segment-everything 0.1.0__py3-none-any.whl

segment_everything/vendored/object_detection/ultralytics/yolo/utils/loss.py

@@ -0,0 +1,579 @@
+# Ultralytics YOLO 🚀, AGPL-3.0 license
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+from ..utils.metrics import OKS_SIGMA
+from ..utils.ops import crop_mask, xywh2xyxy, xyxy2xywh
+from ..utils.tal import TaskAlignedAssigner, dist2bbox, make_anchors
+
+from .metrics import bbox_iou
+from .tal import bbox2dist
+
+
+class VarifocalLoss(nn.Module):
+    """Varifocal loss by Zhang et al. https://arxiv.org/abs/2008.13367."""
+
+    def __init__(self):
+        """Initialize the VarifocalLoss class."""
+        super().__init__()
+
+    def forward(self, pred_score, gt_score, label, alpha=0.75, gamma=2.0):
+        """Computes varfocal loss."""
+        weight = (
+            alpha * pred_score.sigmoid().pow(gamma) * (1 - label)
+            + gt_score * label
+        )
+        with torch.cuda.amp.autocast(enabled=False):
+            loss = (
+                (
+                    F.binary_cross_entropy_with_logits(
+                        pred_score.float(), gt_score.float(), reduction="none"
+                    )
+                    * weight
+                )
+                .mean(1)
+                .sum()
+            )
+        return loss
+
+
+# Losses
+class FocalLoss(nn.Module):
+    """Wraps focal loss around existing loss_fcn(), i.e. criteria = FocalLoss(nn.BCEWithLogitsLoss(), gamma=1.5)."""
+
+    def __init__(
+        self,
+    ):
+        super().__init__()
+
+    def forward(self, pred, label, gamma=1.5, alpha=0.25):
+        """Calculates and updates confusion matrix for object detection/classification tasks."""
+        loss = F.binary_cross_entropy_with_logits(
+            pred, label, reduction="none"
+        )
+        # p_t = torch.exp(-loss)
+        # loss *= self.alpha * (1.000001 - p_t) ** self.gamma  # non-zero power for gradient stability
+
+        # TF implementation https://github.com/tensorflow/addons/blob/v0.7.1/tensorflow_addons/losses/focal_loss.py
+        pred_prob = pred.sigmoid()  # prob from logits
+        p_t = label * pred_prob + (1 - label) * (1 - pred_prob)
+        modulating_factor = (1.0 - p_t) ** gamma
+        loss *= modulating_factor
+        if alpha > 0:
+            alpha_factor = label * alpha + (1 - label) * (1 - alpha)
+            loss *= alpha_factor
+        return loss.mean(1).sum()
+
+
+class BboxLoss(nn.Module):
+
+    def __init__(self, reg_max, use_dfl=False):
+        """Initialize the BboxLoss module with regularization maximum and DFL settings."""
+        super().__init__()
+        self.reg_max = reg_max
+        self.use_dfl = use_dfl
+
+    def forward(
+        self,
+        pred_dist,
+        pred_bboxes,
+        anchor_points,
+        target_bboxes,
+        target_scores,
+        target_scores_sum,
+        fg_mask,
+    ):
+        """IoU loss."""
+        weight = target_scores.sum(-1)[fg_mask].unsqueeze(-1)
+        iou = bbox_iou(
+            pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=False, CIoU=True
+        )
+        loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum
+
+        # DFL loss
+        if self.use_dfl:
+            target_ltrb = bbox2dist(anchor_points, target_bboxes, self.reg_max)
+            loss_dfl = (
+                self._df_loss(
+                    pred_dist[fg_mask].view(-1, self.reg_max + 1),
+                    target_ltrb[fg_mask],
+                )
+                * weight
+            )
+            loss_dfl = loss_dfl.sum() / target_scores_sum
+        else:
+            loss_dfl = torch.tensor(0.0).to(pred_dist.device)
+
+        return loss_iou, loss_dfl
+
+    @staticmethod
+    def _df_loss(pred_dist, target):
+        """Return sum of left and right DFL losses."""
+        # Distribution Focal Loss (DFL) proposed in Generalized Focal Loss https://ieeexplore.ieee.org/document/9792391
+        tl = target.long()  # target left
+        tr = tl + 1  # target right
+        wl = tr - target  # weight left
+        wr = 1 - wl  # weight right
+        return (
+            F.cross_entropy(pred_dist, tl.view(-1), reduction="none").view(
+                tl.shape
+            )
+            * wl
+            + F.cross_entropy(pred_dist, tr.view(-1), reduction="none").view(
+                tl.shape
+            )
+            * wr
+        ).mean(-1, keepdim=True)
+
+
+class KeypointLoss(nn.Module):
+
+    def __init__(self, sigmas) -> None:
+        super().__init__()
+        self.sigmas = sigmas
+
+    def forward(self, pred_kpts, gt_kpts, kpt_mask, area):
+        """Calculates keypoint loss factor and Euclidean distance loss for predicted and actual keypoints."""
+        d = (pred_kpts[..., 0] - gt_kpts[..., 0]) ** 2 + (
+            pred_kpts[..., 1] - gt_kpts[..., 1]
+        ) ** 2
+        kpt_loss_factor = (
+            torch.sum(kpt_mask != 0) + torch.sum(kpt_mask == 0)
+        ) / (torch.sum(kpt_mask != 0) + 1e-9)
+        # e = d / (2 * (area * self.sigmas) ** 2 + 1e-9)  # from formula
+        e = d / (2 * self.sigmas) ** 2 / (area + 1e-9) / 2  # from cocoeval
+        return kpt_loss_factor * ((1 - torch.exp(-e)) * kpt_mask).mean()
+
+
+# Criterion class for computing Detection training losses
+class v8DetectionLoss:
+
+    def __init__(self, model):  # model must be de-paralleled
+
+        device = next(model.parameters()).device  # get model device
+        h = model.args  # hyperparameters
+
+        m = model.model[-1]  # Detect() module
+        self.bce = nn.BCEWithLogitsLoss(reduction="none")
+        self.hyp = h
+        self.stride = m.stride  # model strides
+        self.nc = m.nc  # number of classes
+        self.no = m.no
+        self.reg_max = m.reg_max
+        self.device = device
+
+        self.use_dfl = m.reg_max > 1
+
+        self.assigner = TaskAlignedAssigner(
+            topk=10, num_classes=self.nc, alpha=0.5, beta=6.0
+        )
+        self.bbox_loss = BboxLoss(m.reg_max - 1, use_dfl=self.use_dfl).to(
+            device
+        )
+        self.proj = torch.arange(m.reg_max, dtype=torch.float, device=device)
+
+    def preprocess(self, targets, batch_size, scale_tensor):
+        """Preprocesses the target counts and matches with the input batch size to output a tensor."""
+        if targets.shape[0] == 0:
+            out = torch.zeros(batch_size, 0, 5, device=self.device)
+        else:
+            i = targets[:, 0]  # image index
+            _, counts = i.unique(return_counts=True)
+            counts = counts.to(dtype=torch.int32)
+            out = torch.zeros(batch_size, counts.max(), 5, device=self.device)
+            for j in range(batch_size):
+                matches = i == j
+                n = matches.sum()
+                if n:
+                    out[j, :n] = targets[matches, 1:]
+            out[..., 1:5] = xywh2xyxy(out[..., 1:5].mul_(scale_tensor))
+        return out
+
+    def bbox_decode(self, anchor_points, pred_dist):
+        """Decode predicted object bounding box coordinates from anchor points and distribution."""
+        if self.use_dfl:
+            b, a, c = pred_dist.shape  # batch, anchors, channels
+            pred_dist = (
+                pred_dist.view(b, a, 4, c // 4)
+                .softmax(3)
+                .matmul(self.proj.type(pred_dist.dtype))
+            )
+            # pred_dist = pred_dist.view(b, a, c // 4, 4).transpose(2,3).softmax(3).matmul(self.proj.type(pred_dist.dtype))
+            # pred_dist = (pred_dist.view(b, a, c // 4, 4).softmax(2) * self.proj.type(pred_dist.dtype).view(1, 1, -1, 1)).sum(2)
+        return dist2bbox(pred_dist, anchor_points, xywh=False)
+
+    def __call__(self, preds, batch):
+        """Calculate the sum of the loss for box, cls and dfl multiplied by batch size."""
+        loss = torch.zeros(3, device=self.device)  # box, cls, dfl
+        feats = preds[1] if isinstance(preds, tuple) else preds
+        pred_distri, pred_scores = torch.cat(
+            [xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2
+        ).split((self.reg_max * 4, self.nc), 1)
+
+        pred_scores = pred_scores.permute(0, 2, 1).contiguous()
+        pred_distri = pred_distri.permute(0, 2, 1).contiguous()
+
+        dtype = pred_scores.dtype
+        batch_size = pred_scores.shape[0]
+        imgsz = (
+            torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype)
+            * self.stride[0]
+        )  # image size (h,w)
+        anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
+
+        # targets
+        targets = torch.cat(
+            (
+                batch["batch_idx"].view(-1, 1),
+                batch["cls"].view(-1, 1),
+                batch["bboxes"],
+            ),
+            1,
+        )
+        targets = self.preprocess(
+            targets.to(self.device),
+            batch_size,
+            scale_tensor=imgsz[[1, 0, 1, 0]],
+        )
+        gt_labels, gt_bboxes = targets.split((1, 4), 2)  # cls, xyxy
+        mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
+
+        # pboxes
+        pred_bboxes = self.bbox_decode(
+            anchor_points, pred_distri
+        )  # xyxy, (b, h*w, 4)
+
+        _, target_bboxes, target_scores, fg_mask, _ = self.assigner(
+            pred_scores.detach().sigmoid(),
+            (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
+            anchor_points * stride_tensor,
+            gt_labels,
+            gt_bboxes,
+            mask_gt,
+        )
+
+        target_scores_sum = max(target_scores.sum(), 1)
+
+        # cls loss
+        # loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum  # VFL way
+        loss[1] = (
+            self.bce(pred_scores, target_scores.to(dtype)).sum()
+            / target_scores_sum
+        )  # BCE
+
+        # bbox loss
+        if fg_mask.sum():
+            target_bboxes /= stride_tensor
+            loss[0], loss[2] = self.bbox_loss(
+                pred_distri,
+                pred_bboxes,
+                anchor_points,
+                target_bboxes,
+                target_scores,
+                target_scores_sum,
+                fg_mask,
+            )
+
+        loss[0] *= self.hyp.box  # box gain
+        loss[1] *= self.hyp.cls  # cls gain
+        loss[2] *= self.hyp.dfl  # dfl gain
+
+        return loss.sum() * batch_size, loss.detach()  # loss(box, cls, dfl)
+
+
+# Criterion class for computing training losses
+class v8SegmentationLoss(v8DetectionLoss):
+
+    def __init__(self, model):  # model must be de-paralleled
+        super().__init__(model)
+        self.nm = model.model[-1].nm  # number of masks
+        self.overlap = model.args.overlap_mask
+
+    def __call__(self, preds, batch):
+        """Calculate and return the loss for the YOLO model."""
+        loss = torch.zeros(4, device=self.device)  # box, cls, dfl
+        feats, pred_masks, proto = preds if len(preds) == 3 else preds[1]
+        batch_size, _, mask_h, mask_w = (
+            proto.shape
+        )  # batch size, number of masks, mask height, mask width
+        pred_distri, pred_scores = torch.cat(
+            [xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2
+        ).split((self.reg_max * 4, self.nc), 1)
+
+        # b, grids, ..
+        pred_scores = pred_scores.permute(0, 2, 1).contiguous()
+        pred_distri = pred_distri.permute(0, 2, 1).contiguous()
+        pred_masks = pred_masks.permute(0, 2, 1).contiguous()
+
+        dtype = pred_scores.dtype
+        imgsz = (
+            torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype)
+            * self.stride[0]
+        )  # image size (h,w)
+        anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
+
+        # targets
+        try:
+            batch_idx = batch["batch_idx"].view(-1, 1)
+            targets = torch.cat(
+                (batch_idx, batch["cls"].view(-1, 1), batch["bboxes"]), 1
+            )
+            targets = self.preprocess(
+                targets.to(self.device),
+                batch_size,
+                scale_tensor=imgsz[[1, 0, 1, 0]],
+            )
+            gt_labels, gt_bboxes = targets.split((1, 4), 2)  # cls, xyxy
+            mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
+        except RuntimeError as e:
+            raise TypeError(
+                "ERROR ❌ segment dataset incorrectly formatted or not a segment dataset.\n"
+                "This error can occur when incorrectly training a 'segment' model on a 'detect' dataset, "
+                "i.e. 'yolo train model=yolov8n-seg.pt data=coco128.yaml'.\nVerify your dataset is a "
+                "correctly formatted 'segment' dataset using 'data=coco128-seg.yaml' "
+                "as an example.\nSee https://docs.ultralytics.com/tasks/segment/ for help."
+            ) from e
+
+        # pboxes
+        pred_bboxes = self.bbox_decode(
+            anchor_points, pred_distri
+        )  # xyxy, (b, h*w, 4)
+
+        _, target_bboxes, target_scores, fg_mask, target_gt_idx = (
+            self.assigner(
+                pred_scores.detach().sigmoid(),
+                (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
+                anchor_points * stride_tensor,
+                gt_labels,
+                gt_bboxes,
+                mask_gt,
+            )
+        )
+
+        target_scores_sum = max(target_scores.sum(), 1)
+
+        # cls loss
+        # loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum  # VFL way
+        loss[2] = (
+            self.bce(pred_scores, target_scores.to(dtype)).sum()
+            / target_scores_sum
+        )  # BCE
+
+        if fg_mask.sum():
+            # bbox loss
+            loss[0], loss[3] = self.bbox_loss(
+                pred_distri,
+                pred_bboxes,
+                anchor_points,
+                target_bboxes / stride_tensor,
+                target_scores,
+                target_scores_sum,
+                fg_mask,
+            )
+            # masks loss
+            masks = batch["masks"].to(self.device).float()
+            if tuple(masks.shape[-2:]) != (mask_h, mask_w):  # downsample
+                masks = F.interpolate(
+                    masks[None], (mask_h, mask_w), mode="nearest"
+                )[0]
+
+            for i in range(batch_size):
+                if fg_mask[i].sum():
+                    mask_idx = target_gt_idx[i][fg_mask[i]]
+                    if self.overlap:
+                        gt_mask = torch.where(
+                            masks[[i]] == (mask_idx + 1).view(-1, 1, 1),
+                            1.0,
+                            0.0,
+                        )
+                    else:
+                        gt_mask = masks[batch_idx.view(-1) == i][mask_idx]
+                    xyxyn = target_bboxes[i][fg_mask[i]] / imgsz[[1, 0, 1, 0]]
+                    marea = xyxy2xywh(xyxyn)[:, 2:].prod(1)
+                    mxyxy = xyxyn * torch.tensor(
+                        [mask_w, mask_h, mask_w, mask_h], device=self.device
+                    )
+                    loss[1] += self.single_mask_loss(
+                        gt_mask,
+                        pred_masks[i][fg_mask[i]],
+                        proto[i],
+                        mxyxy,
+                        marea,
+                    )  # seg
+
+                # WARNING: lines below prevents Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
+                else:
+                    loss[1] += (proto * 0).sum() + (
+                        pred_masks * 0
+                    ).sum()  # inf sums may lead to nan loss
+
+        # WARNING: lines below prevent Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
+        else:
+            loss[1] += (proto * 0).sum() + (
+                pred_masks * 0
+            ).sum()  # inf sums may lead to nan loss
+
+        loss[0] *= self.hyp.box  # box gain
+        loss[1] *= self.hyp.box / batch_size  # seg gain
+        loss[2] *= self.hyp.cls  # cls gain
+        loss[3] *= self.hyp.dfl  # dfl gain
+
+        return loss.sum() * batch_size, loss.detach()  # loss(box, cls, dfl)
+
+    def single_mask_loss(self, gt_mask, pred, proto, xyxy, area):
+        """Mask loss for one image."""
+        pred_mask = (pred @ proto.view(self.nm, -1)).view(
+            -1, *proto.shape[1:]
+        )  # (n, 32) @ (32,80,80) -> (n,80,80)
+        loss = F.binary_cross_entropy_with_logits(
+            pred_mask, gt_mask, reduction="none"
+        )
+        return (crop_mask(loss, xyxy).mean(dim=(1, 2)) / area).mean()
+
+
+# Criterion class for computing training losses
+class v8PoseLoss(v8DetectionLoss):
+
+    def __init__(self, model):  # model must be de-paralleled
+        super().__init__(model)
+        self.kpt_shape = model.model[-1].kpt_shape
+        self.bce_pose = nn.BCEWithLogitsLoss()
+        is_pose = self.kpt_shape == [17, 3]
+        nkpt = self.kpt_shape[0]  # number of keypoints
+        sigmas = (
+            torch.from_numpy(OKS_SIGMA).to(self.device)
+            if is_pose
+            else torch.ones(nkpt, device=self.device) / nkpt
+        )
+        self.keypoint_loss = KeypointLoss(sigmas=sigmas)
+
+    def __call__(self, preds, batch):
+        """Calculate the total loss and detach it."""
+        loss = torch.zeros(
+            5, device=self.device
+        )  # box, cls, dfl, kpt_location, kpt_visibility
+        feats, pred_kpts = preds if isinstance(preds[0], list) else preds[1]
+        pred_distri, pred_scores = torch.cat(
+            [xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2
+        ).split((self.reg_max * 4, self.nc), 1)
+
+        # b, grids, ..
+        pred_scores = pred_scores.permute(0, 2, 1).contiguous()
+        pred_distri = pred_distri.permute(0, 2, 1).contiguous()
+        pred_kpts = pred_kpts.permute(0, 2, 1).contiguous()
+
+        dtype = pred_scores.dtype
+        imgsz = (
+            torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype)
+            * self.stride[0]
+        )  # image size (h,w)
+        anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
+
+        # targets
+        batch_size = pred_scores.shape[0]
+        batch_idx = batch["batch_idx"].view(-1, 1)
+        targets = torch.cat(
+            (batch_idx, batch["cls"].view(-1, 1), batch["bboxes"]), 1
+        )
+        targets = self.preprocess(
+            targets.to(self.device),
+            batch_size,
+            scale_tensor=imgsz[[1, 0, 1, 0]],
+        )
+        gt_labels, gt_bboxes = targets.split((1, 4), 2)  # cls, xyxy
+        mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
+
+        # pboxes
+        pred_bboxes = self.bbox_decode(
+            anchor_points, pred_distri
+        )  # xyxy, (b, h*w, 4)
+        pred_kpts = self.kpts_decode(
+            anchor_points, pred_kpts.view(batch_size, -1, *self.kpt_shape)
+        )  # (b, h*w, 17, 3)
+
+        _, target_bboxes, target_scores, fg_mask, target_gt_idx = (
+            self.assigner(
+                pred_scores.detach().sigmoid(),
+                (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
+                anchor_points * stride_tensor,
+                gt_labels,
+                gt_bboxes,
+                mask_gt,
+            )
+        )
+
+        target_scores_sum = max(target_scores.sum(), 1)
+
+        # cls loss
+        # loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum  # VFL way
+        loss[3] = (
+            self.bce(pred_scores, target_scores.to(dtype)).sum()
+            / target_scores_sum
+        )  # BCE
+
+        # bbox loss
+        if fg_mask.sum():
+            target_bboxes /= stride_tensor
+            loss[0], loss[4] = self.bbox_loss(
+                pred_distri,
+                pred_bboxes,
+                anchor_points,
+                target_bboxes,
+                target_scores,
+                target_scores_sum,
+                fg_mask,
+            )
+            keypoints = batch["keypoints"].to(self.device).float().clone()
+            keypoints[..., 0] *= imgsz[1]
+            keypoints[..., 1] *= imgsz[0]
+            for i in range(batch_size):
+                if fg_mask[i].sum():
+                    idx = target_gt_idx[i][fg_mask[i]]
+                    gt_kpt = keypoints[batch_idx.view(-1) == i][idx]  # (n, 51)
+                    gt_kpt[..., 0] /= stride_tensor[fg_mask[i]]
+                    gt_kpt[..., 1] /= stride_tensor[fg_mask[i]]
+                    area = xyxy2xywh(target_bboxes[i][fg_mask[i]])[:, 2:].prod(
+                        1, keepdim=True
+                    )
+                    pred_kpt = pred_kpts[i][fg_mask[i]]
+                    kpt_mask = gt_kpt[..., 2] != 0
+                    loss[1] += self.keypoint_loss(
+                        pred_kpt, gt_kpt, kpt_mask, area
+                    )  # pose loss
+                    # kpt_score loss
+                    if pred_kpt.shape[-1] == 3:
+                        loss[2] += self.bce_pose(
+                            pred_kpt[..., 2], kpt_mask.float()
+                        )  # keypoint obj loss
+
+        loss[0] *= self.hyp.box  # box gain
+        loss[1] *= self.hyp.pose / batch_size  # pose gain
+        loss[2] *= self.hyp.kobj / batch_size  # kobj gain
+        loss[3] *= self.hyp.cls  # cls gain
+        loss[4] *= self.hyp.dfl  # dfl gain
+
+        return loss.sum() * batch_size, loss.detach()  # loss(box, cls, dfl)
+
+    def kpts_decode(self, anchor_points, pred_kpts):
+        """Decodes predicted keypoints to image coordinates."""
+        y = pred_kpts.clone()
+        y[..., :2] *= 2.0
+        y[..., 0] += anchor_points[:, [0]] - 0.5
+        y[..., 1] += anchor_points[:, [1]] - 0.5
+        return y
+
+
+class v8ClassificationLoss:
+
+    def __call__(self, preds, batch):
+        """Compute the classification loss between predictions and true labels."""
+        loss = (
+            torch.nn.functional.cross_entropy(
+                preds, batch["cls"], reduction="sum"
+            )
+            / 64
+        )
+        loss_items = loss.detach()
+        return loss, loss_items