Merge branch 'master' of https://github.com/tensorflow/models into AXg

official/vision/beta/tasks/video_classification.py

@@ -275,4 +275,11 @@ class VideoClassificationTask(base_task.Task):
       outputs = tf.math.sigmoid(outputs)
     else:
       outputs = tf.math.softmax(outputs)
+    num_test_clips = self.task_config.validation_data.num_test_clips
+    num_test_crops = self.task_config.validation_data.num_test_crops
+    num_test_views = num_test_clips * num_test_crops
+    if num_test_views > 1:
+      # Averaging output probabilities across multiples views.
+      outputs = tf.reshape(outputs, [-1, num_test_views, outputs.shape[-1]])
+      outputs = tf.reduce_mean(outputs, axis=1)
     return outputs

official/vision/beta/train.py

@@ -63,6 +63,8 @@ def main(_):
       params=params,
       model_dir=model_dir)
 
+  train_utils.save_gin_config(FLAGS.mode, model_dir)
+
 if __name__ == '__main__':
   tfm_flags.define_flags()
   app.run(main)

official/vision/keras_cv/layers/deeplab.py

@@ -142,7 +142,10 @@ class SpatialPyramidPooling(tf.keras.layers.Layer):
                 epsilon=self.batchnorm_epsilon),
             tf.keras.layers.Activation(self.activation),
             tf.keras.layers.experimental.preprocessing.Resizing(
-                height, width, interpolation=self.interpolation)
+                height,
+                width,
+                interpolation=self.interpolation,
+                dtype=tf.float32)
         ]))
 
     self.aspp_layers.append(pool_sequential)
@@ -165,7 +168,7 @@ class SpatialPyramidPooling(tf.keras.layers.Layer):
       training = tf.keras.backend.learning_phase()
     result = []
     for layer in self.aspp_layers:
-      result.append(layer(inputs, training=training))
+      result.append(tf.cast(layer(inputs, training=training), inputs.dtype))
     result = tf.concat(result, axis=-1)
     result = self.projection(result, training=training)
     return result

research/object_detection/builders/dataset_builder.py

@@ -27,6 +27,7 @@ from __future__ import division
 from __future__ import print_function
 
 import functools
+import math
 import tensorflow.compat.v1 as tf
 
 from object_detection.builders import decoder_builder
@@ -52,6 +53,7 @@ def make_initializable_iterator(dataset):
 
 def _read_dataset_internal(file_read_func,
                            input_files,
+                           num_readers,
                            config,
                            filename_shard_fn=None):
   """Reads a dataset, and handles repetition and shuffling.
@@ -60,6 +62,7 @@ def _read_dataset_internal(file_read_func,
     file_read_func: Function to use in tf_data.parallel_interleave, to read
       every individual file into a tf.data.Dataset.
     input_files: A list of file paths to read.
+    num_readers: Number of readers to use.
     config: A input_reader_builder.InputReader object.
     filename_shard_fn: optional, A function used to shard filenames across
       replicas. This function takes as input a TF dataset of filenames and is
@@ -79,7 +82,6 @@ def _read_dataset_internal(file_read_func,
   if not filenames:
     raise RuntimeError('Did not find any input files matching the glob pattern '
                        '{}'.format(input_files))
-  num_readers = config.num_readers
   if num_readers > len(filenames):
     num_readers = len(filenames)
     tf.logging.warning('num_readers has been reduced to %d to match input file '
@@ -137,17 +139,30 @@ def read_dataset(file_read_func, input_files, config, filename_shard_fn=None):
     tf.logging.info('Sampling from datasets %s with weights %s' %
                     (input_files, config.sample_from_datasets_weights))
     records_datasets = []
-    for input_file in input_files:
+    dataset_weights = []
+    for i, input_file in enumerate(input_files):
+      weight = config.sample_from_datasets_weights[i]
+      num_readers = math.ceil(config.num_readers *
+                              weight /
+                              sum(config.sample_from_datasets_weights))
+      tf.logging.info(
+          'Num readers for dataset [%s]: %d', input_file, num_readers)
+      if num_readers == 0:
+        tf.logging.info('Skipping dataset due to zero weights: %s', input_file)
+        continue
+      tf.logging.info(
+          'Num readers for dataset [%s]: %d', input_file, num_readers)
       records_dataset = _read_dataset_internal(file_read_func, [input_file],
-                                               config, filename_shard_fn)
+                                               num_readers, config,
+                                               filename_shard_fn)
+      dataset_weights.append(weight)
       records_datasets.append(records_dataset)
-    dataset_weights = list(config.sample_from_datasets_weights)
     return tf.data.experimental.sample_from_datasets(records_datasets,
                                                      dataset_weights)
   else:
     tf.logging.info('Reading unweighted datasets: %s' % input_files)
-    return _read_dataset_internal(file_read_func, input_files, config,
-                                  filename_shard_fn)
+    return _read_dataset_internal(file_read_func, input_files,
+                                  config.num_readers, config, filename_shard_fn)
 
 
 def shard_function_for_context(input_context):

research/object_detection/builders/decoder_builder.py

@@ -60,7 +60,9 @@ def build(input_reader_config):
           num_keypoints=input_reader_config.num_keypoints,
           expand_hierarchy_labels=input_reader_config.expand_labels_hierarchy,
           load_dense_pose=input_reader_config.load_dense_pose,
-          load_track_id=input_reader_config.load_track_id)
+          load_track_id=input_reader_config.load_track_id,
+          load_keypoint_depth_features=input_reader_config
+          .load_keypoint_depth_features)
       return decoder
     elif input_type == input_reader_pb2.InputType.Value('TF_SEQUENCE_EXAMPLE'):
       decoder = tf_sequence_example_decoder.TfSequenceExampleDecoder(

research/object_detection/builders/decoder_builder_test.py

@@ -65,6 +65,8 @@ class DecoderBuilderTest(test_case.TestCase):
         'image/object/bbox/ymax': dataset_util.float_list_feature([1.0]),
         'image/object/class/label': dataset_util.int64_list_feature([2]),
         'image/object/mask': dataset_util.float_list_feature(flat_mask),
+        'image/object/keypoint/x': dataset_util.float_list_feature([1.0, 1.0]),
+        'image/object/keypoint/y': dataset_util.float_list_feature([1.0, 1.0])
     }
     if has_additional_channels:
       additional_channels_key = 'image/additional_channels/encoded'
@@ -188,6 +190,28 @@ class DecoderBuilderTest(test_case.TestCase):
     masks = self.execute_cpu(graph_fn, [])
     self.assertAllEqual((1, 4, 5), masks.shape)
 
+  def test_build_tf_record_input_reader_and_load_keypoint_depth(self):
+    input_reader_text_proto = """
+      load_keypoint_depth_features: true
+      num_keypoints: 2
+      tf_record_input_reader {}
+    """
+    input_reader_proto = input_reader_pb2.InputReader()
+    text_format.Parse(input_reader_text_proto, input_reader_proto)
+
+    decoder = decoder_builder.build(input_reader_proto)
+    serialized_example = self._make_serialized_tf_example()
+
+    def graph_fn():
+      tensor_dict = decoder.decode(serialized_example)
+      return (tensor_dict[fields.InputDataFields.groundtruth_keypoint_depths],
+              tensor_dict[
+                  fields.InputDataFields.groundtruth_keypoint_depth_weights])
+
+    (kpts_depths, kpts_depth_weights) = self.execute_cpu(graph_fn, [])
+    self.assertAllEqual((1, 2), kpts_depths.shape)
+    self.assertAllEqual((1, 2), kpts_depth_weights.shape)
+
 
 if __name__ == '__main__':
   tf.test.main()

research/object_detection/builders/hyperparams_builder.py

@@ -20,7 +20,11 @@ import tf_slim as slim
 from object_detection.core import freezable_batch_norm
 from object_detection.protos import hyperparams_pb2
 from object_detection.utils import context_manager
+from object_detection.utils import tf_version
 
+# pylint: disable=g-import-not-at-top
+if tf_version.is_tf2():
+  from object_detection.core import freezable_sync_batch_norm
 # pylint: enable=g-import-not-at-top
 
 
@@ -60,9 +64,14 @@ class KerasLayerHyperparams(object):
                        'hyperparams_pb.Hyperparams.')
 
     self._batch_norm_params = None
+    self._use_sync_batch_norm = False
     if hyperparams_config.HasField('batch_norm'):
       self._batch_norm_params = _build_keras_batch_norm_params(
           hyperparams_config.batch_norm)
+    elif hyperparams_config.HasField('sync_batch_norm'):
+      self._use_sync_batch_norm = True
+      self._batch_norm_params = _build_keras_batch_norm_params(
+          hyperparams_config.sync_batch_norm)
 
     self._force_use_bias = hyperparams_config.force_use_bias
     self._activation_fn = _build_activation_fn(hyperparams_config.activation)
@@ -133,10 +142,12 @@ class KerasLayerHyperparams(object):
       is False)
     """
     if self.use_batch_norm():
-      return freezable_batch_norm.FreezableBatchNorm(
-          training=training,
-          **self.batch_norm_params(**overrides)
-      )
+      if self._use_sync_batch_norm:
+        return freezable_sync_batch_norm.FreezableSyncBatchNorm(
+            training=training, **self.batch_norm_params(**overrides))
+      else:
+        return freezable_batch_norm.FreezableBatchNorm(
+            training=training, **self.batch_norm_params(**overrides))
     else:
       return tf.keras.layers.Lambda(tf.identity)
 
@@ -219,6 +230,10 @@ def build(hyperparams_config, is_training):
     raise ValueError('Hyperparams force_use_bias only supported by '
                      'KerasLayerHyperparams.')
 
+  if hyperparams_config.HasField('sync_batch_norm'):
+    raise ValueError('Hyperparams sync_batch_norm only supported by '
+                     'KerasLayerHyperparams.')
+
   normalizer_fn = None
   batch_norm_params = None
   if hyperparams_config.HasField('batch_norm'):

research/object_detection/builders/model_builder.py

@@ -1039,7 +1039,10 @@ def _build_center_net_model(center_net_config, is_training, add_summaries):
   if center_net_config.HasField('temporal_offset_task'):
     temporal_offset_params = temporal_offset_proto_to_params(
         center_net_config.temporal_offset_task)
-
+  non_max_suppression_fn = None
+  if center_net_config.HasField('post_processing'):
+    non_max_suppression_fn, _ = post_processing_builder.build(
+        center_net_config.post_processing)
   return center_net_meta_arch.CenterNetMetaArch(
       is_training=is_training,
       add_summaries=add_summaries,
@@ -1054,7 +1057,8 @@ def _build_center_net_model(center_net_config, is_training, add_summaries):
       track_params=track_params,
       temporal_offset_params=temporal_offset_params,
       use_depthwise=center_net_config.use_depthwise,
-      compute_heatmap_sparse=center_net_config.compute_heatmap_sparse)
+      compute_heatmap_sparse=center_net_config.compute_heatmap_sparse,
+      non_max_suppression_fn=non_max_suppression_fn)
 
 
 def _build_center_net_feature_extractor(

research/object_detection/core/freezable_batch_norm_tf2_test.py

@@ -17,25 +17,40 @@
 from __future__ import absolute_import
 from __future__ import division
 from __future__ import print_function
+
 import unittest
+
+from absl.testing import parameterized
 import numpy as np
 from six.moves import zip
-import tensorflow.compat.v1 as tf
+import tensorflow as tf
 
 
 from object_detection.core import freezable_batch_norm
 from object_detection.utils import tf_version
 
+# pylint: disable=g-import-not-at-top
+if tf_version.is_tf2():
+  from object_detection.core import freezable_sync_batch_norm
+# pylint: enable=g-import-not-at-top
+
 
 @unittest.skipIf(tf_version.is_tf1(), 'Skipping TF2.X only test.')
-class FreezableBatchNormTest(tf.test.TestCase):
+class FreezableBatchNormTest(tf.test.TestCase, parameterized.TestCase):
   """Tests for FreezableBatchNorm operations."""
 
-  def _build_model(self, training=None):
+  def _build_model(self, use_sync_batch_norm, training=None):
     model = tf.keras.models.Sequential()
-    norm = freezable_batch_norm.FreezableBatchNorm(training=training,
-                                                   input_shape=(10,),
-                                                   momentum=0.8)
+    norm = None
+    if use_sync_batch_norm:
+      norm = freezable_sync_batch_norm.FreezableSyncBatchNorm(training=training,
+                                                              input_shape=(10,),
+                                                              momentum=0.8)
+    else:
+      norm = freezable_batch_norm.FreezableBatchNorm(training=training,
+                                                     input_shape=(10,),
+                                                     momentum=0.8)
+
     model.add(norm)
     return model, norm
 
@@ -43,8 +58,9 @@ class FreezableBatchNormTest(tf.test.TestCase):
     for source, target in zip(source_weights, target_weights):
       target.assign(source)
 
-  def _train_freezable_batch_norm(self, training_mean, training_var):
-    model, _ = self._build_model()
+  def _train_freezable_batch_norm(self, training_mean, training_var,
+                                  use_sync_batch_norm):
+    model, _ = self._build_model(use_sync_batch_norm=use_sync_batch_norm)
     model.compile(loss='mse', optimizer='sgd')
 
     # centered on training_mean, variance training_var
@@ -72,7 +88,8 @@ class FreezableBatchNormTest(tf.test.TestCase):
     np.testing.assert_allclose(out.numpy().mean(), 0.0, atol=1.5e-1)
     np.testing.assert_allclose(out.numpy().std(), 1.0, atol=1.5e-1)
 
-  def test_batchnorm_freezing_training_none(self):
+  @parameterized.parameters(True, False)
+  def test_batchnorm_freezing_training_none(self, use_sync_batch_norm):
     training_mean = 5.0
     training_var = 10.0
 
@@ -81,12 +98,13 @@ class FreezableBatchNormTest(tf.test.TestCase):
 
     # Initially train the batch norm, and save the weights
     trained_weights = self._train_freezable_batch_norm(training_mean,
-                                                       training_var)
+                                                       training_var,
+                                                       use_sync_batch_norm)
 
     # Load the batch norm weights, freezing training to True.
     # Apply the batch norm layer to testing data and ensure it is normalized
     # according to the batch statistics.
-    model, norm = self._build_model(training=True)
+    model, norm = self._build_model(use_sync_batch_norm, training=True)
     self._copy_weights(trained_weights, model.weights)
 
     # centered on testing_mean, variance testing_var
@@ -136,7 +154,8 @@ class FreezableBatchNormTest(tf.test.TestCase):
                                testing_mean, testing_var, training_arg,
                                training_mean, training_var)
 
-  def test_batchnorm_freezing_training_false(self):
+  @parameterized.parameters(True, False)
+  def test_batchnorm_freezing_training_false(self, use_sync_batch_norm):
     training_mean = 5.0
     training_var = 10.0
 
@@ -145,12 +164,13 @@ class FreezableBatchNormTest(tf.test.TestCase):
 
     # Initially train the batch norm, and save the weights
     trained_weights = self._train_freezable_batch_norm(training_mean,
-                                                       training_var)
+                                                       training_var,
+                                                       use_sync_batch_norm)
 
     # Load the batch norm back up, freezing training to False.
     # Apply the batch norm layer to testing data and ensure it is normalized
     # according to the training data's statistics.
-    model, norm = self._build_model(training=False)
+    model, norm = self._build_model(use_sync_batch_norm, training=False)
     self._copy_weights(trained_weights, model.weights)
 
     # centered on testing_mean, variance testing_var

research/object_detection/core/freezable_sync_batch_norm.py

+# Copyright 2018 The TensorFlow Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+
+"""A freezable batch norm layer that uses Keras sync batch normalization."""
+import tensorflow as tf
+
+
+class FreezableSyncBatchNorm(tf.keras.layers.experimental.SyncBatchNormalization
+                            ):
+  """Sync Batch normalization layer (Ioffe and Szegedy, 2014).
+
+  This is a `freezable` batch norm layer that supports setting the `training`
+  parameter in the __init__ method rather than having to set it either via
+  the Keras learning phase or via the `call` method parameter. This layer will
+  forward all other parameters to the Keras `SyncBatchNormalization` layer
+
+  This is class is necessary because Object Detection model training sometimes
+  requires batch normalization layers to be `frozen` and used as if it was
+  evaluation time, despite still training (and potentially using dropout layers)
+
+  Like the default Keras SyncBatchNormalization layer, this will normalize the
+  activations of the previous layer at each batch,
+  i.e. applies a transformation that maintains the mean activation
+  close to 0 and the activation standard deviation close to 1.
+
+  Input shape:
+      Arbitrary. Use the keyword argument `input_shape`
+      (tuple of integers, does not include the samples axis)
+      when using this layer as the first layer in a model.
+
+  Output shape:
+      Same shape as input.
+
+  References:
+      - [Batch Normalization: Accelerating Deep Network Training by Reducing
+        Internal Covariate Shift](https://arxiv.org/abs/1502.03167)
+  """
+
+  def __init__(self, training=None, **kwargs):
+    """Constructor.
+
+    Args:
+      training: If False, the layer will normalize using the moving average and
+        std. dev, without updating the learned avg and std. dev.
+        If None or True, the layer will follow the keras SyncBatchNormalization
+        layer strategy of checking the Keras learning phase at `call` time to
+        decide what to do.
+      **kwargs: The keyword arguments to forward to the keras
+        SyncBatchNormalization layer constructor.
+    """
+    super(FreezableSyncBatchNorm, self).__init__(**kwargs)
+    self._training = training
+
+  def call(self, inputs, training=None):
+    # Override the call arg only if the batchnorm is frozen. (Ignore None)
+    if self._training is False:  # pylint: disable=g-bool-id-comparison
+      training = self._training
+    return super(FreezableSyncBatchNorm, self).call(inputs, training=training)

research/object_detection/core/model.py

@@ -315,7 +315,9 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
       is_annotated_list=None,
       groundtruth_labeled_classes=None,
       groundtruth_verified_neg_classes=None,
-      groundtruth_not_exhaustive_classes=None):
+      groundtruth_not_exhaustive_classes=None,
+      groundtruth_keypoint_depths_list=None,
+      groundtruth_keypoint_depth_weights_list=None):
     """Provide groundtruth tensors.
 
     Args:
@@ -379,6 +381,11 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
       groundtruth_not_exhaustive_classes: A list of 1-D tf.float32 tensors of
         shape [num_classes], containing a K-hot representation of classes
         which don't have all of their instances marked exhaustively.
+      groundtruth_keypoint_depths_list: a list of 2-D tf.float32 tensors
+        of shape [num_boxes, num_keypoints] containing keypoint relative depths.
+      groundtruth_keypoint_depth_weights_list: a list of 2-D tf.float32 tensors
+        of shape [num_boxes, num_keypoints] containing the weights of the
+        relative depths.
     """
     self._groundtruth_lists[fields.BoxListFields.boxes] = groundtruth_boxes_list
     self._groundtruth_lists[
@@ -399,6 +406,14 @@ class DetectionModel(six.with_metaclass(abc.ABCMeta, _BaseClass)):
       self._groundtruth_lists[
           fields.BoxListFields.keypoint_visibilities] = (
               groundtruth_keypoint_visibilities_list)
+    if groundtruth_keypoint_depths_list:
+      self._groundtruth_lists[
+          fields.BoxListFields.keypoint_depths] = (
+              groundtruth_keypoint_depths_list)
+    if groundtruth_keypoint_depth_weights_list:
+      self._groundtruth_lists[
+          fields.BoxListFields.keypoint_depth_weights] = (
+              groundtruth_keypoint_depth_weights_list)
     if groundtruth_dp_num_points_list:
       self._groundtruth_lists[
           fields.BoxListFields.densepose_num_points] = (

research/object_detection/core/post_processing.py

@@ -26,6 +26,7 @@ import tensorflow.compat.v1 as tf
 
 from object_detection.core import box_list
 from object_detection.core import box_list_ops
+from object_detection.core import keypoint_ops
 from object_detection.core import standard_fields as fields
 from object_detection.utils import shape_utils
 
@@ -379,6 +380,11 @@ def _clip_window_prune_boxes(sorted_boxes, clip_window, pad_to_max_output_size,
   if change_coordinate_frame:
     sorted_boxes = box_list_ops.change_coordinate_frame(sorted_boxes,
                                                         clip_window)
+    if sorted_boxes.has_field(fields.BoxListFields.keypoints):
+      sorted_keypoints = sorted_boxes.get_field(fields.BoxListFields.keypoints)
+      sorted_keypoints = keypoint_ops.change_coordinate_frame(sorted_keypoints,
+                                                              clip_window)
+      sorted_boxes.set_field(fields.BoxListFields.keypoints, sorted_keypoints)
   return sorted_boxes, num_valid_nms_boxes_cumulative
 
 

research/object_detection/core/preprocessor.py

@@ -571,6 +571,8 @@ def random_horizontal_flip(image,
                            keypoint_visibilities=None,
                            densepose_part_ids=None,
                            densepose_surface_coords=None,
+                           keypoint_depths=None,
+                           keypoint_depth_weights=None,
                            keypoint_flip_permutation=None,
                            probability=0.5,
                            seed=None,
@@ -602,6 +604,12 @@ def random_horizontal_flip(image,
                               (y, x) are the normalized image coordinates for a
                               sampled point, and (v, u) is the surface
                               coordinate for the part.
+    keypoint_depths: (optional) rank 2 float32 tensor with shape [num_instances,
+                     num_keypoints] representing the relative depth of the
+                     keypoints.
+    keypoint_depth_weights: (optional) rank 2 float32 tensor with shape
+                            [num_instances, num_keypoints] representing the
+                            weights of the relative depth of the keypoints.
     keypoint_flip_permutation: rank 1 int32 tensor containing the keypoint flip
                                permutation.
     probability: the probability of performing this augmentation.
@@ -631,6 +639,10 @@ def random_horizontal_flip(image,
                         [num_instances, num_points].
     densepose_surface_coords: rank 3 float32 tensor with shape
                               [num_instances, num_points, 4].
+    keypoint_depths: rank 2 float32 tensor with shape [num_instances,
+                     num_keypoints]
+    keypoint_depth_weights: rank 2 float32 tensor with shape [num_instances,
+                            num_keypoints].
 
   Raises:
     ValueError: if keypoints are provided but keypoint_flip_permutation is not.
@@ -708,6 +720,21 @@ def random_horizontal_flip(image,
           lambda: (densepose_part_ids, densepose_surface_coords))
       result.extend(densepose_tensors)
 
+    # flip keypoint depths and weights.
+    if (keypoint_depths is not None and
+        keypoint_flip_permutation is not None):
+      kpt_flip_perm = keypoint_flip_permutation
+      keypoint_depths = tf.cond(
+          do_a_flip_random,
+          lambda: tf.gather(keypoint_depths, kpt_flip_perm, axis=1),
+          lambda: keypoint_depths)
+      keypoint_depth_weights = tf.cond(
+          do_a_flip_random,
+          lambda: tf.gather(keypoint_depth_weights, kpt_flip_perm, axis=1),
+          lambda: keypoint_depth_weights)
+      result.append(keypoint_depths)
+      result.append(keypoint_depth_weights)
+
     return tuple(result)
 
 
@@ -4293,7 +4320,8 @@ def get_default_func_arg_map(include_label_weights=True,
                              include_instance_masks=False,
                              include_keypoints=False,
                              include_keypoint_visibilities=False,
-                             include_dense_pose=False):
+                             include_dense_pose=False,
+                             include_keypoint_depths=False):
   """Returns the default mapping from a preprocessor function to its args.
 
   Args:
@@ -4311,6 +4339,8 @@ def get_default_func_arg_map(include_label_weights=True,
       the keypoint visibilities, too.
     include_dense_pose: If True, preprocessing functions will modify the
       DensePose labels, too.
+    include_keypoint_depths: If True, preprocessing functions will modify the
+      keypoint depth labels, too.
 
   Returns:
     A map from preprocessing functions to the arguments they receive.
@@ -4353,6 +4383,13 @@ def get_default_func_arg_map(include_label_weights=True,
         fields.InputDataFields.groundtruth_dp_part_ids)
     groundtruth_dp_surface_coords = (
         fields.InputDataFields.groundtruth_dp_surface_coords)
+  groundtruth_keypoint_depths = None
+  groundtruth_keypoint_depth_weights = None
+  if include_keypoint_depths:
+    groundtruth_keypoint_depths = (
+        fields.InputDataFields.groundtruth_keypoint_depths)
+    groundtruth_keypoint_depth_weights = (
+        fields.InputDataFields.groundtruth_keypoint_depth_weights)
 
   prep_func_arg_map = {
       normalize_image: (fields.InputDataFields.image,),
@@ -4364,6 +4401,8 @@ def get_default_func_arg_map(include_label_weights=True,
           groundtruth_keypoint_visibilities,
           groundtruth_dp_part_ids,
           groundtruth_dp_surface_coords,
+          groundtruth_keypoint_depths,
+          groundtruth_keypoint_depth_weights,
       ),
       random_vertical_flip: (
           fields.InputDataFields.image,

research/object_detection/core/preprocessor_test.py

@@ -105,6 +105,17 @@ class PreprocessorTest(test_case.TestCase, parameterized.TestCase):
         ])
     return keypoints, keypoint_visibilities
 
+  def createTestKeypointDepths(self):
+    keypoint_depths = tf.constant([
+        [1.0, 0.9, 0.8],
+        [0.7, 0.6, 0.5]
+    ], dtype=tf.float32)
+    keypoint_depth_weights = tf.constant([
+        [0.5, 0.6, 0.7],
+        [0.8, 0.9, 1.0]
+    ], dtype=tf.float32)
+    return keypoint_depths, keypoint_depth_weights
+
   def createTestKeypointsInsideCrop(self):
     keypoints = np.array([
         [[0.4, 0.4], [0.5, 0.5], [0.6, 0.6]],
@@ -713,6 +724,59 @@ class PreprocessorTest(test_case.TestCase, parameterized.TestCase):
                                 test_keypoints=True)
 
 
+  def testRunRandomHorizontalFlipWithKeypointDepth(self):
+
+    def graph_fn():
+      preprocess_options = [(preprocessor.random_horizontal_flip, {})]
+      image_height = 3
+      image_width = 3
+      images = tf.random_uniform([1, image_height, image_width, 3])
+      boxes = self.createTestBoxes()
+      masks = self.createTestMasks()
+      keypoints, keypoint_visibilities = self.createTestKeypoints()
+      keypoint_depths, keypoint_depth_weights = self.createTestKeypointDepths()
+      keypoint_flip_permutation = self.createKeypointFlipPermutation()
+      tensor_dict = {
+          fields.InputDataFields.image:
+              images,
+          fields.InputDataFields.groundtruth_boxes:
+              boxes,
+          fields.InputDataFields.groundtruth_instance_masks:
+              masks,
+          fields.InputDataFields.groundtruth_keypoints:
+              keypoints,
+          fields.InputDataFields.groundtruth_keypoint_visibilities:
+              keypoint_visibilities,
+          fields.InputDataFields.groundtruth_keypoint_depths:
+              keypoint_depths,
+          fields.InputDataFields.groundtruth_keypoint_depth_weights:
+              keypoint_depth_weights,
+      }
+      preprocess_options = [(preprocessor.random_horizontal_flip, {
+          'keypoint_flip_permutation': keypoint_flip_permutation,
+          'probability': 1.0
+      })]
+      preprocessor_arg_map = preprocessor.get_default_func_arg_map(
+          include_instance_masks=True,
+          include_keypoints=True,
+          include_keypoint_visibilities=True,
+          include_dense_pose=False,
+          include_keypoint_depths=True)
+      tensor_dict = preprocessor.preprocess(
+          tensor_dict, preprocess_options, func_arg_map=preprocessor_arg_map)
+      keypoint_depths = tensor_dict[
+          fields.InputDataFields.groundtruth_keypoint_depths]
+      keypoint_depth_weights = tensor_dict[
+          fields.InputDataFields.groundtruth_keypoint_depth_weights]
+      output_tensors = [keypoint_depths, keypoint_depth_weights]
+      return output_tensors
+
+    output_tensors = self.execute_cpu(graph_fn, [])
+    expected_keypoint_depths = [[1.0, 0.8, 0.9], [0.7, 0.5, 0.6]]
+    expected_keypoint_depth_weights = [[0.5, 0.7, 0.6], [0.8, 1.0, 0.9]]
+    self.assertAllClose(expected_keypoint_depths, output_tensors[0])
+    self.assertAllClose(expected_keypoint_depth_weights, output_tensors[1])
+
   def testRandomVerticalFlip(self):
 
     def graph_fn():

research/object_detection/core/standard_fields.py

@@ -67,6 +67,9 @@ class InputDataFields(object):
     groundtruth_instance_boundaries: ground truth instance boundaries.
     groundtruth_instance_classes: instance mask-level class labels.
     groundtruth_keypoints: ground truth keypoints.
+    groundtruth_keypoint_depths: Relative depth of the keypoints.
+    groundtruth_keypoint_depth_weights: Weights of the relative depth of the
+      keypoints.
     groundtruth_keypoint_visibilities: ground truth keypoint visibilities.
     groundtruth_keypoint_weights: groundtruth weight factor for keypoints.
     groundtruth_label_weights: groundtruth label weights.
@@ -122,6 +125,8 @@ class InputDataFields(object):
   groundtruth_instance_boundaries = 'groundtruth_instance_boundaries'
   groundtruth_instance_classes = 'groundtruth_instance_classes'
   groundtruth_keypoints = 'groundtruth_keypoints'
+  groundtruth_keypoint_depths = 'groundtruth_keypoint_depths'
+  groundtruth_keypoint_depth_weights = 'groundtruth_keypoint_depth_weights'
   groundtruth_keypoint_visibilities = 'groundtruth_keypoint_visibilities'
   groundtruth_keypoint_weights = 'groundtruth_keypoint_weights'
   groundtruth_label_weights = 'groundtruth_label_weights'
@@ -162,6 +167,7 @@ class DetectionResultFields(object):
     detection_boundaries: contains an object boundary for each detection box.
     detection_keypoints: contains detection keypoints for each detection box.
     detection_keypoint_scores: contains detection keypoint scores.
+    detection_keypoint_depths: contains detection keypoint depths.
     num_detections: number of detections in the batch.
     raw_detection_boxes: contains decoded detection boxes without Non-Max
       suppression.
@@ -183,6 +189,7 @@ class DetectionResultFields(object):
   detection_boundaries = 'detection_boundaries'
   detection_keypoints = 'detection_keypoints'
   detection_keypoint_scores = 'detection_keypoint_scores'
+  detection_keypoint_depths = 'detection_keypoint_depths'
   detection_embeddings = 'detection_embeddings'
   detection_offsets = 'detection_temporal_offsets'
   num_detections = 'num_detections'
@@ -205,6 +212,8 @@ class BoxListFields(object):
     keypoints: keypoints per bounding box.
     keypoint_visibilities: keypoint visibilities per bounding box.
     keypoint_heatmaps: keypoint heatmaps per bounding box.
+    keypoint_depths: keypoint depths per bounding box.
+    keypoint_depth_weights: keypoint depth weights per bounding box.
     densepose_num_points: number of DensePose points per bounding box.
     densepose_part_ids: DensePose part ids per bounding box.
     densepose_surface_coords: DensePose surface coordinates per bounding box.
@@ -223,6 +232,8 @@ class BoxListFields(object):
   keypoints = 'keypoints'
   keypoint_visibilities = 'keypoint_visibilities'
   keypoint_heatmaps = 'keypoint_heatmaps'
+  keypoint_depths = 'keypoint_depths'
+  keypoint_depth_weights = 'keypoint_depth_weights'
   densepose_num_points = 'densepose_num_points'
   densepose_part_ids = 'densepose_part_ids'
   densepose_surface_coords = 'densepose_surface_coords'

research/object_detection/data_decoders/tf_example_decoder.py

@@ -139,7 +139,8 @@ class TfExampleDecoder(data_decoder.DataDecoder):
                load_context_features=False,
                expand_hierarchy_labels=False,
                load_dense_pose=False,
-               load_track_id=False):
+               load_track_id=False,
+               load_keypoint_depth_features=False):
     """Constructor sets keys_to_features and items_to_handlers.
 
     Args:
@@ -172,6 +173,10 @@ class TfExampleDecoder(data_decoder.DataDecoder):
         the labels are expanded to descendants.
       load_dense_pose: Whether to load DensePose annotations.
       load_track_id: Whether to load tracking annotations.
+      load_keypoint_depth_features: Whether to load the keypoint depth features
+        including keypoint relative depths and weights. If this field is set to
+        True but no keypoint depth features are in the input tf.Example, then
+        default values will be populated.
 
     Raises:
       ValueError: If `instance_mask_type` option is not one of
@@ -180,6 +185,7 @@ class TfExampleDecoder(data_decoder.DataDecoder):
       ValueError: If `expand_labels_hierarchy` is True, but the
         `label_map_proto_file` is not provided.
     """
+
     # TODO(rathodv): delete unused `use_display_name` argument once we change
     # other decoders to handle label maps similarly.
     del use_display_name
@@ -331,6 +337,23 @@ class TfExampleDecoder(data_decoder.DataDecoder):
           slim_example_decoder.ItemHandlerCallback(
               ['image/object/keypoint/x', 'image/object/keypoint/visibility'],
               self._reshape_keypoint_visibilities))
+      if load_keypoint_depth_features:
+        self.keys_to_features['image/object/keypoint/z'] = (
+            tf.VarLenFeature(tf.float32))
+        self.keys_to_features['image/object/keypoint/z/weights'] = (
+            tf.VarLenFeature(tf.float32))
+        self.items_to_handlers[
+            fields.InputDataFields.groundtruth_keypoint_depths] = (
+                slim_example_decoder.ItemHandlerCallback(
+                    ['image/object/keypoint/x', 'image/object/keypoint/z'],
+                    self._reshape_keypoint_depths))
+        self.items_to_handlers[
+            fields.InputDataFields.groundtruth_keypoint_depth_weights] = (
+                slim_example_decoder.ItemHandlerCallback(
+                    ['image/object/keypoint/x',
+                     'image/object/keypoint/z/weights'],
+                    self._reshape_keypoint_depth_weights))
+
     if load_instance_masks:
       if instance_mask_type in (input_reader_pb2.DEFAULT,
                                 input_reader_pb2.NUMERICAL_MASKS):
@@ -601,6 +624,73 @@ class TfExampleDecoder(data_decoder.DataDecoder):
     keypoints = tf.reshape(keypoints, [-1, self._num_keypoints, 2])
     return keypoints
 
+  def _reshape_keypoint_depths(self, keys_to_tensors):
+    """Reshape keypoint depths.
+
+    The keypoint depths are reshaped to [num_instances, num_keypoints]. The
+    keypoint depth tensor is expected to have the same shape as the keypoint x
+    (or y) tensors. If not (usually because the example does not have the depth
+    groundtruth), then default depth values (zero) are provided.
+
+    Args:
+      keys_to_tensors: a dictionary from keys to tensors. Expected keys are:
+        'image/object/keypoint/x'
+        'image/object/keypoint/z'
+
+    Returns:
+      A 2-D float tensor of shape [num_instances, num_keypoints] with values
+        representing the keypoint depths.
+    """
+    x = keys_to_tensors['image/object/keypoint/x']
+    z = keys_to_tensors['image/object/keypoint/z']
+    if isinstance(z, tf.SparseTensor):
+      z = tf.sparse_tensor_to_dense(z)
+    if isinstance(x, tf.SparseTensor):
+      x = tf.sparse_tensor_to_dense(x)
+
+    default_z = tf.zeros_like(x)
+    # Use keypoint depth groundtruth if provided, otherwise use the default
+    # depth value.
+    z = tf.cond(tf.equal(tf.size(x), tf.size(z)),
+                true_fn=lambda: z,
+                false_fn=lambda: default_z)
+    z = tf.reshape(z, [-1, self._num_keypoints])
+    return z
+
+  def _reshape_keypoint_depth_weights(self, keys_to_tensors):
+    """Reshape keypoint depth weights.
+
+    The keypoint depth weights are reshaped to [num_instances, num_keypoints].
+    The keypoint depth weights tensor is expected to have the same shape as the
+    keypoint x (or y) tensors. If not (usually because the example does not have
+    the depth weights groundtruth), then default weight values (zero) are
+    provided.
+
+    Args:
+      keys_to_tensors: a dictionary from keys to tensors. Expected keys are:
+        'image/object/keypoint/x'
+        'image/object/keypoint/z/weights'
+
+    Returns:
+      A 2-D float tensor of shape [num_instances, num_keypoints] with values
+        representing the keypoint depth weights.
+    """
+    x = keys_to_tensors['image/object/keypoint/x']
+    z = keys_to_tensors['image/object/keypoint/z/weights']
+    if isinstance(z, tf.SparseTensor):
+      z = tf.sparse_tensor_to_dense(z)
+    if isinstance(x, tf.SparseTensor):
+      x = tf.sparse_tensor_to_dense(x)
+
+    default_z = tf.zeros_like(x)
+    # Use keypoint depth weights if provided, otherwise use the default
+    # values.
+    z = tf.cond(tf.equal(tf.size(x), tf.size(z)),
+                true_fn=lambda: z,
+                false_fn=lambda: default_z)
+    z = tf.reshape(z, [-1, self._num_keypoints])
+    return z
+
   def _reshape_keypoint_visibilities(self, keys_to_tensors):
     """Reshape keypoint visibilities.
 

research/object_detection/data_decoders/tf_example_decoder_test.py

@@ -275,6 +275,124 @@ class TfExampleDecoderTest(test_case.TestCase):
     self.assertAllEqual(expected_boxes,
                         tensor_dict[fields.InputDataFields.groundtruth_boxes])
 
+  def testDecodeKeypointDepth(self):
+    image_tensor = np.random.randint(256, size=(4, 5, 3)).astype(np.uint8)
+    encoded_jpeg, _ = self._create_encoded_and_decoded_data(
+        image_tensor, 'jpeg')
+    bbox_ymins = [0.0, 4.0]
+    bbox_xmins = [1.0, 5.0]
+    bbox_ymaxs = [2.0, 6.0]
+    bbox_xmaxs = [3.0, 7.0]
+    keypoint_ys = [0.0, 1.0, 2.0, 3.0, 4.0, 5.0]
+    keypoint_xs = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
+    keypoint_visibility = [1, 2, 0, 1, 0, 2]
+    keypoint_depths = [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]
+    keypoint_depth_weights = [1.0, 0.9, 0.8, 0.7, 0.6, 0.5]
+
+    def graph_fn():
+      example = tf.train.Example(
+          features=tf.train.Features(
+              feature={
+                  'image/encoded':
+                      dataset_util.bytes_feature(encoded_jpeg),
+                  'image/format':
+                      dataset_util.bytes_feature(six.b('jpeg')),
+                  'image/object/bbox/ymin':
+                      dataset_util.float_list_feature(bbox_ymins),
+                  'image/object/bbox/xmin':
+                      dataset_util.float_list_feature(bbox_xmins),
+                  'image/object/bbox/ymax':
+                      dataset_util.float_list_feature(bbox_ymaxs),
+                  'image/object/bbox/xmax':
+                      dataset_util.float_list_feature(bbox_xmaxs),
+                  'image/object/keypoint/y':
+                      dataset_util.float_list_feature(keypoint_ys),
+                  'image/object/keypoint/x':
+                      dataset_util.float_list_feature(keypoint_xs),
+                  'image/object/keypoint/z':
+                      dataset_util.float_list_feature(keypoint_depths),
+                  'image/object/keypoint/z/weights':
+                      dataset_util.float_list_feature(keypoint_depth_weights),
+                  'image/object/keypoint/visibility':
+                      dataset_util.int64_list_feature(keypoint_visibility),
+              })).SerializeToString()
+
+      example_decoder = tf_example_decoder.TfExampleDecoder(
+          num_keypoints=3, load_keypoint_depth_features=True)
+      output = example_decoder.decode(tf.convert_to_tensor(example))
+
+      self.assertAllEqual(
+          (output[fields.InputDataFields.groundtruth_keypoint_depths].get_shape(
+          ).as_list()), [2, 3])
+      self.assertAllEqual(
+          (output[fields.InputDataFields.groundtruth_keypoint_depth_weights]
+           .get_shape().as_list()), [2, 3])
+      return output
+
+    tensor_dict = self.execute_cpu(graph_fn, [])
+
+    expected_keypoint_depths = [[0.1, 0.2, 0.3], [0.4, 0.5, 0.6]]
+    self.assertAllClose(
+        expected_keypoint_depths,
+        tensor_dict[fields.InputDataFields.groundtruth_keypoint_depths])
+
+    expected_keypoint_depth_weights = [[1.0, 0.9, 0.8], [0.7, 0.6, 0.5]]
+    self.assertAllClose(
+        expected_keypoint_depth_weights,
+        tensor_dict[fields.InputDataFields.groundtruth_keypoint_depth_weights])
+
+  def testDecodeKeypointDepthNoDepth(self):
+    image_tensor = np.random.randint(256, size=(4, 5, 3)).astype(np.uint8)
+    encoded_jpeg, _ = self._create_encoded_and_decoded_data(
+        image_tensor, 'jpeg')
+    bbox_ymins = [0.0, 4.0]
+    bbox_xmins = [1.0, 5.0]
+    bbox_ymaxs = [2.0, 6.0]
+    bbox_xmaxs = [3.0, 7.0]
+    keypoint_ys = [0.0, 1.0, 2.0, 3.0, 4.0, 5.0]
+    keypoint_xs = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
+    keypoint_visibility = [1, 2, 0, 1, 0, 2]
+
+    def graph_fn():
+      example = tf.train.Example(
+          features=tf.train.Features(
+              feature={
+                  'image/encoded':
+                      dataset_util.bytes_feature(encoded_jpeg),
+                  'image/format':
+                      dataset_util.bytes_feature(six.b('jpeg')),
+                  'image/object/bbox/ymin':
+                      dataset_util.float_list_feature(bbox_ymins),
+                  'image/object/bbox/xmin':
+                      dataset_util.float_list_feature(bbox_xmins),
+                  'image/object/bbox/ymax':
+                      dataset_util.float_list_feature(bbox_ymaxs),
+                  'image/object/bbox/xmax':
+                      dataset_util.float_list_feature(bbox_xmaxs),
+                  'image/object/keypoint/y':
+                      dataset_util.float_list_feature(keypoint_ys),
+                  'image/object/keypoint/x':
+                      dataset_util.float_list_feature(keypoint_xs),
+                  'image/object/keypoint/visibility':
+                      dataset_util.int64_list_feature(keypoint_visibility),
+              })).SerializeToString()
+
+      example_decoder = tf_example_decoder.TfExampleDecoder(
+          num_keypoints=3, load_keypoint_depth_features=True)
+      output = example_decoder.decode(tf.convert_to_tensor(example))
+
+      return output
+
+    tensor_dict = self.execute_cpu(graph_fn, [])
+
+    expected_keypoints_depth_default = [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
+    self.assertAllClose(
+        expected_keypoints_depth_default,
+        tensor_dict[fields.InputDataFields.groundtruth_keypoint_depths])
+    self.assertAllClose(
+        expected_keypoints_depth_default,
+        tensor_dict[fields.InputDataFields.groundtruth_keypoint_depth_weights])
+
   def testDecodeKeypoint(self):
     image_tensor = np.random.randint(256, size=(4, 5, 3)).astype(np.uint8)
     encoded_jpeg, _ = self._create_encoded_and_decoded_data(

research/object_detection/dataset_tools/context_rcnn/generate_detection_data_tf2_test.py

@@ -56,8 +56,7 @@ class FakeModel(model.DetectionModel):
             value=conv_weight_scalar))
 
   def preprocess(self, inputs):
-    true_image_shapes = []  # Doesn't matter for the fake model.
-    return tf.identity(inputs), true_image_shapes
+    return tf.identity(inputs), exporter_lib_v2.get_true_shapes(inputs)
 
   def predict(self, preprocessed_inputs, true_image_shapes):
     return {'image': self._conv(preprocessed_inputs)}

research/object_detection/dataset_tools/context_rcnn/generate_embedding_data_tf2_test.py

@@ -54,8 +54,7 @@ class FakeModel(model.DetectionModel):
             value=conv_weight_scalar))
 
   def preprocess(self, inputs):
-    true_image_shapes = []  # Doesn't matter for the fake model.
-    return tf.identity(inputs), true_image_shapes
+    return tf.identity(inputs), exporter_lib_v2.get_true_shapes(inputs)
 
   def predict(self, preprocessed_inputs, true_image_shapes):
     return {'image': self._conv(preprocessed_inputs)}

research/object_detection/exporter_lib_tf2_test.py

@@ -51,8 +51,7 @@ class FakeModel(model.DetectionModel):
             value=conv_weight_scalar))
 
   def preprocess(self, inputs):
-    true_image_shapes = []  # Doesn't matter for the fake model.
-    return tf.identity(inputs), true_image_shapes
+    return tf.identity(inputs), exporter_lib_v2.get_true_shapes(inputs)
 
   def predict(self, preprocessed_inputs, true_image_shapes, **side_inputs):
     return_dict = {'image': self._conv(preprocessed_inputs)}