rcnn_meta_arch."""
import numpy as np
import tensorflow as tf
from object_detection.meta_architectures import faster_rcnn_meta_arch_test_lib
......@@ -46,10 +47,10 @@ class FasterRCNNMetaArchTest(
mask_height = 2
mask_width = 2
mask_predictions = .6 * tf.ones(
mask_predictions = 30. * tf.ones(
[total_num_padded_proposals, model.num_classes,
mask_height, mask_width], dtype=tf.float32)
exp_detection_masks = [[[[1, 1], [1, 1]],
exp_detection_masks = np.array([[[[1, 1], [1, 1]],
[[1, 1], [1, 1]],
[[1, 1], [1, 1]],
[[1, 1], [1, 1]],
......@@ -58,7 +59,7 @@ class FasterRCNNMetaArchTest(
[[1, 1], [1, 1]],
[[1, 1], [1, 1]],
[[1, 1], [1, 1]],
[[0, 0], [0, 0]]]]
[[0, 0], [0, 0]]]])
detections = model.postprocess({
'refined_box_encodings': refined_box_encodings,
......@@ -79,6 +80,17 @@ class FasterRCNNMetaArchTest(
self.assertAllClose(detections_out['detection_masks'],
exp_detection_masks)
def _get_box_classifier_features_shape(self,
image_size,
batch_size,
max_num_proposals,
initial_crop_size,
maxpool_stride,
num_features):
return (batch_size * max_num_proposals,
initial_crop_size/maxpool_stride,
initial_crop_size/maxpool_stride,
num_features)
if __name__ == '__main__':
tf.test.main()
research/object_detection/meta_architectures/rfcn_meta_arch.py
View file @ 12714f88
......@@ -73,6 +73,7 @@ class RFCNMetaArch(faster_rcnn_meta_arch.FasterRCNNMetaArch):
second_stage_score_conversion_fn,
second_stage_localization_loss_weight,
second_stage_classification_loss_weight,
second_stage_classification_loss,
hard_example_miner,
parallel_iterations=16):
"""RFCNMetaArch Constructor.
......@@ -149,6 +150,8 @@ class RFCNMetaArch(faster_rcnn_meta_arch.FasterRCNNMetaArch):
used to convert logits to probabilities.
second_stage_localization_loss_weight: A float
second_stage_classification_loss_weight: A float
second_stage_classification_loss: A string indicating which loss function
to use, supports 'softmax' and 'sigmoid'.
hard_example_miner: A losses.HardExampleMiner object (can be None).
parallel_iterations: (Optional) The number of iterations allowed to run
in parallel for calls to tf.map_fn.
......@@ -185,6 +188,8 @@ class RFCNMetaArch(faster_rcnn_meta_arch.FasterRCNNMetaArch):
second_stage_score_conversion_fn,
second_stage_localization_loss_weight,
second_stage_classification_loss_weight,
second_stage_classification_loss,
1.0, # second stage mask prediction loss weight isn't used in R-FCN.
hard_example_miner,
parallel_iterations)
......@@ -198,10 +203,10 @@ class RFCNMetaArch(faster_rcnn_meta_arch.FasterRCNNMetaArch):
"""Predicts the output tensors from 2nd stage of FasterRCNN.
Args:
rpn_box_encodings: 3-D float tensor of shape
rpn_box_encodings: 4-D float tensor of shape
[batch_size, num_valid_anchors, self._box_coder.code_size] containing
predicted boxes.
rpn_objectness_predictions_with_background: 3-D float tensor of shape
rpn_objectness_predictions_with_background: 2-D float tensor of shape
[batch_size, num_valid_anchors, 2] containing class
predictions (logits) for each of the anchors. Note that this
tensor *includes* background class predictions (at class index 0).
......@@ -232,6 +237,15 @@ class RFCNMetaArch(faster_rcnn_meta_arch.FasterRCNNMetaArch):
4) proposal_boxes: A float32 tensor of shape
[batch_size, self.max_num_proposals, 4] representing
decoded proposal bounding boxes (in absolute coordinates).
5) proposal_boxes_normalized: A float32 tensor of shape
[batch_size, self.max_num_proposals, 4] representing decoded proposal
bounding boxes (in normalized coordinates). Can be used to override
the boxes proposed by the RPN, thus enabling one to extract box
classification and prediction for externally selected areas of the
image.
6) box_classifier_features: a 4-D float32 tensor, of shape
[batch_size, feature_map_height, feature_map_width, depth],
representing the box classifier features.
"""
proposal_boxes_normalized, _, num_proposals = self._postprocess_rpn(
rpn_box_encodings, rpn_objectness_predictions_with_background,
......@@ -263,5 +277,7 @@ class RFCNMetaArch(faster_rcnn_meta_arch.FasterRCNNMetaArch):
class_predictions_with_background,
'num_proposals': num_proposals,
'proposal_boxes': absolute_proposal_boxes,
'box_classifier_features': box_classifier_features,
'proposal_boxes_normalized': proposal_boxes_normalized,
}
return prediction_dict
research/object_detection/meta_architectures/rfcn_meta_arch_test.py
View file @ 12714f88
......@@ -51,6 +51,15 @@ class RFCNMetaArchTest(
return rfcn_meta_arch.RFCNMetaArch(
second_stage_rfcn_box_predictor=box_predictor, **common_kwargs)
def _get_box_classifier_features_shape(self,
image_size,
batch_size,
max_num_proposals,
initial_crop_size,
maxpool_stride,
num_features):
return (batch_size, image_size, image_size, num_features)
if __name__ == '__main__':
tf.test.main()
research/object_detection/meta_architectures/ssd_meta_arch.py
View file @ 12714f88
......@@ -12,7 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""SSD Meta-architecture definition.
General tensorflow implementation of convolutional Multibox/SSD detection
......@@ -29,6 +28,7 @@ from object_detection.core import model
from object_detection.core import standard_fields as fields
from object_detection.core import target_assigner
from object_detection.utils import shape_utils
from object_detection.utils import visualization_utils
slim = tf.contrib.slim
......@@ -37,13 +37,34 @@ class SSDFeatureExtractor(object):
"""SSD Feature Extractor definition."""
def __init__(self,
is_training,
depth_multiplier,
min_depth,
pad_to_multiple,
conv_hyperparams,
batch_norm_trainable=True,
reuse_weights=None):
"""Constructor.
Args:
is_training: whether the network is in training mode.
depth_multiplier: float depth multiplier for feature extractor.
min_depth: minimum feature extractor depth.
pad_to_multiple: the nearest multiple to zero pad the input height and
width dimensions to.
conv_hyperparams: tf slim arg_scope for conv2d and separable_conv2d ops.
batch_norm_trainable: Whether to update batch norm parameters during
training or not. When training with a small batch size
(e.g. 1), it is desirable to disable batch norm update and use
pretrained batch norm params.
reuse_weights: whether to reuse variables. Default is None.
"""
self._is_training = is_training
self._depth_multiplier = depth_multiplier
self._min_depth = min_depth
self._pad_to_multiple = pad_to_multiple
self._conv_hyperparams = conv_hyperparams
self._batch_norm_trainable = batch_norm_trainable
self._reuse_weights = reuse_weights
@abstractmethod
......@@ -101,9 +122,9 @@ class SSDMetaArch(model.DetectionModel):
add_summaries=True):
"""SSDMetaArch Constructor.
TODO: group NMS parameters + score converter into
a class and loss parameters into a class and write config protos for
postprocessing and losses.
TODO: group NMS parameters + score converter into a class and loss
parameters into a class and write config protos for postprocessing
and losses.
Args:
is_training: A boolean indicating whether the training version of the
......@@ -204,8 +225,8 @@ class SSDMetaArch(model.DetectionModel):
if inputs.dtype is not tf.float32:
raise ValueError('`preprocess` expects a tf.float32 tensor')
with tf.name_scope('Preprocessor'):
# TODO: revisit whether to always use batch size as the number of
# parallel iterations vs allow for dynamic batching.
# TODO: revisit whether to always use batch size as the number of parallel
# iterations vs allow for dynamic batching.
resized_inputs = tf.map_fn(self._image_resizer_fn,
elems=inputs,
dtype=tf.float32)
......@@ -226,7 +247,7 @@ class SSDMetaArch(model.DetectionModel):
Returns:
prediction_dict: a dictionary holding "raw" prediction tensors:
1) box_encodings: 3-D float tensor of shape [batch_size, num_anchors,
1) box_encodings: 4-D float tensor of shape [batch_size, num_anchors,
box_code_dimension] containing predicted boxes.
2) class_predictions_with_background: 3-D float tensor of shape
[batch_size, num_anchors, num_classes+1] containing class predictions
......@@ -234,19 +255,26 @@ class SSDMetaArch(model.DetectionModel):
background class predictions (at class index 0).
3) feature_maps: a list of tensors where the ith tensor has shape
[batch, height_i, width_i, depth_i].
4) anchors: 2-D float tensor of shape [num_anchors, 4] containing
the generated anchors in normalized coordinates.
"""
with tf.variable_scope(None, self._extract_features_scope,
[preprocessed_inputs]):
feature_maps = self._feature_extractor.extract_features(
preprocessed_inputs)
feature_map_spatial_dims = self._get_feature_map_spatial_dims(feature_maps)
self._anchors = self._anchor_generator.generate(feature_map_spatial_dims)
image_shape = tf.shape(preprocessed_inputs)
self._anchors = self._anchor_generator.generate(
feature_map_spatial_dims,
im_height=image_shape[1],
im_width=image_shape[2])
(box_encodings, class_predictions_with_background
) = self._add_box_predictions_to_feature_maps(feature_maps)
predictions_dict = {
'box_encodings': box_encodings,
'class_predictions_with_background': class_predictions_with_background,
'feature_maps': feature_maps
'feature_maps': feature_maps,
'anchors': self._anchors.get()
}
return predictions_dict
......@@ -351,9 +379,11 @@ class SSDMetaArch(model.DetectionModel):
Returns:
detections: a dictionary containing the following fields
detection_boxes: [batch, max_detection, 4]
detection_boxes: [batch, max_detections, 4]
detection_scores: [batch, max_detections]
detection_classes: [batch, max_detections]
detection_keypoints: [batch, max_detections, num_keypoints, 2] (if
encoded in the prediction_dict 'box_encodings')
num_detections: [batch]
Raises:
ValueError: if prediction_dict does not contain `box_encodings` or
......@@ -365,7 +395,7 @@ class SSDMetaArch(model.DetectionModel):
with tf.name_scope('Postprocessor'):
box_encodings = prediction_dict['box_encodings']
class_predictions = prediction_dict['class_predictions_with_background']
detection_boxes = self._batch_decode(box_encodings)
detection_boxes, detection_keypoints = self._batch_decode(box_encodings)
detection_boxes = tf.expand_dims(detection_boxes, axis=2)
class_predictions_without_background = tf.slice(class_predictions,
......@@ -374,14 +404,25 @@ class SSDMetaArch(model.DetectionModel):
detection_scores = self._score_conversion_fn(
class_predictions_without_background)
clip_window = tf.constant([0, 0, 1, 1], tf.float32)
(nmsed_boxes, nmsed_scores, nmsed_classes, _,
num_detections) = self._non_max_suppression_fn(detection_boxes,
additional_fields = None
if detection_keypoints is not None:
additional_fields = {
fields.BoxListFields.keypoints: detection_keypoints}
(nmsed_boxes, nmsed_scores, nmsed_classes, _, nmsed_additional_fields,
num_detections) = self._non_max_suppression_fn(
detection_boxes,
detection_scores,
clip_window=clip_window)
return {'detection_boxes': nmsed_boxes,
clip_window=clip_window,
additional_fields=additional_fields)
detection_dict = {'detection_boxes': nmsed_boxes,
'detection_scores': nmsed_scores,
'detection_classes': nmsed_classes,
'num_detections': tf.to_float(num_detections)}
if (nmsed_additional_fields is not None and
fields.BoxListFields.keypoints in nmsed_additional_fields):
detection_dict['detection_keypoints'] = nmsed_additional_fields[
fields.BoxListFields.keypoints]
return detection_dict
def loss(self, prediction_dict, scope=None):
"""Compute scalar loss tensors with respect to provided groundtruth.
......@@ -405,10 +446,14 @@ class SSDMetaArch(model.DetectionModel):
values.
"""
with tf.name_scope(scope, 'Loss', prediction_dict.values()):
keypoints = None
if self.groundtruth_has_field(fields.BoxListFields.keypoints):
keypoints = self.groundtruth_lists(fields.BoxListFields.keypoints)
(batch_cls_targets, batch_cls_weights, batch_reg_targets,
batch_reg_weights, match_list) = self._assign_targets(
self.groundtruth_lists(fields.BoxListFields.boxes),
self.groundtruth_lists(fields.BoxListFields.classes))
self.groundtruth_lists(fields.BoxListFields.classes),
keypoints)
if self._add_summaries:
self._summarize_input(
self.groundtruth_lists(fields.BoxListFields.boxes), match_list)
......@@ -417,35 +462,60 @@ class SSDMetaArch(model.DetectionModel):
location_losses = self._localization_loss(
prediction_dict['box_encodings'],
batch_reg_targets,
ignore_nan_targets=True,
weights=batch_reg_weights)
cls_losses = self._classification_loss(
prediction_dict['class_predictions_with_background'],
batch_cls_targets,
weights=batch_cls_weights)
# Optionally apply hard mining on top of loss values
localization_loss = tf.reduce_sum(location_losses)
classification_loss = tf.reduce_sum(cls_losses)
if self._hard_example_miner:
(localization_loss, classification_loss) = self._apply_hard_mining(
location_losses, cls_losses, prediction_dict, match_list)
if self._add_summaries:
self._hard_example_miner.summarize()
else:
if self._add_summaries:
class_ids = tf.argmax(batch_cls_targets, axis=2)
flattened_class_ids = tf.reshape(class_ids, [-1])
flattened_classification_losses = tf.reshape(cls_losses, [-1])
self._summarize_anchor_classification_loss(
flattened_class_ids, flattened_classification_losses)
localization_loss = tf.reduce_sum(location_losses)
classification_loss = tf.reduce_sum(cls_losses)
# Optionally normalize by number of positive matches
normalizer = tf.constant(1.0, dtype=tf.float32)
if self._normalize_loss_by_num_matches:
normalizer = tf.maximum(tf.to_float(tf.reduce_sum(num_matches)), 1.0)
with tf.name_scope('localization_loss'):
localization_loss = ((self._localization_loss_weight / normalizer) *
localization_loss)
with tf.name_scope('classification_loss'):
classification_loss = ((self._classification_loss_weight / normalizer) *
classification_loss)
loss_dict = {
'localization_loss': (self._localization_loss_weight / normalizer) *
localization_loss,
'classification_loss': (self._classification_loss_weight /
normalizer) * classification_loss
'localization_loss': localization_loss,
'classification_loss': classification_loss
}
return loss_dict
def _assign_targets(self, groundtruth_boxes_list, groundtruth_classes_list):
def _summarize_anchor_classification_loss(self, class_ids, cls_losses):
positive_indices = tf.where(tf.greater(class_ids, 0))
positive_anchor_cls_loss = tf.squeeze(
tf.gather(cls_losses, positive_indices), axis=1)
visualization_utils.add_cdf_image_summary(positive_anchor_cls_loss,
'PositiveAnchorLossCDF')
negative_indices = tf.where(tf.equal(class_ids, 0))
negative_anchor_cls_loss = tf.squeeze(
tf.gather(cls_losses, negative_indices), axis=1)
visualization_utils.add_cdf_image_summary(negative_anchor_cls_loss,
'NegativeAnchorLossCDF')
def _assign_targets(self, groundtruth_boxes_list, groundtruth_classes_list,
groundtruth_keypoints_list=None):
"""Assign groundtruth targets.
Adds a background class to each one-hot encoding of groundtruth classes
......@@ -460,6 +530,8 @@ class SSDMetaArch(model.DetectionModel):
groundtruth_classes_list: a list of 2-D one-hot (or k-hot) tensors of
shape [num_boxes, num_classes] containing the class targets with the 0th
index assumed to map to the first non-background class.
groundtruth_keypoints_list: (optional) a list of 3-D tensors of shape
[num_boxes, num_keypoints, 2]
Returns:
batch_cls_targets: a tensor with shape [batch_size, num_anchors,
......@@ -480,6 +552,10 @@ class SSDMetaArch(model.DetectionModel):
tf.pad(one_hot_encoding, [[0, 0], [1, 0]], mode='CONSTANT')
for one_hot_encoding in groundtruth_classes_list
]
if groundtruth_keypoints_list is not None:
for boxlist, keypoints in zip(
groundtruth_boxlists, groundtruth_keypoints_list):
boxlist.add_field(fields.BoxListFields.keypoints, keypoints)
return target_assigner.batch_assign_targets(
self._target_assigner, self.anchors, groundtruth_boxlists,
groundtruth_classes_with_background_list)
......@@ -544,12 +620,11 @@ class SSDMetaArch(model.DetectionModel):
mined_cls_loss: a float scalar with sum of classification losses from
selected hard examples.
"""
class_pred_shape = [-1, self.anchors.num_boxes_static(), self.num_classes]
class_predictions = tf.reshape(
tf.slice(prediction_dict['class_predictions_with_background'],
[0, 0, 1], class_pred_shape), class_pred_shape)
class_predictions = tf.slice(
prediction_dict['class_predictions_with_background'], [0, 0,
1], [-1, -1, -1])
decoded_boxes = self._batch_decode(prediction_dict['box_encodings'])
decoded_boxes, _ = self._batch_decode(prediction_dict['box_encodings'])
decoded_box_tensors_list = tf.unstack(decoded_boxes)
class_prediction_list = tf.unstack(class_predictions)
decoded_boxlist_list = []
......@@ -574,6 +649,9 @@ class SSDMetaArch(model.DetectionModel):
Returns:
decoded_boxes: A float32 tensor of shape
[batch_size, num_anchors, 4] containing the decoded boxes.
decoded_keypoints: A float32 tensor of shape
[batch_size, num_anchors, num_keypoints, 2] containing the decoded
keypoints if present in the input `box_encodings`, None otherwise.
"""
combined_shape = shape_utils.combined_static_and_dynamic_shape(
box_encodings)
......@@ -581,13 +659,21 @@ class SSDMetaArch(model.DetectionModel):
tiled_anchor_boxes = tf.tile(
tf.expand_dims(self.anchors.get(), 0), [batch_size, 1, 1])
tiled_anchors_boxlist = box_list.BoxList(
tf.reshape(tiled_anchor_boxes, [-1, self._box_coder.code_size]))
tf.reshape(tiled_anchor_boxes, [-1, 4]))
decoded_boxes = self._box_coder.decode(
tf.reshape(box_encodings, [-1, self._box_coder.code_size]),
tiled_anchors_boxlist)
return tf.reshape(decoded_boxes.get(),
tf.stack([combined_shape[0], combined_shape[1],
4]))
decoded_keypoints = None
if decoded_boxes.has_field(fields.BoxListFields.keypoints):
decoded_keypoints = decoded_boxes.get_field(
fields.BoxListFields.keypoints)
num_keypoints = decoded_keypoints.get_shape()[1]
decoded_keypoints = tf.reshape(
decoded_keypoints,
tf.stack([combined_shape[0], combined_shape[1], num_keypoints, 2]))
decoded_boxes = tf.reshape(decoded_boxes.get(), tf.stack(
[combined_shape[0], combined_shape[1], 4]))
return decoded_boxes, decoded_keypoints
def restore_map(self, from_detection_checkpoint=True):
"""Returns a map of variables to load from a foreign checkpoint.
......
research/object_detection/meta_architectures/ssd_meta_arch_test.py
View file @ 12714f88
......@@ -18,7 +18,6 @@ import functools
import numpy as np
import tensorflow as tf
from tensorflow.python.training import saver as tf_saver
from object_detection.core import anchor_generator
from object_detection.core import box_list
from object_detection.core import losses
......@@ -34,7 +33,12 @@ class FakeSSDFeatureExtractor(ssd_meta_arch.SSDFeatureExtractor):
def __init__(self):
super(FakeSSDFeatureExtractor, self).__init__(
depth_multiplier=0, min_depth=0, conv_hyperparams=None)
is_training=True,
depth_multiplier=0,
min_depth=0,
pad_to_multiple=1,
batch_norm_trainable=True,
conv_hyperparams=None)
def preprocess(self, resized_inputs):
return tf.identity(resized_inputs)
......@@ -55,7 +59,7 @@ class MockAnchorGenerator2x2(anchor_generator.AnchorGenerator):
def num_anchors_per_location(self):
return [1]
def _generate(self, feature_map_shape_list):
def _generate(self, feature_map_shape_list, im_height, im_width):
return box_list.BoxList(
tf.constant([[0, 0, .5, .5],
[0, .5, .5, 1],
......@@ -147,6 +151,7 @@ class SsdMetaArchTest(tf.test.TestCase):
self.assertTrue('box_encodings' in prediction_dict)
self.assertTrue('class_predictions_with_background' in prediction_dict)
self.assertTrue('feature_maps' in prediction_dict)
self.assertTrue('anchors' in prediction_dict)
init_op = tf.global_variables_initializer()
with self.test_session(graph=tf_graph) as sess:
......@@ -242,7 +247,7 @@ class SsdMetaArchTest(tf.test.TestCase):
def test_restore_map_for_detection_ckpt(self):
init_op = tf.global_variables_initializer()
saver = tf_saver.Saver()
saver = tf.train.Saver()
save_path = self.get_temp_dir()
with self.test_session() as sess:
sess.run(init_op)
......
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