mmtrack.core.track.transforms 源代码
# Copyright (c) OpenMMLab. All rights reserved.
import mmcv
import numpy as np
import torch
from mmdet.core import bbox2result
[文档]def imrenormalize(img, img_norm_cfg, new_img_norm_cfg):
"""Re-normalize the image.
Args:
img (Tensor | ndarray): Input image. If the input is a Tensor, the
shape is (1, C, H, W). If the input is a ndarray, the shape
is (H, W, C).
img_norm_cfg (dict): Original configuration for the normalization.
new_img_norm_cfg (dict): New configuration for the normalization.
Returns:
Tensor | ndarray: Output image with the same type and shape of
the input.
"""
if isinstance(img, torch.Tensor):
assert img.ndim == 4 and img.shape[0] == 1
new_img = img.squeeze(0).cpu().numpy().transpose(1, 2, 0)
new_img = _imrenormalize(new_img, img_norm_cfg, new_img_norm_cfg)
new_img = new_img.transpose(2, 0, 1)[None]
return torch.from_numpy(new_img).to(img)
else:
return _imrenormalize(img, img_norm_cfg, new_img_norm_cfg)
def _imrenormalize(img, img_norm_cfg, new_img_norm_cfg):
"""Re-normalize the image."""
img_norm_cfg = img_norm_cfg.copy()
new_img_norm_cfg = new_img_norm_cfg.copy()
for k, v in img_norm_cfg.items():
if (k == 'mean' or k == 'std') and not isinstance(v, np.ndarray):
img_norm_cfg[k] = np.array(v, dtype=img.dtype)
# reverse cfg
if 'to_rgb' in img_norm_cfg:
img_norm_cfg['to_bgr'] = img_norm_cfg['to_rgb']
img_norm_cfg.pop('to_rgb')
for k, v in new_img_norm_cfg.items():
if (k == 'mean' or k == 'std') and not isinstance(v, np.ndarray):
new_img_norm_cfg[k] = np.array(v, dtype=img.dtype)
img = mmcv.imdenormalize(img, **img_norm_cfg)
img = mmcv.imnormalize(img, **new_img_norm_cfg)
return img
[文档]def outs2results(bboxes=None,
labels=None,
masks=None,
ids=None,
num_classes=None,
**kwargs):
"""Convert tracking/detection results to a list of numpy arrays.
Args:
bboxes (torch.Tensor | np.ndarray): shape (n, 5)
labels (torch.Tensor | np.ndarray): shape (n, )
masks (torch.Tensor | np.ndarray): shape (n, h, w)
ids (torch.Tensor | np.ndarray): shape (n, )
num_classes (int): class number, not including background class
Returns:
dict[str : list(ndarray) | list[list[np.ndarray]]]: tracking/detection
results of each class. It may contain keys as belows:
- bbox_results (list[np.ndarray]): Each list denotes bboxes of one
category.
- mask_results (list[list[np.ndarray]]): Each outer list denotes masks
of one category. Each inner list denotes one mask belonging to
the category. Each mask has shape (h, w).
"""
assert labels is not None
assert num_classes is not None
results = dict()
if ids is not None:
valid_inds = ids > -1
ids = ids[valid_inds]
labels = labels[valid_inds]
if bboxes is not None:
if ids is not None:
bboxes = bboxes[valid_inds]
if bboxes.shape[0] == 0:
bbox_results = [
np.zeros((0, 6), dtype=np.float32)
for i in range(num_classes)
]
else:
if isinstance(bboxes, torch.Tensor):
bboxes = bboxes.cpu().numpy()
labels = labels.cpu().numpy()
ids = ids.cpu().numpy()
bbox_results = [
np.concatenate(
(ids[labels == i, None], bboxes[labels == i, :]),
axis=1) for i in range(num_classes)
]
else:
bbox_results = bbox2result(bboxes, labels, num_classes)
results['bbox_results'] = bbox_results
if masks is not None:
if ids is not None:
masks = masks[valid_inds]
if isinstance(masks, torch.Tensor):
masks = masks.detach().cpu().numpy()
masks_results = [[] for _ in range(num_classes)]
for i in range(bboxes.shape[0]):
masks_results[labels[i]].append(masks[i])
results['mask_results'] = masks_results
return results
[文档]def results2outs(bbox_results=None,
mask_results=None,
mask_shape=None,
**kwargs):
"""Restore the results (list of results of each category) into the results
of the model forward.
Args:
bbox_results (list[np.ndarray]): Each list denotes bboxes of one
category.
mask_results (list[list[np.ndarray]]): Each outer list denotes masks of
one category. Each inner list denotes one mask belonging to
the category. Each mask has shape (h, w).
mask_shape (tuple[int]): The shape (h, w) of mask.
Returns:
tuple: tracking results of each class. It may contain keys as belows:
- bboxes (np.ndarray): shape (n, 5)
- labels (np.ndarray): shape (n, )
- masks (np.ndarray): shape (n, h, w)
- ids (np.ndarray): shape (n, )
"""
outputs = dict()
if bbox_results is not None:
labels = []
for i, bbox in enumerate(bbox_results):
labels.extend([i] * bbox.shape[0])
labels = np.array(labels, dtype=np.int64)
outputs['labels'] = labels
bboxes = np.concatenate(bbox_results, axis=0).astype(np.float32)
if bboxes.shape[1] == 5:
outputs['bboxes'] = bboxes
elif bboxes.shape[1] == 6:
ids = bboxes[:, 0].astype(np.int64)
bboxes = bboxes[:, 1:]
outputs['bboxes'] = bboxes
outputs['ids'] = ids
else:
raise NotImplementedError(
f'Not supported bbox shape: (N, {bboxes.shape[1]})')
if mask_results is not None:
assert mask_shape is not None
mask_height, mask_width = mask_shape
mask_results = mmcv.concat_list(mask_results)
if len(mask_results) == 0:
masks = np.zeros((0, mask_height, mask_width)).astype(bool)
else:
masks = np.stack(mask_results, axis=0)
outputs['masks'] = masks
return outputs