import torch import torch.nn as nn import torch.nn.functional as F from utils.box_ops import get_ious from utils.misc import sigmoid_focal_loss from utils.distributed_utils import get_world_size, is_dist_avail_and_initialized from .matcher import FcosMatcher, SimOtaMatcher class SetCriterion(nn.Module): def __init__(self, cfg): super().__init__() # ------------- Basic parameters ------------- self.cfg = cfg self.num_classes = cfg.num_classes # ------------- Focal loss ------------- self.alpha = cfg.focal_loss_alpha self.gamma = cfg.focal_loss_gamma # ------------- Loss weight ------------- self.weight_dict = {'loss_cls': cfg.loss_cls_weight, 'loss_reg': cfg.loss_reg_weight, 'loss_ctn': cfg.loss_ctn_weight} # ------------- Matcher ------------- self.matcher_cfg = cfg.matcher_hpy if cfg.matcher == 'fcos_matcher': self.matcher = FcosMatcher(cfg.num_classes, self.matcher_cfg['center_sampling_radius'], self.matcher_cfg['object_sizes_of_interest'], [1., 1., 1., 1.] ) elif cfg.matcher == 'simota': self.matcher = SimOtaMatcher(cfg.num_classes, self.matcher_cfg['soft_center_radius'], self.matcher_cfg['topk_candidates']) else: raise NotImplementedError("Unknown matcher: {}.".format(cfg.matcher)) def loss_labels(self, pred_cls, tgt_cls, num_boxes=1.0): """ pred_cls: (Tensor) [N, C] tgt_cls: (Tensor) [N, C] """ # cls loss: [V, C] loss_cls = sigmoid_focal_loss(pred_cls, tgt_cls, self.alpha, self.gamma) return loss_cls.sum() / num_boxes def loss_bboxes_ltrb(self, pred_delta, tgt_delta, bbox_quality=None, num_boxes=1.0): """ pred_box: (Tensor) [N, 4] tgt_box: (Tensor) [N, 4] """ pred_delta = torch.cat((-pred_delta[..., :2], pred_delta[..., 2:]), dim=-1) tgt_delta = torch.cat((-tgt_delta[..., :2], tgt_delta[..., 2:]), dim=-1) eps = torch.finfo(torch.float32).eps pred_area = (pred_delta[..., 2] - pred_delta[..., 0]).clamp_(min=0) \ * (pred_delta[..., 3] - pred_delta[..., 1]).clamp_(min=0) tgt_area = (tgt_delta[..., 2] - tgt_delta[..., 0]).clamp_(min=0) \ * (tgt_delta[..., 3] - tgt_delta[..., 1]).clamp_(min=0) w_intersect = (torch.min(pred_delta[..., 2], tgt_delta[..., 2]) - torch.max(pred_delta[..., 0], tgt_delta[..., 0])).clamp_(min=0) h_intersect = (torch.min(pred_delta[..., 3], tgt_delta[..., 3]) - torch.max(pred_delta[..., 1], tgt_delta[..., 1])).clamp_(min=0) area_intersect = w_intersect * h_intersect area_union = tgt_area + pred_area - area_intersect ious = area_intersect / area_union.clamp(min=eps) # giou g_w_intersect = torch.max(pred_delta[..., 2], tgt_delta[..., 2]) \ - torch.min(pred_delta[..., 0], tgt_delta[..., 0]) g_h_intersect = torch.max(pred_delta[..., 3], tgt_delta[..., 3]) \ - torch.min(pred_delta[..., 1], tgt_delta[..., 1]) ac_uion = g_w_intersect * g_h_intersect gious = ious - (ac_uion - area_union) / ac_uion.clamp(min=eps) loss_box = 1 - gious if bbox_quality is not None: loss_box = loss_box * bbox_quality.view(loss_box.size()) return loss_box.sum() / num_boxes def loss_bboxes_xyxy(self, pred_box, gt_box, num_boxes=1.0): ious = get_ious(pred_box, gt_box, box_mode="xyxy", iou_type='giou') loss_box = 1.0 - ious return loss_box.sum() / num_boxes def fcos_loss(self, outputs, targets): """ outputs['pred_cls']: (Tensor) [B, M, C] outputs['pred_reg']: (Tensor) [B, M, 4] outputs['pred_ctn']: (Tensor) [B, M, 1] outputs['strides']: (List) [8, 16, 32, ...] stride of the model output targets: (List) [dict{'boxes': [...], 'labels': [...], 'orig_size': ...}, ...] """ # -------------------- Pre-process -------------------- device = outputs['pred_cls'][0].device fpn_strides = outputs['strides'] anchors = outputs['anchors'] pred_cls = torch.cat(outputs['pred_cls'], dim=1).view(-1, self.num_classes) pred_delta = torch.cat(outputs['pred_reg'], dim=1).view(-1, 4) pred_ctn = torch.cat(outputs['pred_ctn'], dim=1).view(-1, 1) masks = ~torch.cat(outputs['mask'], dim=1).view(-1) # -------------------- Label Assignment -------------------- gt_classes, gt_deltas, gt_centerness = self.matcher(fpn_strides, anchors, targets) gt_classes = gt_classes.flatten().to(device) gt_deltas = gt_deltas.view(-1, 4).to(device) gt_centerness = gt_centerness.view(-1, 1).to(device) foreground_idxs = (gt_classes >= 0) & (gt_classes != self.num_classes) num_foreground = foreground_idxs.sum() if is_dist_avail_and_initialized(): torch.distributed.all_reduce(num_foreground) num_foreground = torch.clamp(num_foreground / get_world_size(), min=1).item() num_foreground_centerness = gt_centerness[foreground_idxs].sum() if is_dist_avail_and_initialized(): torch.distributed.all_reduce(num_foreground_centerness) num_targets = torch.clamp(num_foreground_centerness / get_world_size(), min=1).item() # -------------------- classification loss -------------------- gt_classes_target = torch.zeros_like(pred_cls) gt_classes_target[foreground_idxs, gt_classes[foreground_idxs]] = 1 valid_idxs = (gt_classes >= 0) & masks loss_labels = self.loss_labels( pred_cls[valid_idxs], gt_classes_target[valid_idxs], num_foreground) # -------------------- regression loss -------------------- loss_bboxes = self.loss_bboxes_ltrb( pred_delta[foreground_idxs], gt_deltas[foreground_idxs], gt_centerness[foreground_idxs], num_targets) # -------------------- centerness loss -------------------- loss_centerness = F.binary_cross_entropy_with_logits( pred_ctn[foreground_idxs], gt_centerness[foreground_idxs], reduction='none') loss_centerness = loss_centerness.sum() / num_foreground loss_dict = dict( loss_cls = loss_labels, loss_reg = loss_bboxes, loss_ctn = loss_centerness, ) return loss_dict def ota_loss(self, outputs, targets): """ outputs['pred_cls']: (Tensor) [B, M, C] outputs['pred_reg']: (Tensor) [B, M, 4] outputs['pred_box']: (Tensor) [B, M, 4] outputs['pred_ctn']: (Tensor) [B, M, 1] outputs['strides']: (List) [8, 16, 32, ...] stride of the model output targets: (List) [dict{'boxes': [...], 'labels': [...], 'orig_size': ...}, ...] """ # -------------------- Pre-process -------------------- device = outputs['pred_cls'][0].device batch_size = outputs['pred_cls'][0].shape[0] fpn_strides = outputs['strides'] anchors = outputs['anchors'] pred_cls = torch.cat(outputs['pred_cls'], dim=1) # [B, M, C] pred_box = torch.cat(outputs['pred_box'], dim=1) # [B, M, 4] pred_ctn = torch.cat(outputs['pred_ctn'], dim=1) # [B, M, 1] masks = ~torch.cat(outputs['mask'], dim=1).view(-1) # -------------------- Label Assignment -------------------- gt_classes = [] gt_bboxes = [] gt_centerness = [] for batch_idx in range(batch_size): tgt_labels = targets[batch_idx]["labels"].to(device) # [N,] tgt_bboxes = targets[batch_idx]["boxes"].to(device) # [N, 4] # refine target tgt_boxes_wh = tgt_bboxes[..., 2:] - tgt_bboxes[..., :2] min_tgt_size = torch.min(tgt_boxes_wh, dim=-1)[0] keep = (min_tgt_size >= 8) tgt_bboxes = tgt_bboxes[keep] tgt_labels = tgt_labels[keep] # label assignment assigned_result = self.matcher(fpn_strides=fpn_strides, anchors=anchors, pred_cls=pred_cls[batch_idx].detach(), pred_box=pred_box[batch_idx].detach(), pred_iou=pred_ctn[batch_idx].detach(), gt_labels=tgt_labels, gt_bboxes=tgt_bboxes ) gt_classes.append(assigned_result['assigned_labels']) gt_bboxes.append(assigned_result['assigned_bboxes']) gt_centerness.append(assigned_result['assign_metrics']) # List[B, M, C] -> Tensor[BM, C] gt_classes = torch.cat(gt_classes, dim=0) # [BM,] gt_bboxes = torch.cat(gt_bboxes, dim=0) # [BM, 4] gt_centerness = torch.cat(gt_centerness, dim=0) # [BM,] valid_idxs = (gt_classes >= 0) & masks foreground_idxs = (gt_classes >= 0) & (gt_classes != self.num_classes) num_foreground = foreground_idxs.sum() if is_dist_avail_and_initialized(): torch.distributed.all_reduce(num_foreground) num_foreground = torch.clamp(num_foreground / get_world_size(), min=1).item() # -------------------- classification loss -------------------- pred_cls = pred_cls.view(-1, self.num_classes) gt_classes_target = torch.zeros_like(pred_cls) gt_classes_target[foreground_idxs, gt_classes[foreground_idxs]] = 1 loss_labels = self.loss_labels(pred_cls[valid_idxs], gt_classes_target[valid_idxs], num_foreground) # -------------------- regression loss -------------------- pred_box = pred_box.view(-1, 4) pred_box_pos = pred_box[foreground_idxs] gt_box_pos = gt_bboxes[foreground_idxs] loss_bboxes = self.loss_bboxes_xyxy(pred_box_pos, gt_box_pos, num_foreground) # -------------------- centerness loss -------------------- pred_ctn = pred_ctn.view(-1) pred_ctn_pos = pred_ctn[foreground_idxs] gt_ctn_pos = gt_centerness[foreground_idxs] loss_centerness = F.binary_cross_entropy_with_logits(pred_ctn_pos, gt_ctn_pos, reduction='none') loss_centerness = loss_centerness.sum() / num_foreground loss_dict = dict( loss_cls = loss_labels, loss_reg = loss_bboxes, loss_ctn = loss_centerness, ) return loss_dict def forward(self, outputs, targets): """ outputs['pred_cls']: (Tensor) [B, M, C] outputs['pred_reg']: (Tensor) [B, M, 4] outputs['pred_ctn']: (Tensor) [B, M, 1] outputs['strides']: (List) [8, 16, 32, ...] stride of the model output targets: (List) [dict{'boxes': [...], 'labels': [...], 'orig_size': ...}, ...] """ if self.cfg.matcher == "fcos_matcher": return self.fcos_loss(outputs, targets) elif self.cfg.matcher == "simota": return self.ota_loss(outputs, targets) else: raise NotImplementedError if __name__ == "__main__": pass