def _load_all(self, anno_file, shuffle):
"""
initialize all entries given annotation json file
Parameters:
----------
anno_file: str
annotation json file
shuffle: bool
whether to shuffle image list
"""
image_set_index = []
labels = []
coco = COCO(anno_file)
img_ids = coco.getImgIds()
# deal with class names
cats = [cat['name'] for cat in coco.loadCats(coco.getCatIds())]
class_to_coco_ind = dict(zip(cats, coco.getCatIds()))
class_to_ind = dict(zip(self.classes, range(len(self.classes))))
coco_ind_to_class_ind = dict([(class_to_coco_ind[cls], class_to_ind[cls])
for cls in self.classes[0:]])
for img_id in img_ids:
# filename
image_info = coco.loadImgs(img_id)[0]
filename = image_info["file_name"]
subdir = filename.split('_')[1]
height = image_info["height"]
width = image_info["width"]
# label
anno_ids = coco.getAnnIds(imgIds=img_id)
annos = coco.loadAnns(anno_ids)
label = []
for anno in annos:
cat_id = coco_ind_to_class_ind[anno['category_id']]
bbox = anno["bbox"]
assert len(bbox) == 4
xmin = float(bbox[0]) / width
ymin = float(bbox[1]) / height
xmax = xmin + float(bbox[2]) / width
ymax = ymin + float(bbox[3]) / height
label.append([cat_id, xmin, ymin, xmax, ymax, 0])
if label:
labels.append(np.array(label))
image_set_index.append(os.path.join(subdir, filename))
if shuffle:
import random
indices = list(range(len(image_set_index)))
random.shuffle(indices)
image_set_index = [image_set_index[i] for i in indices]
labels = [labels[i] for i in indices]
# store the results
self.image_set_index = image_set_index
self.labels = labels
class coco(IMDB):
def __init__(self,
image_set,
root_path,
data_path,
result_path=None,
mask_size=-1,
binary_thresh=None,
load_mask=False):
"""
fill basic information to initialize imdb
:param image_set: train2014, val2014, test2015
:param root_path: 'data', will write 'rpn_data', 'cache'
:param data_path: 'data/coco'
"""
super(coco, self).__init__('COCO', image_set, root_path, data_path,
result_path)
self.root_path = root_path
self.data_path = data_path
self.coco = COCO(self._get_ann_file())
# train0829.txt
print('>>>>>>>>>>> image set {}'.format(image_set))
self.trainsetpath = '/private/luyujie/obstacle_detector/obstacle_detector/data/obstacle2d/ImageSets/train0829.txt'
self.valsetpath = '/private/luyujie/obstacle_detector/obstacle_detector/data/obstacle2d/ImageSets/val0629.txt'
self.imagepath = '/private/luyujie/obstacle_detector/obstacle_detector/data/obstacle2d/JPGImages'
self.trainset = ['index0']
self.valset = ['index0']
with open(self.trainsetpath) as tsf:
for line in tsf:
self.trainset.append(
os.path.join(self.imagepath,
line.strip() + '.jpg'))
#print self.trainset[1]
# val0629.txt
with open(self.valsetpath) as vsf:
for line in vsf:
self.valset.append(
os.path.join(self.imagepath,
line.strip() + '.jpg'))
# deal with class names
#print self.valset[2]
cats = [
cat['name'] for cat in self.coco.loadCats(self.coco.getCatIds())
]
self.classes = ['__background__'] + cats
#print('>>>> cats {}'.format(cats))
self.num_classes = len(self.classes)
self._class_to_ind = dict(zip(self.classes, xrange(self.num_classes)))
self._class_to_coco_ind = dict(zip(cats, self.coco.getCatIds()))
self._coco_ind_to_class_ind = dict([(self._class_to_coco_ind[cls],
self._class_to_ind[cls])
for cls in self.classes[1:]])
# load image file names
self.image_set_index = self._load_image_set_index()
self.num_images = len(self.image_set_index)
print 'num_images', self.num_images
self.mask_size = mask_size
self.binary_thresh = binary_thresh
self.load_mask = load_mask
# deal with data name
view_map = {
'minival2014': 'val2014',
'sminival2014': 'val2014',
'valminusminival2014': 'val2014',
'test-dev2015': 'test2015',
'test2015': 'test2015'
}
self.data_name = view_map[
image_set] if image_set in view_map else image_set
def _get_ann_file(self):
""" self.data_path / annotations / instances_train2014.json """
prefix = 'instances' if 'test' not in self.image_set else 'image_info'
path = os.path.join(self.data_path, 'annotations',
prefix + '_' + self.image_set + '.json')
print('>>>>>>>> get_ann_file {}'.format(path))
return os.path.join(self.data_path, 'annotations',
prefix + '_' + self.image_set + '.json')
def _load_image_set_index(self):
""" image id: int """
image_ids = self.coco.getImgIds()
return image_ids
def image_path_from_index(self, index):
""" example: images / train2014 / COCO_train2014_000000119993.jpg """
#self.data_name = 'train2014'
#filename = 'COCO_%s_%012d.jpg' % (self.data_name, index)
#data_name = self.data_name
#if data_name == 'train1030':
# data_name = 'train2014'
filename = 'COCO_%s_%012d.jpg' % (self.data_name, index)
image_path = os.path.join(self.data_path, 'images', self.data_name,
filename)
#print '>> self.data_name'
#print self.data_name
#if self.data_name == 'train2014':
# image_path = self.trainset[index]
#if self.data_name == 'val2014':
# image_path = self.valset[index]
#print '>> index'
#print index
#print '>> self.trainsetpath'
#print self.trainset[0]
#print '>> self.valsetpath'
#print self.valsetpath[0]
#print '>> image_path'
#print image_path
assert os.path.exists(image_path), 'Path does not exist: {}'.format(
image_path)
return image_path
def gt_roidb(self):
cache_file = os.path.join(self.cache_path, self.name + '_gt_roidb.pkl')
index_file = os.path.join(self.cache_path,
self.name + '_index_roidb.pkl')
sindex_file = os.path.join(self.cache_path,
self.name + '_sindex_roidb.pkl')
if os.path.exists(cache_file) and os.path.exists(index_file):
with open(cache_file, 'rb') as fid:
roidb = cPickle.load(fid)
with open(index_file, 'rb') as fid:
self.image_set_index = cPickle.load(fid)
print '{} gt roidb loaded from {}'.format(self.name, cache_file)
return roidb
gt_roidb = []
valid_id = []
vids = []
ct = 0
for index in self.image_set_index:
roientry, flag = self._load_coco_annotation(index)
if flag:
gt_roidb.append(roientry)
valid_id.append(index)
vids.append(ct)
ct = ct + 1
self.image_set_index = valid_id
with open(cache_file, 'wb') as fid:
cPickle.dump(gt_roidb, fid, cPickle.HIGHEST_PROTOCOL)
with open(index_file, 'wb') as fid:
cPickle.dump(valid_id, fid, cPickle.HIGHEST_PROTOCOL)
with open(sindex_file, 'wb') as fid:
cPickle.dump(vids, fid, cPickle.HIGHEST_PROTOCOL)
print 'wrote gt roidb to {}'.format(cache_file)
return gt_roidb
def _load_coco_annotation(self, index):
def _polys2boxes(polys):
boxes_from_polys = np.zeros((len(polys), 4), dtype=np.float32)
for i in range(len(polys)):
poly = polys[i]
x0 = min(min(p[::2]) for p in poly)
x1 = max(max(p[::2]) for p in poly)
y0 = min(min(p[1::2]) for p in poly)
y1 = max(max(p[1::2]) for p in poly)
boxes_from_polys[i, :] = [x0, y0, x1, y1]
return boxes_from_polys
"""
coco ann: [u'segmentation', u'area', u'iscrowd', u'image_id', u'bbox', u'category_id', u'id']
iscrowd:
crowd instances are handled by marking their overlaps with all categories to -1
and later excluded in training
bbox:
[x1, y1, w, h]
:param index: coco image id
:return: roidb entry
"""
im_ann = self.coco.loadImgs(index)[0]
width = im_ann['width']
height = im_ann['height']
annIds = self.coco.getAnnIds(imgIds=index, iscrowd=False)
objs = self.coco.loadAnns(annIds)
annIds = self.coco.getAnnIds(imgIds=index, iscrowd=True)
objsc = self.coco.loadAnns(annIds)
# sanitize bboxes
valid_objs = []
for obj in objs:
x, y, w, h = obj['bbox']
x1 = np.max((0, x))
y1 = np.max((0, y))
#yujie
#x2 = np.min((width - 1, x1 + np.max((0, w - 1))))
#y2 = np.min((height - 1, y1 + np.max((0, h - 1))))
x2 = np.min((width, x1 + np.max((0, w))))
y2 = np.min((height, y1 + np.max((0, h))))
if obj['area'] > 0 and x2 >= x1 and y2 >= y1:
obj['clean_bbox'] = [x1, y1, x2, y2]
valid_objs.append(obj)
valid_objsc = []
for obj in objsc:
x, y, w, h = obj['bbox']
x1 = np.max((0, x))
y1 = np.max((0, y))
#yujie
x2 = np.min((width, x1 + np.max((0, w))))
y2 = np.min((height, y1 + np.max((0, h))))
if obj['area'] > 0 and x2 >= x1 and y2 >= y1:
obj['clean_bbox'] = [x1, y1, x2, y2]
valid_objsc.append(obj)
objs = valid_objs
objc = valid_objsc
num_objs = len(objs)
num_objsc = len(objsc)
boxes = np.zeros((num_objs, 4), dtype=np.uint16)
boxesc = np.zeros((num_objsc, 4), dtype=np.uint16)
gt_classes = np.zeros((num_objs), dtype=np.int32)
overlaps = np.zeros((num_objs, self.num_classes), dtype=np.float32)
#for ix, obj in enumerate(objsc):
# boxesc[ix, :] = obj['clean_bbox']
for ix, obj in enumerate(objs):
cls = self._coco_ind_to_class_ind[obj['category_id']]
boxes[ix, :] = obj['clean_bbox']
gt_classes[ix] = cls
if obj['iscrowd']:
overlaps[ix, :] = -1.0
else:
overlaps[ix, cls] = 1.0
ws = boxes[:, 2] - boxes[:, 0]
hs = boxes[:, 3] - boxes[:, 1]
flag = True
roi_rec = {
'image': self.image_path_from_index(index),
'height': height,
'width': width,
'boxes': boxes,
'boxesc': boxesc,
'gt_classes': gt_classes,
'gt_overlaps': overlaps,
'max_classes': overlaps.argmax(axis=1),
'max_overlaps': overlaps.max(axis=1),
'flipped': False
}
#print '>>>>>> roi_rec'
#print roi_rec
if self.load_mask:
# we only care about valid polygons
print '>>>>>>> load mask'
segs = []
for obj in objs:
if not isinstance(obj['segmentation'], list):
# This is a crowd box
segs.append([])
else:
segs.append([
np.array(p) for p in obj['segmentation'] if len(p) >= 6
])
roi_rec['gt_masks'] = segs
# Uncomment if you need to compute gts based on segmentation masks
# seg_boxes = _polys2boxes(segs)
# roi_rec['mask_boxes'] = seg_boxes
return roi_rec, flag
def evaluate_detections(self,
detections,
ann_type='bbox',
all_masks=None,
extra_path=''):
""" detections_val2014_results.json """
res_folder = os.path.join(self.result_path + extra_path, 'results')
if not os.path.exists(res_folder):
os.makedirs(res_folder)
res_file = os.path.join(res_folder,
'detections_%s_results.json' % self.image_set)
print('>>>> res_file {}'.format(res_file))
self._write_coco_results(detections, res_file, ann_type, all_masks)
#yujie
print('>>>>> evaluate_detections info_str')
info_str = self._do_python_eval(res_file, res_folder, ann_type)
return info_str
'''
if 'test' not in self.image_set:
info_str = self._do_python_eval(res_file, res_folder, ann_type)
return info_str
'''
def evaluate_sds(self, all_boxes, all_masks):
#info_str = self.evaluate_detections(all_boxes, 'segm', all_masks)
info_str = self.evaluate_detections(all_boxes, 'bbox', all_masks)
return info_str
def _write_coco_results(self, all_boxes, res_file, ann_type, all_masks):
""" example results
[{"image_id": 42,
"category_id": 18,
"bbox": [258.15,41.29,348.26,243.78],
"score": 0.236}, ...]
"""
all_im_info = [{
'index': index,
'height': self.coco.loadImgs(index)[0]['height'],
'width': self.coco.loadImgs(index)[0]['width']
} for index in self.image_set_index]
print '>>>>>>>> _write_coco_results ann_type'
print ann_type
if ann_type == 'bbox':
data_pack = [{
'cat_id': self._class_to_coco_ind[cls],
'cls_ind': cls_ind,
'cls': cls,
'ann_type': ann_type,
'binary_thresh': self.binary_thresh,
'all_im_info': all_im_info,
'boxes': all_boxes[cls_ind]
} for cls_ind, cls in enumerate(self.classes)
if not cls == '__background__']
elif ann_type == 'segm':
data_pack = [{
'cat_id': self._class_to_coco_ind[cls],
'cls_ind': cls_ind,
'cls': cls,
'ann_type': ann_type,
'binary_thresh': self.binary_thresh,
'all_im_info': all_im_info,
'boxes': all_boxes[cls_ind],
'masks': all_masks[cls_ind]
} for cls_ind, cls in enumerate(self.classes)
if not cls == '__background__']
else:
print 'unimplemented ann_type: ' + ann_type
# results = coco_results_one_category_kernel(data_pack[1])
# print results[0]
pool = mp.Pool(mp.cpu_count())
results = pool.map(coco_results_one_category_kernel, data_pack)
pool.close()
pool.join()
results = sum(results, [])
print 'Writing results json to %s' % res_file
with open(res_file, 'w') as f:
json.dump(results, f, sort_keys=True, indent=4)
def _do_python_eval(self, res_file, res_folder, ann_type):
print 'do python eval'
coco_dt = self.coco.loadRes(res_file)
#print('>>>> do python eval resfile {}'.format(res_file))
coco_eval = COCOeval(self.coco, coco_dt)
coco_eval.params.useSegm = (ann_type == 'segm')
coco_eval.evaluate()
coco_eval.accumulate()
info_str = self._print_detection_metrics(coco_eval)
eval_file = os.path.join(res_folder,
'detections_%s_results.pkl' % self.image_set)
with open(eval_file, 'w') as f:
cPickle.dump(coco_eval, f, cPickle.HIGHEST_PROTOCOL)
print 'coco eval results saved to %s' % eval_file
info_str += 'coco eval results saved to %s\n' % eval_file
return info_str
def _print_detection_metrics(self, coco_eval):
info_str = ''
IoU_lo_thresh = 0.4
IoU_hi_thresh = 0.4
def _get_thr_ind(coco_eval, thr):
ind = np.where((coco_eval.params.iouThrs > thr - 1e-5)
& (coco_eval.params.iouThrs < thr + 1e-5))[0][0]
iou_thr = coco_eval.params.iouThrs[ind]
assert np.isclose(iou_thr, thr)
return ind
ind_lo = _get_thr_ind(coco_eval, IoU_lo_thresh)
ind_hi = _get_thr_ind(coco_eval, IoU_hi_thresh)
# precision has dims (iou, recall, cls, area range, max dets)
# area range index 0: all area ranges
# max dets index 2: 100 per image
precision = \
coco_eval.eval['precision'][ind_lo:(ind_hi + 1), :, :, 0, 2]
recall = \
coco_eval.eval['recall'][ind_lo:(ind_hi + 1), :, 0, 2]
ap_default = np.mean(precision[precision > -1])
ar_default = np.mean(recall[recall > -1])
print '~~~~ Mean and per-category AP @ IoU=%.2f,%.2f] ~~~~' % (
IoU_lo_thresh, IoU_hi_thresh)
info_str += '~~~~ Mean and per-category AP @ IoU=%.2f,%.2f] ~~~~\n' % (
IoU_lo_thresh, IoU_hi_thresh)
print '%-15s %5.1f' % ('all', 100 * ap_default)
info_str += '%-15s %5.1f\n' % ('all', 100 * ap_default)
print('>>>> self.classes {}'.format(self.classes))
for cls_ind, cls in enumerate(self.classes):
if cls == '__background__':
continue
# minus 1 because of __background__
precision = coco_eval.eval['precision'][ind_lo:(ind_hi + 1), :,
cls_ind - 1, 0, 2]
#print('>>>> coco eval precision {}'.format(coco_eval.eval['precision']))
ap = np.mean(precision[precision > -1])
print '%-15s %5.1f' % (cls, 100 * ap)
info_str += '%-15s %5.1f\n' % (cls, 100 * ap)
print '~~~~ Mean and per-category AR @ IoU=%.2f,%.2f] ~~~~' % (
IoU_lo_thresh, IoU_hi_thresh)
info_str += '~~~~ Mean and per-category AR @ IoU=%.2f,%.2f] ~~~~\n' % (
IoU_lo_thresh, IoU_hi_thresh)
print '%-15s %5.1f' % ('all', 100 * ar_default)
info_str += '%-15s %5.1f\n' % ('all', 100 * ar_default)
print('>>>> self.classes {}'.format(self.classes))
for cls_ind, cls in enumerate(self.classes):
if cls == '__background__':
continue
# minus 1 because of __background__
recall = coco_eval.eval['recall'][ind_lo:(ind_hi + 1), cls_ind - 1,
0, 2]
#print('>>>> coco eval precision {}'.format(coco_eval.eval['precision']))
ar = np.mean(recall[recall > -1])
print '%-15s %5.1f' % (cls, 100 * ar)
info_str += '%-15s %5.1f\n' % (cls, 100 * ar)
print '~~~~ Summary metrics ~~~~'
coco_eval.summarize()
return info_str