class LVISEval:
def __init__(self, lvis_gt, lvis_dt, iou_type="segm"):
"""Constructor for LVISEval.
Args:
lvis_gt (LVIS class instance, or str containing path of annotation file)
lvis_dt (LVISResult class instance, or str containing path of result file,
or list of dict)
iou_type (str): segm or bbox evaluation
"""
# self.logger = logging.getLogger(__name__)
if iou_type not in ["bbox", "segm"]:
raise ValueError("iou_type: {} is not supported.".format(iou_type))
if isinstance(lvis_gt, LVIS):
self.lvis_gt = lvis_gt
elif isinstance(lvis_gt, str):
self.lvis_gt = LVIS(lvis_gt)
else:
raise TypeError("Unsupported type {} of lvis_gt.".format(lvis_gt))
if isinstance(lvis_dt, LVISResults):
self.lvis_dt = lvis_dt
elif isinstance(lvis_dt, (str, list)):
self.lvis_dt = LVISResults(self.lvis_gt, lvis_dt)
else:
raise TypeError("Unsupported type {} of lvis_dt.".format(lvis_dt))
# per-image per-category evaluation results
self.eval_imgs = defaultdict(list)
self.eval = {} # accumulated evaluation results
self._gts = defaultdict(list) # gt for evaluation
self._dts = defaultdict(list) # dt for evaluation
self.params = Params(iou_type=iou_type) # parameters
self.results = OrderedDict()
self.ious = {} # ious between all gts and dts
self.params.img_ids = sorted(self.lvis_gt.get_img_ids())
self.params.cat_ids = sorted(self.lvis_gt.get_cat_ids())
def _to_mask(self, anns, lvis):
for ann in anns:
rle = lvis.ann_to_rle(ann)
ann["segmentation"] = rle
def _prepare(self):
"""Prepare self._gts and self._dts for evaluation based on params."""
cat_ids = self.params.cat_ids if self.params.cat_ids else None
gts = self.lvis_gt.load_anns(
self.lvis_gt.get_ann_ids(img_ids=self.params.img_ids,
cat_ids=cat_ids))
dts = self.lvis_dt.load_anns(
self.lvis_dt.get_ann_ids(img_ids=self.params.img_ids,
cat_ids=cat_ids))
# convert ground truth to mask if iou_type == 'segm'
if self.params.iou_type == "segm":
self._to_mask(gts, self.lvis_gt)
self._to_mask(dts, self.lvis_dt)
# set ignore flag
for gt in gts:
if "ignore" not in gt:
gt["ignore"] = 0
for gt in gts:
self._gts[gt["image_id"], gt["category_id"]].append(gt)
# For federated dataset evaluation we will filter out all dt for an
# image which belong to categories not present in gt and not present in
# the negative list for an image. In other words detector is not penalized
# for categories about which we don't have gt information about their
# presence or absence in an image.
img_data = self.lvis_gt.load_imgs(ids=self.params.img_ids)
# per image map of categories not present in image
img_nl = {d["id"]: d["neg_category_ids"] for d in img_data}
# per image list of categories present in image
img_pl = defaultdict(set)
for ann in gts:
img_pl[ann["image_id"]].add(ann["category_id"])
# per image map of categoires which have missing gt. For these
# categories we don't penalize the detector for flase positives.
self.img_nel = {
d["id"]: d["not_exhaustive_category_ids"]
for d in img_data
}
for dt in dts:
img_id, cat_id = dt["image_id"], dt["category_id"]
if cat_id not in img_nl[img_id] and cat_id not in img_pl[img_id]:
continue
self._dts[img_id, cat_id].append(dt)
self.freq_groups = self._prepare_freq_group()
def _prepare_freq_group(self):
freq_groups = [[] for _ in self.params.img_count_lbl]
cat_data = self.lvis_gt.load_cats(self.params.cat_ids)
for idx, _cat_data in enumerate(cat_data):
frequency = _cat_data["frequency"]
freq_groups[self.params.img_count_lbl.index(frequency)].append(idx)
return freq_groups
def evaluate(self):
"""
Run per image evaluation on given images and store results
(a list of dict) in self.eval_imgs.
"""
print("Running per image evaluation.")
print("Evaluate annotation type *{}*".format(self.params.iou_type))
self.params.img_ids = list(np.unique(self.params.img_ids))
if self.params.use_cats:
cat_ids = self.params.cat_ids
else:
cat_ids = [-1]
self._prepare()
self.ious = {(img_id, cat_id): self.compute_iou(img_id, cat_id)
for img_id in self.params.img_ids for cat_id in cat_ids}
# loop through images, area range, max detection number
self.eval_imgs = [
self.evaluate_img(img_id, cat_id, area_rng) for cat_id in cat_ids
for area_rng in self.params.area_rng
for img_id in self.params.img_ids
]
def _get_gt_dt(self, img_id, cat_id):
"""Create gt, dt which are list of anns/dets. If use_cats is true
only anns/dets corresponding to tuple (img_id, cat_id) will be
used. Else, all anns/dets in image are used and cat_id is not used.
"""
if self.params.use_cats:
gt = self._gts[img_id, cat_id]
dt = self._dts[img_id, cat_id]
else:
gt = [
_ann for _cat_id in self.params.cat_ids
for _ann in self._gts[img_id, cat_id]
]
dt = [
_ann for _cat_id in self.params.cat_ids
for _ann in self._dts[img_id, cat_id]
]
return gt, dt
def compute_iou(self, img_id, cat_id):
gt, dt = self._get_gt_dt(img_id, cat_id)
if len(gt) == 0 and len(dt) == 0:
return []
# Sort detections in decreasing order of score.
idx = np.argsort([-d["score"] for d in dt], kind="mergesort")
dt = [dt[i] for i in idx]
iscrowd = [int(False)] * len(gt)
if self.params.iou_type == "segm":
ann_type = "segmentation"
elif self.params.iou_type == "bbox":
ann_type = "bbox"
else:
raise ValueError("Unknown iou_type for iou computation.")
gt = [g[ann_type] for g in gt]
dt = [d[ann_type] for d in dt]
# compute iou between each dt and gt region
# will return array of shape len(dt), len(gt)
ious = mask_utils.iou(dt, gt, iscrowd)
return ious
def evaluate_img(self, img_id, cat_id, area_rng):
"""Perform evaluation for single category and image."""
gt, dt = self._get_gt_dt(img_id, cat_id)
if len(gt) == 0 and len(dt) == 0:
return None
# Add another filed _ignore to only consider anns based on area range.
for g in gt:
if g["ignore"] or (g["area"] < area_rng[0]
or g["area"] > area_rng[1]):
g["_ignore"] = 1
else:
g["_ignore"] = 0
# Sort gt ignore last
gt_idx = np.argsort([g["_ignore"] for g in gt], kind="mergesort")
gt = [gt[i] for i in gt_idx]
# Sort dt highest score first
dt_idx = np.argsort([-d["score"] for d in dt], kind="mergesort")
dt = [dt[i] for i in dt_idx]
# load computed ious
ious = (self.ious[img_id, cat_id][:, gt_idx]
if len(self.ious[img_id, cat_id]) > 0 else self.ious[img_id,
cat_id])
num_thrs = len(self.params.iou_thrs)
num_gt = len(gt)
num_dt = len(dt)
# Array to store the "id" of the matched dt/gt
gt_m = np.zeros((num_thrs, num_gt))
dt_m = np.zeros((num_thrs, num_dt))
gt_ig = np.array([g["_ignore"] for g in gt])
dt_ig = np.zeros((num_thrs, num_dt))
for iou_thr_idx, iou_thr in enumerate(self.params.iou_thrs):
if len(ious) == 0:
break
for dt_idx, _dt in enumerate(dt):
iou = min([iou_thr, 1 - 1e-10])
# information about best match so far (m=-1 -> unmatched)
# store the gt_idx which matched for _dt
m = -1
for gt_idx, _ in enumerate(gt):
# if this gt already matched continue
if gt_m[iou_thr_idx, gt_idx] > 0:
continue
# if _dt matched to reg gt, and on ignore gt, stop
if m > -1 and gt_ig[m] == 0 and gt_ig[gt_idx] == 1:
break
# continue to next gt unless better match made
if ious[dt_idx, gt_idx] < iou:
continue
# if match successful and best so far, store appropriately
iou = ious[dt_idx, gt_idx]
m = gt_idx
# No match found for _dt, go to next _dt
if m == -1:
continue
# if gt to ignore for some reason update dt_ig.
# Should not be used in evaluation.
dt_ig[iou_thr_idx, dt_idx] = gt_ig[m]
# _dt match found, update gt_m, and dt_m with "id"
dt_m[iou_thr_idx, dt_idx] = gt[m]["id"]
gt_m[iou_thr_idx, m] = _dt["id"]
# For LVIS we will ignore any unmatched detection if that category was
# not exhaustively annotated in gt.
dt_ig_mask = [
d["area"] < area_rng[0] or d["area"] > area_rng[1]
or d["category_id"] in self.img_nel[d["image_id"]] for d in dt
]
dt_ig_mask = np.array(dt_ig_mask).reshape((1, num_dt)) # 1 X num_dt
dt_ig_mask = np.repeat(dt_ig_mask, num_thrs, 0) # num_thrs X num_dt
# Based on dt_ig_mask ignore any unmatched detection by updating dt_ig
dt_ig = np.logical_or(dt_ig, np.logical_and(dt_m == 0, dt_ig_mask))
# store results for given image and category
return {
"image_id": img_id,
"category_id": cat_id,
"area_rng": area_rng,
"dt_ids": [d["id"] for d in dt],
"gt_ids": [g["id"] for g in gt],
"dt_matches": dt_m,
"gt_matches": gt_m,
"dt_scores": [d["score"] for d in dt],
"gt_ignore": gt_ig,
"dt_ignore": dt_ig,
}
def accumulate(self):
"""Accumulate per image evaluation results and store the result in
self.eval.
"""
print("Accumulating evaluation results.")
if not self.eval_imgs:
print("Please run evaluate first.")
if self.params.use_cats:
cat_ids = self.params.cat_ids
else:
cat_ids = [-1]
num_thrs = len(self.params.iou_thrs)
num_recalls = len(self.params.rec_thrs)
num_cats = len(cat_ids)
num_area_rngs = len(self.params.area_rng)
num_imgs = len(self.params.img_ids)
# -1 for absent categories
precision = -np.ones((num_thrs, num_recalls, num_cats, num_area_rngs))
recall = -np.ones((num_thrs, num_cats, num_area_rngs))
# Initialize dt_pointers
dt_pointers = {}
for cat_idx in range(num_cats):
dt_pointers[cat_idx] = {}
for area_idx in range(num_area_rngs):
dt_pointers[cat_idx][area_idx] = {}
# Per category evaluation
for cat_idx in range(num_cats):
Nk = cat_idx * num_area_rngs * num_imgs
for area_idx in range(num_area_rngs):
Na = area_idx * num_imgs
E = [
self.eval_imgs[Nk + Na + img_idx]
for img_idx in range(num_imgs)
]
# Remove elements which are None
E = [e for e in E if not e is None]
if len(E) == 0:
continue
# Append all scores: shape (N,)
dt_scores = np.concatenate([e["dt_scores"] for e in E], axis=0)
dt_ids = np.concatenate([e["dt_ids"] for e in E], axis=0)
dt_idx = np.argsort(-dt_scores, kind="mergesort")
dt_scores = dt_scores[dt_idx]
dt_ids = dt_ids[dt_idx]
dt_m = np.concatenate([e["dt_matches"] for e in E],
axis=1)[:, dt_idx]
dt_ig = np.concatenate([e["dt_ignore"] for e in E],
axis=1)[:, dt_idx]
gt_ig = np.concatenate([e["gt_ignore"] for e in E])
# num gt anns to consider
num_gt = np.count_nonzero(gt_ig == 0)
if num_gt == 0:
continue
tps = np.logical_and(dt_m, np.logical_not(dt_ig))
fps = np.logical_and(np.logical_not(dt_m),
np.logical_not(dt_ig))
tp_sum = np.cumsum(tps, axis=1).astype(dtype=np.float)
fp_sum = np.cumsum(fps, axis=1).astype(dtype=np.float)
dt_pointers[cat_idx][area_idx] = {
"dt_ids": dt_ids,
"tps": tps,
"fps": fps,
}
for iou_thr_idx, (tp, fp) in enumerate(zip(tp_sum, fp_sum)):
tp = np.array(tp)
fp = np.array(fp)
num_tp = len(tp)
rc = tp / num_gt
if num_tp:
recall[iou_thr_idx, cat_idx, area_idx] = rc[-1]
else:
recall[iou_thr_idx, cat_idx, area_idx] = 0
# np.spacing(1) ~= eps
pr = tp / (fp + tp + np.spacing(1))
pr = pr.tolist()
# Replace each precision value with the maximum precision
# value to the right of that recall level. This ensures
# that the calculated AP value will be less suspectable
# to small variations in the ranking.
for i in range(num_tp - 1, 0, -1):
if pr[i] > pr[i - 1]:
pr[i - 1] = pr[i]
rec_thrs_insert_idx = np.searchsorted(rc,
self.params.rec_thrs,
side="left")
pr_at_recall = [0.0] * num_recalls
try:
for _idx, pr_idx in enumerate(rec_thrs_insert_idx):
pr_at_recall[_idx] = pr[pr_idx]
except:
pass
precision[iou_thr_idx, :, cat_idx,
area_idx] = np.array(pr_at_recall)
self.eval = {
"params": self.params,
"counts": [num_thrs, num_recalls, num_cats, num_area_rngs],
"date": datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"),
"precision": precision,
"recall": recall,
"dt_pointers": dt_pointers,
}
def _summarize(self,
summary_type,
iou_thr=None,
area_rng="all",
freq_group_idx=None):
aidx = [
idx for idx, _area_rng in enumerate(self.params.area_rng_lbl)
if _area_rng == area_rng
]
if summary_type == 'ap':
s = self.eval["precision"]
if iou_thr is not None:
tidx = np.where(iou_thr == self.params.iou_thrs)[0]
s = s[tidx]
if freq_group_idx is not None:
s = s[:, :, self.freq_groups[freq_group_idx], aidx]
else:
s = s[:, :, :, aidx]
else:
s = self.eval["recall"]
if iou_thr is not None:
tidx = np.where(iou_thr == self.params.iou_thrs)[0]
s = s[tidx]
s = s[:, :, aidx]
if len(s[s > -1]) == 0:
mean_s = -1
else:
mean_s = np.mean(s[s > -1])
return mean_s
def summarize(self):
"""Compute and display summary metrics for evaluation results."""
if not self.eval:
raise RuntimeError("Please run accumulate() first.")
max_dets = self.params.max_dets
self.results["AP"] = self._summarize('ap')
self.results["AP50"] = self._summarize('ap', iou_thr=0.50)
self.results["AP75"] = self._summarize('ap', iou_thr=0.75)
self.results["APs"] = self._summarize('ap', area_rng="small")
self.results["APm"] = self._summarize('ap', area_rng="medium")
self.results["APl"] = self._summarize('ap', area_rng="large")
self.results["APr"] = self._summarize('ap', freq_group_idx=0)
self.results["APc"] = self._summarize('ap', freq_group_idx=1)
self.results["APf"] = self._summarize('ap', freq_group_idx=2)
key = "AR@{}".format(max_dets)
self.results[key] = self._summarize('ar')
for area_rng in ["small", "medium", "large"]:
key = "AR{}@{}".format(area_rng[0], max_dets)
self.results[key] = self._summarize('ar', area_rng=area_rng)
def run(self):
"""Wrapper function which calculates the results."""
self.evaluate()
self.accumulate()
self.summarize()
def print_results(self):
template = " {:<18} {} @[ IoU={:<9} | area={:>6s} | maxDets={:>3d} catIds={:>3s}] = {:0.3f}"
for key, value in self.results.items():
max_dets = self.params.max_dets
if "AP" in key:
title = "Average Precision"
_type = "(AP)"
else:
title = "Average Recall"
_type = "(AR)"
if len(key) > 2 and key[2].isdigit():
iou_thr = (float(key[2:]) / 100)
iou = "{:0.2f}".format(iou_thr)
else:
iou = "{:0.2f}:{:0.2f}".format(self.params.iou_thrs[0],
self.params.iou_thrs[-1])
if len(key) > 2 and key[2] in ["r", "c", "f"]:
cat_group_name = key[2]
else:
cat_group_name = "all"
if len(key) > 2 and key[2] in ["s", "m", "l"]:
area_rng = key[2]
else:
area_rng = "all"
print(
template.format(title, _type, iou, area_rng, max_dets,
cat_group_name, value))
def get_results(self):
if not self.results:
self.logger.warn("results is empty. Call run().")
return self.results
class LVISVis:
def __init__(self, lvis_gt, lvis_dt=None, img_dir=None, dpi=75):
"""Constructor for LVISVis.
Args:
lvis_gt (LVIS class instance, or str containing path of annotation file)
lvis_dt (LVISResult class instance, or str containing path of result file,
or list of dict)
img_dir (str): path of folder containing all images. If None, the image
to be displayed will be downloaded to the current working dir.
dpi (int): dpi for figure size setup
"""
self.logger = logging.getLogger(__name__)
if isinstance(lvis_gt, LVIS):
self.lvis_gt = lvis_gt
elif isinstance(lvis_gt, str):
self.lvis_gt = LVIS(lvis_gt)
else:
raise TypeError("Unsupported type {} of lvis_gt.".format(lvis_gt))
if lvis_dt is not None:
if isinstance(lvis_dt, LVISResults):
self.lvis_dt = lvis_dt
elif isinstance(lvis_dt, (str, list)):
self.lvis_dt = LVISResults(self.lvis_gt, lvis_dt)
else:
raise TypeError("Unsupported type {} of lvis_dt.".format(lvis_dt))
else:
self.lvis_dt = None
self.dpi = dpi
self.img_dir = img_dir if img_dir else '.'
if self.img_dir == '.':
self.logger.warn("img_dir not specified. Images will be downloaded.")
def coco_segm_to_poly(self, _list):
x = _list[0::2]
y = _list[1::2]
points = np.asarray([x, y])
return np.transpose(points)
def get_synset(self, idx):
synset = self.lvis_gt.load_cats(ids=[idx])[0]["synset"]
text = synset.split(".")
text = "{}.{}".format(text[0], int(text[-1]))
return text
def setup_figure(self, img, title="", dpi=75):
fig = plt.figure(frameon=False)
fig.set_size_inches(img.shape[1] / dpi, img.shape[0] / dpi)
ax = plt.Axes(fig, [0.0, 0.0, 1.0, 1.0])
ax.set_title(title)
ax.axis("off")
fig.add_axes(ax)
ax.imshow(img)
return fig, ax
def vis_bbox(self, ax, bbox, box_alpha=0.5, edgecolor="g", linestyle="--"):
# bbox should be of the form x, y, w, h
ax.add_patch(
plt.Rectangle(
(bbox[0], bbox[1]),
bbox[2],
bbox[3],
fill=False,
edgecolor=edgecolor,
linewidth=2.5,
alpha=box_alpha,
linestyle=linestyle,
)
)
def vis_text(self, ax, bbox, text, color="w"):
ax.text(
bbox[0],
bbox[1] - 2,
text,
fontsize=15,
family="serif",
bbox=dict(facecolor="none", alpha=0.4, pad=0, edgecolor="none"),
color=color,
zorder=10,
)
def vis_mask(self, ax, segm, color):
# segm is numpy array of shape Nx2
polygon = Polygon(
segm, fill=True, facecolor=color, edgecolor=color, linewidth=3, alpha=0.5
)
ax.add_patch(polygon)
def get_color(self, idx):
color_list = colormap(rgb=True) / 255
return color_list[idx % len(color_list), 0:3]
def load_img(self, img_id):
img = self.lvis_gt.load_imgs([img_id])[0]
img_path = os.path.join(self.img_dir, img["file_name"])
if not os.path.exists(img_path):
self.lvis_gt.download(self.img_dir, img_ids=[img_id])
img = cv2.imread(img_path)
b, g, r = cv2.split(img)
return cv2.merge([r, g, b])
def vis_img(
self, img_id, show_boxes=False, show_segms=True, show_classes=False,
cat_ids_to_show=None
):
ann_ids = self.lvis_gt.get_ann_ids(img_ids=[img_id])
anns = self.lvis_gt.load_anns(ids=ann_ids)
boxes, segms, classes = [], [], []
for ann in anns:
boxes.append(ann["bbox"])
segms.append(ann["segmentation"])
classes.append(ann["category_id"])
if len(boxes) == 0:
self.logger.warn("No gt anno found for img_id: {}".format(img_id))
return
boxes = np.asarray(boxes)
areas = boxes[:, 2] * boxes[:, 3]
sorted_inds = np.argsort(-areas)
fig, ax = self.setup_figure(self.load_img(img_id))
for idx in sorted_inds:
if cat_ids_to_show is not None and classes[idx] not in cat_ids_to_show:
continue
color = self.get_color(idx)
if show_boxes:
self.vis_bbox(ax, boxes[idx], edgecolor=color)
if show_classes:
text = self.get_synset(classes[idx])
self.vis_text(ax, boxes[idx], text)
if show_segms:
for segm in segms[idx]:
self.vis_mask(ax, self.coco_segm_to_poly(segm), color)
def vis_result(
self, img_id, show_boxes=False, show_segms=True, show_classes=False,
cat_ids_to_show=None, score_thrs=0.0, show_scores=True
):
assert self.lvis_dt is not None, "lvis_dt was not specified."
anns = self.lvis_dt.get_top_results(img_id, score_thrs)
boxes, segms, classes, scores = [], [], [], []
for ann in anns:
boxes.append(ann["bbox"])
segms.append(ann["segmentation"])
classes.append(ann["category_id"])
scores.append(ann["score"])
if len(boxes) == 0:
self.logger.warn("No gt anno found for img_id: {}".format(img_id))
return
boxes = np.asarray(boxes)
areas = boxes[:, 2] * boxes[:, 3]
sorted_inds = np.argsort(-areas)
fig, ax = self.setup_figure(self.load_img(img_id))
for idx in sorted_inds:
if cat_ids_to_show is not None and classes[idx] not in cat_ids_to_show:
continue
color = self.get_color(idx)
if show_boxes:
self.vis_bbox(ax, boxes[idx], edgecolor=color)
if show_classes:
text = self.get_synset(classes[idx])
if show_scores:
text = "{}: {:.2f}".format(text, scores[idx])
self.vis_text(ax, boxes[idx], text)
if show_segms:
for segm in segms[idx]:
self.vis_mask(ax, self.coco_segm_to_poly(segm), color)