focal loss

retinanet loss 不同于普通的多分类交叉熵损失，它的分类模型之后接的是sigmoid激活函数

class ClassificationModel(nn.Module):
    def __init__(self, num_features_in, num_anchors=9, num_classes=80, prior=0.01, feature_size=256):
        super(ClassificationModel, self).__init__()

        self.num_classes = num_classes
        self.num_anchors = num_anchors
        
        self.conv1 = nn.Conv2d(num_features_in, feature_size, kernel_size=3, padding=1)
        self.act1 = nn.ReLU()

        self.conv2 = nn.Conv2d(feature_size, feature_size, kernel_size=3, padding=1)
        self.act2 = nn.ReLU()

        self.conv3 = nn.Conv2d(feature_size, feature_size, kernel_size=3, padding=1)
        self.act3 = nn.ReLU()

        self.conv4 = nn.Conv2d(feature_size, feature_size, kernel_size=3, padding=1)
        self.act4 = nn.ReLU()

        self.output = nn.Conv2d(feature_size, num_anchors*num_classes, kernel_size=3, padding=1)
        self.output_act = nn.Sigmoid()

 假设有5类,得到结果为[num_anchor, 5] 背景没有占类别，对于每个点来说 都单独用二分类交叉熵计算

比如[0.6,0.8,0.6],[0,1,0]

计算公式为-0.75*(0.4**2)*log0.6 - 0.25*(0.2**2)*log0.8-0.75*(0.4**2)*log0.6

class FocalLoss(nn.Module):
    def forward(self, classifications, regressions, anchors, annotations):
        alpha = 0.25
        gamma = 2.0
        batch_size = classifications.shape[0]
        classification_losses = []
        regression_losses = []

        anchor = anchors[0, :, :]

        anchor_widths  = anchor[:, 2] - anchor[:, 0]
        anchor_heights = anchor[:, 3] - anchor[:, 1]
        anchor_ctr_x   = anchor[:, 0] + 0.5 * anchor_widths
        anchor_ctr_y   = anchor[:, 1] + 0.5 * anchor_heights

        for j in range(batch_size):

            classification = classifications[j, :, :]
            regression = regressions[j, :, :]

            bbox_annotation = annotations[j, :, :]
            bbox_annotation = bbox_annotation[bbox_annotation[:, 4] != -1]

            if bbox_annotation.shape[0] == 0:
                regression_losses.append(torch.tensor(0).float().cuda())
                classification_losses.append(torch.tensor(0).float().cuda())

                continue

            classification = torch.clamp(classification, 1e-4, 1.0 - 1e-4)

            IoU = calc_iou(anchors[0, :, :], bbox_annotation[:, :4]) # num_anchors x num_annotations

            IoU_max, IoU_argmax = torch.max(IoU, dim=1) # num_anchors x 1

            #import pdb
            #pdb.set_trace()

            # compute the loss for classification
            targets = torch.ones(classification.shape) * -1
            targets = targets.cuda()

            targets[torch.lt(IoU_max, 0.4), :] = 0 #低于0.4全部标0

            positive_indices = torch.ge(IoU_max, 0.5) #高于0.5标1

            num_positive_anchors = positive_indices.sum()

            assigned_annotations = bbox_annotation[IoU_argmax, :]

            targets[positive_indices, :] = 0
            targets[positive_indices, assigned_annotations[positive_indices, 4].long()] = 1

            alpha_factor = torch.ones(targets.shape).cuda() * alpha

            alpha_factor = torch.where(torch.eq(targets, 1.), alpha_factor, 1. - alpha_factor)
            focal_weight = torch.where(torch.eq(targets, 1.), 1. - classification, classification)
            focal_weight = alpha_factor * torch.pow(focal_weight, gamma)

            bce = -(targets * torch.log(classification) + (1.0 - targets) * torch.log(1.0 - classification))

            # cls_loss = focal_weight * torch.pow(bce, gamma)
            cls_loss = focal_weight * bce

            cls_loss = torch.where(torch.ne(targets, -1.0), cls_loss, torch.zeros(cls_loss.shape).cuda())

            classification_losses.append(cls_loss.sum()/torch.clamp(num_positive_anchors.float(), min=1.0))

            # compute the loss for regression

            if positive_indices.sum() > 0:
                assigned_annotations = assigned_annotations[positive_indices, :]

                anchor_widths_pi = anchor_widths[positive_indices]
                anchor_heights_pi = anchor_heights[positive_indices]
                anchor_ctr_x_pi = anchor_ctr_x[positive_indices]
                anchor_ctr_y_pi = anchor_ctr_y[positive_indices]

                gt_widths  = assigned_annotations[:, 2] - assigned_annotations[:, 0]
                gt_heights = assigned_annotations[:, 3] - assigned_annotations[:, 1]
                gt_ctr_x   = assigned_annotations[:, 0] + 0.5 * gt_widths
                gt_ctr_y   = assigned_annotations[:, 1] + 0.5 * gt_heights

                # clip widths to 1
                gt_widths  = torch.clamp(gt_widths, min=1)
                gt_heights = torch.clamp(gt_heights, min=1)

                targets_dx = (gt_ctr_x - anchor_ctr_x_pi) / anchor_widths_pi
                targets_dy = (gt_ctr_y - anchor_ctr_y_pi) / anchor_heights_pi
                targets_dw = torch.log(gt_widths / anchor_widths_pi)
                targets_dh = torch.log(gt_heights / anchor_heights_pi)

                targets = torch.stack((targets_dx, targets_dy, targets_dw, targets_dh))
                targets = targets.t()

                targets = targets/torch.Tensor([[0.1, 0.1, 0.2, 0.2]]).cuda()


                negative_indices = 1 - positive_indices

                regression_diff = torch.abs(targets - regression[positive_indices, :])

                regression_loss = torch.where(
                    torch.le(regression_diff, 1.0 / 9.0),
                    0.5 * 9.0 * torch.pow(regression_diff, 2),
                    regression_diff - 0.5 / 9.0
                )
                regression_losses.append(regression_loss.mean())
            else:
                regression_losses.append(torch.tensor(0).float().cuda())

        return torch.stack(classification_losses).mean(dim=0, keepdim=True), torch.stack(regression_losses).mean(dim=0, keepdim=True)

 自己测试

classification_losses=[]
alpha = 0.25
gamma = 2.0
a = np.array([[0,0,0,1],[-1,-1,-1,-1],[0,0,0,0],[0,1,0,0]],np.float32)
print(a)
b = np.array([[0.2,0.5,0.5,0.6],[0.4,0.4,0.5,0.2],[0.4,0.2,0.5,0.7],[0.2,0.2,0.1,0.5]],np.float32)
print(b)
targets = torch.from_numpy(a)
classification=torch.from_numpy(b)

alpha_factor = (torch.ones(targets.shape) * alpha).float()

alpha_factor = torch.where(torch.eq(targets, 1.), alpha_factor, 1. - alpha_factor)
focal_weight = torch.where(torch.eq(targets, 1.), 1. - classification, classification)
focal_weight = alpha_factor * torch.pow(focal_weight, gamma)

# print(alpha_factor)
# print(focal_weight)
part_1 = -(targets * torch.log(classification))
part_2 = -((1.0 - targets) * torch.log(1.0 - classification))
print('--- ')
print(part_1)
print(part_2)
bce = -(targets * torch.log(classification) + (1.0 - targets) * torch.log(1.0 - classification))
bce = part_1+part_2
# cls_loss = focal_weight * torch.pow(bce, gamma)
cls_loss = focal_weight * bce

cls_loss = torch.where(torch.ne(targets, -1.0), cls_loss, torch.zeros(cls_loss.shape))
# classification_losses.append(cls_loss.sum()/torch.clamp(num_positive_anchors.float(), min=1.0))

 

[[ 0.  0.  0.  1.]
 [-1. -1. -1. -1.]
 [ 0.  0.  0.  0.]
 [ 0.  1.  0.  0.]]
[[ 0.2         0.5         0.5         0.60000002]
 [ 0.40000001  0.40000001  0.5         0.2       ]
 [ 0.40000001  0.2         0.5         0.69999999]
 [ 0.2         0.2         0.1         0.5       ]]
--- 
tensor([[ 0.0000,  0.0000,  0.0000,  0.5108],
        [-0.9163, -0.9163, -0.6931, -1.6094],
        [ 0.0000,  0.0000,  0.0000,  0.0000],
        [ 0.0000,  1.6094,  0.0000,  0.0000]])
123123123
tensor([[ 0.2231,  0.6931,  0.6931,  0.0000],
        [ 1.0217,  1.0217,  1.3863,  0.4463],
        [ 0.5108,  0.2231,  0.6931,  1.2040],
        [ 0.2231,  0.0000,  0.1054,  0.6931]])