# Copyright (C) 2020-2023 Intel Corporation
#
# SPDX-License-Identifier: MIT
import errno
import glob
import logging as log
import os
import os.path as osp
from collections import OrderedDict
from enum import Enum, auto
from typing import List, Optional
import numpy as np
from datumaro.components.annotation import (
AnnotationType,
CompiledMask,
ExtractedMask,
LabelCategories,
MaskCategories,
)
from datumaro.components.dataset_base import DatasetItem, SubsetBase
from datumaro.components.dataset_item_storage import ItemStatus
from datumaro.components.errors import AnnotationExportError, InvalidAnnotationError, MediaTypeError
from datumaro.components.exporter import Exporter
from datumaro.components.format_detection import FormatDetectionContext
from datumaro.components.importer import ImportContext, Importer
from datumaro.components.media import Image
from datumaro.util import find
from datumaro.util.annotation_util import make_label_id_mapping
from datumaro.util.image import find_images, lazy_image, save_image
from datumaro.util.mask_tools import generate_colormap, paint_mask
from datumaro.util.meta_file_util import has_meta_file, is_meta_file, parse_meta_file
TRAIN_CITYSCAPES_LABEL_MAP = OrderedDict(
[
("road", (128, 64, 128)),
("sidewalk", (244, 35, 232)),
("building", (70, 70, 70)),
("wall", (102, 102, 156)),
("fence", (190, 153, 153)),
("pole", (153, 153, 153)),
("trafficlight", (250, 170, 30)),
("trafficsign", (220, 220, 0)),
("vegetation", (107, 142, 35)),
("terrain", (152, 251, 152)),
("sky", (70, 130, 180)),
("person", (220, 20, 60)),
("rider", (255, 0, 0)),
("car", (0, 0, 142)),
("truck", (0, 0, 70)),
("bus", (0, 60, 100)),
("train", (0, 80, 100)),
("motorcycle", (0, 0, 230)),
("bicycle", (119, 11, 32)),
("background", (0, 0, 0)),
]
)
CITYSCAPES_LABEL_MAP = OrderedDict(
[
("unlabeled", (0, 0, 0)),
("egovehicle", (0, 0, 0)),
("rectificationborder", (0, 0, 0)),
("outofroi", (0, 0, 0)),
("static", (0, 0, 0)),
("dynamic", (111, 74, 0)),
("ground", (81, 0, 81)),
("road", (128, 64, 128)),
("sidewalk", (244, 35, 232)),
("parking", (250, 170, 160)),
("railtrack", (230, 150, 140)),
("building", (70, 70, 70)),
("wall", (102, 102, 156)),
("fence", (190, 153, 153)),
("guardrail", (180, 165, 180)),
("bridge", (150, 100, 100)),
("tunnel", (150, 120, 90)),
("pole", (153, 153, 153)),
("polegroup", (153, 153, 153)),
("trafficlight", (250, 170, 30)),
("trafficsign", (220, 220, 0)),
("vegetation", (107, 142, 35)),
("terrain", (152, 251, 152)),
("sky", (70, 130, 180)),
("person", (220, 20, 60)),
("rider", (255, 0, 0)),
("car", (0, 0, 142)),
("truck", (0, 0, 70)),
("bus", (0, 60, 100)),
("caravan", (0, 0, 90)),
("trailer", (0, 0, 110)),
("train", (0, 80, 100)),
("motorcycle", (0, 0, 230)),
("bicycle", (119, 11, 32)),
("licenseplate", (0, 0, 142)),
]
)
[docs]
class CityscapesPath:
GT_FINE_DIR = "gtFine"
IMGS_FINE_DIR = ""
ORIGINAL_IMAGE_DIR = "leftImg8bit"
ORIGINAL_IMAGE = "_" + ORIGINAL_IMAGE_DIR
INSTANCES_IMAGE = "_instanceIds.png"
GT_INSTANCE_MASK_SUFFIX = "_" + GT_FINE_DIR + INSTANCES_IMAGE
COLOR_IMAGE = "_color.png"
LABELIDS_IMAGE = "_labelIds.png"
LABEL_TRAIN_IDS_SUFFIX = "_" + GT_FINE_DIR + "_labelTrainIds.png"
LABELMAP_FILE = "label_colors.txt"
[docs]
def make_cityscapes_categories(label_map=None):
if label_map is None:
label_map = CITYSCAPES_LABEL_MAP
bg_label = find(label_map.items(), lambda x: x[1] == (0, 0, 0))
if bg_label is None:
bg_label = "background"
if bg_label not in label_map:
has_colors = any(v is not None for v in label_map.values())
color = (0, 0, 0) if has_colors else None
label_map[bg_label] = color
label_map.move_to_end(bg_label, last=False)
categories = {}
label_categories = LabelCategories()
for label in label_map:
label_categories.add(label)
categories[AnnotationType.label] = label_categories
has_colors = any(v is not None for v in label_map.values())
if not has_colors: # generate new colors
colormap = generate_colormap(len(label_map))
else: # only copy defined colors
label_id = lambda label: label_categories.find(label)[0]
colormap = {label_id(name): (desc[0], desc[1], desc[2]) for name, desc in label_map.items()}
mask_categories = MaskCategories(colormap)
mask_categories.inverse_colormap # pylint: disable=pointless-statement
categories[AnnotationType.mask] = mask_categories
return categories
[docs]
def parse_label_map(path):
if not path:
return None
label_map = OrderedDict()
with open(path, "r", encoding="utf-8") as f:
for line in f:
# skip empty and commented lines
line = line.strip()
if not line or line and line[0] == "#":
continue
# color, name
label_desc = line.strip().split()
if 2 < len(label_desc):
name = label_desc[3]
color = tuple([int(c) for c in label_desc[:-1]])
else:
name = label_desc[0]
color = None
if name in label_map:
raise InvalidAnnotationError("Label '%s' is already defined" % name)
label_map[name] = color
return label_map
[docs]
def write_label_map(path, label_map):
with open(path, "w", encoding="utf-8") as f:
for label_name, label_desc in label_map.items():
if label_desc:
color_rgb = " ".join(str(c) for c in label_desc)
else:
color_rgb = ""
f.write("%s %s\n" % (color_rgb, label_name))
[docs]
class CityscapesBase(SubsetBase):
def __init__(
self,
path: str,
*,
subset: Optional[str] = None,
ctx: Optional[ImportContext] = None,
):
assert osp.isdir(path), path
if not subset:
subset = osp.basename(path)
if osp.basename(osp.dirname(path)) == CityscapesPath.GT_FINE_DIR:
self._path = osp.dirname(osp.dirname(path))
annotations_dir = path
images_dir = osp.join(
self._path, CityscapesPath.IMGS_FINE_DIR, CityscapesPath.ORIGINAL_IMAGE_DIR, subset
)
else:
self._path = osp.dirname(osp.dirname(osp.dirname(path)))
images_dir = path
annotations_dir = osp.join(self._path, CityscapesPath.GT_FINE_DIR, subset)
self._images_dir = images_dir
self._gt_anns_dir = annotations_dir
for path in [self._images_dir, self._gt_anns_dir]:
if not osp.isdir(path):
raise NotADirectoryError(errno.ENOTDIR, "Can't find dataset directory", path)
super().__init__(subset=subset, ctx=ctx)
self._items = list(self._load_items().values())
def _load_categories(self, path, use_train_label_map=False):
label_map = None
if has_meta_file(path):
label_map = parse_meta_file(path)
else:
label_map_path = osp.join(path, CityscapesPath.LABELMAP_FILE)
if osp.isfile(label_map_path):
label_map = parse_label_map(label_map_path)
if label_map is None:
if use_train_label_map:
label_map = TRAIN_CITYSCAPES_LABEL_MAP
else:
label_map = CITYSCAPES_LABEL_MAP
self._labels = [label for label in label_map]
return make_cityscapes_categories(label_map)
def _get_id_from_image_path(self, path):
return osp.relpath(osp.splitext(path)[0], self._images_dir).replace(
"_" + CityscapesPath.ORIGINAL_IMAGE_DIR, ""
)
def _get_id_from_mask_path(self, path, suffix):
return osp.relpath(path, self._gt_anns_dir).replace(suffix, "")
def _load_items(self):
items = {}
image_path_by_id = {}
if self._images_dir:
image_path_by_id = {
self._get_id_from_image_path(p): p
for p in find_images(self._images_dir, recursive=True)
}
masks = glob.glob(
osp.join(self._gt_anns_dir, "**", f"*{CityscapesPath.LABEL_TRAIN_IDS_SUFFIX}"),
recursive=True,
)
mask_suffix = CityscapesPath.LABEL_TRAIN_IDS_SUFFIX
if not masks:
masks = glob.glob(
osp.join(self._gt_anns_dir, "**", f"*{CityscapesPath.GT_INSTANCE_MASK_SUFFIX}"),
recursive=True,
)
mask_suffix = CityscapesPath.GT_INSTANCE_MASK_SUFFIX
self._categories = self._load_categories(
self._path, use_train_label_map=mask_suffix is CityscapesPath.LABEL_TRAIN_IDS_SUFFIX
)
label_ids = []
for label_cat in self._categories[AnnotationType.label]:
label_id, _ = self._categories[AnnotationType.label].find(label_cat.name)
if label_id:
label_ids.append(label_id)
for mask_path in masks:
item_id = self._get_id_from_mask_path(mask_path, mask_suffix)
anns = []
index_mask = lazy_image(mask_path, dtype=np.int32)
np_index_mask = index_mask()
mask_id = 1
for label_id in label_ids:
if label_id not in np_index_mask:
continue
anns.append(
ExtractedMask(
index_mask=index_mask,
index=label_id,
id=mask_id,
label=label_id,
)
)
mask_id += 1
self._ann_types.add(AnnotationType.mask)
image = image_path_by_id.pop(item_id, None)
if image:
image = Image.from_file(path=image)
items[item_id] = DatasetItem(
id=item_id, subset=self._subset, media=image, annotations=anns
)
for item_id, path in image_path_by_id.items():
items[item_id] = DatasetItem(
id=item_id, subset=self._subset, media=Image.from_file(path=path)
)
return items
@staticmethod
def _lazy_extract_mask(mask, c):
return lambda: mask == c
[docs]
class CityscapesImporter(Importer):
[docs]
@classmethod
def detect(cls, context: FormatDetectionContext) -> None:
annotation_patterns = [
f"{CityscapesPath.GT_FINE_DIR}/**/*{CityscapesPath.GT_INSTANCE_MASK_SUFFIX}",
f"{CityscapesPath.GT_FINE_DIR}/**/*{CityscapesPath.LABEL_TRAIN_IDS_SUFFIX}",
]
media_patterns = [
f"{CityscapesPath.ORIGINAL_IMAGE_DIR}/**/*{CityscapesPath.ORIGINAL_IMAGE}.*",
]
with context.require_any():
for pattern in annotation_patterns:
with context.alternative():
context.require_file(pattern)
with context.require_any():
for pattern in media_patterns:
with context.alternative():
context.require_file(pattern)
[docs]
@classmethod
def find_sources(cls, path):
sources = cls._find_sources_recursive(
path, "", "cityscapes", dirname=CityscapesPath.GT_FINE_DIR, max_depth=1
)
if not sources:
sources = cls._find_sources_recursive(
path,
"",
"cityscapes",
dirname=osp.join(CityscapesPath.IMGS_FINE_DIR, CityscapesPath.ORIGINAL_IMAGE_DIR),
max_depth=1,
)
return sources
[docs]
@classmethod
def get_file_extensions(cls) -> List[str]:
return list(
{
osp.splitext(p)[1]
for p in (
CityscapesPath.GT_INSTANCE_MASK_SUFFIX,
CityscapesPath.LABEL_TRAIN_IDS_SUFFIX,
)
}
)
[docs]
class LabelmapType(Enum):
cityscapes = auto()
source = auto()
[docs]
class CityscapesExporter(Exporter):
DEFAULT_IMAGE_EXT = ".png"
@staticmethod
def _get_labelmap(s):
if osp.isfile(s):
return s
try:
return LabelmapType[s].name
except KeyError:
import argparse
raise argparse.ArgumentTypeError()
[docs]
@classmethod
def build_cmdline_parser(cls, **kwargs):
parser = super().build_cmdline_parser(**kwargs)
parser.add_argument(
"--label-map",
type=cls._get_labelmap,
default=None,
help="Labelmap file path or one of %s" % ", ".join(t.name for t in LabelmapType),
)
return parser
def __init__(self, extractor, save_dir, apply_colormap=True, label_map=None, **kwargs):
super().__init__(extractor, save_dir, **kwargs)
self._apply_colormap = apply_colormap
if label_map is None:
label_map = LabelmapType.source.name
self._load_categories(label_map)
def _apply_impl(self):
if self._extractor.media_type() and not issubclass(self._extractor.media_type(), Image):
raise MediaTypeError("Media type is not an image")
os.makedirs(self._save_dir, exist_ok=True)
for subset_name, subset in self._extractor.subsets().items():
media_dir = osp.join(
self._save_dir,
CityscapesPath.IMGS_FINE_DIR,
CityscapesPath.ORIGINAL_IMAGE_DIR,
subset_name,
)
os.makedirs(media_dir, exist_ok=True)
mask_dir = osp.join(self._save_dir, CityscapesPath.GT_FINE_DIR, subset_name)
os.makedirs(mask_dir, exist_ok=True)
for item in subset:
image_path = osp.join(
media_dir,
item.id + CityscapesPath.ORIGINAL_IMAGE + self._find_image_ext(item),
)
if self._save_media:
self._save_image(item, osp.join(self._save_dir, image_path))
masks = [a for a in item.annotations if a.type == AnnotationType.mask]
if not masks:
continue
# If a label can distinguish between instances,
# make id an instance id. Otherwise use label id.
compiled_mask = CompiledMask.from_instance_masks(
masks,
instance_ids=[
self._label_id_mapping(m.label)
# if m.attributes.get("is_crowd", False)
# else self._label_id_mapping(m.label) * 1000 + (m.id or (i + 1))
for i, m in enumerate(masks)
],
instance_labels=[self._label_id_mapping(m.label) for m in masks],
)
mask_name = item.id + "_" + CityscapesPath.GT_FINE_DIR
color_mask_path = osp.join(mask_dir, mask_name + CityscapesPath.COLOR_IMAGE)
self.save_mask(color_mask_path, compiled_mask.class_mask)
cls_mask_path = osp.join(mask_dir, mask_name + CityscapesPath.LABELIDS_IMAGE)
self.save_mask(
cls_mask_path, compiled_mask.class_mask, apply_colormap=False, dtype=np.uint8
)
inst_mask_path = osp.join(mask_dir, mask_name + CityscapesPath.INSTANCES_IMAGE)
self.save_mask(
inst_mask_path,
compiled_mask.instance_mask,
apply_colormap=False,
dtype=np.int32,
)
self.save_label_map()
[docs]
def save_label_map(self):
if self._save_dataset_meta:
self._save_meta_file(self._save_dir)
else:
labels = self._extractor.categories()[AnnotationType.label]
if len(self._label_map) > len(labels):
self._label_map.pop("background")
path = osp.join(self._save_dir, CityscapesPath.LABELMAP_FILE)
write_label_map(path, self._label_map)
def _load_categories(self, label_map_source):
if label_map_source == LabelmapType.cityscapes.name:
# use the default Cityscapes colormap
label_map = CITYSCAPES_LABEL_MAP
elif (
label_map_source == LabelmapType.source.name
and AnnotationType.mask not in self._extractor.categories()
):
# generate colormap for input labels
labels = self._extractor.categories().get(AnnotationType.label, LabelCategories())
label_map = OrderedDict((item.name, None) for item in labels.items)
elif (
label_map_source == LabelmapType.source.name
and AnnotationType.mask in self._extractor.categories()
):
# use source colormap
labels = self._extractor.categories()[AnnotationType.label]
colors = self._extractor.categories()[AnnotationType.mask]
label_map = OrderedDict()
for idx, item in enumerate(labels.items):
color = colors.colormap.get(idx)
if color is not None:
label_map[item.name] = color
elif isinstance(label_map_source, dict):
label_map = OrderedDict(sorted(label_map_source.items(), key=lambda e: e[0]))
elif isinstance(label_map_source, str) and osp.isfile(label_map_source):
if is_meta_file(label_map_source):
label_map = parse_meta_file(label_map_source)
else:
label_map = parse_label_map(label_map_source)
else:
raise AnnotationExportError(
"Wrong labelmap specified, "
"expected one of %s or a file path" % ", ".join(t.name for t in LabelmapType)
)
self._categories = make_cityscapes_categories(label_map)
self._label_map = label_map
self._label_id_mapping = self._make_label_id_map()
def _make_label_id_map(self):
map_id, id_mapping, src_labels, dst_labels = make_label_id_mapping(
self._extractor.categories().get(AnnotationType.label),
self._categories[AnnotationType.label],
)
void_labels = [
src_label for src_id, src_label in src_labels.items() if src_label not in dst_labels
]
if void_labels:
log.warning(
"The following labels are remapped to background: %s" % ", ".join(void_labels)
)
log.debug(
"Saving segmentations with the following label mapping: \n%s"
% "\n".join(
[
"#%s '%s' -> #%s '%s'"
% (
src_id,
src_label,
id_mapping[src_id],
self._categories[AnnotationType.label].items[id_mapping[src_id]].name,
)
for src_id, src_label in src_labels.items()
]
)
)
return map_id
[docs]
def save_mask(self, path, mask, colormap=None, apply_colormap=True, dtype=np.uint8):
if apply_colormap:
if colormap is None:
colormap = self._categories[AnnotationType.mask].colormap
mask = paint_mask(mask, colormap)
save_image(path, mask, create_dir=True, dtype=dtype)
[docs]
@classmethod
def patch(cls, dataset, patch, save_dir, **kwargs):
for subset in patch.updated_subsets:
conv = cls(dataset.get_subset(subset), save_dir=save_dir, **kwargs)
conv._patch = patch
conv.apply()
conv = cls(dataset, save_dir=save_dir, **kwargs)
for (item_id, subset), status in patch.updated_items.items():
if status != ItemStatus.removed:
item = patch.data.get(item_id, subset)
else:
item = DatasetItem(item_id, subset=subset)
if not (status == ItemStatus.removed or not item.media):
continue
image_path = osp.join(
save_dir,
CityscapesPath.IMGS_FINE_DIR,
CityscapesPath.ORIGINAL_IMAGE_DIR,
subset,
item.id + CityscapesPath.ORIGINAL_IMAGE + conv._find_image_ext(item),
)
mask_dir = osp.join(save_dir, CityscapesPath.GT_FINE_DIR, subset)
mask_name = item.id + "_" + CityscapesPath.GT_FINE_DIR
color_mask_path = osp.join(mask_dir, mask_name + CityscapesPath.COLOR_IMAGE)
labelids_mask_path = osp.join(mask_dir, mask_name + CityscapesPath.LABELIDS_IMAGE)
inst_mask_path = osp.join(mask_dir, mask_name + CityscapesPath.INSTANCES_IMAGE)
for path in [image_path, color_mask_path, labelids_mask_path, inst_mask_path]:
if osp.isfile(path):
os.unlink(path)
for subset in patch.updated_subsets:
mask_dir = osp.join(save_dir, CityscapesPath.GT_FINE_DIR, subset)
if osp.isdir(mask_dir) and not os.listdir(mask_dir):
os.rmdir(mask_dir)
img_dir = osp.join(
save_dir, CityscapesPath.IMGS_FINE_DIR, CityscapesPath.ORIGINAL_IMAGE_DIR, subset
)
if osp.isdir(img_dir) and not os.listdir(img_dir):
os.rmdir(img_dir)
