car-detection-bayes/utils/utils.py

import random

import cv2
import numpy as np
import torch
import torch.nn.functional as F

# Set printoptions
torch.set_printoptions(linewidth=1320, precision=5, profile='long')
np.set_printoptions(linewidth=320, formatter={'float_kind': '{11.5g}'.format})  # format short g, %precision=5


def load_classes(path):
    """
    Loads class labels at 'path'
    """
    fp = open(path, "r")
    names = fp.read().split("\n")[:-1]
    return names


def modelinfo(model):  # Plots a line-by-line description of a PyTorch model
    nparams = sum(x.numel() for x in model.parameters())
    ngradients = sum(x.numel() for x in model.parameters() if x.requires_grad)
    print('\n%4s %70s %9s %12s %20s %12s %12s' % ('', 'name', 'gradient', 'parameters', 'shape', 'mu', 'sigma'))
    for i, (name, p) in enumerate(model.named_parameters()):
        name = name.replace('module_list.', '')
        print('%4g %70s %9s %12g %20s %12g %12g' % (
            i, name, p.requires_grad, p.numel(), list(p.shape), p.mean(), p.std()))
    print('\n%g layers, %g parameters, %g gradients' % (i + 1, nparams, ngradients))


def xview_class_weights(indices):  # weights of each class in the training set, normalized to mu = 1
    weights = 1 / torch.FloatTensor(
        [74, 364, 713, 71, 2925, 209767, 6925, 1101, 3612, 12134, 5871, 3640, 860, 4062, 895, 149, 174, 17, 1624, 1846,
         125, 122, 124, 662, 1452, 697, 222, 190, 786, 200, 450, 295, 79, 205, 156, 181, 70, 64, 337, 1352, 336, 78,
         628, 841, 287, 83, 702, 1177, 313865, 195, 1081, 882, 1059, 4175, 123, 1700, 2317, 1579, 368, 85])
    weights /= weights.sum()
    return weights[indices]


def plot_one_box(x, img, color=None, label=None, line_thickness=None):  # Plots one bounding box on image img
    tl = line_thickness or round(0.003 * max(img.shape[0:2]))  # line thickness
    color = color or [random.randint(0, 255) for _ in range(3)]
    c1, c2 = (int(x[0]), int(x[1])), (int(x[2]), int(x[3]))
    cv2.rectangle(img, c1, c2, color, thickness=tl)
    if label:
        tf = max(tl - 1, 1)  # font thickness
        t_size = cv2.getTextSize(label, 0, fontScale=tl / 3, thickness=tf)[0]
        c2 = c1[0] + t_size[0], c1[1] - t_size[1] - 3
        cv2.rectangle(img, c1, c2, color, -1)  # filled
        cv2.putText(img, label, (c1[0], c1[1] - 2), 0, tl / 3, [225, 255, 255], thickness=tf, lineType=cv2.LINE_AA)


def weights_init_normal(m):
    classname = m.__class__.__name__
    if classname.find('Conv') != -1:
        torch.nn.init.normal_(m.weight.data, 0.0, 0.03)
    elif classname.find('BatchNorm2d') != -1:
        torch.nn.init.normal_(m.weight.data, 1.0, 0.03)
        torch.nn.init.constant_(m.bias.data, 0.0)


def xyxy2xywh(x):  # Convert bounding box format from [x1, y1, x2, y2] to [x, y, w, h]
    y = torch.zeros(x.shape) if x.dtype is torch.float32 else np.zeros(x.shape)
    y[:, 0] = (x[:, 0] + x[:, 2]) / 2
    y[:, 1] = (x[:, 1] + x[:, 3]) / 2
    y[:, 2] = x[:, 2] - x[:, 0]
    y[:, 3] = x[:, 3] - x[:, 1]
    return y


def xywh2xyxy(x):  # Convert bounding box format from [x, y, w, h] to [x1, y1, x2, y2]
    y = torch.zeros(x.shape) if x.dtype is torch.float32 else np.zeros(x.shape)
    y[:, 0] = (x[:, 0] - x[:, 2] / 2)
    y[:, 1] = (x[:, 1] - x[:, 3] / 2)
    y[:, 2] = (x[:, 0] + x[:, 2] / 2)
    y[:, 3] = (x[:, 1] + x[:, 3] / 2)
    return y


def compute_ap(recall, precision):
    """ Compute the average precision, given the recall and precision curves.
    Code originally from https://github.com/rbgirshick/py-faster-rcnn.
    # Arguments
        recall:    The recall curve (list).
        precision: The precision curve (list).
    # Returns
        The average precision as computed in py-faster-rcnn.
    """
    # correct AP calculation
    # first append sentinel values at the end
    mrec = np.concatenate(([0.], recall, [1.]))
    mpre = np.concatenate(([0.], precision, [0.]))

    # compute the precision envelope
    for i in range(mpre.size - 1, 0, -1):
        mpre[i - 1] = np.maximum(mpre[i - 1], mpre[i])

    # to calculate area under PR curve, look for points
    # where X axis (recall) changes value
    i = np.where(mrec[1:] != mrec[:-1])[0]

    # and sum (\Delta recall) * prec
    ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])
    return ap


def bbox_iou(box1, box2, x1y1x2y2=True):
    """
    Returns the IoU of two bounding boxes
    """
    if x1y1x2y2:
        # Get the coordinates of bounding boxes
        b1_x1, b1_y1, b1_x2, b1_y2 = box1[:, 0], box1[:, 1], box1[:, 2], box1[:, 3]
        b2_x1, b2_y1, b2_x2, b2_y2 = box2[:, 0], box2[:, 1], box2[:, 2], box2[:, 3]
    else:
        # Transform from center and width to exact coordinates
        b1_x1, b1_x2 = box1[:, 0] - box1[:, 2] / 2, box1[:, 0] + box1[:, 2] / 2
        b1_y1, b1_y2 = box1[:, 1] - box1[:, 3] / 2, box1[:, 1] + box1[:, 3] / 2
        b2_x1, b2_x2 = box2[:, 0] - box2[:, 2] / 2, box2[:, 0] + box2[:, 2] / 2
        b2_y1, b2_y2 = box2[:, 1] - box2[:, 3] / 2, box2[:, 1] + box2[:, 3] / 2

    # get the corrdinates of the intersection rectangle
    inter_rect_x1 = torch.max(b1_x1, b2_x1)
    inter_rect_y1 = torch.max(b1_y1, b2_y1)
    inter_rect_x2 = torch.min(b1_x2, b2_x2)
    inter_rect_y2 = torch.min(b1_y2, b2_y2)
    # Intersection area
    inter_area = torch.clamp(inter_rect_x2 - inter_rect_x1, 0) * torch.clamp(inter_rect_y2 - inter_rect_y1, 0)
    # Union Area
    b1_area = (b1_x2 - b1_x1) * (b1_y2 - b1_y1)
    b2_area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1)

    return inter_area / (b1_area + b2_area - inter_area + 1e-16)


def build_targets(pred_boxes, pred_conf, pred_cls, target, anchor_wh, nA, nC, nG, requestPrecision):
    """
    returns nGT, nCorrect, tx, ty, tw, th, tconf, tcls
    """
    nB = len(target)  # target.shape[0]
    nT = [len(x) for x in target]  # torch.argmin(target[:, :, 4], 1)  # targets per image
    tx = torch.zeros(nB, nA, nG, nG)  # batch size (4), number of anchors (3), number of grid points (13)
    ty = torch.zeros(nB, nA, nG, nG)
    tw = torch.zeros(nB, nA, nG, nG)
    th = torch.zeros(nB, nA, nG, nG)
    tconf = torch.ByteTensor(nB, nA, nG, nG).fill_(0)
    tcls = torch.ByteTensor(nB, nA, nG, nG, nC).fill_(0)  # nC = number of classes
    TP = torch.ByteTensor(nB, max(nT)).fill_(0)
    FP = torch.ByteTensor(nB, max(nT)).fill_(0)
    FN = torch.ByteTensor(nB, max(nT)).fill_(0)
    TC = torch.ShortTensor(nB, max(nT)).fill_(-1)  # target category

    for b in range(nB):
        nTb = nT[b]  # number of targets
        if nTb == 0:
            continue
        t = target[b]
        FN[b, :nTb] = 1

        # Convert to position relative to box
        TC[b, :nTb], gx, gy, gw, gh = t[:, 0].long(), t[:, 1] * nG, t[:, 2] * nG, t[:, 3] * nG, t[:, 4] * nG
        # Get grid box indices and prevent overflows (i.e. 13.01 on 13 anchors)
        gi = torch.clamp(gx.long(), min=0, max=nG - 1)
        gj = torch.clamp(gy.long(), min=0, max=nG - 1)

        # iou of targets-anchors (using wh only)
        box1 = t[:, 3:5] * nG
        # box2 = anchor_grid_wh[:, gj, gi]
        box2 = anchor_wh.unsqueeze(1).repeat(1, nTb, 1)
        inter_area = torch.min(box1, box2).prod(2)
        iou_anch = inter_area / (gw * gh + box2.prod(2) - inter_area + 1e-16)

        # Select best iou_pred and anchor
        iou_anch_best, a = iou_anch.max(0)  # best anchor [0-2] for each target

        # Two targets can not claim the same anchor
        if nTb > 1:
            iou_order = np.argsort(-iou_anch_best)  # best to worst
            # u = torch.cat((gi, gj, a), 0).view(3, -1).numpy()
            # _, first_unique = np.unique(u[:, iou_order], axis=1, return_index=True)  # first unique indices
            u = gi.float() * 0.4361538773074043 + gj.float() * 0.28012496588736746 + a.float() * 0.6627147212460307
            _, first_unique = np.unique(u[iou_order], return_index=True)  # first unique indices
            # print(((np.sort(first_unique) - np.sort(first_unique2)) ** 2).sum())
            i = iou_order[first_unique]
            # best anchor must share significant commonality (iou) with target
            i = i[iou_anch_best[i] > 0.10]
            if len(i) == 0:
                continue

            a, gj, gi, t = a[i], gj[i], gi[i], t[i]
            if len(t.shape) == 1:
                t = t.view(1, 5)
        else:
            if iou_anch_best < 0.10:
                continue
            i = 0

        tc, gx, gy, gw, gh = t[:, 0].long(), t[:, 1] * nG, t[:, 2] * nG, t[:, 3] * nG, t[:, 4] * nG

        # Coordinates
        tx[b, a, gj, gi] = gx - gi.float()
        ty[b, a, gj, gi] = gy - gj.float()
        # Width and height (sqrt method)
        # tw[b, a, gj, gi] = torch.sqrt(gw / anchor_wh[a, 0]) / 2
        # th[b, a, gj, gi] = torch.sqrt(gh / anchor_wh[a, 1]) / 2
        # Width and height (yolov3 method)
        tw[b, a, gj, gi] = torch.log(gw / anchor_wh[a, 0] + 1e-16)
        th[b, a, gj, gi] = torch.log(gh / anchor_wh[a, 1] + 1e-16)

        # One-hot encoding of label
        tcls[b, a, gj, gi, tc] = 1
        tconf[b, a, gj, gi] = 1

        if requestPrecision:
            # predicted classes and confidence
            tb = torch.cat((gx - gw / 2, gy - gh / 2, gx + gw / 2, gy + gh / 2)).view(4, -1).t()  # target boxes
            pcls = torch.argmax(pred_cls[b, a, gj, gi], 1).cpu()
            pconf = torch.sigmoid(pred_conf[b, a, gj, gi]).cpu()
            iou_pred = bbox_iou(tb, pred_boxes[b, a, gj, gi].cpu())

            TP[b, i] = (pconf > 0.99) & (iou_pred > 0.5) & (pcls == tc)
            FP[b, i] = (pconf > 0.99) & (TP[b, i] == 0)  # coordinates or class are wrong
            FN[b, i] = pconf <= 0.99  # confidence score is too low (set to zero)

    return tx, ty, tw, th, tconf, tcls, TP, FP, FN, TC


def non_max_suppression(prediction, conf_thres=0.5, nms_thres=0.4):
    prediction = prediction.cpu()

    """
    Removes detections with lower object confidence score than 'conf_thres' and performs
    Non-Maximum Suppression to further filter detections.
    Returns detections with shape:
        (x1, y1, x2, y2, object_conf, class_score, class_pred)
    """

    output = [None for _ in range(len(prediction))]
    for image_i, pred in enumerate(prediction):
        # Filter out confidence scores below threshold
        # Get score and class with highest confidence

        # cross-class NMS
        cross_class_nms = False
        if cross_class_nms:
            thresh = 0.85
            a = pred.clone()
            a = a[np.argsort(-a[:, 4])]  # sort best to worst
            radius = 30  # area to search for cross-class ious
            for i in range(len(a)):
                if i >= len(a) - 1:
                    break

                close = (np.abs(a[i, 0] - a[i + 1:, 0]) < radius) & (np.abs(a[i, 1] - a[i + 1:, 1]) < radius)
                close = close.nonzero()

                if len(close) > 0:
                    close = close + i + 1
                    iou = bbox_iou(a[i:i + 1, :4], a[close.squeeze(), :4].reshape(-1, 4), x1y1x2y2=False)
                    bad = close[iou > thresh]

                    if len(bad) > 0:
                        mask = torch.ones(len(a)).type(torch.ByteTensor)
                        mask[bad] = 0
                        a = a[mask]
            pred = a

        x, y, w, h = pred[:, 0].numpy(), pred[:, 1].numpy(), pred[:, 2].numpy(), pred[:, 3].numpy()
        a = w * h  # area
        ar = w / (h + 1e-16)  # aspect ratio
        log_w, log_h, log_a, log_ar = np.log(w), np.log(h), np.log(a), np.log(ar)

        # n = len(w)
        # shape_likelihood = np.zeros((n, 60), dtype=np.float32)
        # x = np.concatenate((log_w.reshape(-1, 1), log_h.reshape(-1, 1)), 1)
        # from scipy.stats import multivariate_normal
        # for c in range(60):
        # shape_likelihood[:, c] = multivariate_normal.pdf(x, mean=mat['class_mu'][c, :2], cov=mat['class_cov'][c, :2, :2])

        class_prob, class_pred = torch.max(F.softmax(pred[:, 5:], 1), 1)

        v = ((pred[:, 4] > conf_thres) & (class_prob > .3)).numpy()
        v = v.nonzero()

        pred = pred[v]
        class_prob = class_prob[v]
        class_pred = class_pred[v]

        # If none are remaining => process next image
        nP = pred.shape[0]
        if not nP:
            continue

        # From (center x, center y, width, height) to (x1, y1, x2, y2)
        box_corner = pred.new(nP, 4)
        xy = pred[:, 0:2]
        wh = pred[:, 2:4] / 2
        box_corner[:, 0:2] = xy - wh
        box_corner[:, 2:4] = xy + wh
        pred[:, :4] = box_corner

        # Detections ordered as (x1, y1, x2, y2, obj_conf, class_prob, class_pred)
        detections = torch.cat((pred[:, :5], class_prob.float().unsqueeze(1), class_pred.float().unsqueeze(1)), 1)
        # Iterate through all predicted classes
        unique_labels = detections[:, -1].cpu().unique()
        if prediction.is_cuda:
            unique_labels = unique_labels.cuda()

        nms_style = 'OR'  # 'AND' or 'OR' (classical)
        for c in unique_labels:
            # Get the detections with the particular class
            detections_class = detections[detections[:, -1] == c]
            # Sort the detections by maximum objectness confidence
            _, conf_sort_index = torch.sort(detections_class[:, 4], descending=True)
            detections_class = detections_class[conf_sort_index]
            # Perform non-maximum suppression
            max_detections = []

            if nms_style == 'OR':  # Classical NMS
                while detections_class.shape[0]:
                    # Get detection with highest confidence and save as max detection
                    max_detections.append(detections_class[0].unsqueeze(0))
                    # Stop if we're at the last detection
                    if len(detections_class) == 1:
                        break
                    # Get the IOUs for all boxes with lower confidence
                    ious = bbox_iou(max_detections[-1], detections_class[1:])

                    # Remove detections with IoU >= NMS threshold
                    detections_class = detections_class[1:][ious < nms_thres]

            elif nms_style == 'AND':  # 'AND'-style NMS, at least two boxes must share commonality to pass, single boxes erased
                while detections_class.shape[0]:
                    if len(detections_class) == 1:
                        break

                    ious = bbox_iou(detections_class[:1], detections_class[1:])

                    if ious.max() > 0.5:
                        max_detections.append(detections_class[0].unsqueeze(0))

                    # Remove detections with IoU >= NMS threshold
                    detections_class = detections_class[1:][ious < nms_thres]

            if len(max_detections) > 0:
                max_detections = torch.cat(max_detections).data
                # Add max detections to outputs
                output[image_i] = max_detections if output[image_i] is None else torch.cat(
                    (output[image_i], max_detections))

    return output


def strip_optimizer_from_checkpoint(filename='checkpoints/best.pt'):
    # Strip optimizer from *.pt files for lighter files (reduced by 2/3 size)
    import torch
    a = torch.load(filename, map_location='cpu')
    a['optimizer'] = []
    torch.save(a, filename.replace('.pt', '_lite.pt'))


def plotResults():
    # Plot YOLO training results file "results.txt"
    import numpy as np
    import matplotlib.pyplot as plt
    plt.figure(figsize=(16, 8))
    s = ['X', 'Y', 'Width', 'Height', 'Objectness', 'Classification', 'Total Loss', 'Precision', 'Recall']
    for f in ('/Users/glennjocher/Downloads/results_CE.txt',
              '/Users/glennjocher/Downloads/results_BCE.txt'):
        results = np.loadtxt(f, usecols=[2, 3, 4, 5, 6, 7, 8, 9, 10]).T
        for i in range(9):
            plt.subplot(2, 5, i + 1)
            plt.plot(results[i, :19], marker='.', label=f)
            plt.title(s[i])
        plt.legend