def test_polygon2D(self):
vcd = core.VCD()
uid_obj1 = vcd.add_object('someName1', '#Some')
# Add a polygon with SRF6DCC encoding (list of strings)
poly1 = types.poly2d('poly1', (5, 5, 10, 5, 11, 6, 11, 8, 9, 10, 5, 10, 3, 8, 3, 6, 4, 5),
types.Poly2DType.MODE_POLY2D_SRF6DCC, False)
self.assertEqual(poly1.data['name'], "poly1")
self.assertEqual(poly1.data['mode'], "MODE_POLY2D_SRF6DCC")
self.assertEqual(poly1.data['closed'], False)
vcd.add_object_data(uid_obj1, poly1)
# Add a polygon with absolute coordinates (list of numbers)
poly2 = types.poly2d('poly2', (5, 5, 10, 5, 11, 6, 11, 8, 9, 10, 5, 10, 3, 8, 3, 6, 4, 5),
types.Poly2DType.MODE_POLY2D_ABSOLUTE, False)
vcd.add_object_data(uid_obj1, poly2)
if not os.path.isfile('./etc/vcd430_test_polygon2D.json'):
vcd.save('./etc/vcd430_test_polygon2D.json', True)
vcd_read = core.VCD('./etc/vcd430_test_polygon2D.json', validation=True)
vcd_read_stringified = vcd_read.stringify()
vcd_stringified = vcd.stringify()
# print(vcd_stringified)
self.assertEqual(vcd_read_stringified, vcd_stringified)
def test_static_dynamic_object_2(self):
# 1.- Create a VCD instance
vcd = core.VCD()
# 2.- Create a dynamic object with static information
# The attribute is added ot the objects section
uid1 = vcd.add_object(name='line1', semantic_type='#BottsDots', frame_value=(5, 10))
poly = types.poly2d(name='poly', val=(100, 100, 110, 110, 120, 130, 500, 560),
mode=types.Poly2DType.MODE_POLY2D_ABSOLUTE, closed=False)
poly.add_attribute(object_data=types.text(name='type', val='single_dot'))
vcd.add_object_data(uid=uid1, object_data=poly)
#print(vcd.stringify(False))
#self.assertEqual(vcd.stringify(False), '{"vcd":{"frames":{"5":{"objects":{"0":{}}},"6":{"objects":{"0":{}}},"7":{"objects":{"0":{}}},"8":{"objects":{"0":{}}},"9":{"objects":{"0":{}}},"10":{"objects":{"0":{}}}},"schema_version":"4.3.0","frame_intervals":[{"frame_start":5,"frame_end":10}],"objects":{"0":{"name":"line1","type":"#BottsDots","frame_intervals":[{"frame_start":5,"frame_end":10}],"object_data":{"poly2d":[{"name":"poly","val":[100,100,110,110,120,130,500,560],"mode":"MODE_POLY2D_ABSOLUTE","closed":false,"attributes":{"text":[{"name":"type","val":"single_dot"}]}}]},"object_data_pointers":{"poly":{"type":"poly2d","frame_intervals":[],"attributes":{"type":"text"}}}}}}}')
if not os.path.isfile('./etc/' + vcd_version_name + '_test_static_dynamic_object_2.json'):
vcd.save('./etc/' + vcd_version_name + '_test_static_dynamic_object_2.json')
def prueba():
with open('config.json') as f:
data = json.load(f)
labels = data['labels']
path = 'labels'
pr = cProfile.Profile()
for img_name in os.listdir(path):
pr.enable()
vcd = core.VCD()
img_label = cv.imread('labels/' + img_name)
img_instance = cv.imread('instances/' + img_name, cv.IMREAD_GRAYSCALE)
imgPIL_instance = Image.open('instances/' + img_name)
imgPIL_instance = np.array(imgPIL_instance, dtype=np.uint16)
label_path = 'labels/' + img_name
instance_path = 'instances/' + img_name
instance_image = Image.open(instance_path)
# convert labeled data to numpy arrays for better handling
instance_array = np.array(instance_image, dtype=np.uint16)
classes_colors = {}
for x in labels:
classes_colors[x['name']] = x['color']
# prepare arrays for instance and class retrieval
instance_ids_array = np.array(imgPIL_instance % 256, dtype=np.uint8)
instance_label_array = np.array(imgPIL_instance / 256, dtype=np.uint8)
img_instance_out = np.zeros(
(img_instance.shape[0], img_instance.shape[1], 3), np.uint8)
img_instance_out[np.where(
(img_instance_out == [0, 0, 0]).all(axis=2))] = [0, 255, 0]
img_class_out = np.zeros(
(img_instance.shape[0], img_instance.shape[1], 3), np.uint8)
instance_bgr = cv.cvtColor(instance_ids_array, cv.COLOR_GRAY2BGR)
final = np.zeros(img_label.shape, np.uint8)
cont = 0
cv.namedWindow('image', cv.WINDOW_NORMAL)
cv.resizeWindow('image', img_instance.shape[0], img_instance.shape[1])
# Get contours of each instance and retrieve it's class to write in vcd as instance -> True
for i in range(1, np.max(instance_ids_array) + 1):
seg = cv.inRange(instance_bgr, (i, i, i), (i, i, i))
if cv.countNonZero(seg) != 0:
contours, hierarchy = cv.findContours(seg, cv.RETR_TREE,
cv.CHAIN_APPROX_SIMPLE)
cnt_id = 0
# Reverse point_color from bgr to rgb to get class
# Write class in vcd
for c in contours:
extLeft = tuple(c[c[:, :, 0].argmin()][0])
color = img_label[extLeft[1]][extLeft[0]]
color = tuple([int(x) for x in color])
color = list(color)
instance_class = utils.get_key(classes_colors, color[::-1])
if cnt_id == 0:
uid = vcd.add_object("object " + str(cont),
instance_class)
vcd.add_object_data(uid,
types.boolean('isInstance', True))
c = c.flatten()
hierarchy_list = hierarchy[0][cnt_id].tolist()
# Write poly, hierarchy and instance
polygon = types.poly2d(
'contour',
c.tolist(),
types.Poly2DType.MODE_POLY2D_SRF6DCC,
closed=True,
hierarchy=hierarchy_list)
vcd.add_object_data(uid, polygon)
cnt_id += 1
cont += 1
# Get contours of each CLASS and write it in VCD as instance -> False
for class_val in labels:
# check all posible classes of mapillary
seg = cv.inRange(img_label, tuple(class_val['color'][::-1]),
tuple(class_val['color'][::-1]))
if cv.countNonZero(seg) != 0:
contours, hierarchy = cv.findContours(seg, cv.RETR_TREE,
cv.CHAIN_APPROX_SIMPLE)
cv.drawContours(final,
contours,
-1,
tuple(class_val['color'][::-1]),
thickness=-1)
cnt_id = 0
instance_class = utils.get_key(classes_colors,
class_val['color'])
uid = vcd.add_object("object " + str(cont), instance_class)
vcd.add_object_data(uid, types.boolean('isInstance', False))
for c in contours:
c = c.flatten()
hierarchy_list = hierarchy[0][cnt_id].tolist()
polygon = types.poly2d(
'contour',
c.tolist(),
types.Poly2DType.MODE_POLY2D_SRF6DCC,
closed=True,
hierarchy=hierarchy_list)
vcd.add_object_data(uid, polygon)
cont += 1
cnt_id += 1
vcd.save('vcd_files/' + img_name[0:len(img_name) - 4] + '.json',
True) # Change to True to use json prettifier
# 3.- Reconstruct the image from the VCD poly2d and hierarchies (using OpenCV)
contours_dict_instance = {
} # A dictionary of contours. Each key is one class type, each value, a contours array
hierarchy_dict_instance = {}
contours_dict_class = {
} # A dictionary of contours. Each key is one class type, each value, a contours array
hierarchy_dict_class = {}
for object_key, object_val in vcd.data['vcd']['objects'].items():
# Assuming this is static (no frame info)
contours_dict_instance.setdefault(object_val['type'], [])
contours_dict_class.setdefault(object_val['type'], [])
hierarchy_dict_instance.setdefault(object_val['type'], [])
hierarchy_dict_class.setdefault(object_val['type'], [])
if 'object_data' in object_val:
if 'boolean' in object_val['object_data']:
if 'poly2d' in object_val['object_data']:
for idx_pol, poly2d in enumerate(
object_val['object_data']['poly2d']):
val = poly2d['val'] # (x, y, rest, chain)
mode = poly2d['mode']
# closed = poly2d['closed'] # Not used in OpenCV
hierarchy = poly2d['hierarchy']
instance = object_val['object_data']['boolean'][0][
'val']
if mode == types.Poly2DType.MODE_POLY2D_SRF6DCC.name:
vec = poly.getVecFromEncodedSRF6(
int(val[0]), int(val[1]), int(val[2]),
val[3])
else:
vec = val
# Then, create contours, format as OpenCV expects
num_coords = len(vec)
num_points = int(num_coords / 2)
contour = np.asarray(vec).reshape(
(num_points, 1, 2))
if instance:
contours_dict_instance[
object_val['type']].append(contour)
hierarchy_dict_instance[
object_val['type']].append(hierarchy)
else:
contours_dict_class[object_val['type']].append(
contour)
hierarchy_dict_class[
object_val['type']].append(hierarchy)
# Retrieve class img from VCD
for class_name, contours in contours_dict_class.items():
hierarchy_list = hierarchy_dict_class[class_name]
num_contours = len(contours)
hierarchy_array = np.asarray(hierarchy_list).reshape(
num_contours, 1, 4)
color = classes_colors[class_name]
cv.drawContours(img_class_out,
contours,
-1,
color[::-1],
hierarchy=np.asarray([hierarchy_list]),
thickness=-1)
# Retrieve instance img from VCD
for class_name, contours in contours_dict_instance.items():
hierarchy_list = hierarchy_dict_instance[class_name]
num_contours = len(contours)
hierarchy_array = np.asarray(hierarchy_list).reshape(
num_contours, 1, 4)
color = classes_colors[class_name]
for c in contours:
cv.drawContours(img_instance_out, [c],
-1, (0, 0, 0),
thickness=-1)
#cv.drawContours(img_instance_out, [c], -1, color[::-1], thickness=-1)
#cv.drawContours(img_instance_out, [c], -1, (0, 255, 0), thickness=3)
x = cv.cvtColor(instance_ids_array, cv.COLOR_GRAY2BGR)
x[np.where((x == [0, 0, 0]).all(axis=2))] = [0, 255, 0]
img_instance = cv.cvtColor(img_instance, cv.COLOR_GRAY2BGR)
difference_instance = cv.subtract(img_instance_out, x)
difference_class = cv.subtract(img_label, img_class_out)
stack = np.hstack(
(img_instance, img_instance_out, difference_instance))
stack2 = np.hstack((img_label, img_class_out, difference_class))
vstack = np.vstack((stack, stack2))
pr.disable()
pr.print_stats(sort='time')
cv.imshow('image', vstack)
cv.waitKey(0)
def __copy_elements(self, vcd_430, root, frame_num=None):
if 'objects' in root:
for object in root['objects']:
uid = str(object['uid']) # Let's convert to string here
name = object['name']
ontologyUID = None
if 'ontologyUID' in object:
ontologyUID = str(object['ontologyUID']) # Let's convert to string here
typeSemantic = object.get('type', '') # In VCD 4.3.0 type is required, but it VCD 3.3.0 seems to be not
if not vcd_430.has(core.ElementType.object, uid):
vcd_430.add_object(name, typeSemantic, frame_num, uid, ontologyUID)
if 'objectDataContainer' in object:
objectDataContainer = object['objectDataContainer']
for key, value in objectDataContainer.items():
for object_data in value:
inStream = None
if 'inStream' in object_data:
inStream = object_data['inStream']
if 'val' in object_data:
val = object_data['val']
currentObjectData = None
# Create main object_data body
# NOTE: in the following calls, I am using direct access to dictionary for required fields, e.g.
# object_data['name'], etc.
# For optional fields, I am using get() function, e.g. object_data.get('mode') which defaults to
# None
if key == 'num':
if len(val) == 1:
# Single value, this is a num
currentObjectData = types.num(object_data['name'], val[0], inStream)
else:
# Multiple values, this is a vec
currentObjectData = types.vec(object_data['name'], val, inStream)
elif key == 'bool':
currentObjectData = types.boolean(object_data['name'], val, inStream)
elif key == 'text':
currentObjectData = types.text(object_data['name'], val, inStream)
elif key == 'image':
currentObjectData = types.image(
object_data['name'], val,
object_data['mimeType'], object_data['encoding'],
inStream
)
elif key == 'binary':
currentObjectData = types.binary(
object_data['name'], val,
object_data['dataType'], object_data['encoding'],
inStream
)
elif key == 'vec':
currentObjectData = types.vec(object_data['name'], val, inStream)
elif key == 'bbox':
currentObjectData = types.bbox(object_data['name'], val, inStream)
elif key == 'cuboid':
currentObjectData = types.cuboid(object_data['name'], val, inStream)
elif key == 'mat':
currentObjectData = types.mat(
object_data['name'], val,
object_data['channels'], object_data['width'], object_data['height'],
object_data['dataType'],
inStream
)
elif key == 'point2D':
currentObjectData = types.point2d(object_data['name'], val, object_data.get('id'), inStream)
elif key == 'point3D':
currentObjectData = types.point3d(object_data['name'], val, object_data.get('id'), inStream)
elif key == "poly2D":
mode_int = object_data['mode']
currentObjectData = types.poly2d(
object_data['name'], val, types.Poly2DType(mode_int), object_data['closed'], inStream
)
elif key == "poly3D":
currentObjectData = types.poly3d(object_data['name'], val, object_data['closed'], inStream)
elif key == "mesh":
currentObjectData = types.mesh(object_data['name'])
if 'point3D' in object_data:
for p3d_330 in object_data['point3D']:
# Create a types.point3d object and add it to the mesh
id = p3d_330['id']
name = p3d_330['name']
val = p3d_330['val']
p3d_430 = types.point3d(name, val)
self.__add_attributes(p3d_330, p3d_430)
currentObjectData.add_vertex(p3d_430, id)
if 'lineReference' in object_data:
for lref_330 in object_data['lineReference']:
# Create a types.line_reference object and add it to the mesh
id = lref_330['id']
name = lref_330['name']
referenceType = lref_330['referenceType']
assert(referenceType == "point3D")
val = lref_330.get('val') # defaults to None, needed for the constructor
lref_430 = types.lineReference(name, val, types.ObjectDataType.point3d)
self.__add_attributes(lref_330, lref_430)
currentObjectData.add_edge(lref_430, id)
if 'areaReference' in object_data:
for aref_330 in object_data['areaReference']:
# Create a types.area_reference object and add it to the mesh
id = aref_330['id']
name = aref_330['name']
referenceType = aref_330['referenceType']
assert (referenceType == "point3D" or referenceType == "lineReference")
val = aref_330.get('val') # defaults to None, needed for the constructor
if referenceType == "point3D":
aref_430 = types.areaReference(name, val, types.ObjectDataType.point3d)
else:
aref_430 = types.areaReference(name, val, types.ObjectDataType.line_reference)
self.__add_attributes(aref_330, aref_430)
currentObjectData.add_area(aref_430, id)
# Add any attributes
self.__add_attributes(object_data, currentObjectData)
# Add the object_data to the object
vcd_430.add_object_data(uid, currentObjectData, frame_num)
if 'actions' in root:
for action in root['actions']:
uid = str(action['uid'])
name = action['name']
ontologyUID = None
if 'ontologyUID' in action:
ontologyUID = str(action['ontologyUID'])
typeSemantic = action.get('type', '') # required in VCD 4.0, not in VCD 3.3.0
vcd_430.add_action(name, typeSemantic, frame_num, uid, ontologyUID)
if 'events' in root:
for event in root['events']:
uid = str(event['uid'])
name = event['name']
ontologyUID = None
if 'ontologyUID' in event:
ontologyUID = str(event['ontologyUID'])
typeSemantic = event.get('type', '')
vcd_430.add_event(name, typeSemantic, frame_num, uid, ontologyUID)
if 'contexts' in root:
for context in root['contexts']:
uid = str(context['uid'])
name = context['name']
ontologyUID = None
if 'ontologyUID' in context:
ontologyUID = str(context['ontologyUID'])
typeSemantic = context.get('type', '')
vcd_430.add_context(name, typeSemantic, frame_num, uid, ontologyUID)
if 'relations' in root:
for relation in root['relations']:
uid = str(relation['uid'])
name = relation['name']
ontologyUID = None
if 'ontologyUID' in relation:
ontologyUID = str(relation['ontologyUID'])
predicate = relation.get('predicate', '')
rdf_objects = relation.get('rdf_objects', None)
rdf_subjects = relation.get('rdf_subjects', None)
vcd_430.add_relation(name, predicate, frame_value=frame_num, uid=uid, ont_uid=ontologyUID)
relation = vcd_430.get_element(core.ElementType.relation, uid)
if not 'rdf_objects' in relation or len(relation['rdf_objects']) == 0: # just add once
for rdf_object in rdf_objects:
element_type = None
rdf_object_type_str = rdf_object['type']
if rdf_object_type_str == "Object":
element_type = core.ElementType.object
elif rdf_object_type_str == "Action":
element_type = core.ElementType.action
elif rdf_object_type_str == "Event":
element_type = core.ElementType.event
elif rdf_object_type_str == "Context":
element_type = core.ElementType.context
else:
warnings.warn("ERROR: Unrecognized Element type. Must be Object, Action, Event or Context.")
vcd_430.add_rdf(uid, core.RDF.object, str(rdf_object['uid']), element_type)
if not 'rdf_subjects' in relation or len(relation['rdf_subjects']) == 0: # just add once
for rdf_subject in rdf_subjects:
element_type = None
rdf_object_type_str = rdf_subject['type']
if rdf_object_type_str == "Object":
element_type = core.ElementType.object
elif rdf_object_type_str == "Action":
element_type = core.ElementType.action
elif rdf_object_type_str == "Event":
element_type = core.ElementType.event
elif rdf_object_type_str == "Context":
element_type = core.ElementType.context
else:
warnings.warn("ERROR: Unrecognized Element type. Must be Object, Action, Event or Context.")
vcd_430.add_rdf(uid, core.RDF.subject, str(rdf_subject['uid']), element_type)
def test_contours(self):
# 1.- Create a VCD instance
vcd = core.VCD()
# 1.- Create (color) image
colors = [(125, 32, 64), (98, 12, 65), (12, 200, 190)]
classes = ["class1", "class2", "class3"]
classes_colors = dict(zip(classes, colors))
img = draw_basic_image(classes_colors)
#cv.imshow('src_image', img)
#cv.waitKey(1)
# 2.- Split into channels
for class_name, color in classes_colors.items():
seg = cv.inRange(img, color, color)
# Get contours for this channel
# Contours is a list of ndarray with shape (num_points, 1, 2)
# Hierarchy is a ndarray with shape (1, num_contours, 4)
contours, hierarchy = cv.findContours(seg, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
#print(hierarchy)
uid = vcd.add_object('', class_name)
for idx, contour in enumerate(contours):
flatten_contour = contour.flatten()
points = flatten_contour.tolist()
hierarchy_list = hierarchy[0][idx].tolist()
vcd.add_object_data(uid,
types.poly2d('contour' + str(idx), # WARNING: In VCD 4.3.0, names MUST be unique
points,
types.Poly2DType.MODE_POLY2D_SRF6DCC,
closed=True,
hierarchy=hierarchy_list)
)
if not os.path.isfile('./etc/vcd430_test_contours.json'):
vcd.save('./etc/vcd430_test_contours.json', True)
# 3.- Reconstruct the image from the VCD poly2d and hierarchies (using OpenCV)
contours_dict = {} # A dictionary of contours. Each key is one class type, each value, a contours array
hierarchy_dict = {}
for object_key, object_val in vcd.data['vcd']['objects'].items():
# Assuming this is static (no frame info)
contours_dict.setdefault(object_val['type'], [])
hierarchy_dict.setdefault(object_val['type'], [])
if 'object_data' in object_val:
if 'poly2d' in object_val['object_data']:
for idx_pol, poly2d in enumerate(object_val['object_data']['poly2d']):
val = poly2d['val'] # (x, y, rest, chain)
mode = poly2d['mode']
#closed = poly2d['closed'] # Not used in OpenCV
hierarchy = poly2d['hierarchy']
if mode == types.Poly2DType.MODE_POLY2D_SRF6DCC.name:
vec = poly.getVecFromEncodedSRF6(int(val[0]), int(val[1]), int(val[2]), val[3])
#print(vec)
else:
vec = val
# Then, create contours, format as OpenCV expects
num_coords = len(vec)
num_points = int(num_coords / 2)
contour = np.asarray(vec).reshape((num_points, 1, 2))
contours_dict[object_val['type']].append(contour)
hierarchy_dict[object_val['type']].append(hierarchy)
img_out = np.zeros((640, 480, 3), np.uint8)
for class_name, contours in contours_dict.items():
hierarchy_list = hierarchy_dict[class_name]
num_contours = len(contours)
hierarchy_array = np.asarray(hierarchy_list).reshape(num_contours, 1, 4)
color = classes_colors[class_name]
cv.drawContours(img_out, contours, -1, color, hierarchy=hierarchy_array, thickness=-1)
#cv.imshow('out_image', img_out)
#cv.waitKey(0)
# 4.- Check equals
diff_val = np.sum(cv.absdiff(img, img_out))
self.assertEqual(diff_val, 0)
extLeft = tuple(c[c[:, :, 0].argmin()][0])
color = img_label[extLeft[1]][extLeft[0]]
color = tuple([int(x) for x in color])
color = list(color)
instance_class = utils.get_key(classes_colors, color[::-1])
if cnt_id == 0:
uid = vcd.add_object("Instance " + str(i), instance_class)
vcd.add_object_data(uid, types.boolean('isInstance', True))
c = c.flatten()
hierarchy_list = hierarchy[0][cnt_id].tolist()
# Write poly, hierarchy and instance
polygon = types.poly2d('contour',
c.tolist(),
types.Poly2DType.MODE_POLY2D_RS6FCC,
closed=True,
hierarchy=hierarchy_list)
vcd.add_object_data(uid, polygon)
cnt_id += 1
# Get contours of each CLASS and write it in VCD as instance -> False
for class_val in labels:
# check all posible classes of mapillary
seg = cv.inRange(img_label, tuple(class_val['color'][::-1]),
tuple(class_val['color'][::-1]))
if cv.countNonZero(seg) != 0:
contours, hierarchy = cv.findContours(seg, cv.RETR_TREE,
cv.CHAIN_APPROX_SIMPLE)
cv.drawContours(final,
contours,
