In [1]:
import os
import sys
import random
import math
import re
import time
import numpy as np
import tensorflow as tf
import matplotlib
import matplotlib.pyplot as plt
import matplotlib.patches as patches
# Root directory of the project
ROOT_DIR = os.path.abspath("../../")
# Import Mask RCNN
sys.path.append(ROOT_DIR) # To find local version of the library
from mrcnn import utils
from mrcnn import visualize
from mrcnn.visualize import display_images
import mrcnn.model as modellib
from mrcnn.model import log
from samples.balloon import balloon
%matplotlib inline
# Directory to save logs and trained model
MODEL_DIR = os.path.join(ROOT_DIR, "logs")
# Path to Ballon trained weights
# You can download this file from the Releases page
# https://github.com/matterport/Mask_RCNN/releases
BALLON_WEIGHTS_PATH = "/path/to/mask_rcnn_balloon.h5" # TODO: update this path
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config = balloon.BalloonConfig()
BALLOON_DIR = os.path.join(ROOT_DIR, "datasets/balloon")
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# Override the training configurations with a few
# changes for inferencing.
class InferenceConfig(config.__class__):
# Run detection on one image at a time
GPU_COUNT = 1
IMAGES_PER_GPU = 1
config = InferenceConfig()
config.display()
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# Device to load the neural network on.
# Useful if you're training a model on the same
# machine, in which case use CPU and leave the
# GPU for training.
DEVICE = "/cpu:0" # /cpu:0 or /gpu:0
# Inspect the model in training or inference modes
# values: 'inference' or 'training'
# TODO: code for 'training' test mode not ready yet
TEST_MODE = "inference"
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def get_ax(rows=1, cols=1, size=16):
"""Return a Matplotlib Axes array to be used in
all visualizations in the notebook. Provide a
central point to control graph sizes.
Adjust the size attribute to control how big to render images
"""
_, ax = plt.subplots(rows, cols, figsize=(size*cols, size*rows))
return ax
In [6]:
# Load validation dataset
dataset = balloon.BalloonDataset()
dataset.load_balloon(BALLOON_DIR, "val")
# Must call before using the dataset
dataset.prepare()
print("Images: {}\nClasses: {}".format(len(dataset.image_ids), dataset.class_names))
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# Create model in inference mode
with tf.device(DEVICE):
model = modellib.MaskRCNN(mode="inference", model_dir=MODEL_DIR,
config=config)
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# Set path to balloon weights file
# Download file from the Releases page and set its path
# https://github.com/matterport/Mask_RCNN/releases
# weights_path = "/path/to/mask_rcnn_balloon.h5"
# Or, load the last model you trained
weights_path = model.find_last()
# Load weights
print("Loading weights ", weights_path)
model.load_weights(weights_path, by_name=True)
In [9]:
image_id = random.choice(dataset.image_ids)
image, image_meta, gt_class_id, gt_bbox, gt_mask =\
modellib.load_image_gt(dataset, config, image_id, use_mini_mask=False)
info = dataset.image_info[image_id]
print("image ID: {}.{} ({}) {}".format(info["source"], info["id"], image_id,
dataset.image_reference(image_id)))
# Run object detection
results = model.detect([image], verbose=1)
# Display results
ax = get_ax(1)
r = results[0]
visualize.display_instances(image, r['rois'], r['masks'], r['class_ids'],
dataset.class_names, r['scores'], ax=ax,
title="Predictions")
log("gt_class_id", gt_class_id)
log("gt_bbox", gt_bbox)
log("gt_mask", gt_mask)
In [10]:
splash = balloon.color_splash(image, r['masks'])
display_images([splash], cols=1)
The Region Proposal Network (RPN) runs a lightweight binary classifier on a lot of boxes (anchors) over the image and returns object/no-object scores. Anchors with high objectness score (positive anchors) are passed to the stage two to be classified.
Often, even positive anchors don't cover objects fully. So the RPN also regresses a refinement (a delta in location and size) to be applied to the anchors to shift it and resize it a bit to the correct boundaries of the object.
The RPN targets are the training values for the RPN. To generate the targets, we start with a grid of anchors that cover the full image at different scales, and then we compute the IoU of the anchors with ground truth object. Positive anchors are those that have an IoU >= 0.7 with any ground truth object, and negative anchors are those that don't cover any object by more than 0.3 IoU. Anchors in between (i.e. cover an object by IoU >= 0.3 but < 0.7) are considered neutral and excluded from training.
To train the RPN regressor, we also compute the shift and resizing needed to make the anchor cover the ground truth object completely.
In [11]:
# Generate RPN trainig targets
# target_rpn_match is 1 for positive anchors, -1 for negative anchors
# and 0 for neutral anchors.
target_rpn_match, target_rpn_bbox = modellib.build_rpn_targets(
image.shape, model.anchors, gt_class_id, gt_bbox, model.config)
log("target_rpn_match", target_rpn_match)
log("target_rpn_bbox", target_rpn_bbox)
positive_anchor_ix = np.where(target_rpn_match[:] == 1)[0]
negative_anchor_ix = np.where(target_rpn_match[:] == -1)[0]
neutral_anchor_ix = np.where(target_rpn_match[:] == 0)[0]
positive_anchors = model.anchors[positive_anchor_ix]
negative_anchors = model.anchors[negative_anchor_ix]
neutral_anchors = model.anchors[neutral_anchor_ix]
log("positive_anchors", positive_anchors)
log("negative_anchors", negative_anchors)
log("neutral anchors", neutral_anchors)
# Apply refinement deltas to positive anchors
refined_anchors = utils.apply_box_deltas(
positive_anchors,
target_rpn_bbox[:positive_anchors.shape[0]] * model.config.RPN_BBOX_STD_DEV)
log("refined_anchors", refined_anchors, )
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# Display positive anchors before refinement (dotted) and
# after refinement (solid).
visualize.draw_boxes(image, boxes=positive_anchors, refined_boxes=refined_anchors, ax=get_ax())
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# Run RPN sub-graph
pillar = model.keras_model.get_layer("ROI").output # node to start searching from
# TF 1.4 introduces a new version of NMS. Search for both names to support TF 1.3 and 1.4
nms_node = model.ancestor(pillar, "ROI/rpn_non_max_suppression:0")
if nms_node is None:
nms_node = model.ancestor(pillar, "ROI/rpn_non_max_suppression/NonMaxSuppressionV2:0")
rpn = model.run_graph([image], [
("rpn_class", model.keras_model.get_layer("rpn_class").output),
("pre_nms_anchors", model.ancestor(pillar, "ROI/pre_nms_anchors:0")),
("refined_anchors", model.ancestor(pillar, "ROI/refined_anchors:0")),
("refined_anchors_clipped", model.ancestor(pillar, "ROI/refined_anchors_clipped:0")),
("post_nms_anchor_ix", nms_node),
("proposals", model.keras_model.get_layer("ROI").output),
])
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# Show top anchors by score (before refinement)
limit = 100
sorted_anchor_ids = np.argsort(rpn['rpn_class'][:,:,1].flatten())[::-1]
visualize.draw_boxes(image, boxes=model.anchors[sorted_anchor_ids[:limit]], ax=get_ax())
In [15]:
# Show top anchors with refinement. Then with clipping to image boundaries
limit = 50
ax = get_ax(1, 2)
visualize.draw_boxes(image, boxes=rpn["pre_nms_anchors"][0, :limit],
refined_boxes=rpn["refined_anchors"][0, :limit], ax=ax[0])
visualize.draw_boxes(image, refined_boxes=rpn["refined_anchors_clipped"][0, :limit], ax=ax[1])
In [16]:
# Show refined anchors after non-max suppression
limit = 50
ixs = rpn["post_nms_anchor_ix"][:limit]
visualize.draw_boxes(image, refined_boxes=rpn["refined_anchors_clipped"][0, ixs], ax=get_ax())
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# Show final proposals
# These are the same as the previous step (refined anchors
# after NMS) but with coordinates normalized to [0, 1] range.
limit = 50
# Convert back to image coordinates for display
h, w = config.IMAGE_SHAPE[:2]
proposals = rpn['proposals'][0, :limit] * np.array([h, w, h, w])
visualize.draw_boxes(image, refined_boxes=proposals, ax=get_ax())
In [18]:
# Get input and output to classifier and mask heads.
mrcnn = model.run_graph([image], [
("proposals", model.keras_model.get_layer("ROI").output),
("probs", model.keras_model.get_layer("mrcnn_class").output),
("deltas", model.keras_model.get_layer("mrcnn_bbox").output),
("masks", model.keras_model.get_layer("mrcnn_mask").output),
("detections", model.keras_model.get_layer("mrcnn_detection").output),
])
In [19]:
# Get detection class IDs. Trim zero padding.
det_class_ids = mrcnn['detections'][0, :, 4].astype(np.int32)
det_count = np.where(det_class_ids == 0)[0][0]
det_class_ids = det_class_ids[:det_count]
detections = mrcnn['detections'][0, :det_count]
print("{} detections: {}".format(
det_count, np.array(dataset.class_names)[det_class_ids]))
captions = ["{} {:.3f}".format(dataset.class_names[int(c)], s) if c > 0 else ""
for c, s in zip(detections[:, 4], detections[:, 5])]
visualize.draw_boxes(
image,
refined_boxes=utils.denorm_boxes(detections[:, :4], image.shape[:2]),
visibilities=[2] * len(detections),
captions=captions, title="Detections",
ax=get_ax())
In [20]:
# Proposals are in normalized coordinates. Scale them
# to image coordinates.
h, w = config.IMAGE_SHAPE[:2]
proposals = np.around(mrcnn["proposals"][0] * np.array([h, w, h, w])).astype(np.int32)
# Class ID, score, and mask per proposal
roi_class_ids = np.argmax(mrcnn["probs"][0], axis=1)
roi_scores = mrcnn["probs"][0, np.arange(roi_class_ids.shape[0]), roi_class_ids]
roi_class_names = np.array(dataset.class_names)[roi_class_ids]
roi_positive_ixs = np.where(roi_class_ids > 0)[0]
# How many ROIs vs empty rows?
print("{} Valid proposals out of {}".format(np.sum(np.any(proposals, axis=1)), proposals.shape[0]))
print("{} Positive ROIs".format(len(roi_positive_ixs)))
# Class counts
print(list(zip(*np.unique(roi_class_names, return_counts=True))))
In [21]:
# Display a random sample of proposals.
# Proposals classified as background are dotted, and
# the rest show their class and confidence score.
limit = 200
ixs = np.random.randint(0, proposals.shape[0], limit)
captions = ["{} {:.3f}".format(dataset.class_names[c], s) if c > 0 else ""
for c, s in zip(roi_class_ids[ixs], roi_scores[ixs])]
visualize.draw_boxes(image, boxes=proposals[ixs],
visibilities=np.where(roi_class_ids[ixs] > 0, 2, 1),
captions=captions, title="ROIs Before Refinement",
ax=get_ax())
In [22]:
# Class-specific bounding box shifts.
roi_bbox_specific = mrcnn["deltas"][0, np.arange(proposals.shape[0]), roi_class_ids]
log("roi_bbox_specific", roi_bbox_specific)
# Apply bounding box transformations
# Shape: [N, (y1, x1, y2, x2)]
refined_proposals = utils.apply_box_deltas(
proposals, roi_bbox_specific * config.BBOX_STD_DEV).astype(np.int32)
log("refined_proposals", refined_proposals)
# Show positive proposals
# ids = np.arange(roi_boxes.shape[0]) # Display all
limit = 5
ids = np.random.randint(0, len(roi_positive_ixs), limit) # Display random sample
captions = ["{} {:.3f}".format(dataset.class_names[c], s) if c > 0 else ""
for c, s in zip(roi_class_ids[roi_positive_ixs][ids], roi_scores[roi_positive_ixs][ids])]
visualize.draw_boxes(image, boxes=proposals[roi_positive_ixs][ids],
refined_boxes=refined_proposals[roi_positive_ixs][ids],
visibilities=np.where(roi_class_ids[roi_positive_ixs][ids] > 0, 1, 0),
captions=captions, title="ROIs After Refinement",
ax=get_ax())
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# Remove boxes classified as background
keep = np.where(roi_class_ids > 0)[0]
print("Keep {} detections:\n{}".format(keep.shape[0], keep))
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# Remove low confidence detections
keep = np.intersect1d(keep, np.where(roi_scores >= config.DETECTION_MIN_CONFIDENCE)[0])
print("Remove boxes below {} confidence. Keep {}:\n{}".format(
config.DETECTION_MIN_CONFIDENCE, keep.shape[0], keep))
In [25]:
# Apply per-class non-max suppression
pre_nms_boxes = refined_proposals[keep]
pre_nms_scores = roi_scores[keep]
pre_nms_class_ids = roi_class_ids[keep]
nms_keep = []
for class_id in np.unique(pre_nms_class_ids):
# Pick detections of this class
ixs = np.where(pre_nms_class_ids == class_id)[0]
# Apply NMS
class_keep = utils.non_max_suppression(pre_nms_boxes[ixs],
pre_nms_scores[ixs],
config.DETECTION_NMS_THRESHOLD)
# Map indicies
class_keep = keep[ixs[class_keep]]
nms_keep = np.union1d(nms_keep, class_keep)
print("{:22}: {} -> {}".format(dataset.class_names[class_id][:20],
keep[ixs], class_keep))
keep = np.intersect1d(keep, nms_keep).astype(np.int32)
print("\nKept after per-class NMS: {}\n{}".format(keep.shape[0], keep))
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# Show final detections
ixs = np.arange(len(keep)) # Display all
# ixs = np.random.randint(0, len(keep), 10) # Display random sample
captions = ["{} {:.3f}".format(dataset.class_names[c], s) if c > 0 else ""
for c, s in zip(roi_class_ids[keep][ixs], roi_scores[keep][ixs])]
visualize.draw_boxes(
image, boxes=proposals[keep][ixs],
refined_boxes=refined_proposals[keep][ixs],
visibilities=np.where(roi_class_ids[keep][ixs] > 0, 1, 0),
captions=captions, title="Detections after NMS",
ax=get_ax())
In [27]:
display_images(np.transpose(gt_mask, [2, 0, 1]), cmap="Blues")
In [28]:
# Get predictions of mask head
mrcnn = model.run_graph([image], [
("detections", model.keras_model.get_layer("mrcnn_detection").output),
("masks", model.keras_model.get_layer("mrcnn_mask").output),
])
# Get detection class IDs. Trim zero padding.
det_class_ids = mrcnn['detections'][0, :, 4].astype(np.int32)
det_count = np.where(det_class_ids == 0)[0][0]
det_class_ids = det_class_ids[:det_count]
print("{} detections: {}".format(
det_count, np.array(dataset.class_names)[det_class_ids]))
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# Masks
det_boxes = utils.denorm_boxes(mrcnn["detections"][0, :, :4], image.shape[:2])
det_mask_specific = np.array([mrcnn["masks"][0, i, :, :, c]
for i, c in enumerate(det_class_ids)])
det_masks = np.array([utils.unmold_mask(m, det_boxes[i], image.shape)
for i, m in enumerate(det_mask_specific)])
log("det_mask_specific", det_mask_specific)
log("det_masks", det_masks)
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display_images(det_mask_specific[:4] * 255, cmap="Blues", interpolation="none")
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display_images(det_masks[:4] * 255, cmap="Blues", interpolation="none")
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# Get activations of a few sample layers
activations = model.run_graph([image], [
("input_image", model.keras_model.get_layer("input_image").output),
("res2c_out", model.keras_model.get_layer("res2c_out").output),
("res3c_out", model.keras_model.get_layer("res3c_out").output),
("res4w_out", model.keras_model.get_layer("res4w_out").output), # for resnet100
("rpn_bbox", model.keras_model.get_layer("rpn_bbox").output),
("roi", model.keras_model.get_layer("ROI").output),
])
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# Input image (normalized)
_ = plt.imshow(modellib.unmold_image(activations["input_image"][0],config))
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# Backbone feature map
display_images(np.transpose(activations["res2c_out"][0,:,:,:4], [2, 0, 1]), cols=4)
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