segment-everything 0.1.0__py3-none-any.whl

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

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+# Ultralytics YOLO 🚀, AGPL-3.0 license
+
+import torch
+import torch.nn as nn
+
+from .checks import check_version
+from .metrics import bbox_iou
+
+TORCH_1_10 = check_version(torch.__version__, '1.10.0')
+
+
+def select_candidates_in_gts(xy_centers, gt_bboxes, eps=1e-9):
+    """select the positive anchor center in gt
+
+    Args:
+        xy_centers (Tensor): shape(h*w, 4)
+        gt_bboxes (Tensor): shape(b, n_boxes, 4)
+    Return:
+        (Tensor): shape(b, n_boxes, h*w)
+    """
+    n_anchors = xy_centers.shape[0]
+    bs, n_boxes, _ = gt_bboxes.shape
+    lt, rb = gt_bboxes.view(-1, 1, 4).chunk(2, 2)  # left-top, right-bottom
+    bbox_deltas = torch.cat((xy_centers[None] - lt, rb - xy_centers[None]), dim=2).view(bs, n_boxes, n_anchors, -1)
+    # return (bbox_deltas.min(3)[0] > eps).to(gt_bboxes.dtype)
+    return bbox_deltas.amin(3).gt_(eps)
+
+
+def select_highest_overlaps(mask_pos, overlaps, n_max_boxes):
+    """if an anchor box is assigned to multiple gts,
+        the one with the highest iou will be selected.
+
+    Args:
+        mask_pos (Tensor): shape(b, n_max_boxes, h*w)
+        overlaps (Tensor): shape(b, n_max_boxes, h*w)
+    Return:
+        target_gt_idx (Tensor): shape(b, h*w)
+        fg_mask (Tensor): shape(b, h*w)
+        mask_pos (Tensor): shape(b, n_max_boxes, h*w)
+    """
+    # (b, n_max_boxes, h*w) -> (b, h*w)
+    fg_mask = mask_pos.sum(-2)
+    if fg_mask.max() > 1:  # one anchor is assigned to multiple gt_bboxes
+        mask_multi_gts = (fg_mask.unsqueeze(1) > 1).expand(-1, n_max_boxes, -1)  # (b, n_max_boxes, h*w)
+        max_overlaps_idx = overlaps.argmax(1)  # (b, h*w)
+
+        is_max_overlaps = torch.zeros(mask_pos.shape, dtype=mask_pos.dtype, device=mask_pos.device)
+        is_max_overlaps.scatter_(1, max_overlaps_idx.unsqueeze(1), 1)
+
+        mask_pos = torch.where(mask_multi_gts, is_max_overlaps, mask_pos).float()  # (b, n_max_boxes, h*w)
+        fg_mask = mask_pos.sum(-2)
+    # Find each grid serve which gt(index)
+    target_gt_idx = mask_pos.argmax(-2)  # (b, h*w)
+    return target_gt_idx, fg_mask, mask_pos
+
+
+class TaskAlignedAssigner(nn.Module):
+    """
+    A task-aligned assigner for object detection.
+
+    This class assigns ground-truth (gt) objects to anchors based on the task-aligned metric,
+    which combines both classification and localization information.
+
+    Attributes:
+        topk (int): The number of top candidates to consider.
+        num_classes (int): The number of object classes.
+        alpha (float): The alpha parameter for the classification component of the task-aligned metric.
+        beta (float): The beta parameter for the localization component of the task-aligned metric.
+        eps (float): A small value to prevent division by zero.
+    """
+
+    def __init__(self, topk=13, num_classes=80, alpha=1.0, beta=6.0, eps=1e-9):
+        """Initialize a TaskAlignedAssigner object with customizable hyperparameters."""
+        super().__init__()
+        self.topk = topk
+        self.num_classes = num_classes
+        self.bg_idx = num_classes
+        self.alpha = alpha
+        self.beta = beta
+        self.eps = eps
+
+    @torch.no_grad()
+    def forward(self, pd_scores, pd_bboxes, anc_points, gt_labels, gt_bboxes, mask_gt):
+        """
+        Compute the task-aligned assignment.
+        Reference https://github.com/Nioolek/PPYOLOE_pytorch/blob/master/ppyoloe/assigner/tal_assigner.py
+
+        Args:
+            pd_scores (Tensor): shape(bs, num_total_anchors, num_classes)
+            pd_bboxes (Tensor): shape(bs, num_total_anchors, 4)
+            anc_points (Tensor): shape(num_total_anchors, 2)
+            gt_labels (Tensor): shape(bs, n_max_boxes, 1)
+            gt_bboxes (Tensor): shape(bs, n_max_boxes, 4)
+            mask_gt (Tensor): shape(bs, n_max_boxes, 1)
+
+        Returns:
+            target_labels (Tensor): shape(bs, num_total_anchors)
+            target_bboxes (Tensor): shape(bs, num_total_anchors, 4)
+            target_scores (Tensor): shape(bs, num_total_anchors, num_classes)
+            fg_mask (Tensor): shape(bs, num_total_anchors)
+            target_gt_idx (Tensor): shape(bs, num_total_anchors)
+        """
+        self.bs = pd_scores.size(0)
+        self.n_max_boxes = gt_bboxes.size(1)
+
+        if self.n_max_boxes == 0:
+            device = gt_bboxes.device
+            return (torch.full_like(pd_scores[..., 0], self.bg_idx).to(device), torch.zeros_like(pd_bboxes).to(device),
+                    torch.zeros_like(pd_scores).to(device), torch.zeros_like(pd_scores[..., 0]).to(device),
+                    torch.zeros_like(pd_scores[..., 0]).to(device))
+
+        mask_pos, align_metric, overlaps = self.get_pos_mask(pd_scores, pd_bboxes, gt_labels, gt_bboxes, anc_points,
+                                                             mask_gt)
+
+        target_gt_idx, fg_mask, mask_pos = select_highest_overlaps(mask_pos, overlaps, self.n_max_boxes)
+
+        # Assigned target
+        target_labels, target_bboxes, target_scores = self.get_targets(gt_labels, gt_bboxes, target_gt_idx, fg_mask)
+
+        # Normalize
+        align_metric *= mask_pos
+        pos_align_metrics = align_metric.amax(axis=-1, keepdim=True)  # b, max_num_obj
+        pos_overlaps = (overlaps * mask_pos).amax(axis=-1, keepdim=True)  # b, max_num_obj
+        norm_align_metric = (align_metric * pos_overlaps / (pos_align_metrics + self.eps)).amax(-2).unsqueeze(-1)
+        target_scores = target_scores * norm_align_metric
+
+        return target_labels, target_bboxes, target_scores, fg_mask.bool(), target_gt_idx
+
+    def get_pos_mask(self, pd_scores, pd_bboxes, gt_labels, gt_bboxes, anc_points, mask_gt):
+        """Get in_gts mask, (b, max_num_obj, h*w)."""
+        mask_in_gts = select_candidates_in_gts(anc_points, gt_bboxes)
+        # Get anchor_align metric, (b, max_num_obj, h*w)
+        align_metric, overlaps = self.get_box_metrics(pd_scores, pd_bboxes, gt_labels, gt_bboxes, mask_in_gts * mask_gt)
+        # Get topk_metric mask, (b, max_num_obj, h*w)
+        mask_topk = self.select_topk_candidates(align_metric, topk_mask=mask_gt.expand(-1, -1, self.topk).bool())
+        # Merge all mask to a final mask, (b, max_num_obj, h*w)
+        mask_pos = mask_topk * mask_in_gts * mask_gt
+
+        return mask_pos, align_metric, overlaps
+
+    def get_box_metrics(self, pd_scores, pd_bboxes, gt_labels, gt_bboxes, mask_gt):
+        """Compute alignment metric given predicted and ground truth bounding boxes."""
+        na = pd_bboxes.shape[-2]
+        mask_gt = mask_gt.bool()  # b, max_num_obj, h*w
+        overlaps = torch.zeros([self.bs, self.n_max_boxes, na], dtype=pd_bboxes.dtype, device=pd_bboxes.device)
+        bbox_scores = torch.zeros([self.bs, self.n_max_boxes, na], dtype=pd_scores.dtype, device=pd_scores.device)
+
+        ind = torch.zeros([2, self.bs, self.n_max_boxes], dtype=torch.long)  # 2, b, max_num_obj
+        ind[0] = torch.arange(end=self.bs).view(-1, 1).expand(-1, self.n_max_boxes)  # b, max_num_obj
+        ind[1] = gt_labels.squeeze(-1)  # b, max_num_obj
+        # Get the scores of each grid for each gt cls
+        bbox_scores[mask_gt] = pd_scores[ind[0], :, ind[1]][mask_gt]  # b, max_num_obj, h*w
+
+        # (b, max_num_obj, 1, 4), (b, 1, h*w, 4)
+        pd_boxes = pd_bboxes.unsqueeze(1).expand(-1, self.n_max_boxes, -1, -1)[mask_gt]
+        gt_boxes = gt_bboxes.unsqueeze(2).expand(-1, -1, na, -1)[mask_gt]
+        overlaps[mask_gt] = bbox_iou(gt_boxes, pd_boxes, xywh=False, CIoU=True).squeeze(-1).clamp_(0)
+
+        align_metric = bbox_scores.pow(self.alpha) * overlaps.pow(self.beta)
+        return align_metric, overlaps
+
+    def select_topk_candidates(self, metrics, largest=True, topk_mask=None):
+        """
+        Select the top-k candidates based on the given metrics.
+
+        Args:
+            metrics (Tensor): A tensor of shape (b, max_num_obj, h*w), where b is the batch size,
+                              max_num_obj is the maximum number of objects, and h*w represents the
+                              total number of anchor points.
+            largest (bool): If True, select the largest values; otherwise, select the smallest values.
+            topk_mask (Tensor): An optional boolean tensor of shape (b, max_num_obj, topk), where
+                                topk is the number of top candidates to consider. If not provided,
+                                the top-k values are automatically computed based on the given metrics.
+
+        Returns:
+            (Tensor): A tensor of shape (b, max_num_obj, h*w) containing the selected top-k candidates.
+        """
+
+        # (b, max_num_obj, topk)
+        topk_metrics, topk_idxs = torch.topk(metrics, self.topk, dim=-1, largest=largest)
+        if topk_mask is None:
+            topk_mask = (topk_metrics.max(-1, keepdim=True)[0] > self.eps).expand_as(topk_idxs)
+        # (b, max_num_obj, topk)
+        topk_idxs.masked_fill_(~topk_mask, 0)
+
+        # (b, max_num_obj, topk, h*w) -> (b, max_num_obj, h*w)
+        count_tensor = torch.zeros(metrics.shape, dtype=torch.int8, device=topk_idxs.device)
+        ones = torch.ones_like(topk_idxs[:, :, :1], dtype=torch.int8, device=topk_idxs.device)
+        for k in range(self.topk):
+            # Expand topk_idxs for each value of k and add 1 at the specified positions
+            count_tensor.scatter_add_(-1, topk_idxs[:, :, k:k + 1], ones)
+        # count_tensor.scatter_add_(-1, topk_idxs, torch.ones_like(topk_idxs, dtype=torch.int8, device=topk_idxs.device))
+        # filter invalid bboxes
+        count_tensor.masked_fill_(count_tensor > 1, 0)
+
+        return count_tensor.to(metrics.dtype)
+
+    def get_targets(self, gt_labels, gt_bboxes, target_gt_idx, fg_mask):
+        """
+        Compute target labels, target bounding boxes, and target scores for the positive anchor points.
+
+        Args:
+            gt_labels (Tensor): Ground truth labels of shape (b, max_num_obj, 1), where b is the
+                                batch size and max_num_obj is the maximum number of objects.
+            gt_bboxes (Tensor): Ground truth bounding boxes of shape (b, max_num_obj, 4).
+            target_gt_idx (Tensor): Indices of the assigned ground truth objects for positive
+                                    anchor points, with shape (b, h*w), where h*w is the total
+                                    number of anchor points.
+            fg_mask (Tensor): A boolean tensor of shape (b, h*w) indicating the positive
+                              (foreground) anchor points.
+
+        Returns:
+            (Tuple[Tensor, Tensor, Tensor]): A tuple containing the following tensors:
+                - target_labels (Tensor): Shape (b, h*w), containing the target labels for
+                                          positive anchor points.
+                - target_bboxes (Tensor): Shape (b, h*w, 4), containing the target bounding boxes
+                                          for positive anchor points.
+                - target_scores (Tensor): Shape (b, h*w, num_classes), containing the target scores
+                                          for positive anchor points, where num_classes is the number
+                                          of object classes.
+        """
+
+        # Assigned target labels, (b, 1)
+        batch_ind = torch.arange(end=self.bs, dtype=torch.int64, device=gt_labels.device)[..., None]
+        target_gt_idx = target_gt_idx + batch_ind * self.n_max_boxes  # (b, h*w)
+        target_labels = gt_labels.long().flatten()[target_gt_idx]  # (b, h*w)
+
+        # Assigned target boxes, (b, max_num_obj, 4) -> (b, h*w)
+        target_bboxes = gt_bboxes.view(-1, 4)[target_gt_idx]
+
+        # Assigned target scores
+        target_labels.clamp_(0)
+
+        # 10x faster than F.one_hot()
+        target_scores = torch.zeros((target_labels.shape[0], target_labels.shape[1], self.num_classes),
+                                    dtype=torch.int64,
+                                    device=target_labels.device)  # (b, h*w, 80)
+        target_scores.scatter_(2, target_labels.unsqueeze(-1), 1)
+
+        fg_scores_mask = fg_mask[:, :, None].repeat(1, 1, self.num_classes)  # (b, h*w, 80)
+        target_scores = torch.where(fg_scores_mask > 0, target_scores, 0)
+
+        return target_labels, target_bboxes, target_scores
+
+
+def make_anchors(feats, strides, grid_cell_offset=0.5):
+    """Generate anchors from features."""
+    anchor_points, stride_tensor = [], []
+    assert feats is not None
+    dtype, device = feats[0].dtype, feats[0].device
+    for i, stride in enumerate(strides):
+        _, _, h, w = feats[i].shape
+        sx = torch.arange(end=w, device=device, dtype=dtype) + grid_cell_offset  # shift x
+        sy = torch.arange(end=h, device=device, dtype=dtype) + grid_cell_offset  # shift y
+        sy, sx = torch.meshgrid(sy, sx, indexing='ij') if TORCH_1_10 else torch.meshgrid(sy, sx)
+        anchor_points.append(torch.stack((sx, sy), -1).view(-1, 2))
+        stride_tensor.append(torch.full((h * w, 1), stride, dtype=dtype, device=device))
+    return torch.cat(anchor_points), torch.cat(stride_tensor)
+
+
+def dist2bbox(distance, anchor_points, xywh=True, dim=-1):
+    """Transform distance(ltrb) to box(xywh or xyxy)."""
+    lt, rb = distance.chunk(2, dim)
+    x1y1 = anchor_points - lt
+    x2y2 = anchor_points + rb
+    if xywh:
+        c_xy = (x1y1 + x2y2) / 2
+        wh = x2y2 - x1y1
+        return torch.cat((c_xy, wh), dim)  # xywh bbox
+    return torch.cat((x1y1, x2y2), dim)  # xyxy bbox
+
+
+def bbox2dist(anchor_points, bbox, reg_max):
+    """Transform bbox(xyxy) to dist(ltrb)."""
+    x1y1, x2y2 = bbox.chunk(2, -1)
+    return torch.cat((anchor_points - x1y1, x2y2 - anchor_points), -1).clamp_(0, reg_max - 0.01)  # dist (lt, rb)