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CIoU nan bug fix (#736)

This commit is contained in:
Glenn Jocher 2020-08-20 10:37:55 -07:00
parent fb4fc8cd02
commit 5e0b90de8f
1 changed files with 13 additions and 13 deletions
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26
utils/general.py
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@ -1,15 +1,15 @@
import glob import glob
import logging
import math import math
import os import os
import platform
import random import random
import shutil import shutil
import subprocess import subprocess
import time import time
import logging
from contextlib import contextmanager from contextlib import contextmanager
from copy import copy from copy import copy
from pathlib import Path from pathlib import Path
import platform
import cv2 import cv2
import matplotlib import matplotlib
@ -339,19 +339,19 @@ def compute_ap(recall, precision):
return ap return ap
def bbox_iou(box1, box2, x1y1x2y2=True, GIoU=False, DIoU=False, CIoU=False): def bbox_iou(box1, box2, x1y1x2y2=True, GIoU=False, DIoU=False, CIoU=False, eps=1e-12):
# Returns the IoU of box1 to box2. box1 is 4, box2 is nx4 # Returns the IoU of box1 to box2. box1 is 4, box2 is nx4
box2 = box2.T box2 = box2.T
# Get the coordinates of bounding boxes # Get the coordinates of bounding boxes
if x1y1x2y2: # x1, y1, x2, y2 = box1 if x1y1x2y2: # x1, y1, x2, y2 = box1
b1_x1, b1_y1, b1_x2, b1_y2 = box1[0], box1[1], box1[2], box1[3] b1_x1, b1_y1, b1_x2, b1_y2 = box1[0], box1[1], box1[2] + eps, box1[3] + eps
b2_x1, b2_y1, b2_x2, b2_y2 = box2[0], box2[1], box2[2], box2[3] b2_x1, b2_y1, b2_x2, b2_y2 = box2[0], box2[1], box2[2] + eps, box2[3] + eps
else: # transform from xywh to xyxy else: # transform from xywh to xyxy
b1_x1, b1_x2 = box1[0] - box1[2] / 2, box1[0] + box1[2] / 2 b1_x1, b1_x2 = box1[0] - box1[2] / 2, box1[0] + box1[2] / 2 + eps
b1_y1, b1_y2 = box1[1] - box1[3] / 2, box1[1] + box1[3] / 2 b1_y1, b1_y2 = box1[1] - box1[3] / 2, box1[1] + box1[3] / 2 + eps
b2_x1, b2_x2 = box2[0] - box2[2] / 2, box2[0] + box2[2] / 2 b2_x1, b2_x2 = box2[0] - box2[2] / 2, box2[0] + box2[2] / 2 + eps
b2_y1, b2_y2 = box2[1] - box2[3] / 2, box2[1] + box2[3] / 2 b2_y1, b2_y2 = box2[1] - box2[3] / 2, box2[1] + box2[3] / 2 + eps
# Intersection area # Intersection area
inter = (torch.min(b1_x2, b2_x2) - torch.max(b1_x1, b2_x1)).clamp(0) * \ inter = (torch.min(b1_x2, b2_x2) - torch.max(b1_x1, b2_x1)).clamp(0) * \
@ -360,18 +360,18 @@ def bbox_iou(box1, box2, x1y1x2y2=True, GIoU=False, DIoU=False, CIoU=False):
# Union Area # Union Area
w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1
w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1
union = (w1 * h1 + 1e-16) + w2 * h2 - inter union = w1 * h1 + w2 * h2 - inter
iou = inter / union # iou iou = inter / union # iou
if GIoU or DIoU or CIoU: if GIoU or DIoU or CIoU:
cw = torch.max(b1_x2, b2_x2) - torch.min(b1_x1, b2_x1) # convex (smallest enclosing box) width cw = torch.max(b1_x2, b2_x2) - torch.min(b1_x1, b2_x1) # convex (smallest enclosing box) width
ch = torch.max(b1_y2, b2_y2) - torch.min(b1_y1, b2_y1) # convex height ch = torch.max(b1_y2, b2_y2) - torch.min(b1_y1, b2_y1) # convex height
if GIoU: # Generalized IoU https://arxiv.org/pdf/1902.09630.pdf if GIoU: # Generalized IoU https://arxiv.org/pdf/1902.09630.pdf
c_area = cw * ch + 1e-16 # convex area c_area = cw * ch # convex area
return iou - (c_area - union) / c_area # GIoU return iou - (c_area - union) / c_area # GIoU
if DIoU or CIoU: # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1 if DIoU or CIoU: # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
# convex diagonal squared # convex diagonal squared
c2 = cw ** 2 + ch ** 2 + 1e-16 c2 = cw ** 2 + ch ** 2
# centerpoint distance squared # centerpoint distance squared
rho2 = ((b2_x1 + b2_x2) - (b1_x1 + b1_x2)) ** 2 / 4 + ((b2_y1 + b2_y2) - (b1_y1 + b1_y2)) ** 2 / 4 rho2 = ((b2_x1 + b2_x2) - (b1_x1 + b1_x2)) ** 2 / 4 + ((b2_y1 + b2_y2) - (b1_y1 + b1_y2)) ** 2 / 4
if DIoU: if DIoU:
@ -379,7 +379,7 @@ def bbox_iou(box1, box2, x1y1x2y2=True, GIoU=False, DIoU=False, CIoU=False):
elif CIoU: # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47 elif CIoU: # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
v = (4 / math.pi ** 2) * torch.pow(torch.atan(w2 / h2) - torch.atan(w1 / h1), 2) v = (4 / math.pi ** 2) * torch.pow(torch.atan(w2 / h2) - torch.atan(w1 / h1), 2)
with torch.no_grad(): with torch.no_grad():
alpha = v / (1 - iou + v + 1e-16) alpha = v / ((1 + eps) - iou + v)
return iou - (rho2 / c2 + v * alpha) # CIoU return iou - (rho2 / c2 + v * alpha) # CIoU
return iou return iou