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High quality, fast, modular reference implementation of SSD in PyTorch 1.0

This repository implements SSD (Single Shot MultiBox Detector). The implementation is heavily influenced by the projects ssd.pytorch, pytorch-ssd and maskrcnn-benchmark. This repository aims to be the code base for researches based on SSD.

Highlights

  • PyTorch 1.0
  • GPU/CPU NMS
  • Multi-GPU training and inference
  • Modular
  • Visualization(Support Tensorboard)
  • CPU support for inference
  • Evaluating during training

Installation

Requirements

  1. Python3
  2. PyTorch 1.0
  3. yacs
  4. GCC >= 4.9
  5. OpenCV

Step-by-step installation

# First, make sure that your conda is setup properly with the right environment
# for that, check that `which conda`, `which pip` and `which python` points to the
# right path. From a clean conda env, this is what you need to do.
# But if you don't use conda, it's OK. Just pip install necessary packages.

conda create --name SSD
source activate SSD

# follow PyTorch installation in https://pytorch.org/get-started/locally/
conda install pytorch torchvision -c pytorch

pip install yacs tqdm
conda install opencv

# Optional packages
# If you want visualize loss curve. Default is enabled. Disable by using --use_tensorboard 0 when training.
pip install tensorboardX

# If you train coco dataset, must install cocoapi.
cd ~/github
git clone https://github.com/cocodataset/cocoapi.git
cd cocoapi/PythonAPI
python setup.py build_ext install

# Finally, download the pre-trained vgg weights.
wget https://s3.amazonaws.com/amdegroot-models/vgg16_reducedfc.pth

Build

# build nms, this is needed when evaluating. Only training doesn't need this.
cd ext
python build.py build_ext develop

Train

Setting Up Datasets

Pascal VOC

For Pascal VOC dataset, make the folder structure like this:

VOC_ROOT
|__ VOC2007
    |_ JPEGImages
    |_ Annotations
    |_ ImageSets
    |_ SegmentationClass
|__ VOC2012
    |_ JPEGImages
    |_ Annotations
    |_ ImageSets
    |_ SegmentationClass
|__ ...

Where VOC_ROOT default is datasets folder in current project, you can create symlinks to datasets or export VOC_ROOT="/path/to/voc_root".

COCO

For COCO dataset, make the folder structure like this:

COCO_ROOT
|__ annotations
    |_ instances_valminusminival2014.json
    |_ instances_minival2014.json
    |_ instances_train2014.json
    |_ instances_val2014.json
    |_ ...
|__ train2014
    |_ <im-1-name>.jpg
    |_ ...
    |_ <im-N-name>.jpg
|__ val2014
    |_ <im-1-name>.jpg
    |_ ...
    |_ <im-N-name>.jpg
|__ ...

Where COCO_ROOT default is datasets folder in current project, you can create symlinks to datasets or export COCO_ROOT="/path/to/coco_root".

Single GPU training

# for example, train SSD300:
python train_ssd.py --config-file configs/ssd300_voc0712.yaml --vgg vgg16_reducedfc.pth

Multi-GPU training

# for example, train SSD300 with 4 GPUs:
export NGPUS=4
python -m torch.distributed.launch --nproc_per_node=$NGPUS train_ssd.py --config-file configs/ssd300_voc0712.yaml --vgg vgg16_reducedfc.pth

The configuration files that I provide assume that we are running on single GPU. When changing number of GPUs, hyper-parameter (lr, max_iter, ...) will also changed according to this paper: Accurate, Large Minibatch SGD: Training ImageNet in 1 Hour. The pre-trained vgg weights can be downloaded here: https://s3.amazonaws.com/amdegroot-models/vgg16_reducedfc.pth.

Evaluate

Single GPU evaluating

# for example, evaluate SSD300:
python eval_ssd.py --config-file configs/ssd300_voc0712.yaml --weights /path/to/trained_ssd300_weights.pth

Multi-GPU evaluating

# for example, evaluate SSD300 with 4 GPUs:
export NGPUS=4
python -m torch.distributed.launch --nproc_per_node=$NGPUS eval_ssd.py --config-file configs/ssd300_voc0712.yaml --weights /path/to/trained_ssd300_weights.pth

Demo

Predicting image in a folder is simple:

python demo.py --config-file configs/ssd300_voc0712.yaml --weights path/to/trained/weights.pth --images_dir demo

Then the predicted images with boxes, scores and label names will saved to demo/result folder.

Currently, I provide weights trained as follows:

Weights
SSD300* ssd300_voc0712_mAP77.83.pth(100 MB)
SSD512* ssd512_voc0712_mAP80.25.pth(104 MB)

Performance

Origin Paper:

VOC2007 test coco test-dev2015
Train 07+12 trainval35k
SSD300* 77.2 25.1
SSD512* 79.8 28.8

Our Implementation:

VOC2007 test COCO 2014 minival
Train 07+12 trainval35k
SSD300* 77.8 22.9(not on test-dev2015)
SSD512* 80.2 -

Details:

VOC2007 test COCO 2014 minival
SSD300* 
mAP: 0.7783
aeroplane       : 0.8252
bicycle         : 0.8445
bird            : 0.7597
boat            : 0.7102
bottle          : 0.5275
bus             : 0.8643
car             : 0.8660
cat             : 0.8741
chair           : 0.6179
cow             : 0.8279
diningtable     : 0.7862
dog             : 0.8519
horse           : 0.8630
motorbike       : 0.8515
person          : 0.8024
pottedplant     : 0.5079
sheep           : 0.7685
sofa            : 0.7926
train           : 0.8704
tvmonitor       : 0.7554
 
Average Precision  (AP) @[ IoU=0.50:0.95 | area=   all | maxDets=100 ] = 0.229
Average Precision  (AP) @[ IoU=0.50      | area=   all | maxDets=100 ] = 0.388
Average Precision  (AP) @[ IoU=0.75      | area=   all | maxDets=100 ] = 0.240
Average Precision  (AP) @[ IoU=0.50:0.95 | area= small | maxDets=100 ] = 0.068
Average Precision  (AP) @[ IoU=0.50:0.95 | area=medium | maxDets=100 ] = 0.244
Average Precision  (AP) @[ IoU=0.50:0.95 | area= large | maxDets=100 ] = 0.366
Average Recall     (AR) @[ IoU=0.50:0.95 | area=   all | maxDets=  1 ] = 0.231
Average Recall     (AR) @[ IoU=0.50:0.95 | area=   all | maxDets= 10 ] = 0.336
Average Recall     (AR) @[ IoU=0.50:0.95 | area=   all | maxDets=100 ] = 0.368
Average Recall     (AR) @[ IoU=0.50:0.95 | area= small | maxDets=100 ] = 0.150
Average Recall     (AR) @[ IoU=0.50:0.95 | area=medium | maxDets=100 ] = 0.404
Average Recall     (AR) @[ IoU=0.50:0.95 | area= large | maxDets=100 ] = 0.522
SSD512* 
mAP: 0.8025
aeroplane       : 0.8582
bicycle         : 0.8710
bird            : 0.8192
boat            : 0.7410
bottle          : 0.5894
bus             : 0.8755
car             : 0.8856
cat             : 0.8926
chair           : 0.6589
cow             : 0.8634
diningtable     : 0.7676
dog             : 0.8707
horse           : 0.8806
motorbike       : 0.8512
person          : 0.8316
pottedplant     : 0.5238
sheep           : 0.8191
sofa            : 0.7915
train           : 0.8735
tvmonitor       : 0.7866
 
-

Troubleshooting

If you have issues running or compiling this code, we have compiled a list of common issues in TROUBLESHOOTING.md. If your issue is not present there, please feel free to open a new issue.