from abc import ABCMeta, abstractmethod
import mmcv
import numpy as np
import pycocotools.mask as maskUtils
import torch
from mmdet.ops.roi_align import roi_align
class BaseInstanceMasks(metaclass=ABCMeta):
@abstractmethod
def rescale(self, scale, interpolation='nearest'):
"""Rescale masks as large as possible while keeping the aspect ratio.
For details can refer to `mmcv.imrescale`.
Args:
scale (tuple[int]): The maximum size (h, w) of rescaled mask.
interpolation (str): Same as :func:`mmcv.imrescale`.
Returns:
BaseInstanceMasks: The rescaled masks.
"""
pass
@abstractmethod
def resize(self, out_shape, interpolation='nearest'):
"""Resize masks to the given out_shape.
Args:
out_shape: Target (h, w) of resized mask.
interpolation (str): See `mmcv.imresize`.
Returns:
BaseInstanceMasks: The resized masks.
"""
pass
@abstractmethod
def flip(self, flip_direction='horizontal'):
"""Flip masks alone the given direction.
Args:
flip_direction (str): Either 'horizontal' or 'vertical'.
Returns:
BaseInstanceMasks: The flipped masks.
"""
pass
@abstractmethod
def pad(self, out_shape, pad_val):
"""Pad masks to the given size of (h, w).
Args:
out_shape (tuple[int]): Target (h, w) of padded mask.
pad_val (int): The padded value.
Returns:
BaseInstanceMasks: The padded masks.
"""
pass
@abstractmethod
def crop(self, bbox):
"""Crop each mask by the given bbox.
Args:
bbox (ndarray): Bbox in format [x1, y1, x2, y2], shape (4, ).
Return:
BaseInstanceMasks: The cropped masks.
"""
pass
@abstractmethod
def crop_and_resize(self,
bboxes,
out_shape,
inds,
device,
interpolation='bilinear'):
"""Crop and resize masks by the given bboxes.
This function is mainly used in mask targets computation.
It firstly align mask to bboxes by assigned_inds, then crop mask by the
assigned bbox and resize to the size of (mask_h, mask_w)
Args:
bboxes (Tensor): Bboxes in format [x1, y1, x2, y2], shape (N, 4)
out_shape (tuple[int]): Target (h, w) of resized mask
inds (ndarray): Indexes to assign masks to each bbox
device (str): Device of bboxes
interpolation (str): See `mmcv.imresize`
Return:
BaseInstanceMasks: the cropped and resized masks.
"""
pass
@abstractmethod
def expand(self, expanded_h, expanded_w, top, left):
"""see `transforms.Expand`."""
pass
@property
@abstractmethod
def areas(self):
"""ndarray: areas of each instance."""
pass
@abstractmethod
def to_ndarray(self):
"""Convert masks to the format of ndarray.
Return:
ndarray: Converted masks in the format of ndarray.
"""
pass
@abstractmethod
def to_tensor(self, dtype, device):
"""Convert masks to the format of Tensor.
Args:
dtype (str): Dtype of converted mask.
device (torch.device): Device of conveted masks.
Returns:
Tensor: Converted masks in the format of Tensor.
"""
pass
[docs]class BitmapMasks(BaseInstanceMasks):
"""This class represents masks in the form of bitmaps.
Args:
masks (ndarray): ndarray of masks in shape (N, H, W), where N is
the number of objects.
height (int): height of masks
width (int): width of masks
"""
def __init__(self, masks, height, width):
self.height = height
self.width = width
if len(masks) == 0:
self.masks = np.empty((0, self.height, self.width), dtype=np.uint8)
else:
assert isinstance(masks, (list, np.ndarray))
if isinstance(masks, list):
assert isinstance(masks[0], np.ndarray)
assert masks[0].ndim == 2 # (H, W)
else:
assert masks.ndim == 3 # (N, H, W)
self.masks = np.stack(masks).reshape(-1, height, width)
assert self.masks.shape[1] == self.height
assert self.masks.shape[2] == self.width
def __getitem__(self, index):
"""Index the BitmapMask.
Args:
index (int | ndarray): Indices in the format of integer or ndarray.
Returns:
:obj:`BitmapMasks`: Indexed bitmap masks.
"""
masks = self.masks[index].reshape(-1, self.height, self.width)
return BitmapMasks(masks, self.height, self.width)
def __iter__(self):
return iter(self.masks)
def __repr__(self):
s = self.__class__.__name__ + '('
s += f'num_masks={len(self.masks)}, '
s += f'height={self.height}, '
s += f'width={self.width})'
return s
def __len__(self):
"""Number of masks."""
return len(self.masks)
[docs] def rescale(self, scale, interpolation='nearest'):
"""See :func:`BaseInstanceMasks.rescale()`."""
if len(self.masks) == 0:
new_w, new_h = mmcv.rescale_size((self.width, self.height), scale)
rescaled_masks = np.empty((0, new_h, new_w), dtype=np.uint8)
else:
rescaled_masks = np.stack([
mmcv.imrescale(mask, scale, interpolation=interpolation)
for mask in self.masks
])
height, width = rescaled_masks.shape[1:]
return BitmapMasks(rescaled_masks, height, width)
[docs] def resize(self, out_shape, interpolation='nearest'):
"""See :func:`BaseInstanceMasks.resize()`."""
if len(self.masks) == 0:
resized_masks = np.empty((0, *out_shape), dtype=np.uint8)
else:
resized_masks = np.stack([
mmcv.imresize(mask, out_shape, interpolation=interpolation)
for mask in self.masks
])
return BitmapMasks(resized_masks, *out_shape)
[docs] def flip(self, flip_direction='horizontal'):
"""See :func:`BaseInstanceMasks.flip()`."""
assert flip_direction in ('horizontal', 'vertical')
if len(self.masks) == 0:
flipped_masks = self.masks
else:
flipped_masks = np.stack([
mmcv.imflip(mask, direction=flip_direction)
for mask in self.masks
])
return BitmapMasks(flipped_masks, self.height, self.width)
[docs] def pad(self, out_shape, pad_val=0):
"""See :func:`BaseInstanceMasks.pad()`."""
if len(self.masks) == 0:
padded_masks = np.empty((0, *out_shape), dtype=np.uint8)
else:
padded_masks = np.stack([
mmcv.impad(mask, out_shape, pad_val=pad_val)
for mask in self.masks
])
return BitmapMasks(padded_masks, *out_shape)
[docs] def crop(self, bbox):
"""See :func:`BaseInstanceMasks.crop()`."""
assert isinstance(bbox, np.ndarray)
assert bbox.ndim == 1
# clip the boundary
bbox = bbox.copy()
bbox[0::2] = np.clip(bbox[0::2], 0, self.width)
bbox[1::2] = np.clip(bbox[1::2], 0, self.height)
x1, y1, x2, y2 = bbox
w = np.maximum(x2 - x1, 1)
h = np.maximum(y2 - y1, 1)
if len(self.masks) == 0:
cropped_masks = np.empty((0, h, w), dtype=np.uint8)
else:
cropped_masks = self.masks[:, y1:y1 + h, x1:x1 + w]
return BitmapMasks(cropped_masks, h, w)
[docs] def crop_and_resize(self,
bboxes,
out_shape,
inds,
device='cpu',
interpolation='bilinear'):
"""See :func:`BaseInstanceMasks.crop_and_resize()`."""
if len(self.masks) == 0:
empty_masks = np.empty((0, *out_shape), dtype=np.uint8)
return BitmapMasks(empty_masks, *out_shape)
# convert bboxes to tensor
if isinstance(bboxes, np.ndarray):
bboxes = torch.from_numpy(bboxes).to(device=device)
if isinstance(inds, np.ndarray):
inds = torch.from_numpy(inds).to(device=device)
num_bbox = bboxes.shape[0]
fake_inds = torch.arange(
num_bbox, device=device).to(dtype=bboxes.dtype)[:, None]
rois = torch.cat([fake_inds, bboxes], dim=1) # Nx5
rois = rois.to(device=device)
if num_bbox > 0:
gt_masks_th = torch.from_numpy(self.masks).to(device).index_select(
0, inds).to(dtype=rois.dtype)
targets = roi_align(gt_masks_th[:, None, :, :], rois, out_shape,
1.0, 0, True).squeeze(1)
resized_masks = (targets >= 0.5).cpu().numpy()
else:
resized_masks = []
return BitmapMasks(resized_masks, *out_shape)
[docs] def expand(self, expanded_h, expanded_w, top, left):
"""See :func:`BaseInstanceMasks.expand()`."""
if len(self.masks) == 0:
expanded_mask = np.empty((0, expanded_h, expanded_w),
dtype=np.uint8)
else:
expanded_mask = np.zeros((len(self), expanded_h, expanded_w),
dtype=np.uint8)
expanded_mask[:, top:top + self.height,
left:left + self.width] = self.masks
return BitmapMasks(expanded_mask, expanded_h, expanded_w)
@property
def areas(self):
"""See :func:`BaseInstanceMasks.areas`."""
return self.masks.sum((1, 2))
[docs] def to_ndarray(self):
"""See :func:`BaseInstanceMasks.to_ndarray()`."""
return self.masks
[docs] def to_tensor(self, dtype, device):
"""See :func:`BaseInstanceMasks.to_tensor()`."""
return torch.tensor(self.masks, dtype=dtype, device=device)
[docs]class PolygonMasks(BaseInstanceMasks):
"""This class represents masks in the form of polygons.
Polygons is a list of three levels. The first level of the list
corresponds to objects, the second level to the polys that compose the
object, the third level to the poly coordinates
Args:
masks (list[list[ndarray]]): The first level of the list
corresponds to objects, the second level to the polys that
compose the object, the third level to the poly coordinates
height (int): height of masks
width (int): width of masks
"""
def __init__(self, masks, height, width):
assert isinstance(masks, list)
if len(masks) > 0:
assert isinstance(masks[0], list)
assert isinstance(masks[0][0], np.ndarray)
self.height = height
self.width = width
self.masks = masks
def __getitem__(self, index):
"""Index the polygon masks.
Args:
index (ndarray | List): The indices.
Returns:
:obj:`PolygonMasks`: The indexed polygon masks.
"""
if isinstance(index, np.ndarray):
index = index.tolist()
if isinstance(index, list):
masks = [self.masks[i] for i in index]
else:
try:
masks = self.masks[index]
except Exception:
raise ValueError(
f'Unsupported input of type {type(index)} for indexing!')
if isinstance(masks[0], np.ndarray):
masks = [masks] # ensure a list of three levels
return PolygonMasks(masks, self.height, self.width)
def __iter__(self):
return iter(self.masks)
def __repr__(self):
s = self.__class__.__name__ + '('
s += f'num_masks={len(self.masks)}, '
s += f'height={self.height}, '
s += f'width={self.width})'
return s
def __len__(self):
"""Number of masks."""
return len(self.masks)
[docs] def rescale(self, scale, interpolation=None):
"""see :func:`BaseInstanceMasks.rescale()`"""
new_w, new_h = mmcv.rescale_size((self.width, self.height), scale)
if len(self.masks) == 0:
rescaled_masks = PolygonMasks([], new_h, new_w)
else:
rescaled_masks = self.resize((new_h, new_w))
return rescaled_masks
[docs] def resize(self, out_shape, interpolation=None):
"""see :func:`BaseInstanceMasks.resize()`"""
if len(self.masks) == 0:
resized_masks = PolygonMasks([], *out_shape)
else:
h_scale = out_shape[0] / self.height
w_scale = out_shape[1] / self.width
resized_masks = []
for poly_per_obj in self.masks:
resized_poly = []
for p in poly_per_obj:
p = p.copy()
p[0::2] *= w_scale
p[1::2] *= h_scale
resized_poly.append(p)
resized_masks.append(resized_poly)
resized_masks = PolygonMasks(resized_masks, *out_shape)
return resized_masks
[docs] def flip(self, flip_direction='horizontal'):
"""see :func:`BaseInstanceMasks.flip()`"""
assert flip_direction in ('horizontal', 'vertical')
if len(self.masks) == 0:
flipped_masks = PolygonMasks([], self.height, self.width)
else:
if flip_direction == 'horizontal':
dim = self.width
idx = 0
else:
dim = self.height
idx = 1
flipped_masks = []
for poly_per_obj in self.masks:
flipped_poly_per_obj = []
for p in poly_per_obj:
p = p.copy()
p[idx::2] = dim - p[idx::2]
flipped_poly_per_obj.append(p)
flipped_masks.append(flipped_poly_per_obj)
flipped_masks = PolygonMasks(flipped_masks, self.height,
self.width)
return flipped_masks
[docs] def crop(self, bbox):
"""see :func:`BaseInstanceMasks.crop()`"""
assert isinstance(bbox, np.ndarray)
assert bbox.ndim == 1
# clip the boundary
bbox = bbox.copy()
bbox[0::2] = np.clip(bbox[0::2], 0, self.width)
bbox[1::2] = np.clip(bbox[1::2], 0, self.height)
x1, y1, x2, y2 = bbox
w = np.maximum(x2 - x1, 1)
h = np.maximum(y2 - y1, 1)
if len(self.masks) == 0:
cropped_masks = PolygonMasks([], h, w)
else:
cropped_masks = []
for poly_per_obj in self.masks:
cropped_poly_per_obj = []
for p in poly_per_obj:
# pycocotools will clip the boundary
p = p.copy()
p[0::2] -= bbox[0]
p[1::2] -= bbox[1]
cropped_poly_per_obj.append(p)
cropped_masks.append(cropped_poly_per_obj)
cropped_masks = PolygonMasks(cropped_masks, h, w)
return cropped_masks
[docs] def pad(self, out_shape, pad_val=0):
"""padding has no effect on polygons`"""
return PolygonMasks(self.masks, *out_shape)
[docs] def expand(self, *args, **kwargs):
"""TODO: Add expand for polygon"""
raise NotImplementedError
[docs] def crop_and_resize(self,
bboxes,
out_shape,
inds,
device='cpu',
interpolation='bilinear'):
"""see :func:`BaseInstanceMasks.crop_and_resize()`"""
out_h, out_w = out_shape
if len(self.masks) == 0:
return PolygonMasks([], out_h, out_w)
resized_masks = []
for i in range(len(bboxes)):
mask = self.masks[inds[i]]
bbox = bboxes[i, :]
x1, y1, x2, y2 = bbox
w = np.maximum(x2 - x1, 1)
h = np.maximum(y2 - y1, 1)
h_scale = out_h / max(h, 0.1) # avoid too large scale
w_scale = out_w / max(w, 0.1)
resized_mask = []
for p in mask:
p = p.copy()
# crop
# pycocotools will clip the boundary
p[0::2] -= bbox[0]
p[1::2] -= bbox[1]
# resize
p[0::2] *= w_scale
p[1::2] *= h_scale
resized_mask.append(p)
resized_masks.append(resized_mask)
return PolygonMasks(resized_masks, *out_shape)
[docs] def to_bitmap(self):
"""convert polygon masks to bitmap masks"""
bitmap_masks = self.to_ndarray()
return BitmapMasks(bitmap_masks, self.height, self.width)
@property
def areas(self):
"""Compute areas of masks.
This func is modified from
https://github.com/facebookresearch/detectron2/blob/ffff8acc35ea88ad1cb1806ab0f00b4c1c5dbfd9/detectron2/structures/masks.py#L387
Only works with Polygons, using the shoelace formula
Return:
ndarray: areas of each instance
""" # noqa: W501
area = []
for polygons_per_obj in self.masks:
area_per_obj = 0
for p in polygons_per_obj:
area_per_obj += self._polygon_area(p[0::2], p[1::2])
area.append(area_per_obj)
return np.asarray(area)
def _polygon_area(self, x, y):
"""Compute the area of a component of a polygon.
Using the shoelace formula:
https://stackoverflow.com/questions/24467972/calculate-area-of-polygon-given-x-y-coordinates
Args:
x (ndarray): x coordinates of the component
y (ndarray): y coordinates of the component
Return:
float: the are of the component
""" # noqa: 501
return 0.5 * np.abs(
np.dot(x, np.roll(y, 1)) - np.dot(y, np.roll(x, 1)))
[docs] def to_ndarray(self):
"""Convert masks to the format of ndarray."""
if len(self.masks) == 0:
return np.empty((0, self.height, self.width), dtype=np.uint8)
bitmap_masks = []
for poly_per_obj in self.masks:
bitmap_masks.append(
polygon_to_bitmap(poly_per_obj, self.height, self.width))
return np.stack(bitmap_masks)
[docs] def to_tensor(self, dtype, device):
"""See :func:`BaseInstanceMasks.to_tensor()`."""
if len(self.masks) == 0:
return torch.empty((0, self.height, self.width),
dtype=dtype,
device=device)
ndarray_masks = self.to_ndarray()
return torch.tensor(ndarray_masks, dtype=dtype, device=device)
def polygon_to_bitmap(polygons, height, width):
"""Convert masks from the form of polygons to bitmaps.
Args:
polygons (list[ndarray]): masks in polygon representation
height (int): mask height
width (int): mask width
Return:
ndarray: the converted masks in bitmap representation
"""
rles = maskUtils.frPyObjects(polygons, height, width)
rle = maskUtils.merge(rles)
bitmap_mask = maskUtils.decode(rle).astype(np.bool)
return bitmap_mask