import glob import math import os import random import shutil import time from pathlib import Path from threading import Thread import cv2 import numpy as np import torch from PIL import Image, ExifTags from torch.utils.data import Dataset from tqdm import tqdm from utils.utils import xyxy2xywh, xywh2xyxy, torch_distributed_zero_first help_url = 'https://github.com/ultralytics/yolov5/wiki/Train-Custom-Data' img_formats = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.dng'] vid_formats = ['.mov', '.avi', '.mp4', '.mpg', '.mpeg', '.m4v', '.wmv', '.mkv'] # Get orientation exif tag for orientation in ExifTags.TAGS.keys(): if ExifTags.TAGS[orientation] == 'Orientation': break def get_hash(files): # Returns a single hash value of a list of files return sum(os.path.getsize(f) for f in files if os.path.isfile(f)) def exif_size(img): # Returns exif-corrected PIL size s = img.size # (width, height) try: rotation = dict(img._getexif().items())[orientation] if rotation == 6: # rotation 270 s = (s[1], s[0]) elif rotation == 8: # rotation 90 s = (s[1], s[0]) except: pass return s def create_dataloader(path, imgsz, batch_size, stride, opt, hyp=None, augment=False, cache=False, pad=0.0, rect=False, local_rank=-1, world_size=1): # Make sure only the first process in DDP process the dataset first, and the following others can use the cache. with torch_distributed_zero_first(local_rank): dataset = LoadImagesAndLabels(path, imgsz, batch_size, augment=augment, # augment images hyp=hyp, # augmentation hyperparameters rect=rect, # rectangular training cache_images=cache, single_cls=opt.single_cls, stride=int(stride), pad=pad) batch_size = min(batch_size, len(dataset)) nw = min([os.cpu_count() // world_size, batch_size if batch_size > 1 else 0, 8]) # number of workers train_sampler = torch.utils.data.distributed.DistributedSampler(dataset) if local_rank != -1 else None dataloader = torch.utils.data.DataLoader(dataset, batch_size=batch_size, num_workers=nw, sampler=train_sampler, pin_memory=True, collate_fn=LoadImagesAndLabels.collate_fn) return dataloader, dataset class LoadImages: # for inference def __init__(self, path, img_size=640): p = str(Path(path)) # os-agnostic p = os.path.abspath(p) # absolute path if '*' in p: files = sorted(glob.glob(p)) # glob elif os.path.isdir(p): files = sorted(glob.glob(os.path.join(p, '*.*'))) # dir elif os.path.isfile(p): files = [p] # files else: raise Exception('ERROR: %s does not exist' % p) images = [x for x in files if os.path.splitext(x)[-1].lower() in img_formats] videos = [x for x in files if os.path.splitext(x)[-1].lower() in vid_formats] ni, nv = len(images), len(videos) self.img_size = img_size self.files = images + videos self.nf = ni + nv # number of files self.video_flag = [False] * ni + [True] * nv self.mode = 'images' if any(videos): self.new_video(videos[0]) # new video else: self.cap = None assert self.nf > 0, 'No images or videos found in %s. Supported formats are:\nimages: %s\nvideos: %s' % \ (p, img_formats, vid_formats) def __iter__(self): self.count = 0 return self def __next__(self): if self.count == self.nf: raise StopIteration path = self.files[self.count] if self.video_flag[self.count]: # Read video self.mode = 'video' ret_val, img0 = self.cap.read() if not ret_val: self.count += 1 self.cap.release() if self.count == self.nf: # last video raise StopIteration else: path = self.files[self.count] self.new_video(path) ret_val, img0 = self.cap.read() self.frame += 1 print('video %g/%g (%g/%g) %s: ' % (self.count + 1, self.nf, self.frame, self.nframes, path), end='') else: # Read image self.count += 1 img0 = cv2.imread(path) # BGR assert img0 is not None, 'Image Not Found ' + path print('image %g/%g %s: ' % (self.count, self.nf, path), end='') # Padded resize img = letterbox(img0, new_shape=self.img_size)[0] # Convert img = img[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB, to 3x416x416 img = np.ascontiguousarray(img) # cv2.imwrite(path + '.letterbox.jpg', 255 * img.transpose((1, 2, 0))[:, :, ::-1]) # save letterbox image return path, img, img0, self.cap def new_video(self, path): self.frame = 0 self.cap = cv2.VideoCapture(path) self.nframes = int(self.cap.get(cv2.CAP_PROP_FRAME_COUNT)) def __len__(self): return self.nf # number of files class LoadWebcam: # for inference def __init__(self, pipe=0, img_size=640): self.img_size = img_size if pipe == '0': pipe = 0 # local camera # pipe = 'rtsp://192.168.1.64/1' # IP camera # pipe = 'rtsp://username:password@192.168.1.64/1' # IP camera with login # pipe = 'rtsp://170.93.143.139/rtplive/470011e600ef003a004ee33696235daa' # IP traffic camera # pipe = 'http://wmccpinetop.axiscam.net/mjpg/video.mjpg' # IP golf camera # https://answers.opencv.org/question/215996/changing-gstreamer-pipeline-to-opencv-in-pythonsolved/ # pipe = '"rtspsrc location="rtsp://username:password@192.168.1.64/1" latency=10 ! appsink' # GStreamer # https://answers.opencv.org/question/200787/video-acceleration-gstremer-pipeline-in-videocapture/ # https://stackoverflow.com/questions/54095699/install-gstreamer-support-for-opencv-python-package # install help # pipe = "rtspsrc location=rtsp://root:root@192.168.0.91:554/axis-media/media.amp?videocodec=h264&resolution=3840x2160 protocols=GST_RTSP_LOWER_TRANS_TCP ! rtph264depay ! queue ! vaapih264dec ! videoconvert ! appsink" # GStreamer self.pipe = pipe self.cap = cv2.VideoCapture(pipe) # video capture object self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 3) # set buffer size def __iter__(self): self.count = -1 return self def __next__(self): self.count += 1 if cv2.waitKey(1) == ord('q'): # q to quit self.cap.release() cv2.destroyAllWindows() raise StopIteration # Read frame if self.pipe == 0: # local camera ret_val, img0 = self.cap.read() img0 = cv2.flip(img0, 1) # flip left-right else: # IP camera n = 0 while True: n += 1 self.cap.grab() if n % 30 == 0: # skip frames ret_val, img0 = self.cap.retrieve() if ret_val: break # Print assert ret_val, 'Camera Error %s' % self.pipe img_path = 'webcam.jpg' print('webcam %g: ' % self.count, end='') # Padded resize img = letterbox(img0, new_shape=self.img_size)[0] # Convert img = img[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB, to 3x416x416 img = np.ascontiguousarray(img) return img_path, img, img0, None def __len__(self): return 0 class LoadStreams: # multiple IP or RTSP cameras def __init__(self, sources='streams.txt', img_size=640): self.mode = 'images' self.img_size = img_size if os.path.isfile(sources): with open(sources, 'r') as f: sources = [x.strip() for x in f.read().splitlines() if len(x.strip())] else: sources = [sources] n = len(sources) self.imgs = [None] * n self.sources = sources for i, s in enumerate(sources): # Start the thread to read frames from the video stream print('%g/%g: %s... ' % (i + 1, n, s), end='') cap = cv2.VideoCapture(0 if s == '0' else s) assert cap.isOpened(), 'Failed to open %s' % s w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) fps = cap.get(cv2.CAP_PROP_FPS) % 100 _, self.imgs[i] = cap.read() # guarantee first frame thread = Thread(target=self.update, args=([i, cap]), daemon=True) print(' success (%gx%g at %.2f FPS).' % (w, h, fps)) thread.start() print('') # newline # check for common shapes s = np.stack([letterbox(x, new_shape=self.img_size)[0].shape for x in self.imgs], 0) # inference shapes self.rect = np.unique(s, axis=0).shape[0] == 1 # rect inference if all shapes equal if not self.rect: print('WARNING: Different stream shapes detected. For optimal performance supply similarly-shaped streams.') def update(self, index, cap): # Read next stream frame in a daemon thread n = 0 while cap.isOpened(): n += 1 # _, self.imgs[index] = cap.read() cap.grab() if n == 4: # read every 4th frame _, self.imgs[index] = cap.retrieve() n = 0 time.sleep(0.01) # wait time def __iter__(self): self.count = -1 return self def __next__(self): self.count += 1 img0 = self.imgs.copy() if cv2.waitKey(1) == ord('q'): # q to quit cv2.destroyAllWindows() raise StopIteration # Letterbox img = [letterbox(x, new_shape=self.img_size, auto=self.rect)[0] for x in img0] # Stack img = np.stack(img, 0) # Convert img = img[:, :, :, ::-1].transpose(0, 3, 1, 2) # BGR to RGB, to bsx3x416x416 img = np.ascontiguousarray(img) return self.sources, img, img0, None def __len__(self): return 0 # 1E12 frames = 32 streams at 30 FPS for 30 years class LoadImagesAndLabels(Dataset): # for training/testing def __init__(self, path, img_size=640, batch_size=16, augment=False, hyp=None, rect=False, image_weights=False, cache_images=False, single_cls=False, stride=32, pad=0.0): try: f = [] # image files for p in path if isinstance(path, list) else [path]: p = str(Path(p)) # os-agnostic parent = str(Path(p).parent) + os.sep if os.path.isfile(p): # file with open(p, 'r') as t: t = t.read().splitlines() f += [x.replace('./', parent) if x.startswith('./') else x for x in t] # local to global path elif os.path.isdir(p): # folder f += glob.iglob(p + os.sep + '*.*') else: raise Exception('%s does not exist' % p) self.img_files = sorted( [x.replace('/', os.sep) for x in f if os.path.splitext(x)[-1].lower() in img_formats]) except Exception as e: raise Exception('Error loading data from %s: %s\nSee %s' % (path, e, help_url)) n = len(self.img_files) assert n > 0, 'No images found in %s. See %s' % (path, help_url) bi = np.floor(np.arange(n) / batch_size).astype(np.int) # batch index nb = bi[-1] + 1 # number of batches self.n = n # number of images self.batch = bi # batch index of image self.img_size = img_size self.augment = augment self.hyp = hyp self.image_weights = image_weights self.rect = False if image_weights else rect self.mosaic = self.augment and not self.rect # load 4 images at a time into a mosaic (only during training) self.mosaic_border = [-img_size // 2, -img_size // 2] self.stride = stride # Define labels self.label_files = [x.replace('images', 'labels').replace(os.path.splitext(x)[-1], '.txt') for x in self.img_files] # Check cache cache_path = str(Path(self.label_files[0]).parent) + '.cache' # cached labels if os.path.isfile(cache_path): cache = torch.load(cache_path) # load if cache['hash'] != get_hash(self.label_files + self.img_files): # dataset changed cache = self.cache_labels(cache_path) # re-cache else: cache = self.cache_labels(cache_path) # cache # Get labels labels, shapes = zip(*[cache[x] for x in self.img_files]) self.shapes = np.array(shapes, dtype=np.float64) self.labels = list(labels) # Rectangular Training https://github.com/ultralytics/yolov3/issues/232 if self.rect: # Sort by aspect ratio s = self.shapes # wh ar = s[:, 1] / s[:, 0] # aspect ratio irect = ar.argsort() self.img_files = [self.img_files[i] for i in irect] self.label_files = [self.label_files[i] for i in irect] self.labels = [self.labels[i] for i in irect] self.shapes = s[irect] # wh ar = ar[irect] # Set training image shapes shapes = [[1, 1]] * nb for i in range(nb): ari = ar[bi == i] mini, maxi = ari.min(), ari.max() if maxi < 1: shapes[i] = [maxi, 1] elif mini > 1: shapes[i] = [1, 1 / mini] self.batch_shapes = np.ceil(np.array(shapes) * img_size / stride + pad).astype(np.int) * stride # Cache labels create_datasubset, extract_bounding_boxes, labels_loaded = False, False, False nm, nf, ne, ns, nd = 0, 0, 0, 0, 0 # number missing, found, empty, datasubset, duplicate pbar = tqdm(self.label_files) for i, file in enumerate(pbar): l = self.labels[i] # label if l.shape[0]: assert l.shape[1] == 5, '> 5 label columns: %s' % file assert (l >= 0).all(), 'negative labels: %s' % file assert (l[:, 1:] <= 1).all(), 'non-normalized or out of bounds coordinate labels: %s' % file if np.unique(l, axis=0).shape[0] < l.shape[0]: # duplicate rows nd += 1 # print('WARNING: duplicate rows in %s' % self.label_files[i]) # duplicate rows if single_cls: l[:, 0] = 0 # force dataset into single-class mode self.labels[i] = l nf += 1 # file found # Create subdataset (a smaller dataset) if create_datasubset and ns < 1E4: if ns == 0: create_folder(path='./datasubset') os.makedirs('./datasubset/images') exclude_classes = 43 if exclude_classes not in l[:, 0]: ns += 1 # shutil.copy(src=self.img_files[i], dst='./datasubset/images/') # copy image with open('./datasubset/images.txt', 'a') as f: f.write(self.img_files[i] + '\n') # Extract object detection boxes for a second stage classifier if extract_bounding_boxes: p = Path(self.img_files[i]) img = cv2.imread(str(p)) h, w = img.shape[:2] for j, x in enumerate(l): f = '%s%sclassifier%s%g_%g_%s' % (p.parent.parent, os.sep, os.sep, x[0], j, p.name) if not os.path.exists(Path(f).parent): os.makedirs(Path(f).parent) # make new output folder b = x[1:] * [w, h, w, h] # box b[2:] = b[2:].max() # rectangle to square b[2:] = b[2:] * 1.3 + 30 # pad b = xywh2xyxy(b.reshape(-1, 4)).ravel().astype(np.int) b[[0, 2]] = np.clip(b[[0, 2]], 0, w) # clip boxes outside of image b[[1, 3]] = np.clip(b[[1, 3]], 0, h) assert cv2.imwrite(f, img[b[1]:b[3], b[0]:b[2]]), 'Failure extracting classifier boxes' else: ne += 1 # print('empty labels for image %s' % self.img_files[i]) # file empty # os.system("rm '%s' '%s'" % (self.img_files[i], self.label_files[i])) # remove pbar.desc = 'Scanning labels %s (%g found, %g missing, %g empty, %g duplicate, for %g images)' % ( cache_path, nf, nm, ne, nd, n) if nf == 0: s = 'WARNING: No labels found in %s. See %s' % (os.path.dirname(file) + os.sep, help_url) print(s) assert not augment, '%s. Can not train without labels.' % s # Cache images into memory for faster training (WARNING: large datasets may exceed system RAM) self.imgs = [None] * n if cache_images: gb = 0 # Gigabytes of cached images pbar = tqdm(range(len(self.img_files)), desc='Caching images') self.img_hw0, self.img_hw = [None] * n, [None] * n for i in pbar: # max 10k images self.imgs[i], self.img_hw0[i], self.img_hw[i] = load_image(self, i) # img, hw_original, hw_resized gb += self.imgs[i].nbytes pbar.desc = 'Caching images (%.1fGB)' % (gb / 1E9) def cache_labels(self, path='labels.cache'): # Cache dataset labels, check images and read shapes x = {} # dict pbar = tqdm(zip(self.img_files, self.label_files), desc='Scanning images', total=len(self.img_files)) for (img, label) in pbar: try: l = [] image = Image.open(img) image.verify() # PIL verify # _ = io.imread(img) # skimage verify (from skimage import io) shape = exif_size(image) # image size assert (shape[0] > 9) & (shape[1] > 9), 'image size <10 pixels' if os.path.isfile(label): with open(label, 'r') as f: l = np.array([x.split() for x in f.read().splitlines()], dtype=np.float32) # labels if len(l) == 0: l = np.zeros((0, 5), dtype=np.float32) x[img] = [l, shape] except Exception as e: x[img] = None print('WARNING: %s: %s' % (img, e)) x['hash'] = get_hash(self.label_files + self.img_files) torch.save(x, path) # save for next time return x def __len__(self): return len(self.img_files) # def __iter__(self): # self.count = -1 # print('ran dataset iter') # #self.shuffled_vector = np.random.permutation(self.nF) if self.augment else np.arange(self.nF) # return self def __getitem__(self, index): if self.image_weights: index = self.indices[index] hyp = self.hyp if self.mosaic: # Load mosaic img, labels = load_mosaic(self, index) shapes = None # MixUp https://arxiv.org/pdf/1710.09412.pdf # if random.random() < 0.5: # img2, labels2 = load_mosaic(self, random.randint(0, len(self.labels) - 1)) # r = np.random.beta(0.3, 0.3) # mixup ratio, alpha=beta=0.3 # img = (img * r + img2 * (1 - r)).astype(np.uint8) # labels = np.concatenate((labels, labels2), 0) else: # Load image img, (h0, w0), (h, w) = load_image(self, index) # Letterbox shape = self.batch_shapes[self.batch[index]] if self.rect else self.img_size # final letterboxed shape img, ratio, pad = letterbox(img, shape, auto=False, scaleup=self.augment) shapes = (h0, w0), ((h / h0, w / w0), pad) # for COCO mAP rescaling # Load labels labels = [] x = self.labels[index] if x.size > 0: # Normalized xywh to pixel xyxy format labels = x.copy() labels[:, 1] = ratio[0] * w * (x[:, 1] - x[:, 3] / 2) + pad[0] # pad width labels[:, 2] = ratio[1] * h * (x[:, 2] - x[:, 4] / 2) + pad[1] # pad height labels[:, 3] = ratio[0] * w * (x[:, 1] + x[:, 3] / 2) + pad[0] labels[:, 4] = ratio[1] * h * (x[:, 2] + x[:, 4] / 2) + pad[1] if self.augment: # Augment imagespace if not self.mosaic: img, labels = random_affine(img, labels, degrees=hyp['degrees'], translate=hyp['translate'], scale=hyp['scale'], shear=hyp['shear']) # Augment colorspace augment_hsv(img, hgain=hyp['hsv_h'], sgain=hyp['hsv_s'], vgain=hyp['hsv_v']) # Apply cutouts # if random.random() < 0.9: # labels = cutout(img, labels) nL = len(labels) # number of labels if nL: # convert xyxy to xywh labels[:, 1:5] = xyxy2xywh(labels[:, 1:5]) # Normalize coordinates 0 - 1 labels[:, [2, 4]] /= img.shape[0] # height labels[:, [1, 3]] /= img.shape[1] # width if self.augment: # random left-right flip lr_flip = True if lr_flip and random.random() < 0.5: img = np.fliplr(img) if nL: labels[:, 1] = 1 - labels[:, 1] # random up-down flip ud_flip = False if ud_flip and random.random() < 0.5: img = np.flipud(img) if nL: labels[:, 2] = 1 - labels[:, 2] labels_out = torch.zeros((nL, 6)) if nL: labels_out[:, 1:] = torch.from_numpy(labels) # Convert img = img[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB, to 3x416x416 img = np.ascontiguousarray(img) return torch.from_numpy(img), labels_out, self.img_files[index], shapes @staticmethod def collate_fn(batch): img, label, path, shapes = zip(*batch) # transposed for i, l in enumerate(label): l[:, 0] = i # add target image index for build_targets() return torch.stack(img, 0), torch.cat(label, 0), path, shapes # Ancillary functions -------------------------------------------------------------------------------------------------- def load_image(self, index): # loads 1 image from dataset, returns img, original hw, resized hw img = self.imgs[index] if img is None: # not cached path = self.img_files[index] img = cv2.imread(path) # BGR assert img is not None, 'Image Not Found ' + path h0, w0 = img.shape[:2] # orig hw r = self.img_size / max(h0, w0) # resize image to img_size if r != 1: # always resize down, only resize up if training with augmentation interp = cv2.INTER_AREA if r < 1 and not self.augment else cv2.INTER_LINEAR img = cv2.resize(img, (int(w0 * r), int(h0 * r)), interpolation=interp) return img, (h0, w0), img.shape[:2] # img, hw_original, hw_resized else: return self.imgs[index], self.img_hw0[index], self.img_hw[index] # img, hw_original, hw_resized def augment_hsv(img, hgain=0.5, sgain=0.5, vgain=0.5): r = np.random.uniform(-1, 1, 3) * [hgain, sgain, vgain] + 1 # random gains hue, sat, val = cv2.split(cv2.cvtColor(img, cv2.COLOR_BGR2HSV)) dtype = img.dtype # uint8 x = np.arange(0, 256, dtype=np.int16) lut_hue = ((x * r[0]) % 180).astype(dtype) lut_sat = np.clip(x * r[1], 0, 255).astype(dtype) lut_val = np.clip(x * r[2], 0, 255).astype(dtype) img_hsv = cv2.merge((cv2.LUT(hue, lut_hue), cv2.LUT(sat, lut_sat), cv2.LUT(val, lut_val))).astype(dtype) cv2.cvtColor(img_hsv, cv2.COLOR_HSV2BGR, dst=img) # no return needed # Histogram equalization # if random.random() < 0.2: # for i in range(3): # img[:, :, i] = cv2.equalizeHist(img[:, :, i]) def load_mosaic(self, index): # loads images in a mosaic labels4 = [] s = self.img_size yc, xc = [int(random.uniform(-x, 2 * s + x)) for x in self.mosaic_border] # mosaic center x, y indices = [index] + [random.randint(0, len(self.labels) - 1) for _ in range(3)] # 3 additional image indices for i, index in enumerate(indices): # Load image img, _, (h, w) = load_image(self, index) # place img in img4 if i == 0: # top left img4 = np.full((s * 2, s * 2, img.shape[2]), 114, dtype=np.uint8) # base image with 4 tiles x1a, y1a, x2a, y2a = max(xc - w, 0), max(yc - h, 0), xc, yc # xmin, ymin, xmax, ymax (large image) x1b, y1b, x2b, y2b = w - (x2a - x1a), h - (y2a - y1a), w, h # xmin, ymin, xmax, ymax (small image) elif i == 1: # top right x1a, y1a, x2a, y2a = xc, max(yc - h, 0), min(xc + w, s * 2), yc x1b, y1b, x2b, y2b = 0, h - (y2a - y1a), min(w, x2a - x1a), h elif i == 2: # bottom left x1a, y1a, x2a, y2a = max(xc - w, 0), yc, xc, min(s * 2, yc + h) x1b, y1b, x2b, y2b = w - (x2a - x1a), 0, max(xc, w), min(y2a - y1a, h) elif i == 3: # bottom right x1a, y1a, x2a, y2a = xc, yc, min(xc + w, s * 2), min(s * 2, yc + h) x1b, y1b, x2b, y2b = 0, 0, min(w, x2a - x1a), min(y2a - y1a, h) img4[y1a:y2a, x1a:x2a] = img[y1b:y2b, x1b:x2b] # img4[ymin:ymax, xmin:xmax] padw = x1a - x1b padh = y1a - y1b # Labels x = self.labels[index] labels = x.copy() if x.size > 0: # Normalized xywh to pixel xyxy format labels[:, 1] = w * (x[:, 1] - x[:, 3] / 2) + padw labels[:, 2] = h * (x[:, 2] - x[:, 4] / 2) + padh labels[:, 3] = w * (x[:, 1] + x[:, 3] / 2) + padw labels[:, 4] = h * (x[:, 2] + x[:, 4] / 2) + padh labels4.append(labels) # Concat/clip labels if len(labels4): labels4 = np.concatenate(labels4, 0) # np.clip(labels4[:, 1:] - s / 2, 0, s, out=labels4[:, 1:]) # use with center crop np.clip(labels4[:, 1:], 0, 2 * s, out=labels4[:, 1:]) # use with random_affine # Replicate # img4, labels4 = replicate(img4, labels4) # Augment # img4 = img4[s // 2: int(s * 1.5), s // 2:int(s * 1.5)] # center crop (WARNING, requires box pruning) img4, labels4 = random_affine(img4, labels4, degrees=self.hyp['degrees'], translate=self.hyp['translate'], scale=self.hyp['scale'], shear=self.hyp['shear'], border=self.mosaic_border) # border to remove return img4, labels4 def replicate(img, labels): # Replicate labels h, w = img.shape[:2] boxes = labels[:, 1:].astype(int) x1, y1, x2, y2 = boxes.T s = ((x2 - x1) + (y2 - y1)) / 2 # side length (pixels) for i in s.argsort()[:round(s.size * 0.5)]: # smallest indices x1b, y1b, x2b, y2b = boxes[i] bh, bw = y2b - y1b, x2b - x1b yc, xc = int(random.uniform(0, h - bh)), int(random.uniform(0, w - bw)) # offset x, y x1a, y1a, x2a, y2a = [xc, yc, xc + bw, yc + bh] img[y1a:y2a, x1a:x2a] = img[y1b:y2b, x1b:x2b] # img4[ymin:ymax, xmin:xmax] labels = np.append(labels, [[labels[i, 0], x1a, y1a, x2a, y2a]], axis=0) return img, labels def letterbox(img, new_shape=(640, 640), color=(114, 114, 114), auto=True, scaleFill=False, scaleup=True): # Resize image to a 32-pixel-multiple rectangle https://github.com/ultralytics/yolov3/issues/232 shape = img.shape[:2] # current shape [height, width] if isinstance(new_shape, int): new_shape = (new_shape, new_shape) # Scale ratio (new / old) r = min(new_shape[0] / shape[0], new_shape[1] / shape[1]) if not scaleup: # only scale down, do not scale up (for better test mAP) r = min(r, 1.0) # Compute padding ratio = r, r # width, height ratios new_unpad = int(round(shape[1] * r)), int(round(shape[0] * r)) dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1] # wh padding if auto: # minimum rectangle dw, dh = np.mod(dw, 64), np.mod(dh, 64) # wh padding elif scaleFill: # stretch dw, dh = 0.0, 0.0 new_unpad = (new_shape[1], new_shape[0]) ratio = new_shape[1] / shape[1], new_shape[0] / shape[0] # width, height ratios dw /= 2 # divide padding into 2 sides dh /= 2 if shape[::-1] != new_unpad: # resize img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR) top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1)) left, right = int(round(dw - 0.1)), int(round(dw + 0.1)) img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) # add border return img, ratio, (dw, dh) def random_affine(img, targets=(), degrees=10, translate=.1, scale=.1, shear=10, border=(0, 0)): # torchvision.transforms.RandomAffine(degrees=(-10, 10), translate=(.1, .1), scale=(.9, 1.1), shear=(-10, 10)) # https://medium.com/uruvideo/dataset-augmentation-with-random-homographies-a8f4b44830d4 # targets = [cls, xyxy] height = img.shape[0] + border[0] * 2 # shape(h,w,c) width = img.shape[1] + border[1] * 2 # Rotation and Scale R = np.eye(3) a = random.uniform(-degrees, degrees) # a += random.choice([-180, -90, 0, 90]) # add 90deg rotations to small rotations s = random.uniform(1 - scale, 1 + scale) # s = 2 ** random.uniform(-scale, scale) R[:2] = cv2.getRotationMatrix2D(angle=a, center=(img.shape[1] / 2, img.shape[0] / 2), scale=s) # Translation T = np.eye(3) T[0, 2] = random.uniform(-translate, translate) * img.shape[1] + border[1] # x translation (pixels) T[1, 2] = random.uniform(-translate, translate) * img.shape[0] + border[0] # y translation (pixels) # Shear S = np.eye(3) S[0, 1] = math.tan(random.uniform(-shear, shear) * math.pi / 180) # x shear (deg) S[1, 0] = math.tan(random.uniform(-shear, shear) * math.pi / 180) # y shear (deg) # Combined rotation matrix M = S @ T @ R # ORDER IS IMPORTANT HERE!! if (border[0] != 0) or (border[1] != 0) or (M != np.eye(3)).any(): # image changed img = cv2.warpAffine(img, M[:2], dsize=(width, height), flags=cv2.INTER_LINEAR, borderValue=(114, 114, 114)) # Transform label coordinates n = len(targets) if n: # warp points xy = np.ones((n * 4, 3)) xy[:, :2] = targets[:, [1, 2, 3, 4, 1, 4, 3, 2]].reshape(n * 4, 2) # x1y1, x2y2, x1y2, x2y1 xy = (xy @ M.T)[:, :2].reshape(n, 8) # create new boxes x = xy[:, [0, 2, 4, 6]] y = xy[:, [1, 3, 5, 7]] xy = np.concatenate((x.min(1), y.min(1), x.max(1), y.max(1))).reshape(4, n).T # # apply angle-based reduction of bounding boxes # radians = a * math.pi / 180 # reduction = max(abs(math.sin(radians)), abs(math.cos(radians))) ** 0.5 # x = (xy[:, 2] + xy[:, 0]) / 2 # y = (xy[:, 3] + xy[:, 1]) / 2 # w = (xy[:, 2] - xy[:, 0]) * reduction # h = (xy[:, 3] - xy[:, 1]) * reduction # xy = np.concatenate((x - w / 2, y - h / 2, x + w / 2, y + h / 2)).reshape(4, n).T # clip boxes xy[:, [0, 2]] = xy[:, [0, 2]].clip(0, width) xy[:, [1, 3]] = xy[:, [1, 3]].clip(0, height) # filter candidates i = box_candidates(box1=targets[:, 1:5].T * s, box2=xy.T) targets = targets[i] targets[:, 1:5] = xy[i] return img, targets def box_candidates(box1, box2, wh_thr=2, ar_thr=20, area_thr=0.2): # box1(4,n), box2(4,n) # Compute candidate boxes: box1 before augment, box2 after augment, wh_thr (pixels), aspect_ratio_thr, area_ratio w1, h1 = box1[2] - box1[0], box1[3] - box1[1] w2, h2 = box2[2] - box2[0], box2[3] - box2[1] ar = np.maximum(w2 / (h2 + 1e-16), h2 / (w2 + 1e-16)) # aspect ratio return (w2 > wh_thr) & (h2 > wh_thr) & (w2 * h2 / (w1 * h1 + 1e-16) > area_thr) & (ar < ar_thr) # candidates def cutout(image, labels): # Applies image cutout augmentation https://arxiv.org/abs/1708.04552 h, w = image.shape[:2] def bbox_ioa(box1, box2): # Returns the intersection over box2 area given box1, box2. box1 is 4, box2 is nx4. boxes are x1y1x2y2 box2 = box2.transpose() # Get the coordinates of bounding boxes b1_x1, b1_y1, b1_x2, b1_y2 = box1[0], box1[1], box1[2], box1[3] b2_x1, b2_y1, b2_x2, b2_y2 = box2[0], box2[1], box2[2], box2[3] # Intersection area inter_area = (np.minimum(b1_x2, b2_x2) - np.maximum(b1_x1, b2_x1)).clip(0) * \ (np.minimum(b1_y2, b2_y2) - np.maximum(b1_y1, b2_y1)).clip(0) # box2 area box2_area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1) + 1e-16 # Intersection over box2 area return inter_area / box2_area # create random masks scales = [0.5] * 1 + [0.25] * 2 + [0.125] * 4 + [0.0625] * 8 + [0.03125] * 16 # image size fraction for s in scales: mask_h = random.randint(1, int(h * s)) mask_w = random.randint(1, int(w * s)) # box xmin = max(0, random.randint(0, w) - mask_w // 2) ymin = max(0, random.randint(0, h) - mask_h // 2) xmax = min(w, xmin + mask_w) ymax = min(h, ymin + mask_h) # apply random color mask image[ymin:ymax, xmin:xmax] = [random.randint(64, 191) for _ in range(3)] # return unobscured labels if len(labels) and s > 0.03: box = np.array([xmin, ymin, xmax, ymax], dtype=np.float32) ioa = bbox_ioa(box, labels[:, 1:5]) # intersection over area labels = labels[ioa < 0.60] # remove >60% obscured labels return labels def reduce_img_size(path='path/images', img_size=1024): # from utils.datasets import *; reduce_img_size() # creates a new ./images_reduced folder with reduced size images of maximum size img_size path_new = path + '_reduced' # reduced images path create_folder(path_new) for f in tqdm(glob.glob('%s/*.*' % path)): try: img = cv2.imread(f) h, w = img.shape[:2] r = img_size / max(h, w) # size ratio if r < 1.0: img = cv2.resize(img, (int(w * r), int(h * r)), interpolation=cv2.INTER_AREA) # _LINEAR fastest fnew = f.replace(path, path_new) # .replace(Path(f).suffix, '.jpg') cv2.imwrite(fnew, img) except: print('WARNING: image failure %s' % f) def recursive_dataset2bmp(dataset='path/dataset_bmp'): # from utils.datasets import *; recursive_dataset2bmp() # Converts dataset to bmp (for faster training) formats = [x.lower() for x in img_formats] + [x.upper() for x in img_formats] for a, b, files in os.walk(dataset): for file in tqdm(files, desc=a): p = a + '/' + file s = Path(file).suffix if s == '.txt': # replace text with open(p, 'r') as f: lines = f.read() for f in formats: lines = lines.replace(f, '.bmp') with open(p, 'w') as f: f.write(lines) elif s in formats: # replace image cv2.imwrite(p.replace(s, '.bmp'), cv2.imread(p)) if s != '.bmp': os.system("rm '%s'" % p) def imagelist2folder(path='path/images.txt'): # from utils.datasets import *; imagelist2folder() # Copies all the images in a text file (list of images) into a folder create_folder(path[:-4]) with open(path, 'r') as f: for line in f.read().splitlines(): os.system('cp "%s" %s' % (line, path[:-4])) print(line) def create_folder(path='./new'): # Create folder if os.path.exists(path): shutil.rmtree(path) # delete output folder os.makedirs(path) # make new output folder