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| # Copyright (c) Facebook, Inc. and its affiliates. | |
| from typing import List | |
| import torch | |
| from detectron2.config import CfgNode | |
| from detectron2.structures import Instances | |
| from detectron2.structures.boxes import matched_pairwise_iou | |
| class DensePoseDataFilter: | |
| def __init__(self, cfg: CfgNode): | |
| self.iou_threshold = cfg.MODEL.ROI_DENSEPOSE_HEAD.FG_IOU_THRESHOLD | |
| self.keep_masks = cfg.MODEL.ROI_DENSEPOSE_HEAD.COARSE_SEGM_TRAINED_BY_MASKS | |
| def __call__(self, features: List[torch.Tensor], proposals_with_targets: List[Instances]): | |
| """ | |
| Filters proposals with targets to keep only the ones relevant for | |
| DensePose training | |
| Args: | |
| features (list[Tensor]): input data as a list of features, | |
| each feature is a tensor. Axis 0 represents the number of | |
| images `N` in the input data; axes 1-3 are channels, | |
| height, and width, which may vary between features | |
| (e.g., if a feature pyramid is used). | |
| proposals_with_targets (list[Instances]): length `N` list of | |
| `Instances`. The i-th `Instances` contains instances | |
| (proposals, GT) for the i-th input image, | |
| Returns: | |
| list[Tensor]: filtered features | |
| list[Instances]: filtered proposals | |
| """ | |
| proposals_filtered = [] | |
| # TODO: the commented out code was supposed to correctly deal with situations | |
| # where no valid DensePose GT is available for certain images. The corresponding | |
| # image features were sliced and proposals were filtered. This led to performance | |
| # deterioration, both in terms of runtime and in terms of evaluation results. | |
| # | |
| # feature_mask = torch.ones( | |
| # len(proposals_with_targets), | |
| # dtype=torch.bool, | |
| # device=features[0].device if len(features) > 0 else torch.device("cpu"), | |
| # ) | |
| for i, proposals_per_image in enumerate(proposals_with_targets): | |
| if not proposals_per_image.has("gt_densepose") and ( | |
| not proposals_per_image.has("gt_masks") or not self.keep_masks | |
| ): | |
| # feature_mask[i] = 0 | |
| continue | |
| gt_boxes = proposals_per_image.gt_boxes | |
| est_boxes = proposals_per_image.proposal_boxes | |
| # apply match threshold for densepose head | |
| iou = matched_pairwise_iou(gt_boxes, est_boxes) | |
| iou_select = iou > self.iou_threshold | |
| proposals_per_image = proposals_per_image[iou_select] # pyre-ignore[6] | |
| N_gt_boxes = len(proposals_per_image.gt_boxes) | |
| assert N_gt_boxes == len(proposals_per_image.proposal_boxes), ( | |
| f"The number of GT boxes {N_gt_boxes} is different from the " | |
| f"number of proposal boxes {len(proposals_per_image.proposal_boxes)}" | |
| ) | |
| # filter out any target without suitable annotation | |
| if self.keep_masks: | |
| gt_masks = ( | |
| proposals_per_image.gt_masks | |
| if hasattr(proposals_per_image, "gt_masks") | |
| else [None] * N_gt_boxes | |
| ) | |
| else: | |
| gt_masks = [None] * N_gt_boxes | |
| gt_densepose = ( | |
| proposals_per_image.gt_densepose | |
| if hasattr(proposals_per_image, "gt_densepose") | |
| else [None] * N_gt_boxes | |
| ) | |
| assert len(gt_masks) == N_gt_boxes | |
| assert len(gt_densepose) == N_gt_boxes | |
| selected_indices = [ | |
| i | |
| for i, (dp_target, mask_target) in enumerate(zip(gt_densepose, gt_masks)) | |
| if (dp_target is not None) or (mask_target is not None) | |
| ] | |
| # if not len(selected_indices): | |
| # feature_mask[i] = 0 | |
| # continue | |
| if len(selected_indices) != N_gt_boxes: | |
| proposals_per_image = proposals_per_image[selected_indices] # pyre-ignore[6] | |
| assert len(proposals_per_image.gt_boxes) == len(proposals_per_image.proposal_boxes) | |
| proposals_filtered.append(proposals_per_image) | |
| # features_filtered = [feature[feature_mask] for feature in features] | |
| # return features_filtered, proposals_filtered | |
| return features, proposals_filtered | |