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sigmoid_focal_loss_op.cu
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sigmoid_focal_loss_op.cu
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/**
* Copyright (c) 2016-present, Facebook, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <cfloat>
#include "caffe2/core/context_gpu.h"
#include "modules/detectron/sigmoid_focal_loss_op.h"
namespace caffe2 {
namespace {
__global__ void SigmoidFocalLossKernel(
const int N, const int D, const int H, const int W, const float* logits,
const int* targets, const float* weight_pos,
const float gamma, const float alpha,
const int num_classes, float* losses) {
CUDA_1D_KERNEL_LOOP(i, N * D * H * W) {
int x = i % W;
int y = (i / W) % H;
int c = (i / (W * H)) % D; // channel, here D is channel dim in input NxDxHxW
int n = i / (W * H * D); // n in NxDxHxW
int A = D / num_classes; // num_anchors = A
int a = c / num_classes; // current anchor out of A anchors in D = A * num_cls
int d = c % num_classes; // current class
int t = targets[n * (H * W * A) + a * (H * W) + y * W + x]; // target
// check whether the class is true class or not.
// The target classes are in range 1 - 81 and the d is in range 0-80
// because we predict A*80 dim, so for comparison purpose, compare t and (d+1)
float c1 = (t == (d + 1));
float c2 = (t != -1 & t != (d + 1));
float Np = c10::cuda::compat::max(weight_pos[0], static_cast<float>(1.0));
float zn = (1.0 - alpha) / Np;
float zp = alpha / Np;
// p = 1. / 1. + expf(-x)
float p = 1. / (1. + expf(-logits[i]));
// (1 - p)**gamma * log(p) where
float term1 = powf((1. - p), gamma) * logf(c10::cuda::compat::max(p, FLT_MIN));
// p**gamma * log(1 - p)
float term2 =
powf(p, gamma) *
(-1. * logits[i] * (logits[i] >= 0) -
logf(1. + expf(logits[i] - 2. * logits[i] * (logits[i] >= 0))));
losses[i] = 0.0;
losses[i] += -c1 * term1 * zp;
losses[i] += -c2 * term2 * zn;
}
}
__global__ void SigmoidFocalLossGradientKernel(
const int N, const int D, const int H, const int W, const float* logits,
const int* targets, float* dX_data, const float* weight_pos,
const float gamma, const float alpha, const int num_classes,
const float* avg_loss) {
CUDA_1D_KERNEL_LOOP(i, N * D * H * W) {
float a_loss = avg_loss[0];
int x = i % W;
int y = (i / W) % H;
int c = (i / (W * H)) % D;
int n = i / (W * H * D);
int A = D / num_classes; // num_anchors
int a = c / num_classes; // current anchor
int d = c % num_classes; // current class
float Np = c10::cuda::compat::max(weight_pos[0], static_cast<float>(1.0));
float zn = (1.0 - alpha) / Np;
float zp = alpha / Np;
int t = targets[n * (H * W * A) + a * (H * W) + y * W + x];
float c1 = (t == (d + 1));
float c2 = (t != -1 & t != (d + 1));
float p = 1. / (1. + expf(-logits[i]));
// (1-p)**g * (1 - p - g*p*log(p))
float term1 =
powf((1. - p), gamma) *
(1. - p - (p * gamma * logf(c10::cuda::compat::max(p, FLT_MIN))));
// (p**g) * (g*(1-p)*log(1-p) - p)
float term2 =
powf(p, gamma) *
((-1. * logits[i] * (logits[i] >= 0) -
logf(1. + expf(logits[i] - 2. * logits[i] * (logits[i] >= 0)))) *
(1. - p) * gamma - p);
dX_data[i] = 0.0;
dX_data[i] += -c1 * zp * term1;
dX_data[i] += -c2 * zn * term2;
dX_data[i] = dX_data[i] * a_loss;
}
}
} // namespace
template<>
bool SigmoidFocalLossOp<float, CUDAContext>::RunOnDevice() {
// Input logits, for example: N x (A * 80) x H x W in cls-agnostic
auto& X = Input(0);
// Target, for example: N x A x H x W
auto& T = Input(1);
// Number of positive examples: scalar
auto& wp = Input(2);
// output avg Sigmoid focal loss as mentioned in RetinaNet paper
int N = X.dim32(0);
int D = X.dim32(1);
int H = X.dim32(2);
int W = X.dim32(3);
auto* avg_loss = Output(0, vector<int64_t>(), at::dtype<float>());
losses_.ResizeLike(X);
float* avg_loss_data = avg_loss->mutable_data<float>();
SigmoidFocalLossKernel<<<CAFFE_GET_BLOCKS(X.size()),
CAFFE_CUDA_NUM_THREADS, 0, context_.cuda_stream()>>>(
N, D, H, W, X.data<float>(), T.data<int>(),
wp.data<float>(), gamma_, alpha_, num_classes_,
losses_.mutable_data<float>());
math::Sum<float, CUDAContext>(
losses_.size(), losses_.data<float>(), avg_loss_data, &context_);
math::Scale<float, float, CUDAContext>(
1, scale_, avg_loss_data, avg_loss_data, &context_);
return true;
}
template<>
bool SigmoidFocalLossGradientOp<float, CUDAContext>::RunOnDevice() {
auto& X = Input(0);
auto& T = Input(1);
auto& wp = Input(2);
auto& d_avg_loss = Input(InputSize() - 1);
// get input shape
int N = X.dim32(0);
int D = X.dim32(1);
int H = X.dim32(2);
int W = X.dim32(3);
auto* dX = Output(0, X.sizes(), at::dtype<float>());
SigmoidFocalLossGradientKernel<<<CAFFE_GET_BLOCKS(X.size()),
CAFFE_CUDA_NUM_THREADS, 0, context_.cuda_stream()>>>(
N, D, H, W, X.data<float>(), T.data<int>(), dX->mutable_data<float>(),
wp.data<float>(), gamma_, alpha_, num_classes_,
d_avg_loss.data<float>());
math::Scale<float, float, CUDAContext>(
dX->size(),
scale_,
dX->data<float>(),
dX->mutable_data<float>(),
&context_);
return true;
}
REGISTER_CUDA_OPERATOR(SigmoidFocalLoss,
SigmoidFocalLossOp<float, CUDAContext>);
REGISTER_CUDA_OPERATOR(SigmoidFocalLossGradient,
SigmoidFocalLossGradientOp<float, CUDAContext>);
} // namespace caffe2