# Copyright (c) OpenMMLab. All rights reserved. from typing import List, Optional import torch from torch import Tensor from mmdet.registry import MODELS from mmdet.structures import SampleList from mmdet.structures.bbox import bbox_overlaps from mmdet.utils import InstanceList, OptInstanceList from ..utils import levels_to_images, multi_apply, unpack_gt_instances from .paa_head import PAAHead @MODELS.register_module() class LADHead(PAAHead): """Label Assignment Head from the paper: `Improving Object Detection by Label Assignment Distillation `_""" def get_label_assignment( self, cls_scores: List[Tensor], bbox_preds: List[Tensor], iou_preds: List[Tensor], batch_gt_instances: InstanceList, batch_img_metas: List[dict], batch_gt_instances_ignore: OptInstanceList = None) -> tuple: """Get label assignment (from teacher). Args: cls_scores (list[Tensor]): Box scores for each scale level Has shape (N, num_anchors * num_classes, H, W) bbox_preds (list[Tensor]): Box energies / deltas for each scale level with shape (N, num_anchors * 4, H, W) iou_preds (list[Tensor]): iou_preds for each scale level with shape (N, num_anchors * 1, H, W) batch_gt_instances (list[:obj:`InstanceData`]): Batch of gt_instance. It usually includes ``bboxes`` and ``labels`` attributes. batch_img_metas (list[dict]): Meta information of each image, e.g., image size, scaling factor, etc. batch_gt_instances_ignore (list[:obj:`InstanceData`], optional): Batch of gt_instances_ignore. It includes ``bboxes`` attribute data that is ignored during training and testing. Defaults to None. Returns: tuple: Returns a tuple containing label assignment variables. - labels (Tensor): Labels of all anchors, each with shape (num_anchors,). - labels_weight (Tensor): Label weights of all anchor. each with shape (num_anchors,). - bboxes_target (Tensor): BBox targets of all anchors. each with shape (num_anchors, 4). - bboxes_weight (Tensor): BBox weights of all anchors. each with shape (num_anchors, 4). - pos_inds_flatten (Tensor): Contains all index of positive sample in all anchor. - pos_anchors (Tensor): Positive anchors. - num_pos (int): Number of positive anchors. """ featmap_sizes = [featmap.size()[-2:] for featmap in cls_scores] assert len(featmap_sizes) == self.prior_generator.num_levels device = cls_scores[0].device anchor_list, valid_flag_list = self.get_anchors( featmap_sizes, batch_img_metas, device=device) cls_reg_targets = self.get_targets( anchor_list, valid_flag_list, batch_gt_instances, batch_img_metas, batch_gt_instances_ignore=batch_gt_instances_ignore, ) (labels, labels_weight, bboxes_target, bboxes_weight, pos_inds, pos_gt_index) = cls_reg_targets cls_scores = levels_to_images(cls_scores) cls_scores = [ item.reshape(-1, self.cls_out_channels) for item in cls_scores ] bbox_preds = levels_to_images(bbox_preds) bbox_preds = [item.reshape(-1, 4) for item in bbox_preds] pos_losses_list, = multi_apply(self.get_pos_loss, anchor_list, cls_scores, bbox_preds, labels, labels_weight, bboxes_target, bboxes_weight, pos_inds) with torch.no_grad(): reassign_labels, reassign_label_weight, \ reassign_bbox_weights, num_pos = multi_apply( self.paa_reassign, pos_losses_list, labels, labels_weight, bboxes_weight, pos_inds, pos_gt_index, anchor_list) num_pos = sum(num_pos) # convert all tensor list to a flatten tensor labels = torch.cat(reassign_labels, 0).view(-1) flatten_anchors = torch.cat( [torch.cat(item, 0) for item in anchor_list]) labels_weight = torch.cat(reassign_label_weight, 0).view(-1) bboxes_target = torch.cat(bboxes_target, 0).view(-1, bboxes_target[0].size(-1)) pos_inds_flatten = ((labels >= 0) & (labels < self.num_classes)).nonzero().reshape(-1) if num_pos: pos_anchors = flatten_anchors[pos_inds_flatten] else: pos_anchors = None label_assignment_results = (labels, labels_weight, bboxes_target, bboxes_weight, pos_inds_flatten, pos_anchors, num_pos) return label_assignment_results def loss(self, x: List[Tensor], label_assignment_results: tuple, batch_data_samples: SampleList) -> dict: """Forward train with the available label assignment (student receives from teacher). Args: x (list[Tensor]): Features from FPN. label_assignment_results (tuple): As the outputs defined in the function `self.get_label_assignment`. batch_data_samples (list[:obj:`DetDataSample`]): The batch data samples. It usually includes information such as `gt_instance` or `gt_panoptic_seg` or `gt_sem_seg`. Returns: losses: (dict[str, Tensor]): A dictionary of loss components. """ outputs = unpack_gt_instances(batch_data_samples) batch_gt_instances, batch_gt_instances_ignore, batch_img_metas \ = outputs outs = self(x) loss_inputs = outs + (batch_gt_instances, batch_img_metas) losses = self.loss_by_feat( *loss_inputs, batch_gt_instances_ignore=batch_gt_instances_ignore, label_assignment_results=label_assignment_results) return losses def loss_by_feat(self, cls_scores: List[Tensor], bbox_preds: List[Tensor], iou_preds: List[Tensor], batch_gt_instances: InstanceList, batch_img_metas: List[dict], batch_gt_instances_ignore: OptInstanceList = None, label_assignment_results: Optional[tuple] = None) -> dict: """Compute losses of the head. Args: cls_scores (list[Tensor]): Box scores for each scale level Has shape (N, num_anchors * num_classes, H, W) bbox_preds (list[Tensor]): Box energies / deltas for each scale level with shape (N, num_anchors * 4, H, W) iou_preds (list[Tensor]): iou_preds for each scale level with shape (N, num_anchors * 1, H, W) batch_gt_instances (list[:obj:`InstanceData`]): Batch of gt_instance. It usually includes ``bboxes`` and ``labels`` attributes. batch_img_metas (list[dict]): Meta information of each image, e.g., image size, scaling factor, etc. batch_gt_instances_ignore (list[:obj:`InstanceData`], optional): Batch of gt_instances_ignore. It includes ``bboxes`` attribute data that is ignored during training and testing. Defaults to None. label_assignment_results (tuple, optional): As the outputs defined in the function `self.get_ label_assignment`. Returns: dict[str, Tensor]: A dictionary of loss gmm_assignment. """ (labels, labels_weight, bboxes_target, bboxes_weight, pos_inds_flatten, pos_anchors, num_pos) = label_assignment_results cls_scores = levels_to_images(cls_scores) cls_scores = [ item.reshape(-1, self.cls_out_channels) for item in cls_scores ] bbox_preds = levels_to_images(bbox_preds) bbox_preds = [item.reshape(-1, 4) for item in bbox_preds] iou_preds = levels_to_images(iou_preds) iou_preds = [item.reshape(-1, 1) for item in iou_preds] # convert all tensor list to a flatten tensor cls_scores = torch.cat(cls_scores, 0).view(-1, cls_scores[0].size(-1)) bbox_preds = torch.cat(bbox_preds, 0).view(-1, bbox_preds[0].size(-1)) iou_preds = torch.cat(iou_preds, 0).view(-1, iou_preds[0].size(-1)) losses_cls = self.loss_cls( cls_scores, labels, labels_weight, avg_factor=max(num_pos, len(batch_img_metas))) # avoid num_pos=0 if num_pos: pos_bbox_pred = self.bbox_coder.decode( pos_anchors, bbox_preds[pos_inds_flatten]) pos_bbox_target = bboxes_target[pos_inds_flatten] iou_target = bbox_overlaps( pos_bbox_pred.detach(), pos_bbox_target, is_aligned=True) losses_iou = self.loss_centerness( iou_preds[pos_inds_flatten], iou_target.unsqueeze(-1), avg_factor=num_pos) losses_bbox = self.loss_bbox( pos_bbox_pred, pos_bbox_target, avg_factor=num_pos) else: losses_iou = iou_preds.sum() * 0 losses_bbox = bbox_preds.sum() * 0 return dict( loss_cls=losses_cls, loss_bbox=losses_bbox, loss_iou=losses_iou)