def _add_proposals_from_file(self, roidb, proposal_file, min_proposal_size,
top_k, crowd_thresh):
"""Add proposals from a proposals file to an roidb."""
logger.info('Loading proposals from: {}'.format(proposal_file))
with open(proposal_file, 'r') as f:
proposals = pickle.load(f)
id_field = 'indexes' if 'indexes' in proposals else 'ids' # compat fix
_sort_proposals(proposals, id_field)
box_list = []
for i, entry in enumerate(roidb):
if i % 2500 == 0:
logger.info(' {:d}/{:d}'.format(i + 1, len(roidb)))
boxes = proposals['boxes'][i]
# Sanity check that these boxes are for the correct image id
assert entry['id'] == proposals[id_field][i]
# Remove duplicate boxes and very small boxes and then take top k
boxes = box_utils.clip_boxes_to_image(boxes, entry['height'],
entry['width'])
keep = box_utils.unique_boxes(boxes)
boxes = boxes[keep, :]
keep = box_utils.filter_small_boxes(boxes, min_proposal_size)
boxes = boxes[keep, :]
if top_k > 0:
boxes = boxes[:top_k, :]
box_list.append(boxes)
_merge_proposal_boxes_into_roidb(roidb, box_list)
if crowd_thresh > 0:
_filter_crowd_proposals(roidb, crowd_thresh)
def prep_proposal_file(proposal_file, output_dir, min_proposal_size=2, top_k=-1):
rois = load_proposal_file(proposal_file, output_dir)
boxes = rois['boxes']
scores = rois['scores']
boxes_out = []
for img,img_boxes in enumerate(boxes):
img_scores = scores[img]
img_boxes = box_utils.clip_boxes_to_image(img_boxes, 1080, 1920) # TODO: remove this dirty hack!
keep = box_utils.unique_boxes(img_boxes)
img_boxes =img_boxes[keep, :]
img_scores = img_scores[keep]
keep = box_utils.filter_small_boxes(img_boxes, min_proposal_size)
img_boxes =img_boxes[keep, :]
img_scores = img_scores[keep]
if top_k > 0:
img_boxes =img_boxes[:top_k]
img_scores = img_scores[:top_k]
box_cache = []
for sc, entry in enumerate(img_boxes):
entry = np.append(entry, img_scores[sc])
box_cache.append(entry)
boxes_out.append(np.array(box_cache))
return boxes_out
def _add_proposals_from_file(
self, roidb, proposal_file, min_proposal_size, top_k, crowd_thresh
):
"""Add proposals from a proposals file to an roidb."""
logger.info('Loading proposals from: {}'.format(proposal_file))
with open(proposal_file, 'r') as f:
proposals = pickle.load(f)
id_field = 'indexes' if 'indexes' in proposals else 'ids' # compat fix
_sort_proposals(proposals, id_field)
box_list = []
for i, entry in enumerate(roidb):
if i % 2500 == 0:
logger.info(' {:d}/{:d}'.format(i + 1, len(roidb)))
boxes = proposals['boxes'][i]
# Sanity check that these boxes are for the correct image id
assert entry['id'] == proposals[id_field][i]
# Remove duplicate boxes and very small boxes and then take top k
boxes = box_utils.clip_boxes_to_image(
boxes, entry['height'], entry['width']
)
keep = box_utils.unique_boxes(boxes)
boxes = boxes[keep, :]
keep = box_utils.filter_small_boxes(boxes, min_proposal_size)
boxes = boxes[keep, :]
if top_k > 0:
boxes = boxes[:top_k, :]
box_list.append(boxes)
_merge_proposal_boxes_into_roidb(roidb, box_list)
if crowd_thresh > 0:
_filter_crowd_proposals(roidb, crowd_thresh)
def _add_proposals_from_file(
self, roidb, proposal_file, min_proposal_size, top_k, crowd_thresh
):
"""Add proposals from a proposals file to an roidb."""
logger.info('Loading proposals from: {}'.format(proposal_file))
proposals = load_object(proposal_file)
id_field = 'indexes' if 'indexes' in proposals else 'ids' # compat fix
_sort_proposals(proposals, id_field)
box_list = []
depths_list = []
for i, entry in enumerate(roidb):
depth_exists = 0
depths = None
if i % 2500 == 0:
logger.info(' {:d}/{:d}'.format(i + 1, len(roidb)))
boxes = proposals['boxes'][i]
if boxes.shape[1] == 5:
## Proposals contain depth information in the fifth column
depth_exists = 1
depths = boxes[:,4]
boxes = boxes[:,:4]
# Sanity check that these boxes are for the correct image id
assert entry['id'] == proposals[id_field][i]
# Remove duplicate boxes and very small boxes and then take top k
boxes = box_utils.clip_boxes_to_image(
boxes, entry['height'], entry['width']
)
keep = box_utils.unique_boxes(boxes)
boxes = boxes[keep, :]
if depth_exists:
depths = depths[keep]
keep = box_utils.filter_small_boxes(boxes, min_proposal_size)
boxes = boxes[keep, :]
if depth_exists:
depths = depths[keep]
if top_k > 0:
boxes = boxes[:top_k, :]
if depth_exists:
depths = depths[:top_k]
box_list.append(boxes)
if depth_exists:
depths_list.append(depths)
_merge_proposal_boxes_into_roidb(roidb, box_list, depths_list)
if crowd_thresh > 0:
_filter_crowd_proposals(roidb, crowd_thresh)
## Generate proposals for points in pointcloud
pointcloud = coco.imgToPc[img_id]
for point in pointcloud['points']:
rois = get_im_proposals(point,
sizes=(128, 256, 512, 1024),
aspect_ratios=(0.5, 1, 2),
layout=['center', 'top', 'left', 'right'],
beta=8,
include_depth=args.include_depth)
proposals = np.append(proposals, np.array(rois), axis=0)
## Clip the boxes to image boundaries
img_width = img_info['width']
img_height = img_info['height']
proposals = clip_boxes_to_image(proposals, img_height, img_width)
# # Plot the proposal boxes
# img_path = os.path.join(args.imgs_dir, img_info['file_name'])
# img = cv2.imread(img_path)
# plotted_image = draw_xyxy_bbox(img, proposals.tolist(), lineWidth=2)
# plotted_image = cv2.cvtColor(plotted_image, cv2.COLOR_BGR2RGB)
# ax = plt.subplot(111)
# ax.imshow(plotted_image)
# save_fig('temp.pdf')
# input('here')
# plt.clf()
boxes.append(proposals)
scores.append(np.zeros((proposals.shape[0]), dtype=np.float32))
ids.append(img_id)
