510 lines
20 KiB
Python
Executable File
510 lines
20 KiB
Python
Executable File
import glob
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import math
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import os
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import random
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import shutil
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from pathlib import Path
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import cv2
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import numpy as np
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import torch
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from PIL import Image, ExifTags
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from torch.utils.data import Dataset
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from tqdm import tqdm
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from utils.utils import xyxy2xywh, xywh2xyxy
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img_formats = ['.bmp', '.jpg', '.jpeg', '.png', '.tif']
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vid_formats = ['.mov', '.avi', '.mp4']
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# Get orientation exif tag
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for orientation in ExifTags.TAGS.keys():
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if ExifTags.TAGS[orientation] == 'Orientation':
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break
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def exif_size(img):
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# Returns exif-corrected PIL size
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s = img.size # (width, height)
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try:
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rotation = dict(img._getexif().items())[orientation]
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if rotation == 6: # rotation 270
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s = (s[1], s[0])
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elif rotation == 8: # rotation 90
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s = (s[1], s[0])
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except:
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None
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return s
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class LoadImages: # for inference
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def __init__(self, path, img_size=416, half=False):
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path = str(Path(path)) # os-agnostic
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files = []
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if os.path.isdir(path):
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files = sorted(glob.glob(os.path.join(path, '*.*')))
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elif os.path.isfile(path):
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files = [path]
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images = [x for x in files if os.path.splitext(x)[-1].lower() in img_formats]
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videos = [x for x in files if os.path.splitext(x)[-1].lower() in vid_formats]
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nI, nV = len(images), len(videos)
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self.img_size = img_size
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self.files = images + videos
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self.nF = nI + nV # number of files
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self.video_flag = [False] * nI + [True] * nV
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self.mode = 'images'
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self.half = half # half precision fp16 images
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if any(videos):
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self.new_video(videos[0]) # new video
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else:
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self.cap = None
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assert self.nF > 0, 'No images or videos found in ' + path
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def __iter__(self):
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self.count = 0
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return self
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def __next__(self):
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if self.count == self.nF:
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raise StopIteration
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path = self.files[self.count]
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if self.video_flag[self.count]:
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# Read video
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self.mode = 'video'
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ret_val, img0 = self.cap.read()
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if not ret_val:
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self.count += 1
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self.cap.release()
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if self.count == self.nF: # last video
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raise StopIteration
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else:
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path = self.files[self.count]
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self.new_video(path)
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ret_val, img0 = self.cap.read()
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self.frame += 1
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print('video %g/%g (%g/%g) %s: ' % (self.count + 1, self.nF, self.frame, self.nframes, path), end='')
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else:
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# Read image
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self.count += 1
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img0 = cv2.imread(path) # BGR
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assert img0 is not None, 'Image Not Found ' + path
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print('image %g/%g %s: ' % (self.count, self.nF, path), end='')
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# Padded resize
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img, *_ = letterbox(img0, new_shape=self.img_size)
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# Normalize RGB
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img = img[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB
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img = np.ascontiguousarray(img, dtype=np.float16 if self.half else np.float32) # uint8 to fp16/fp32
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img /= 255.0 # 0 - 255 to 0.0 - 1.0
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# cv2.imwrite(path + '.letterbox.jpg', 255 * img.transpose((1, 2, 0))[:, :, ::-1]) # save letterbox image
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return path, img, img0, self.cap
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def new_video(self, path):
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self.frame = 0
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self.cap = cv2.VideoCapture(path)
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self.nframes = int(self.cap.get(cv2.CAP_PROP_FRAME_COUNT))
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def __len__(self):
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return self.nF # number of files
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class LoadWebcam: # for inference
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def __init__(self, img_size=416, half=False):
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self.img_size = img_size
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self.half = half # half precision fp16 images
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self.cam = cv2.VideoCapture(0) # local camera
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# self.cam = cv2.VideoCapture('rtsp://192.168.1.64/1') # IP camera
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# self.cam = cv2.VideoCapture('rtsp://username:password@192.168.1.64/1') # IP camera with login
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def __iter__(self):
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self.count = -1
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return self
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def __next__(self):
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self.count += 1
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if cv2.waitKey(1) == 27: # esc to quit
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cv2.destroyAllWindows()
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raise StopIteration
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# Read image
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ret_val, img0 = self.cam.read()
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assert ret_val, 'Webcam Error'
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img_path = 'webcam_%g.jpg' % self.count
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img0 = cv2.flip(img0, 1) # flip left-right
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print('webcam %g: ' % self.count, end='')
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# Padded resize
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img, *_ = letterbox(img0, new_shape=self.img_size)
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# Normalize RGB
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img = img[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB
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img = np.ascontiguousarray(img, dtype=np.float16 if self.half else np.float32) # uint8 to fp16/fp32
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img /= 255.0 # 0 - 255 to 0.0 - 1.0
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return img_path, img, img0, None
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def __len__(self):
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return 0
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class LoadImagesAndLabels(Dataset): # for training/testing
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def __init__(self, path, img_size=416, batch_size=16, augment=False, hyp=None, rect=True, image_weights=False):
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path = str(Path(path)) # os-agnostic
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with open(path, 'r') as f:
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self.img_files = [x.replace('/', os.sep) for x in f.read().splitlines() # os-agnostic
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if os.path.splitext(x)[-1].lower() in img_formats]
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n = len(self.img_files)
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bi = np.floor(np.arange(n) / batch_size).astype(np.int) # batch index
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nb = bi[-1] + 1 # number of batches
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assert n > 0, 'No images found in %s' % path
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self.n = n
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self.batch = bi # batch index of image
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self.img_size = img_size
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self.augment = augment
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self.hyp = hyp
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self.image_weights = image_weights
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self.rect = False if image_weights else rect
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# Define labels
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self.label_files = [x.replace('images', 'labels').replace(os.path.splitext(x)[-1], '.txt')
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for x in self.img_files]
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# Rectangular Training https://github.com/ultralytics/yolov3/issues/232
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if self.rect:
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# Read image shapes
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sp = 'data' + os.sep + path.replace('.txt', '.shapes').split(os.sep)[-1] # shapefile path
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try:
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with open(sp, 'r') as f: # read existing shapefile
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s = [x.split() for x in f.read().splitlines()]
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assert len(s) == n, 'Shapefile out of sync'
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except:
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s = [exif_size(Image.open(f)) for f in tqdm(self.img_files, desc='Reading image shapes')]
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np.savetxt(sp, s, fmt='%g') # overwrites existing (if any)
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# Sort by aspect ratio
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s = np.array(s, dtype=np.float64)
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ar = s[:, 1] / s[:, 0] # aspect ratio
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i = ar.argsort()
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self.img_files = [self.img_files[i] for i in i]
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self.label_files = [self.label_files[i] for i in i]
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ar = ar[i]
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# Set training image shapes
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shapes = [[1, 1]] * nb
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for i in range(nb):
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ari = ar[bi == i]
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mini, maxi = ari.min(), ari.max()
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if maxi < 1:
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shapes[i] = [maxi, 1]
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elif mini > 1:
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shapes[i] = [1, 1 / mini]
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self.batch_shapes = np.ceil(np.array(shapes) * img_size / 32.).astype(np.int) * 32
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# Preload labels (required for weighted CE training)
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self.imgs = [None] * n
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self.labels = [None] * n
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if augment or image_weights: # cache labels for faster training
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self.labels = [np.zeros((0, 5))] * n
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extract_bounding_boxes = False
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for i, file in enumerate(tqdm(self.label_files, desc='Caching labels')):
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try:
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with open(file, 'r') as f:
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l = np.array([x.split() for x in f.read().splitlines()], dtype=np.float32)
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if l.shape[0]:
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assert l.shape[1] == 5, '> 5 label columns: %s' % file
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assert (l >= 0).all(), 'negative labels: %s' % file
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assert (l[:, 1:] <= 1).all(), 'non-normalized or out of bounds coordinate labels: %s' % file
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self.labels[i] = l
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# Extract object detection boxes for a second stage classifier
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if extract_bounding_boxes:
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p = Path(self.img_files[i])
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img = cv2.imread(str(p))
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h, w, _ = img.shape
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for j, x in enumerate(l):
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f = '%s%sclassification%s%g_%g_%s' % (
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p.parent.parent, os.sep, os.sep, x[0], j, p.name)
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if not os.path.exists(Path(f).parent):
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os.makedirs(Path(f).parent) # make new output folder
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box = xywh2xyxy(x[1:].reshape(-1, 4)).ravel()
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box = np.clip(box, 0, 1) # clip boxes outside of image
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result = cv2.imwrite(f, img[int(box[1] * h):int(box[3] * h),
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int(box[0] * w):int(box[2] * w)])
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if not result:
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print('stop')
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except:
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pass # print('Warning: missing labels for %s' % self.img_files[i]) # missing label file
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assert len(np.concatenate(self.labels, 0)) > 0, 'No labels found. Incorrect label paths provided.'
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# Detect corrupted images https://medium.com/joelthchao/programmatically-detect-corrupted-image-8c1b2006c3d3
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detect_corrupted_images = False
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if detect_corrupted_images:
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from skimage import io # conda install -c conda-forge scikit-image
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for file in tqdm(self.img_files, desc='Detecting corrupted images'):
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try:
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_ = io.imread(file)
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except:
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print('Corrupted image detected: %s' % file)
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def __len__(self):
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return len(self.img_files)
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# def __iter__(self):
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# self.count = -1
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# print('ran dataset iter')
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# #self.shuffled_vector = np.random.permutation(self.nF) if self.augment else np.arange(self.nF)
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# return self
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def __getitem__(self, index):
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if self.image_weights:
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index = self.indices[index]
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img_path = self.img_files[index]
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label_path = self.label_files[index]
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hyp = self.hyp
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# Load image
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img = self.imgs[index]
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if img is None:
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img = cv2.imread(img_path) # BGR
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assert img is not None, 'Image Not Found ' + img_path
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r = self.img_size / max(img.shape) # size ratio
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if self.augment and r < 1: # if training (NOT testing), downsize to inference shape
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h, w, _ = img.shape
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img = cv2.resize(img, (int(w * r), int(h * r)), interpolation=cv2.INTER_LINEAR) # INTER_LINEAR fastest
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if index < 5000: # cache first 5000 images into memory (~5GB)
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self.imgs[index] = img
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# Augment colorspace
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augment_hsv = True
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if self.augment and augment_hsv:
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# SV augmentation by 50%
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img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) # hue, sat, val
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S = img_hsv[:, :, 1].astype(np.float32) # saturation
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V = img_hsv[:, :, 2].astype(np.float32) # value
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a = random.uniform(-1, 1) * hyp['hsv_s'] + 1
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b = random.uniform(-1, 1) * hyp['hsv_v'] + 1
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S *= a
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V *= b
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img_hsv[:, :, 1] = S if a < 1 else S.clip(None, 255)
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img_hsv[:, :, 2] = V if b < 1 else V.clip(None, 255)
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cv2.cvtColor(img_hsv, cv2.COLOR_HSV2BGR, dst=img)
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# Letterbox
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h, w, _ = img.shape
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if self.rect:
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shape = self.batch_shapes[self.batch[index]]
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img, ratiow, ratioh, padw, padh = letterbox(img, new_shape=shape, mode='rect')
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else:
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shape = self.img_size
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img, ratiow, ratioh, padw, padh = letterbox(img, new_shape=shape, mode='square')
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# Load labels
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labels = []
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if os.path.isfile(label_path):
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x = self.labels[index]
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if x is None: # labels not preloaded
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with open(label_path, 'r') as f:
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x = np.array([x.split() for x in f.read().splitlines()], dtype=np.float32)
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self.labels[index] = x # save for next time
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if x.size > 0:
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# Normalized xywh to pixel xyxy format
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labels = x.copy()
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labels[:, 1] = ratiow * w * (x[:, 1] - x[:, 3] / 2) + padw
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labels[:, 2] = ratioh * h * (x[:, 2] - x[:, 4] / 2) + padh
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labels[:, 3] = ratiow * w * (x[:, 1] + x[:, 3] / 2) + padw
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labels[:, 4] = ratioh * h * (x[:, 2] + x[:, 4] / 2) + padh
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# Augment image and labels
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if self.augment:
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img, labels = random_affine(img, labels,
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degrees=hyp['degrees'],
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translate=hyp['translate'],
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scale=hyp['scale'],
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shear=hyp['shear'])
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nL = len(labels) # number of labels
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if nL:
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# convert xyxy to xywh
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labels[:, 1:5] = xyxy2xywh(labels[:, 1:5])
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# Normalize coordinates 0 - 1
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labels[:, [2, 4]] /= img.shape[0] # height
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labels[:, [1, 3]] /= img.shape[1] # width
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if self.augment:
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# random left-right flip
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lr_flip = True
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if lr_flip and random.random() > 0.5:
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img = np.fliplr(img)
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if nL:
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labels[:, 1] = 1 - labels[:, 1]
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# random up-down flip
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ud_flip = False
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if ud_flip and random.random() > 0.5:
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img = np.flipud(img)
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if nL:
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labels[:, 2] = 1 - labels[:, 2]
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labels_out = torch.zeros((nL, 6))
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if nL:
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labels_out[:, 1:] = torch.from_numpy(labels)
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# Normalize
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img = img[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB, to 3x416x416
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img = np.ascontiguousarray(img, dtype=np.float32) # uint8 to float32
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img /= 255.0 # 0 - 255 to 0.0 - 1.0
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return torch.from_numpy(img), labels_out, img_path, (h, w)
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@staticmethod
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def collate_fn(batch):
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img, label, path, hw = list(zip(*batch)) # transposed
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for i, l in enumerate(label):
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l[:, 0] = i # add target image index for build_targets()
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return torch.stack(img, 0), torch.cat(label, 0), path, hw
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def letterbox(img, new_shape=416, color=(128, 128, 128), mode='auto'):
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# Resize a rectangular image to a 32 pixel multiple rectangle
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# https://github.com/ultralytics/yolov3/issues/232
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shape = img.shape[:2] # current shape [height, width]
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if isinstance(new_shape, int):
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ratio = float(new_shape) / max(shape)
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else:
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ratio = max(new_shape) / max(shape) # ratio = new / old
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ratiow, ratioh = ratio, ratio
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new_unpad = (int(round(shape[1] * ratio)), int(round(shape[0] * ratio)))
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# Compute padding https://github.com/ultralytics/yolov3/issues/232
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if mode is 'auto': # minimum rectangle
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dw = np.mod(new_shape - new_unpad[0], 32) / 2 # width padding
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dh = np.mod(new_shape - new_unpad[1], 32) / 2 # height padding
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elif mode is 'square': # square
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dw = (new_shape - new_unpad[0]) / 2 # width padding
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dh = (new_shape - new_unpad[1]) / 2 # height padding
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elif mode is 'rect': # square
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dw = (new_shape[1] - new_unpad[0]) / 2 # width padding
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dh = (new_shape[0] - new_unpad[1]) / 2 # height padding
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elif mode is 'scaleFill':
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dw, dh = 0.0, 0.0
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new_unpad = (new_shape, new_shape)
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ratiow, ratioh = new_shape / shape[1], new_shape / shape[0]
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if shape[::-1] != new_unpad: # resize
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img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_AREA) # INTER_AREA is better, INTER_LINEAR is faster
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top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))
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left, right = int(round(dw - 0.1)), int(round(dw + 0.1))
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img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) # add border
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return img, ratiow, ratioh, dw, dh
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def random_affine(img, targets=(), degrees=10, translate=.1, scale=.1, shear=10):
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# torchvision.transforms.RandomAffine(degrees=(-10, 10), translate=(.1, .1), scale=(.9, 1.1), shear=(-10, 10))
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# https://medium.com/uruvideo/dataset-augmentation-with-random-homographies-a8f4b44830d4
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if targets is None:
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targets = []
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border = 0 # width of added border (optional)
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height = img.shape[0] + border * 2
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width = img.shape[1] + border * 2
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# Rotation and Scale
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R = np.eye(3)
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a = random.uniform(-degrees, degrees)
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# a += random.choice([-180, -90, 0, 90]) # add 90deg rotations to small rotations
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s = random.uniform(1 - scale, 1 + scale)
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R[:2] = cv2.getRotationMatrix2D(angle=a, center=(img.shape[1] / 2, img.shape[0] / 2), scale=s)
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# Translation
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T = np.eye(3)
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T[0, 2] = random.uniform(-translate, translate) * img.shape[0] + border # x translation (pixels)
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T[1, 2] = random.uniform(-translate, translate) * img.shape[1] + border # y translation (pixels)
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# Shear
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S = np.eye(3)
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S[0, 1] = math.tan(random.uniform(-shear, shear) * math.pi / 180) # x shear (deg)
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S[1, 0] = math.tan(random.uniform(-shear, shear) * math.pi / 180) # y shear (deg)
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M = S @ T @ R # Combined rotation matrix. ORDER IS IMPORTANT HERE!!
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imw = cv2.warpAffine(img, M[:2], dsize=(width, height), flags=cv2.INTER_AREA,
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borderValue=(128, 128, 128)) # BGR order borderValue
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|
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# Return warped points also
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if len(targets) > 0:
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n = targets.shape[0]
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points = targets[:, 1:5].copy()
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area0 = (points[:, 2] - points[:, 0]) * (points[:, 3] - points[:, 1])
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|
|
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# warp points
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xy = np.ones((n * 4, 3))
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xy[:, :2] = points[:, [0, 1, 2, 3, 0, 3, 2, 1]].reshape(n * 4, 2) # x1y1, x2y2, x1y2, x2y1
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xy = (xy @ M.T)[:, :2].reshape(n, 8)
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|
|
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# create new boxes
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x = xy[:, [0, 2, 4, 6]]
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y = xy[:, [1, 3, 5, 7]]
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xy = np.concatenate((x.min(1), y.min(1), x.max(1), y.max(1))).reshape(4, n).T
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|
|
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# # apply angle-based reduction of bounding boxes
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# radians = a * math.pi / 180
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# reduction = max(abs(math.sin(radians)), abs(math.cos(radians))) ** 0.5
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# x = (xy[:, 2] + xy[:, 0]) / 2
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# y = (xy[:, 3] + xy[:, 1]) / 2
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# w = (xy[:, 2] - xy[:, 0]) * reduction
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# h = (xy[:, 3] - xy[:, 1]) * reduction
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# xy = np.concatenate((x - w / 2, y - h / 2, x + w / 2, y + h / 2)).reshape(4, n).T
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|
|
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# reject warped points outside of image
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xy[:, [0, 2]] = xy[:, [0, 2]].clip(0, width)
|
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xy[:, [1, 3]] = xy[:, [1, 3]].clip(0, height)
|
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w = xy[:, 2] - xy[:, 0]
|
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h = xy[:, 3] - xy[:, 1]
|
|
area = w * h
|
|
ar = np.maximum(w / (h + 1e-16), h / (w + 1e-16))
|
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i = (w > 4) & (h > 4) & (area / (area0 + 1e-16) > 0.1) & (ar < 10)
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|
|
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targets = targets[i]
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targets[:, 1:5] = xy[i]
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|
|
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return imw, targets
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|
|
|
|
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def convert_images2bmp():
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# cv2.imread() jpg at 230 img/s, *.bmp at 400 img/s
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for path in ['../coco/images/val2014/', '../coco/images/train2014/']:
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folder = os.sep + Path(path).name
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output = path.replace(folder, folder + 'bmp')
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|
if os.path.exists(output):
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shutil.rmtree(output) # delete output folder
|
|
os.makedirs(output) # make new output folder
|
|
|
|
for f in tqdm(glob.glob('%s*.jpg' % path)):
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save_name = f.replace('.jpg', '.bmp').replace(folder, folder + 'bmp')
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|
cv2.imwrite(save_name, cv2.imread(f))
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|
|
|
for label_path in ['../coco/trainvalno5k.txt', '../coco/5k.txt']:
|
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with open(label_path, 'r') as file:
|
|
lines = file.read()
|
|
lines = lines.replace('2014/', '2014bmp/').replace('.jpg', '.bmp').replace(
|
|
'/Users/glennjocher/PycharmProjects/', '../')
|
|
with open(label_path.replace('5k', '5k_bmp'), 'w') as file:
|
|
file.write(lines)
|