Added EIoU, SIoU, AlphaIoU, FocalEIoU, Wise-IoU in YoloV5 .

2023-2-7 Update yolov5 and add Wise- IoU B station link

Heavy! ! ! ! ! YOLO Model Improvement Collection Guide-CSDN

Box_iou in yolov5 uses CIoU by default , and the code also contains GIoU, DIoU, file path: utils/metrics.py , function name: bbox_iou

def bbox_iou(box1, box2, xywh=True, GIoU=False, DIoU=False, CIoU=False, eps=1e-7):
    # Returns Intersection over Union (IoU) of box1(1,4) to box2(n,4)

    # Get the coordinates of bounding boxes
    if xywh:  # transform from xywh to xyxy
        (x1, y1, w1, h1), (x2, y2, w2, h2) = box1.chunk(4, -1), box2.chunk(4, -1)
        w1_, h1_, w2_, h2_ = w1 / 2, h1 / 2, w2 / 2, h2 / 2
        b1_x1, b1_x2, b1_y1, b1_y2 = x1 - w1_, x1 + w1_, y1 - h1_, y1 + h1_
        b2_x1, b2_x2, b2_y1, b2_y2 = x2 - w2_, x2 + w2_, y2 - h2_, y2 + h2_
    else:  # x1, y1, x2, y2 = box1
        b1_x1, b1_y1, b1_x2, b1_y2 = box1.chunk(4, -1)
        b2_x1, b2_y1, b2_x2, b2_y2 = box2.chunk(4, -1)
        w1, h1 = b1_x2 - b1_x1, (b1_y2 - b1_y1).clamp(eps)
        w2, h2 = b2_x2 - b2_x1, (b2_y2 - b2_y1).clamp(eps)

    # Intersection area
    inter = (b1_x2.minimum(b2_x2) - b1_x1.maximum(b2_x1)).clamp(0) * \
            (b1_y2.minimum(b2_y2) - b1_y1.maximum(b2_y1)).clamp(0)

    # Union Area
    union = w1 * h1 + w2 * h2 - inter + eps

    # IoU
    iou = inter / union
    if CIoU or DIoU or GIoU:
        cw = b1_x2.maximum(b2_x2) - b1_x1.minimum(b2_x1)  # convex (smallest enclosing box) width
        ch = b1_y2.maximum(b2_y2) - b1_y1.minimum(b2_y1)  # convex height
        if CIoU or DIoU:  # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
            c2 = cw ** 2 + ch ** 2 + eps  # convex diagonal squared
            rho2 = ((b2_x1 + b2_x2 - b1_x1 - b1_x2) ** 2 + (b2_y1 + b2_y2 - b1_y1 - b1_y2) ** 2) / 4  # center dist ** 2
            if CIoU:  # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
                v = (4 / math.pi ** 2) * (torch.atan(w2 / h2) - torch.atan(w1 / h1)).pow(2)
                with torch.no_grad():
                    alpha = v / (v - iou + (1 + eps))
                return iou - (rho2 / c2 + v * alpha)  # CIoU
            return iou - rho2 / c2  # DIoU
        c_area = cw * ch + eps  # convex area
        return iou - (c_area - union) / c_area  # GIoU https://arxiv.org/pdf/1902.09630.pdf
    return iou  # IoU

We can see the top of the function, there are GIoU, DIoU, CIoU bool parameters to choose from, if all are False, it will return the most common Iou, if one of them is True, it will return the one that is set to True Iou.

So the point is, how do we add EIoU, SIoU, AlphaIoU, FocalEIoU to this function?

We just need to replace the function mentioned above with the following, the code comes from : github link , there are some improved source codes of yolov5 and some commonly used scripts on this github, you can check it out if you are interested, please help me With the support of star, thank you!

def bbox_iou(box1, box2, xywh=True, GIoU=False, DIoU=False, CIoU=False, SIoU=False, EIoU=False, Focal=False, alpha=1, gamma=0.5, eps=1e-7):
    # Returns Intersection over Union (IoU) of box1(1,4) to box2(n,4)

    # Get the coordinates of bounding boxes
    if xywh:  # transform from xywh to xyxy
        (x1, y1, w1, h1), (x2, y2, w2, h2) = box1.chunk(4, -1), box2.chunk(4, -1)
        w1_, h1_, w2_, h2_ = w1 / 2, h1 / 2, w2 / 2, h2 / 2
        b1_x1, b1_x2, b1_y1, b1_y2 = x1 - w1_, x1 + w1_, y1 - h1_, y1 + h1_
        b2_x1, b2_x2, b2_y1, b2_y2 = x2 - w2_, x2 + w2_, y2 - h2_, y2 + h2_
    else:  # x1, y1, x2, y2 = box1
        b1_x1, b1_y1, b1_x2, b1_y2 = box1.chunk(4, -1)
        b2_x1, b2_y1, b2_x2, b2_y2 = box2.chunk(4, -1)
        w1, h1 = b1_x2 - b1_x1, (b1_y2 - b1_y1).clamp(eps)
        w2, h2 = b2_x2 - b2_x1, (b2_y2 - b2_y1).clamp(eps)

    # Intersection area
    inter = (b1_x2.minimum(b2_x2) - b1_x1.maximum(b2_x1)).clamp(0) * \
            (b1_y2.minimum(b2_y2) - b1_y1.maximum(b2_y1)).clamp(0)

    # Union Area
    union = w1 * h1 + w2 * h2 - inter + eps

    # IoU
    # iou = inter / union # ori iou
    iou = torch.pow(inter/(union + eps), alpha) # alpha iou
    if CIoU or DIoU or GIoU or EIoU or SIoU:
        cw = b1_x2.maximum(b2_x2) - b1_x1.minimum(b2_x1)  # convex (smallest enclosing box) width
        ch = b1_y2.maximum(b2_y2) - b1_y1.minimum(b2_y1)  # convex height
        if CIoU or DIoU or EIoU or SIoU:  # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
            c2 = (cw ** 2 + ch ** 2) ** alpha + eps  # convex diagonal squared
            rho2 = (((b2_x1 + b2_x2 - b1_x1 - b1_x2) ** 2 + (b2_y1 + b2_y2 - b1_y1 - b1_y2) ** 2) / 4) ** alpha  # center dist ** 2
            if CIoU:  # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
                v = (4 / math.pi ** 2) * (torch.atan(w2 / h2) - torch.atan(w1 / h1)).pow(2)
                with torch.no_grad():
                    alpha_ciou = v / (v - iou + (1 + eps))
                if Focal:
                    return iou - (rho2 / c2 + torch.pow(v * alpha_ciou + eps, alpha)), torch.pow(inter/(union + eps), gamma)  # Focal_CIoU
                else:
                    return iou - (rho2 / c2 + torch.pow(v * alpha_ciou + eps, alpha))  # CIoU
            elif EIoU:
                rho_w2 = ((b2_x2 - b2_x1) - (b1_x2 - b1_x1)) ** 2
                rho_h2 = ((b2_y2 - b2_y1) - (b1_y2 - b1_y1)) ** 2
                cw2 = torch.pow(cw ** 2 + eps, alpha)
                ch2 = torch.pow(ch ** 2 + eps, alpha)
                if Focal:
                    return iou - (rho2 / c2 + rho_w2 / cw2 + rho_h2 / ch2), torch.pow(inter/(union + eps), gamma) # Focal_EIou
                else:
                    return iou - (rho2 / c2 + rho_w2 / cw2 + rho_h2 / ch2) # EIou
            elif SIoU:
                # SIoU Loss https://arxiv.org/pdf/2205.12740.pdf
                s_cw = (b2_x1 + b2_x2 - b1_x1 - b1_x2) * 0.5 + eps
                s_ch = (b2_y1 + b2_y2 - b1_y1 - b1_y2) * 0.5 + eps
                sigma = torch.pow(s_cw ** 2 + s_ch ** 2, 0.5)
                sin_alpha_1 = torch.abs(s_cw) / sigma
                sin_alpha_2 = torch.abs(s_ch) / sigma
                threshold = pow(2, 0.5) / 2
                sin_alpha = torch.where(sin_alpha_1 > threshold, sin_alpha_2, sin_alpha_1)
                angle_cost = torch.cos(torch.arcsin(sin_alpha) * 2 - math.pi / 2)
                rho_x = (s_cw / cw) ** 2
                rho_y = (s_ch / ch) ** 2
                gamma = angle_cost - 2
                distance_cost = 2 - torch.exp(gamma * rho_x) - torch.exp(gamma * rho_y)
                omiga_w = torch.abs(w1 - w2) / torch.max(w1, w2)
                omiga_h = torch.abs(h1 - h2) / torch.max(h1, h2)
                shape_cost = torch.pow(1 - torch.exp(-1 * omiga_w), 4) + torch.pow(1 - torch.exp(-1 * omiga_h), 4)
                if Focal:
                    return iou - torch.pow(0.5 * (distance_cost + shape_cost) + eps, alpha), torch.pow(inter/(union + eps), gamma) # Focal_SIou
                else:
                    return iou - torch.pow(0.5 * (distance_cost + shape_cost) + eps, alpha) # SIou
            if Focal:
                return iou - rho2 / c2, torch.pow(inter/(union + eps), gamma)  # Focal_DIoU
            else:
                return iou - rho2 / c2  # DIoU
        c_area = cw * ch + eps  # convex area
        if Focal:
            return iou - torch.pow((c_area - union) / c_area + eps, alpha), torch.pow(inter/(union + eps), gamma)  # Focal_GIoU https://arxiv.org/pdf/1902.09630.pdf
        else:
            return iou - torch.pow((c_area - union) / c_area + eps, alpha)  # GIoU https://arxiv.org/pdf/1902.09630.pdf
    if Focal:
        return iou, torch.pow(inter/(union + eps), gamma)  # Focal_IoU
    else:
        return iou  # IoU

Precautions

1. I think the idea of ​​Focal_EIoU can be used as a variant of other IoUs, so I support the idea of ​​Focal_EIoU for all the IoUs in it, just set the Focal parameter to True. During my own testing, except Focal_SIoU appears loss Except for inf, everything else is normal, but this different data set may appear different, you can test it yourself.
2. The gamma parameter is the gamma parameter in Focal_EIoU, which is generally 0.5 and can be changed if necessary.
3. The alpha parameter is the alpha parameter in AlphaIoU, the default is 1, 1 means the same as the normal IoU, if you want to use AlphaIoU, the default value of alpha in the paper is 3. (For example, if I don't want to use the characteristics of AlphaIoU, I can set alpha to 1. If I want to use the characteristics of AlphaIoU, I can set alpha to 3).
4. Like Focal_EIoU, I think the idea of ​​AlphaIoU can also be used in other IoU variants. Simply put, if you set alpha to 3, the parameters set by other IoU (GIoU, DIoU, CIoU, EIoU, SIoU) are False If you set alpha to 3 and CIoU to True, it will be AlphaCIoU. The effect depends on the data set and model. You can test it yourself.
5. If you want to use that IoU variant, just set the parameter to True.
6. AlphaIoU theoretically has no direct conflict with Focal_EIoU, but the author has not tested it in detail. What will be the effect of using the two together? If you are interested, you can test it yourself.

In addition to the above function replacement, you also need to modify the __call__ function in ComputeLoss Class in utils/loss.py:

The original __call__ function is as follows:

mainly replace the red box with the following code:

iou = bbox_iou(pbox, tbox[i], CIoU=True)  # iou(prediction, target)
if type(iou) is tuple:
    lbox += (iou[1].detach().squeeze() * (1 - iou[0].squeeze())).mean()
    iou = iou[0].squeeze()
else:
    lbox += (1.0 - iou.squeeze()).mean()  # iou loss
    iou = iou.squeeze()

Finally, modify the parameters by calling bbox_iou. For example, the above code uses CIoU. If you want to use Focal_EIoU, you can modify it as follows:

iou = bbox_iou(pbox, tbox[i], EIoU=True, Focal=True) 

Finally, I hope this article can help everyone. Of course, this part is also applicable to yolov7, because the architecture of yolov7 is similar to that of yolov5. You can try to modify it. Ask for likes on the blog post, ask for stars on github, thank you!