在Faster R-CNN上项目代码上运行Fast R-CNN。关于初始的roidb数据，主要的几个相关文件有pascal_voc.py,imdb.py,roidb.py等。
（1）运行脚本是 fast_rcnn.sh
# ./experiments/scripts/fast_rcnn.sh 0 VGG_CNN_M_1024 pascal_voc --set EXP_DIR foobar RNG_SEED 42 TRAIN.SCALES "[400,500,600,700]"
运行脚本参数包括gpuID,网络，数据库，其他等参数。主要是调用下面的train_net.py进行网络训练。
time ./tools/train_net.py --gpu ${GPU_ID} \
--solver models/${PT_DIR}/${NET}/fast_rcnn/solver.prototxt \
--weights data/imagenet_models/${NET}.caffemodel \
--imdb ${TRAIN_IMDB} \
--iters ${ITERS} \
${EXTRA_ARGS}（2）训练脚本 tools/train_net.py,主要包括参数解析，以及创建生成roidb.
# set up caffe
caffe.set_mode_gpu()
caffe.set_device(args.gpu_id)
imdb, roidb = combined_roidb(args.imdb_name)
print '{:d} roidb entries'.format(len(roidb))
output_dir = get_output_dir(imdb)
print 'Output will be saved to `{:s}`'.format(output_dir)
train_net(args.solver, roidb, output_dir,
pretrained_model=args.pretrained_model,
max_iters=args.max_iters)1. 调用combined_roidb(..)生成roidb
def combined_roidb(imdb_names):
def get_roidb(imdb_name):
imdb = get_imdb(imdb_name)
print 'Loaded dataset `{:s}` for training'.format(imdb.name)
imdb.set_proposal_method(cfg.TRAIN.PROPOSAL_METHOD)
#print len(imdb._roidb) #None
#roidb = imdb.roidb # 5011 ,before flipped
#print 'before fliiped,roidb_len:',len(roidb)
print 'Set proposal method: {:s}'.format(cfg.TRAIN.PROPOSAL_METHOD)
roidb = get_training_roidb(imdb) #5011*2,after flipped
#print 'after fliiped,roidb_len:',len(roidb)
return roidb
roidbs = [get_roidb(s) for s in imdb_names.split('+')]
roidb = roidbs[0]
if len(roidbs) > 1:
for r in roidbs[1:]:
roidb.extend(r)
imdb = datasets.imdb.imdb(imdb_names)
else:
imdb = get_imdb(imdb_names)
return imdb, roidb该步骤包括根据选定的生成proposal的方法，生成初始的roidb。
imdb.set_proposal_method(cfg.TRAIN.PROPOSAL_METHOD)
在cfg文件中设定了是selcetive search方法。具体实现是在 lib/pascal_voc.py 下的 def selective_search_roidb(self): 方法
def selective_search_roidb(self):
"""
Return the database of selective search regions of interest.
Ground-truth ROIs are also included.
This function loads/saves from/to a cache file to speed up future calls.
"""
cache_file = os.path.join(self.cache_path,
self.name + '_selective_search_roidb.pkl')
if os.path.exists(cache_file):
with open(cache_file, 'rb') as fid:
roidb = cPickle.load(fid)
print '{} ss roidb loaded from {}'.format(self.name, cache_file)
return roidb
if int(self._year) == 2007 or self._image_set != 'test':
gt_roidb = self.gt_roidb()
ss_roidb = self._load_selective_search_roidb(gt_roidb)
#print size(gt_roidb),size(ss_roidb)
roidb = imdb.merge_roidbs(gt_roidb, ss_roidb)
else:
roidb = self._load_selective_search_roidb(None)
with open(cache_file, 'wb') as fid:
cPickle.dump(roidb, fid, cPickle.HIGHEST_PROTOCOL)
print 'wrote ss roidb to {}'.format(cache_file)
return roidb1.1 gt box的生成是通过 pascal_voc.py下定义的方法 gt_roidb()
gt_roidb = self.gt_roidb()
具体实现是通过pascal_voc.py下的 _load_pascal_annotation.也就是对每一幅图像读取标注的 gt_box信息。
def gt_roidb(self):
"""
Return the database of ground-truth regions of interest.
This function loads/saves from/to a cache file to speed up future calls.
"""
cache_file = os.path.join(self.cache_path, self.name + '_gt_roidb.pkl')
if os.path.exists(cache_file):
with open(cache_file, 'rb') as fid:
roidb = cPickle.load(fid)
print '{} gt roidb loaded from {}'.format(self.name, cache_file)
return roidb
gt_roidb = [self._load_pascal_annotation(index)
for index in self.image_index]
with open(cache_file, 'wb') as fid:
cPickle.dump(gt_roidb, fid, cPickle.HIGHEST_PROTOCOL)
print 'wrote gt roidb to {}'.format(cache_file)
return gt_roidb可以看下gt_roidb具体保存的信息,长度为num_image的列表，每个元素是下面返回的结构体。
def _load_pascal_annotation(self, index):
"""
Load image and bounding boxes info from XML file in the PASCAL VOC
format.
"""
filename = os.path.join(self._data_path, 'Annotations', index + '.xml')
tree = ET.parse(filename)
objs = tree.findall('object')
if not self.config['use_diff']:
# Exclude the samples labeled as difficult
non_diff_objs = [
obj for obj in objs if int(obj.find('difficult').text) == 0]
# if len(non_diff_objs) != len(objs):
# print 'Removed {} difficult objects'.format(
# len(objs) - len(non_diff_objs))
objs = non_diff_objs
num_objs = len(objs)
boxes = np.zeros((num_objs, 4), dtype=np.uint16)
gt_classes = np.zeros((num_objs), dtype=np.int32)
overlaps = np.zeros((num_objs, self.num_classes), dtype=np.float32)
# "Seg" area for pascal is just the box area
seg_areas = np.zeros((num_objs), dtype=np.float32)
# Load object bounding boxes into a data frame.
for ix, obj in enumerate(objs):
bbox = obj.find('bndbox')
# Make pixel indexes 0-based
x1 = float(bbox.find('xmin').text) - 1
y1 = float(bbox.find('ymin').text) - 1
x2 = float(bbox.find('xmax').text) - 1
y2 = float(bbox.find('ymax').text) - 1
cls = self._class_to_ind[obj.find('name').text.lower().strip()]
boxes[ix, :] = [x1, y1, x2, y2]
def _load_pascal_annotation(self, index):
"""
Load image and bounding boxes info from XML file in the PASCAL VOC
format.
"""
filename = os.path.join(self._data_path, 'Annotations', index + '.xml')
tree = ET.parse(filename)
objs = tree.findall('object')
if not self.config['use_diff']:
# Exclude the samples labeled as difficult
non_diff_objs = [
obj for obj in objs if int(obj.find('difficult').text) == 0]
# if len(non_diff_objs) != len(objs):
# print 'Removed {} difficult objects'.format(
# len(objs) - len(non_diff_objs))
objs = non_diff_objs
num_objs = len(objs)
boxes = np.zeros((num_objs, 4), dtype=np.uint16)
gt_classes = np.zeros((num_objs), dtype=np.int32)
overlaps = np.zeros((num_objs, self.num_classes), dtype=np.float32)
# "Seg" area for pascal is just the box area
seg_areas = np.zeros((num_objs), dtype=np.float32)
# Load object bounding boxes into a data frame.
for ix, obj in enumerate(objs):
bbox = obj.find('bndbox')
# Make pixel indexes 0-based
x1 = float(bbox.find('xmin').text) - 1
y1 = float(bbox.find('ymin').text) - 1
x2 = float(bbox.find('xmax').text) - 1
y2 = float(bbox.find('ymax').text) - 1
cls = self._class_to_ind[obj.find('name').text.lower().strip()]
boxes[ix, :] = [x1, y1, x2, y2]
gt_classes[ix] = cls
#print cls
overlaps[ix, cls] = 1.0
seg_areas[ix] = (x2 - x1 + 1) * (y2 - y1 + 1)
overlaps = scipy.sparse.csr_matrix(overlaps)
return {'boxes' : boxes, #[num_box,x1,y1,x2,y2 ]
'gt_classes': gt_classes, #[num_box]
'gt_overlaps' : overlaps, #[num_box,num_class]
'flipped' : False,
'seg_areas' : seg_areas}每张图像对应一个结构体，包括：
boxes,保存所有SS选择的候选框的位置信息，从xml文件读取。
gt_class,是读取object下name，从类别映射，得到类别（数字表示）。
gt_overlaps,gt_box的overlaps值赋值为1.
....
可以看下VOC2007中的标注xml信息，其中的object就给出了类别以及box位置。
1.2 通过_load_selective_search_roidb(gt_roidb) 加载从SS算法得到的候选框ss_box的信息。
ss_roidb = self._load_selective_search_roidb(gt_roidb)SS算法有提供VOC候选框的mat文件，其中包括图像的名称，以及每张图像框定的box信息。下面包括读取box列表，以及调用create_roidb_from_box_list()函数生成ss_roidb.
def _load_selective_search_roidb(self, gt_roidb):
filename = os.path.abspath(os.path.join(cfg.DATA_DIR,
'selective_search_data',
self.name + '.mat'))
assert os.path.exists(filename), \
'Selective search data not found at: {}'.format(filename)
raw_data = sio.loadmat(filename)['boxes'].ravel()
box_list = []
for i in xrange(raw_data.shape[0]):
boxes = raw_data[i][:, (1, 0, 3, 2)] - 1
keep = ds_utils.unique_boxes(boxes)
boxes = boxes[keep, :]
keep = ds_utils.filter_small_boxes(boxes, self.config['min_size'])
boxes = boxes[keep, :]
box_list.append(boxes)
return self.create_roidb_from_box_list(box_list, gt_roidb)具体实现是在lib/imdb,py中的方法 create_roidb_from_box_list（）
PS：有一篇博客介绍roidb.py写的很好，这个地方给出了roidb的具体信息。
def create_roidb_from_box_list(self, box_list, gt_roidb):
assert len(box_list) == self.num_images, \
'Number of boxes must match number of ground-truth images'
roidb = []
for i in xrange(self.num_images):
boxes = box_list[i]
num_boxes = boxes.shape[0]
overlaps = np.zeros((num_boxes, self.num_classes), dtype=np.float32)
if gt_roidb is not None and gt_roidb[i]['boxes'].size > 0:
gt_boxes = gt_roidb[i]['boxes']
gt_classes = gt_roidb[i]['gt_classes']
gt_overlaps = bbox_overlaps(boxes.astype(np.float),
gt_boxes.astype(np.float))
argmaxes = gt_overlaps.argmax(axis=1)
maxes = gt_overlaps.max(axis=1)
I = np.where(maxes > 0)[0]
overlaps[I, gt_classes[argmaxes[I]]] = maxes[I]
overlaps = scipy.sparse.csr_matrix(overlaps)
roidb.append({
'boxes' : boxes,
'gt_classes' : np.zeros((num_boxes,), dtype=np.int32),
'gt_overlaps' : overlaps,
'flipped' : False,
'seg_areas' : np.zeros((num_boxes,), dtype=np.float32),
})
return roidb这边生成的roidb数据是根据原始的候选框。 对每张图像，计算所有的候选框boxes与gt-box的overlaps(IoU),对每个候选框，将最大的overlaps(选择>0的box)保存在gt_overlaps(对应的class,列值)。此处ss_box的gt_classes全部赋值成0. (?)
1.3 合并ss_roidb 和gt_roidb 信息为 roidb
roidb = imdb.merge_roidbs(gt_roidb, ss_roidb)具体实现是在 lib/imdb,py下的 merger_roidbs()
def merge_roidbs(a, b):
assert len(a) == len(b)
for i in xrange(len(a)):
a[i]['boxes'] = np.vstack((a[i]['boxes'], b[i]['boxes']))
a[i]['gt_classes'] = np.hstack((a[i]['gt_classes'],
b[i]['gt_classes']))
a[i]['gt_overlaps'] = scipy.sparse.vstack([a[i]['gt_overlaps'],
b[i]['gt_overlaps']])
a[i]['seg_areas'] = np.hstack((a[i]['seg_areas'],
b[i]['seg_areas']))
return a1.4 对训练图像进行增强，再生成roidb
roidb = get_training_roidb(imdb) #5011*2,after flipped
get_training_roidb(imdb)定义在 lib/fast_rcnn/train.py下。实现对原始图像进行镜像增强，保存镜像图像对应的 roidb数据。另外调用lib/roibd.py下的 prepare_roidb(imdb)方法计算所有 roidb的max_classes以及相应overlaps值。
def get_training_roidb(imdb):
"""Returns a roidb (Region of Interest database) for use in training."""
if cfg.TRAIN.USE_FLIPPED:
print 'Appending horizontally-flipped training examples...'
imdb.append_flipped_images()
print 'done'
print 'Preparing training data...'
rdl_roidb.prepare_roidb(imdb)
print 'done'
return imdb.roidb2. 调用Caffe进行训练
train_net(args.solver, roidb, output_dir,
pretrained_model=args.pretrained_model,
max_iters=args.max_iters)调用 lib/fast_rcnn/train.py 中的train_net(...)
def train_net(solver_prototxt, roidb, output_dir,
pretrained_model=None, max_iters=40000):
"""Train a Fast R-CNN network."""
roidb = filter_roidb(roidb)
sw = SolverWrapper(solver_prototxt, roidb, output_dir,
pretrained_model=pretrained_model)
print 'Solving...'
model_paths = sw.train_model(max_iters)
print 'done solving'
return model_paths2.1 过滤掉部分即不存在前景也不存在背景的图像。
（前景满足某个阈值([0.5,1] ，背景也是同样满足某个阈值[0.1,0.5) ）
2.2 定义SolverWrapper 类
class SolverWrapper(object):
"""A simple wrapper around Caffe's solver.
This wrapper gives us control over he snapshotting process, which we
use to unnormalize the learned bounding-box regression weights.
"""
def __init__(self, solver_prototxt, roidb, output_dir,
pretrained_model=None):
"""Initialize the SolverWrapper."""
self.output_dir = output_dir
if (cfg.TRAIN.HAS_RPN and cfg.TRAIN.BBOX_REG and
cfg.TRAIN.BBOX_NORMALIZE_TARGETS):
# RPN can only use precomputed normalization because there are no
# fixed statistics to compute a priori
assert cfg.TRAIN.BBOX_NORMALIZE_TARGETS_PRECOMPUTED
if cfg.TRAIN.BBOX_REG:
print 'Computing bounding-box regression targets...'
self.bbox_means, self.bbox_stds = \
rdl_roidb.add_bbox_regression_targets(roidb)
print 'done'
self.solver = caffe.SGDSolver(solver_prototxt)
if pretrained_model is not None:
print ('Loading pretrained model '
'weights from {:s}').format(pretrained_model)
self.solver.net.copy_from(pretrained_model)
self.solver_param = caffe_pb2.SolverParameter()
with open(solver_prototxt, 'rt') as f:
pb2.text_format.Merge(f.read(), self.solver_param)
self.solver.net.layers[0].set_roidb(roidb)对于那些max_overlaps大于某个阈值的box，
def add_bbox_regression_targets(roidb):
"""Add information needed to train bounding-box regressors."""
assert len(roidb) > 0
assert 'max_classes' in roidb[0], 'Did you call prepare_roidb first?'
num_images = len(roidb)
# Infer number of classes from the number of columns in gt_overlaps
num_classes = roidb[0]['gt_overlaps'].shape[1]
for im_i in xrange(num_images):
rois = roidb[im_i]['boxes']
max_overlaps = roidb[im_i]['max_overlaps']
#print 'add_bbox_regression_targets:max_overlaps:',max_overlaps.shape
max_classes = roidb[im_i]['max_classes']
roidb[im_i]['bbox_targets'] = \
_compute_targets(rois, max_overlaps, max_classes)
if cfg.TRAIN.BBOX_NORMALIZE_TARGETS_PRECOMPUTED:
# Use fixed / precomputed "means" and "stds" instead of empirical values
means = np.tile(
np.array(cfg.TRAIN.BBOX_NORMALIZE_MEANS), (num_classes, 1))
stds = np.tile(
np.array(cfg.TRAIN.BBOX_NORMALIZE_STDS), (num_classes, 1))
else:
# Compute values needed for means and stds
# var(x) = E(x^2) - E(x)^2
class_counts = np.zeros((num_classes, 1)) + cfg.EPS
sums = np.zeros((num_classes, 4))
squared_sums = np.zeros((num_classes, 4))
for im_i in xrange(num_images):
targets = roidb[im_i]['bbox_targets']
for cls in xrange(1, num_classes):
cls_inds = np.where(targets[:, 0] == cls)[0]
if cls_inds.size > 0:
class_counts[cls] += cls_inds.size
sums[cls, :] += targets[cls_inds, 1:].sum(axis=0)
squared_sums[cls, :] += \
(targets[cls_inds, 1:] ** 2).sum(axis=0)
means = sums / class_counts
stds = np.sqrt(squared_sums / class_counts - means ** 2)
print 'bbox target means:'
print means
print means[1:, :].mean(axis=0) # ignore bg class
print 'bbox target stdevs:'
print stds
print stds[1:, :].mean(axis=0) # ignore bg class
# Normalize targets
if cfg.TRAIN.BBOX_NORMALIZE_TARGETS:
print "Normalizing targets"
for im_i in xrange(num_images):
targets = roidb[im_i]['bbox_targets']
for cls in xrange(1, num_classes):
cls_inds = np.where(targets[:, 0] == cls)[0]
roidb[im_i]['bbox_targets'][cls_inds, 1:] -= means[cls, :]
roidb[im_i]['bbox_targets'][cls_inds, 1:] /= stds[cls, :]
else:
print "NOT normalizing targets"
# These values will be needed for making predictions
# (the predicts will need to be unnormalized and uncentered)
return means.ravel(), stds.ravel()
下面这段代码是来自上面的博客，注释部分写的很清楚了。
def _compute_targets(rois, overlaps, labels): # 参数rois只含有当前图片的box信息
"""Compute bounding-box regression targets for an image."""
# Indices目录 of ground-truth ROIs
# ground-truth ROIs
gt_inds = np.where(overlaps == 1)[0]
if len(gt_inds) == 0:
# Bail if the image has no ground-truth ROIs
# 不存在gt ROI，返回空数组
return np.zeros((rois.shape[0], 5), dtype=np.float32)
# Indices of examples for which we try to make predictions
# BBOX阈值，只有ROI与gt的重叠度大于阈值，这样的ROI才能用作bb回归的训练样本
ex_inds = np.where(overlaps >= cfg.TRAIN.BBOX_THRESH)[0]
# Get IoU overlap between each ex ROI and gt ROI
# 计算ex ROI and gt ROI的IoU
ex_gt_overlaps = bbox_overlaps(
# 变数据格式为float
np.ascontiguousarray(rois[ex_inds, :], dtype=np.float),
np.ascontiguousarray(rois[gt_inds, :], dtype=np.float))
# Find which gt ROI each ex ROI has max overlap with:
# this will be the ex ROI's gt target
# 这里每一行代表一个ex_roi,列代表gt_roi,元素数值代表两者的IoU
gt_assignment = ex_gt_overlaps.argmax(axis=1) #按行求最大，返回索引.
gt_rois = rois[gt_inds[gt_assignment], :] #每个ex_roi对应的gt_rois，与下面ex_roi数量相同
ex_rois = rois[ex_inds, :]
targets = np.zeros((rois.shape[0], 5), dtype=np.float32)
targets[ex_inds, 0] = labels[ex_inds] #第一个元素是label
targets[ex_inds, 1:] = bbox_transform(ex_rois, gt_rois) #后4个元素是ex_box与gt_box的4个方位的偏移
return targets
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