dataset.py

# -*- coding: utf-8 -*-
# File: coco.py

import numpy as np
import os
import tqdm
import json

from tensorpack.utils import logger
from tensorpack.utils.timer import timed_operation

from config import config as cfg

__all__ = ['COCODetection', 'DetectionDataset']


class COCODetection:
    # handle the weird (but standard) split of train and val
    _INSTANCE_TO_BASEDIR = {
        'valminusminival2014': 'val2014',
        'minival2014': 'val2014',
    }

    COCO_id_to_category_id = {1: 1, 2: 2, 3: 3, 4: 4, 5: 5, 6: 6, 7: 7, 8: 8, 9: 9, 10: 10, 11: 11, 13: 12, 14: 13, 15: 14, 16: 15, 17: 16, 18: 17, 19: 18, 20: 19, 21: 20, 22: 21, 23: 22, 24: 23, 25: 24, 27: 25, 28: 26, 31: 27, 32: 28, 33: 29, 34: 30, 35: 31, 36: 32, 37: 33, 38: 34, 39: 35, 40: 36, 41: 37, 42: 38, 43: 39, 44: 40, 46: 41, 47: 42, 48: 43, 49: 44, 50: 45, 51: 46, 52: 47, 53: 48, 54: 49, 55: 50, 56: 51, 57: 52, 58: 53, 59: 54, 60: 55, 61: 56, 62: 57, 63: 58, 64: 59, 65: 60, 67: 61, 70: 62, 72: 63, 73: 64, 74: 65, 75: 66, 76: 67, 77: 68, 78: 69, 79: 70, 80: 71, 81: 72, 82: 73, 84: 74, 85: 75, 86: 76, 87: 77, 88: 78, 89: 79, 90: 80}  # noqa
    """
    Mapping from the incontinuous COCO category id to an id in [1, #category]
    For your own dataset, this should usually be an identity mapping.
    """

    # 80 names for COCO
    class_names = [
        "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"]  # noqa

    def __init__(self, basedir, name):
        basedir = os.path.expanduser(basedir)
        self.name = name
        self._imgdir = os.path.realpath(os.path.join(
            basedir, self._INSTANCE_TO_BASEDIR.get(name, name)))
        assert os.path.isdir(self._imgdir), self._imgdir
        annotation_file = os.path.join(
            basedir, 'annotations/instances_{}.json'.format(name))
        assert os.path.isfile(annotation_file), annotation_file

        from pycocotools.coco import COCO
        self.coco = COCO(annotation_file)
        logger.info("Instances loaded from {}.".format(annotation_file))

    # https://github.com/cocodataset/cocoapi/blob/master/PythonAPI/pycocoEvalDemo.ipynb
    def print_coco_metrics(self, json_file):
        """
        Args:
            json_file (str): path to the results json file in coco format
        Returns:
            dict: the evaluation metrics
        """
        from pycocotools.cocoeval import COCOeval
        ret = {}
        cocoDt = self.coco.loadRes(json_file)
        cocoEval = COCOeval(self.coco, cocoDt, 'bbox')
        cocoEval.evaluate()
        cocoEval.accumulate()
        cocoEval.summarize()
        fields = ['IoU=0.5:0.95', 'IoU=0.5', 'IoU=0.75', 'small', 'medium', 'large']
        for k in range(6):
            ret['mAP(bbox)/' + fields[k]] = cocoEval.stats[k]

        json_obj = json.load(open(json_file))
        if len(json_obj) > 0 and 'segmentation' in json_obj[0]:
            cocoEval = COCOeval(self.coco, cocoDt, 'segm')
            cocoEval.evaluate()
            cocoEval.accumulate()
            cocoEval.summarize()
            for k in range(6):
                ret['mAP(segm)/' + fields[k]] = cocoEval.stats[k]
        return ret

    def load(self, add_gt=True, add_mask=False):
        """
        Args:
            add_gt: whether to add ground truth bounding box annotations to the dicts
            add_mask: whether to also add ground truth mask

        Returns:
            a list of dict, each has keys including:
                'image_id', 'file_name',
                and (if add_gt is True) 'boxes', 'class', 'is_crowd', and optionally
                'segmentation'.
        """
        if add_mask:
            assert add_gt
        with timed_operation('Load Groundtruth Boxes for {}'.format(self.name)):
            img_ids = self.coco.getImgIds()
            img_ids.sort()
            # list of dict, each has keys: height,width,id,file_name
            imgs = self.coco.loadImgs(img_ids)

            for img in tqdm.tqdm(imgs):
                img['image_id'] = img.pop('id')
                self._use_absolute_file_name(img)
                if add_gt:
                    self._add_detection_gt(img, add_mask)
            return imgs

    def _use_absolute_file_name(self, img):
        """
        Change relative filename to abosolute file name.
        """
        img['file_name'] = os.path.join(
            self._imgdir, img['file_name'])
        assert os.path.isfile(img['file_name']), img['file_name']

    def _add_detection_gt(self, img, add_mask):
        """
        Add 'boxes', 'class', 'is_crowd' of this image to the dict, used by detection.
        If add_mask is True, also add 'segmentation' in coco poly format.
        """
        # ann_ids = self.coco.getAnnIds(imgIds=img['image_id'])
        # objs = self.coco.loadAnns(ann_ids)
        objs = self.coco.imgToAnns[img['image_id']]  # equivalent but faster than the above two lines

        # clean-up boxes
        valid_objs = []
        width = img.pop('width')
        height = img.pop('height')
        for objid, obj in enumerate(objs):
            if obj.get('ignore', 0) == 1:
                continue
            x1, y1, w, h = obj['bbox']
            # bbox is originally in float
            # x1/y1 means upper-left corner and w/h means true w/h. This can be verified by segmentation pixels.
            # But we do make an assumption here that (0.0, 0.0) is upper-left corner of the first pixel

            x1 = np.clip(float(x1), 0, width)
            y1 = np.clip(float(y1), 0, height)
            w = np.clip(float(x1 + w), 0, width) - x1
            h = np.clip(float(y1 + h), 0, height) - y1
            # Require non-zero seg area and more than 1x1 box size
            if obj['area'] > 1 and w > 0 and h > 0 and w * h >= 4:
                obj['bbox'] = [x1, y1, x1 + w, y1 + h]
                valid_objs.append(obj)

                if add_mask:
                    segs = obj['segmentation']
                    if not isinstance(segs, list):
                        assert obj['iscrowd'] == 1
                        obj['segmentation'] = None
                    else:
                        valid_segs = [np.asarray(p).reshape(-1, 2).astype('float32') for p in segs if len(p) >= 6]
                        if len(valid_segs) == 0:
                            logger.error("Object {} in image {} has no valid polygons!".format(objid, img['file_name']))
                        elif len(valid_segs) < len(segs):
                            logger.warn("Object {} in image {} has invalid polygons!".format(objid, img['file_name']))

                        obj['segmentation'] = valid_segs

        # all geometrically-valid boxes are returned
        boxes = np.asarray([obj['bbox'] for obj in valid_objs], dtype='float32')  # (n, 4)
        cls = np.asarray([
            self.COCO_id_to_category_id[obj['category_id']]
            for obj in valid_objs], dtype='int32')  # (n,)
        is_crowd = np.asarray([obj['iscrowd'] for obj in valid_objs], dtype='int8')

        # add the keys
        img['boxes'] = boxes        # nx4
        img['class'] = cls          # n, always >0
        img['is_crowd'] = is_crowd  # n,
        if add_mask:
            # also required to be float32
            img['segmentation'] = [
                obj['segmentation'] for obj in valid_objs]

    @staticmethod
    def load_many(basedir, names, add_gt=True, add_mask=False):
        """
        Load and merges several instance files together.

        Returns the same format as :meth:`COCODetection.load`.
        """
        if not isinstance(names, (list, tuple)):
            names = [names]
        ret = []
        for n in names:
            coco = COCODetection(basedir, n)
            ret.extend(coco.load(add_gt, add_mask=add_mask))
        return ret


class DetectionDataset:
    """
    A singleton to load datasets, evaluate results, and provide metadata.

    To use your own dataset that's not in COCO format, rewrite all methods of this class.
    """
    def __init__(self):
        """
        This function is responsible for setting the dataset-specific
        attributes in both cfg and self.
        """
        self.num_category = cfg.DATA.NUM_CATEGORY = len(COCODetection.class_names)
        self.num_classes = self.num_category + 1
        self.class_names = cfg.DATA.CLASS_NAMES = ["BG"] + COCODetection.class_names

    def load_training_roidbs(self, names):
        """
        Args:
            names (list[str]): name of the training datasets, e.g.  ['train2014', 'valminusminival2014']

        Returns:
            roidbs (list[dict]):

        Produce "roidbs" as a list of dict, each dict corresponds to one image with k>=0 instances.
        and the following keys are expected for training:

        file_name: str, full path to the image
        boxes: numpy array of kx4 floats, each row is [x1, y1, x2, y2]
        class: numpy array of k integers, in the range of [1, #categories], NOT [0, #categories)
        is_crowd: k booleans. Use k False if you don't know what it means.
        segmentation: k lists of numpy arrays (one for each instance).
            Each list of numpy arrays corresponds to the mask for one instance.
            Each numpy array in the list is a polygon of shape Nx2,
            because one mask can be represented by N polygons.

            If your segmentation annotations are originally masks rather than polygons,
            either convert it, or the augmentation will need to be changed or skipped accordingly.

            Include this field only if training Mask R-CNN.
        """
        return COCODetection.load_many(
            cfg.DATA.BASEDIR, names, add_gt=True, add_mask=cfg.MODE_MASK)

    def load_inference_roidbs(self, name):
        """
        Args:
            name (str): name of one inference dataset, e.g. 'minival2014'

        Returns:
            roidbs (list[dict]):

            Each dict corresponds to one image to run inference on. The
            following keys in the dict are expected:

            file_name (str): full path to the image
            image_id (str): an id for the image. The inference results will be stored with this id.
        """
        return COCODetection.load_many(cfg.DATA.BASEDIR, name, add_gt=False)

    def eval_or_save_inference_results(self, results, dataset, output=None):
        """
        Args:
            results (list[dict]): the inference results as dicts.
                Each dict corresponds to one __instance__. It contains the following keys:

                image_id (str): the id that matches `load_inference_roidbs`.
                category_id (int): the category prediction, in range [1, #category]
                bbox (list[float]): x1, y1, x2, y2
                score (float):
                segmentation: the segmentation mask in COCO's rle format.

            dataset (str): the name of the dataset to evaluate.
            output (str): the output file to optionally save the results to.

        Returns:
            dict: the evaluation results.
        """
        continuous_id_to_COCO_id = {v: k for k, v in COCODetection.COCO_id_to_category_id.items()}
        for res in results:
            # convert to COCO's incontinuous category id
            res['category_id'] = continuous_id_to_COCO_id[res['category_id']]
            # COCO expects results in xywh format
            box = res['bbox']
            box[2] -= box[0]
            box[3] -= box[1]
            res['bbox'] = [round(float(x), 3) for x in box]

        assert output is not None, "COCO evaluation requires an output file!"
        with open(output, 'w') as f:
            json.dump(results, f)
        if len(results):
            # sometimes may crash if the results are empty?
            return COCODetection(cfg.DATA.BASEDIR, dataset).print_coco_metrics(output)
        else:
            return {}

    # code for singleton:
    _instance = None

    def __new__(cls):
        if not isinstance(cls._instance, cls):
            cls._instance = object.__new__(cls)
        return cls._instance


if __name__ == '__main__':
    cfg.DATA.BASEDIR = '~/data/coco'
    c = COCODetection(cfg.DATA.BASEDIR, 'train2014')
    roidb = c.load(add_gt=True, add_mask=True)
    print("#Images:", len(roidb))