anchor生成

参考：
https://github.com/open-mmlab/mmdetection

def single_level_grid_anchors(self,
                                  base_anchors,
                                  featmap_size,
                                  stride=(16, 16),
                                  device='cuda'):
        """Generate grid anchors of a single level.
        Note:
            This function is usually called by method ``self.grid_anchors``.
        Args:
            base_anchors (torch.Tensor): The base anchors of a feature grid.
            featmap_size (tuple[int]): Size of the feature maps.
            stride (tuple[int], optional): Stride of the feature map.
                Defaults to (16, 16).
            device (str, optional): Device the tensor will be put on.
                Defaults to 'cuda'.
        Returns:
            torch.Tensor: Anchors in the overall feature maps.
        """
        feat_h, feat_w = featmap_size
        shift_x = torch.arange(0, feat_w, device=device) * stride[0]
        shift_y = torch.arange(0, feat_h, device=device) * stride[1]
        shift_xx, shift_yy = self._meshgrid(shift_x, shift_y)
        shifts = torch.stack([shift_xx, shift_yy, shift_xx, shift_yy], dim=-1)
        shifts = shifts.type_as(base_anchors)
        # first feat_w elements correspond to the first row of shifts
        # add A anchors (1, A, 4) to K shifts (K, 1, 4) to get
        # shifted anchors (K, A, 4), reshape to (K*A, 4)

        all_anchors = base_anchors[None, :, :] + shifts[:, None, :]
        all_anchors = all_anchors.view(-1, 4)
        # first A rows correspond to A anchors of (0, 0) in feature map,
        # then (0, 1), (0, 2), ...
        return all_anchors

先生成mesh网格，每个格子值(cell)记录该点的(xstride,ystride)，再加上anchor，得到所有anchor的中心点与大小

但是我们在实际处理中，经常遇到多阶段feature map，只需要在多次调用不同尺度的单层grid_anchor即可

    def grid_anchors(self, featmap_sizes, device='cuda'):
        """Generate grid anchors in multiple feature levels.
        Args:
            featmap_sizes (list[tuple]): List of feature map sizes in
                multiple feature levels.
            device (str): Device where the anchors will be put on.
        Return:
            list[torch.Tensor]: Anchors in multiple feature levels. \
                The sizes of each tensor should be [N, 4], where \
                N = width * height * num_base_anchors, width and height \
                are the sizes of the corresponding feature lavel, \
                num_base_anchors is the number of anchors for that level.
        """
        assert self.num_levels == len(featmap_sizes)
        multi_level_anchors = []
        for i in range(self.num_levels):
            anchors = self.single_level_grid_anchors(
                self.base_anchors[i].to(device),
                featmap_sizes[i],
                self.strides[i],
                device=device)
            multi_level_anchors.append(anchors)
        return multi_level_anchors

最后mmdet里面还做了一个valid_anchor标志

def get_anchors(self, featmap_sizes, img_metas, device='cuda'):
        """Get anchors according to feature map sizes.
        Args:
            featmap_sizes (list[tuple]): Multi-level feature map sizes.
            img_metas (list[dict]): Image meta info.
            device (torch.device | str): Device for returned tensors
        Returns:
            tuple:
                anchor_list (list[Tensor]): Anchors of each image.
                valid_flag_list (list[Tensor]): Valid flags of each image.
        """
        num_imgs = len(img_metas)

        # since feature map sizes of all images are the same, we only compute
        # anchors for one time
        multi_level_anchors = self.anchor_generator.grid_anchors(
            featmap_sizes, device)
        anchor_list = [multi_level_anchors for _ in range(num_imgs)]

        # for each image, we compute valid flags of multi level anchors
        valid_flag_list = []
        for img_id, img_meta in enumerate(img_metas):
            multi_level_flags = self.anchor_generator.valid_flags(
                featmap_sizes, img_meta['pad_shape'], device)
            valid_flag_list.append(multi_level_flags)

        return anchor_list, valid_flag_list

valid_flag_list这一块不是很明白其作用
至此所有的anchor生成完成
那么anchor与那些参数有关呢？
一、每个cell的base anchor 大小和比例
二、特征图的size、stride以及特征图的数量