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文章目录
前言
假设输入图像是640 * 640:输出三个维度的特征分别是: 80 * 80; 40 * 40; 20 * 20。
三个特征层上的缩放8、16、32。
提示：以下是本篇文章正文内容，下面案例可供参考
首先计算20*20特征层的操作
一、三个特征层的输出做后处理
原始的维度进行flatten操作:
batch_size, 4+1+num_class, 80*80 => batch_size, 4+1+num_class, 6400
batch_size, 4+1+num_class, 40*40 => batch_size, 4+1+num_class, 1600
batch_size, 4+1+num_class, 20*20 => batch_size, 4+1+num_class, 400
concat生成输出outputs并进行permute操作:
batch_size, 4+1+num_class, 8400 => batch_size, 8400, 4+1+num_class
需要注意的是outputs的8400维一般是将6400排在最前面，1600和400随后！
二、对conf,pred做sigmod
获得每一个特征点属于某个种类的概率
output[...,4:] = sigmod(output[...,4:])
三、根据特征层的h, w生成网格点 grids矩阵
对于80 * 80的特征图:
grid:[[[ 0, 0],[ 1, 0], [ 2, 0],..., [77, 79], [78, 79], [79, 79]]]
shape:1 * 6400 * 2
对于40*40的特征图:
grid:[[[ 0, 0],[ 1, 0],[ 2, 0],...,[37, 39],[38, 39],[39, 39]]]
shape:1*1600*2
对于20 * 20的特征图:
grid: [[[ 0, 0],[ 1, 0],[ 2, 0],...,[17, 19],[18, 19],[19, 19]]]
shape:1*400*2
最后concat输出grids的shape为: [1 * 8400 * 2]
四、生成strides矩阵
根据步骤三生成的grids矩阵对应的排列生成strides矩阵
strides: [[[ 8.],[ 8.],[ 8.],...,[32.],[32.],[32.]]]
shape:1*8400*1
五、解码步骤2中的输出，得到新的x, y, w, h
outputs[..., :2] = (outputs[..., :2] + grids) * strides
outputs[..., 2:4] = torch.exp(outputs[..., 2:4]) * strides
六、得分筛选和非极大值抑制
不再赘述。
总结
以上基本就是基于yolox的解码后处理过程。相对于v5, v7anchor-based的解码方式相对更简单一些，但是最后一步解码需要注意。yolox的x,y坐标输出没有做sigmod，w，h用的是exp来解码，类别是用的是sigmod。v5, v7则全部是用的是sigmod进行解码。
相关代码：参考bilibili博主bulllling
import numpy as np
import torch
from torchvision.ops import nms, boxes
def yolo_correct_boxes(box_xy, box_wh, input_shape, image_shape, letterbox_image):
#-----------------------------------------------------------------#
# 把y轴放前面是因为方便预测框和图像的宽高进行相乘
#-----------------------------------------------------------------#
box_yx = box_xy[..., ::-1]
box_hw = box_wh[..., ::-1]
input_shape = np.array(input_shape)
image_shape = np.array(image_shape)
if letterbox_image:
#-----------------------------------------------------------------#
# 这里求出来的offset是图像有效区域相对于图像左上角的偏移情况
# new_shape指的是宽高缩放情况
#-----------------------------------------------------------------#
new_shape = np.round(image_shape * np.min(input_shape/image_shape))
offset = (input_shape - new_shape)/2./input_shape
scale = input_shape/new_shape
box_yx = (box_yx - offset) * scale
box_hw *= scale
box_mins = box_yx - (box_hw / 2.)
box_maxes = box_yx + (box_hw / 2.)
boxes = np.concatenate([box_mins[..., 0:1], box_mins[..., 1:2], box_maxes[..., 0:1], box_maxes[..., 1:2]], axis=-1)
boxes *= np.concatenate([image_shape, image_shape], axis=-1)
return boxes
def decode_outputs(outputs, input_shape):
grids = []
strides = []
hw = [x.shape[-2:] for x in outputs]
#---------------------------------------------------#
# outputs输入前代表每个特征层的预测结果
# batch_size, 4 + 1 + num_classes, 80, 80 => batch_size, 4 + 1 + num_classes, 6400
# batch_size, 5 + num_classes, 40, 40
# batch_size, 5 + num_classes, 20, 20
# batch_size, 4 + 1 + num_classes, 6400 + 1600 + 400 -> batch_size, 4 + 1 + num_classes, 8400
# 堆叠后为batch_size, 8400, 5 + num_classes
#---------------------------------------------------#
outputs = torch.cat([x.flatten(start_dim=2) for x in outputs], dim=2).permute(0, 2, 1)
#---------------------------------------------------#
# 获得每一个特征点属于每一个种类的概率
#---------------------------------------------------#
outputs[:, :, 4:] = torch.sigmoid(outputs[:, :, 4:])
print("hw:",hw)
for h, w in hw:
#---------------------------#
# 根据特征层的高宽生成网格点
#---------------------------#
grid_y, grid_x = torch.meshgrid([torch.arange(h), torch.arange(w)])
#---------------------------#
# 1, 6400, 2
# 1, 1600, 2
# 1, 400, 2
#---------------------------#
grid = torch.stack((grid_x, grid_y), 2).view(1, -1, 2)
shape = grid.shape[:2]
grids.append(grid)
strides.append(torch.full((shape[0], shape[1], 1), input_shape[0] / h))
#---------------------------#
# 将网格点堆叠到一起
# 1, 6400, 2
# 1, 1600, 2
# 1, 400, 2
# 1, 8400, 2
#---------------------------#
grids = torch.cat(grids, dim=1).type(outputs.type())
strides = torch.cat(strides, dim=1).type(outputs.type())
#------------------------#
# 根据网格点进行解码
#------------------------#
outputs[..., :2] = (outputs[..., :2] + grids) * strides
outputs[..., 2:4] = torch.exp(outputs[..., 2:4]) * strides
#-----------------#
# 归一化
#-----------------#
outputs[..., [0,2]] = outputs[..., [0,2]] / input_shape[1]
outputs[..., [1,3]] = outputs[..., [1,3]] / input_shape[0]
return outputs
def non_max_suppression(prediction, num_classes, input_shape, image_shape, letterbox_image, conf_thres=0.5, nms_thres=0.4):
#----------------------------------------------------------#
# 将预测结果的格式转换成左上角右下角的格式。
# prediction [batch_size, num_anchors, 85]
#----------------------------------------------------------#
box_corner = prediction.new(prediction.shape)
box_corner[:, :, 0] = prediction[:, :, 0] - prediction[:, :, 2] / 2
box_corner[:, :, 1] = prediction[:, :, 1] - prediction[:, :, 3] / 2
box_corner[:, :, 2] = prediction[:, :, 0] + prediction[:, :, 2] / 2
box_corner[:, :, 3] = prediction[:, :, 1] + prediction[:, :, 3] / 2
prediction[:, :, :4] = box_corner[:, :, :4]
output = [None for _ in range(len(prediction))]
#----------------------------------------------------------#
# 对输入图片进行循环，一般只会进行一次
#----------------------------------------------------------#
for i, image_pred in enumerate(prediction):
#----------------------------------------------------------#
# 对种类预测部分取max。
# class_conf [num_anchors, 1] 种类置信度
# class_pred [num_anchors, 1] 种类
#----------------------------------------------------------#
class_conf, class_pred = torch.max(image_pred[:, 5:5 + num_classes], 1, keepdim=True)
#----------------------------------------------------------#
# 利用置信度进行第一轮筛选
#----------------------------------------------------------#
conf_mask = (image_pred[:, 4] * class_conf[:, 0] >= conf_thres).squeeze()
if not image_pred.size(0):
continue
#-------------------------------------------------------------------------#
# detections [num_anchors, 7]
# 7的内容为：x1, y1, x2, y2, obj_conf, class_conf, class_pred
#-------------------------------------------------------------------------#
detections = torch.cat((image_pred[:, :5], class_conf, class_pred.float()), 1)
detections = detections[conf_mask]
nms_out_index = boxes.batched_nms(
detections[:, :4],
detections[:, 4] * detections[:, 5],
detections[:, 6],
nms_thres,
)
output[i] = detections[nms_out_index]
# #------------------------------------------#
# # 获得预测结果中包含的所有种类
# #------------------------------------------#
# unique_labels = detections[:, -1].cpu().unique()
# if prediction.is_cuda:
# unique_labels = unique_labels.cuda()
# detections = detections.cuda()
# for c in unique_labels:
# #------------------------------------------#
# # 获得某一类得分筛选后全部的预测结果
# #------------------------------------------#
# detections_class = detections[detections[:, -1] == c]
# #------------------------------------------#
# # 使用官方自带的非极大抑制会速度更快一些！
# #------------------------------------------#
# keep = nms(
# detections_class[:, :4],
# detections_class[:, 4] * detections_class[:, 5],
# nms_thres
# )
# max_detections = detections_class[keep]
# # # 按照存在物体的置信度排序
# # _, conf_sort_index = torch.sort(detections_class[:, 4]*detections_class[:, 5], descending=True)
# # detections_class = detections_class[conf_sort_index]
# # # 进行非极大抑制
# # max_detections = []
# # while detections_class.size(0):
# # # 取出这一类置信度最高的，一步一步往下判断，判断重合程度是否大于nms_thres，如果是则去除掉
# # max_detections.append(detections_class[0].unsqueeze(0))
# # if len(detections_class) == 1:
# # break
# # ious = bbox_iou(max_detections[-1], detections_class[1:])
# # detections_class = detections_class[1:][ious < nms_thres]
# # # 堆叠
# # max_detections = torch.cat(max_detections).data
# # Add max detections to outputs
# output[i] = max_detections if output[i] is None else torch.cat((output[i], max_detections))
if output[i] is not None:
output[i] = output[i].cpu().numpy()
box_xy, box_wh = (output[i][:, 0:2] + output[i][:, 2:4])/2, output[i][:, 2:4] - output[i][:, 0:2]
output[i][:, :4] = yolo_correct_boxes(box_xy, box_wh, input_shape, image_shape, letterbox_image)
return output
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