Source code for datumaro.plugins.data_formats.cityscapes

# 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,
    LabelCategories,
    Mask,
    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, load_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 = [] instances_mask = load_image(mask_path, dtype=np.int32) mask_id = 1 for label_id in label_ids: if label_id not in instances_mask: continue binary_mask = self._lazy_extract_mask(instances_mask, label_id) anns.append( Mask( id=mask_id, image=binary_mask, label=label_id, ) ) mask_id += 1 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)