YoloV1-V5系列

YoloV1-V5系列

1.YoloV1

2.YoloV2

3.YoloV3

• 预测框
  
  最终得到的边框坐标值是bx,by,bw,bh即边界框bbox相对于feature map的位置和大小，是我们需要的预测输出坐标。但我们网络实际上的学习目标是tx,ty,tw,th这４个offsets，其中tx,ty是预测的坐标偏移值，tw,th是尺度缩放，有了这４个offsets，自然可以根据之前的公式去求得真正需要的bx,by,bw,bh４个坐标。

4.YoloV4

5.YoloV5

暂时通过代码来自我学习，如详细了解可以参考文章以及code 见参考文献4。

def build_targets(p, targets, model):
    '''
    batch_size = 16,class_num = 2
    :param p: list,p[0]:shape [16,3,80,80,7],p[1]:[16,3,40,40,7],p[2]:[16,3,20,20,7]
    :param targets: shape:[num_targets,6]   6 is [img_id,class_id,x,y,w,h]
    :param model:
    :return:
    '''
    # Build targets for compute_loss(), input targets(image,class,x,y,w,h)
    det = model.module.model[-1] if type(model) in (nn.parallel.DataParallel, nn.parallel.DistributedDataParallel) \
        else model.model[-1]  # Detect() module
    na, nt = det.na, targets.shape[0]  # number of anchors, targets
    tcls, tbox, indices, anch = [], [], [], []
    gain = torch.ones(6, device=targets.device)  # normalized to gridspace gain
    off = torch.tensor([[1, 0], [0, 1], [-1, 0], [0, -1]], device=targets.device).float()  # overlap offsets
    # shape [na(number of anchors):nt(number of targets)]  [3,num_targets]
    at = torch.arange(na).view(na, 1).repeat(1, nt)  # anchor tensor, same as .repeat_interleave(nt)

    g = 0.5  # offset
    style = 'rect4'
    for i in range(det.nl): # det.nl(3) number of detection layers
        # m.anchors /= m.stride.view(-1, 1, 1)  m.stride = [8,16,32],anchors.shape [3,2]
        anchors = det.anchors[i]
        # i = 0,gain=[1,1,80,80,80,80]
        gain[2:] = torch.tensor(p[i].shape)[[3, 2, 3, 2]]  # xyxy gain
        # Match targets to anchors
        a, t, offsets = [], targets * gain,0
        if nt:
            #从batch中，匹配满足GT与anchor比例小于4倍的所有（GT数目*3）
            r = t[None, :, 4:6] / anchors[:, None]  # wh ratio  ([3,num_targets,2])
            j = torch.max(r, 1. / r).max(2)[0] < model.hyp['anchor_t']  # compare
            # j = wh_iou(anchors, t[:, 4:6]) > model.hyp['iou_t']  # iou(3,n) = wh_iou(anchors(3,2), gwh(n,2))
            a, t = at[j], t.repeat(na, 1, 1)[j]  # filter  a_shape[760]  gt_num(466)  t_shape[760,6] 过滤掉了一部分gt

            # overlaps
            gxy = t[:, 2:4]  # grid xy [760,2]
            z = torch.zeros_like(gxy)
            if style == 'rect2':
                j, k = ((gxy % 1. < g) & (gxy > 1.)).T
                a, t = torch.cat((a, a[j], a[k]), 0), torch.cat((t, t[j], t[k]), 0)
                offsets = torch.cat((z, z[j] + off[0], z[k] + off[1]), 0) * g
            elif style == 'rect4':
            #**功能是在grid补充原来只铺设中心点在当前cell，补充后扩充到三个。（左上角（本cell）--》正上cell，左1cell）**
                j, k = ((gxy % 1. < g) & (gxy > 1.)).T#j--x,k==>y
                l, m = ((gxy % 1. > (1 - g)) & (gxy < (gain[[2, 3]] - 1.))).T
                a, t = torch.cat((a, a[j], a[k], a[l], a[m]), 0), torch.cat((t, t[j], t[k], t[l], t[m]), 0)
                offsets = torch.cat((z, z[j] + off[0], z[k] + off[1], z[l] + off[2], z[m] + off[3]), 0) * g

        # Define
        b, c = t[:, :2].long().T  # image, class
        gxy = t[:, 2:4]  # grid xy
        gwh = t[:, 4:6]  # grid wh
        gij = (gxy - offsets).long()
        gi, gj = gij.T  # grid xy indices

        # Append
        indices.append((b, a, gj, gi))  # image, anchor, grid indices
        tbox.append(torch.cat((gxy - gij, gwh), 1))  # box
        anch.append(anchors[a])  # anchors
        tcls.append(c)  # class

    return tcls, tbox, indices, anch

def compute_loss(p, targets, model):  # predictions, targets, model
    device = targets.device
    ft = torch.cuda.FloatTensor if p[0].is_cuda else torch.Tensor
    lcls, lbox, lobj = ft([0]).to(device), ft([0]).to(device), ft([0]).to(device)
    tcls, tbox, indices, anchors = build_targets(p, targets, model)  # targets
    h = model.hyp  # hyperparameters
    red = 'mean'  # Loss reduction (sum or mean)

    # Define criteria
    BCEcls = nn.BCEWithLogitsLoss(pos_weight=ft([h['cls_pw']]), reduction=red).to(device)
    BCEobj = nn.BCEWithLogitsLoss(pos_weight=ft([h['obj_pw']]), reduction=red).to(device)

    # class label smoothing https://arxiv.org/pdf/1902.04103.pdf eqn 3
    cp, cn = smooth_BCE(eps=0.0)

    # focal loss
    g = h['fl_gamma']  # focal loss gamma
    if g > 0:
        BCEcls, BCEobj = FocalLoss(BCEcls, g), FocalLoss(BCEobj, g)

    # per output
    nt = 0  # number of targets
    np = len(p)  # number of outputs
    balance = [4.0, 1.0, 0.4] if np == 3 else [4.0, 1.0, 0.4, 0.1]  # P3-5 or P3-6
    for i, pi in enumerate(p):  # layer index, layer predictions
        b, a, gj, gi = indices[i]  # image, anchor, gridy, gridx
        tobj = torch.zeros_like(pi[..., 0]).to(device)  # target obj   while i = 0 shape:[batch_size,3,80,80]

        nb = b.shape[0]  # number of targets
        if nb:
            nt += nb  # cumulative targets
            ps = pi[b, a, gj, gi]  # prediction subset corresponding to targets  ps[nb,7]  有gt的位置

            # GIoU
            pxy = ps[:, :2].sigmoid() * 2. - 0.5
            pwh = (ps[:, 2:4].sigmoid() * 2) ** 2 * anchors[i]
            pbox = torch.cat((pxy, pwh), 1).to(device)  # predicted box
            giou = bbox_iou(pbox.t(), tbox[i], x1y1x2y2=False, CIoU=True)  # giou(prediction, target)
            lbox += (1.0 - giou).sum() if red == 'sum' else (1.0 - giou).mean()  # giou loss

            # Obj
            tobj[b, a, gj, gi] = (1.0 - model.gr) + model.gr * giou.detach().clamp(0).type(tobj.dtype)  # giou ratio

            # Class
            if model.nc > 1:  # cls loss (only if multiple classes)
                t = torch.full_like(ps[:, 5:], cn).to(device)  # targets
                t[range(nb), tcls[i]] = cp
                lcls += BCEcls(ps[:, 5:], t)  # BCE

            # Append targets to text file
            # with open('targets.txt', 'a') as file:
            #     [file.write('%11.5g ' * 4 % tuple(x) + '\n') for x in torch.cat((txy[i], twh[i]), 1)]

        lobj += BCEobj(pi[..., 4], tobj) * balance[i]  # obj loss  pi[..., 4]=为confidence 5为cls

    s = 3 / np  # output count scaling
    lbox *= h['giou'] * s
    lobj *= h['obj'] * s * (1.4 if np == 4 else 1.)
    lcls *= h['cls'] * s
    bs = tobj.shape[0]  # batch size
    if red == 'sum':
        g = 3.0  # loss gain
        lobj *= g / bs
        if nt:
            lcls *= g / nt / model.nc
            lbox *= g / nt

    loss = lbox + lobj + lcls
    return loss * bs, torch.cat((lbox, lobj, lcls, loss)).detach()

参考文章：

https://zhuanlan.zhihu.com/p/136382095

• 1 RCNN SSD V5 anchors
• 2 Yolov3边框预测分析
• 3 YOLOv3使用笔记——Kmeans聚类计算anchor boxes
• 4 YOLOV5 code