ultralytics/utils/iou.py

import math
import torch
class IoU_Cal:
    ''' pred, target: x0,y0,x1,y1
        monotonous: {
            None: origin  v1
            True: monotonic FM v2
            False: non-monotonic FM  v3
        }
        momentum: The momentum of running mean (This can be set by the function <momentum_estimation>)'''
    iou_mean = 1.
    monotonous = True #v1:none v2:true v3:false
    momentum = 1 - 0.5 ** (1 / 7000)
    _is_train = True
    @classmethod
    def momentum_estimation(cls, n, t):
        ''' n: Number of batches per training epoch
            t: The epoch when mAP's ascension slowed significantly'''
        time_to_real = n * t
        cls.momentum = 1 - pow(0.05, 1 / time_to_real)
        return cls.momentum
    def __init__(self, pred, target):
        self.pred, self.target = pred, target
        self._fget = {
            # x,y,w,h
            'pred_xy': lambda: (self.pred[..., :2] + self.pred[..., 2: 4]) / 2,
            'pred_wh': lambda: self.pred[..., 2: 4] - self.pred[..., :2],
            'target_xy': lambda: (self.target[..., :2] + self.target[..., 2: 4]) / 2,
            'target_wh': lambda: self.target[..., 2: 4] - self.target[..., :2],
            # x0,y0,x1,y1
            'min_coord': lambda: torch.minimum(self.pred[..., :4], self.target[..., :4]),
            'max_coord': lambda: torch.maximum(self.pred[..., :4], self.target[..., :4]),
            # The overlapping region
            'wh_inter': lambda: torch.relu(self.min_coord[..., 2: 4] - self.max_coord[..., :2]),
            's_inter': lambda: torch.prod(self.wh_inter, dim=-1),
            # The area covered
            's_union': lambda: torch.prod(self.pred_wh, dim=-1) +
                               torch.prod(self.target_wh, dim=-1) - self.s_inter,
            # The smallest enclosing box
            'wh_box': lambda: self.max_coord[..., 2: 4] - self.min_coord[..., :2],
            's_box': lambda: torch.prod(self.wh_box, dim=-1),
            'l2_box': lambda: torch.square(self.wh_box).sum(dim=-1),
            # The central points' connection of the bounding boxes
            'd_center': lambda: self.pred_xy - self.target_xy,
            'l2_center': lambda: torch.square(self.d_center).sum(dim=-1),
            # IoU
            'iou': lambda: 1 - self.s_inter / self.s_union
        }
        self._update(self)
    def __setitem__(self, key, value):
        self._fget[key] = value
    def __getattr__(self, item):
        if callable(self._fget[item]):
            self._fget[item] = self._fget[item]()
        return self._fget[item]
    @classmethod
    def train(cls):
        cls._is_train = True
    @classmethod
    def eval(cls):
        cls._is_train = False
    @classmethod
    def _update(cls, self):
        if cls._is_train: cls.iou_mean = (1 - cls.momentum) * cls.iou_mean + \
                                         cls.momentum * self.iou.detach().mean().item()
    def _scaled_loss(self, loss, alpha=1.9, delta=3):
        if isinstance(self.monotonous, bool):
            beta = self.iou.detach() / self.iou_mean
            if self.monotonous:
                loss *= beta.sqrt()
            else:
                divisor = delta * torch.pow(alpha, beta - delta)
                loss *= beta / divisor
        return loss
    @classmethod
    def IoU(cls, pred, target, self=None):
        self = self if self else cls(pred, target)
        return self.iou
    @classmethod
    def WIoU(cls, pred, target, self=None):
        self = self if self else cls(pred, target)
        dist = torch.exp(self.l2_center / self.l2_box.detach())
        return self._scaled_loss(dist * self.iou)
    @classmethod
    def EIoU(cls, pred, target, self=None):
        self = self if self else cls(pred, target)
        penalty = self.l2_center / self.l2_box.detach() \
                  + torch.square(self.d_center / self.wh_box).sum(dim=-1)
        return self._scaled_loss(self.iou + penalty)
    @classmethod
    def GIoU(cls, pred, target, self=None):
        self = self if self else cls(pred, target)
        return self._scaled_loss(self.iou + (self.s_box - self.s_union) / self.s_box)
    @classmethod
    def DIoU(cls, pred, target, self=None):
        self = self if self else cls(pred, target)
        return self._scaled_loss(self.iou + self.l2_center / self.l2_box)
    @classmethod
    def CIoU(cls, pred, target, eps=1e-4, self=None):
        self = self if self else cls(pred, target)
        v = 4 / math.pi ** 2 * \
            (torch.atan(self.pred_wh[..., 0] / (self.pred_wh[..., 1] + eps)) -
             torch.atan(self.target_wh[..., 0] / (self.target_wh[..., 1] + eps))) ** 2
        alpha = v / (self.iou + v)
        return self._scaled_loss(self.iou + self.l2_center / self.l2_box + alpha.detach() * v)
    @classmethod
    def SIoU(cls, pred, target, theta=4, self=None):
        self = self if self else cls(pred, target)
        # Angle Cost
        angle = torch.arcsin(torch.abs(self.d_center).min(dim=-1)[0] / (self.l2_center.sqrt() + 1e-4))
        angle = torch.sin(2 * angle) - 2
        # Dist Cost
        dist = angle[..., None] * torch.square(self.d_center / self.wh_box)
        dist = 2 - torch.exp(dist[..., 0]) - torch.exp(dist[..., 1])
        # Shape Cost
        d_shape = torch.abs(self.pred_wh - self.target_wh)
        big_shape = torch.maximum(self.pred_wh, self.target_wh)
        w_shape = 1 - torch.exp(- d_shape[..., 0] / big_shape[..., 0])
        h_shape = 1 - torch.exp(- d_shape[..., 1] / big_shape[..., 1])
        shape = w_shape ** theta + h_shape ** theta
        return self._scaled_loss(self.iou + (dist + shape) / 2)