testbed/openvinotoolkit__datumaro/datumaro/util/mask_tools.py

# Copyright (C) 2019-2020 Intel Corporation
#
# SPDX-License-Identifier: MIT

import numpy as np

from datumaro.util.image import lazy_image, load_image


def generate_colormap(length=256):
    """
    Generates colors using PASCAL VOC algorithm.

    Returns index -> (R, G, B) mapping.
    """

    def get_bit(number, index):
        return (number >> index) & 1

    colormap = np.zeros((length, 3), dtype=int)
    indices = np.arange(length, dtype=int)

    for j in range(7, -1, -1):
        for c in range(3):
            colormap[:, c] |= get_bit(indices, c) << j
        indices >>= 3

    return {
        id: tuple(color) for id, color in enumerate(colormap)
    }

def invert_colormap(colormap):
    return {
        tuple(a): index for index, a in colormap.items()
    }

def check_is_mask(mask):
    assert len(mask.shape) in {2, 3}
    if len(mask.shape) == 3:
        assert mask.shape[2] == 1

_default_colormap = generate_colormap()
_default_unpaint_colormap = invert_colormap(_default_colormap)

def unpaint_mask(painted_mask, inverse_colormap=None):
    # Covert color mask to index mask

    # mask: HWC BGR [0; 255]
    # colormap: (R, G, B) -> index
    assert len(painted_mask.shape) == 3
    if inverse_colormap is None:
        inverse_colormap = _default_unpaint_colormap

    if callable(inverse_colormap):
        map_fn = lambda a: inverse_colormap(
                (a >> 16) & 255, (a >> 8) & 255, a & 255
            )
    else:
        map_fn = lambda a: inverse_colormap[(
                (a >> 16) & 255, (a >> 8) & 255, a & 255
            )]

    painted_mask = painted_mask.astype(int)
    painted_mask = painted_mask[:, :, 0] + \
                   (painted_mask[:, :, 1] << 8) + \
                   (painted_mask[:, :, 2] << 16)
    uvals, unpainted_mask = np.unique(painted_mask, return_inverse=True)
    palette = np.array([map_fn(v) for v in uvals], dtype=np.float32)
    unpainted_mask = palette[unpainted_mask].reshape(painted_mask.shape[:2])

    return unpainted_mask

def paint_mask(mask, colormap=None):
    # Applies colormap to index mask

    # mask: HW(C) [0; max_index] mask
    # colormap: index -> (R, G, B)
    check_is_mask(mask)

    if colormap is None:
        colormap = _default_colormap
    if callable(colormap):
        map_fn = colormap
    else:
        map_fn = lambda c: colormap.get(c, (-1, -1, -1))
    palette = np.array([map_fn(c)[::-1] for c in range(256)], dtype=np.float32)

    mask = mask.astype(np.uint8)
    painted_mask = palette[mask].reshape((*mask.shape[:2], 3))
    return painted_mask

def remap_mask(mask, map_fn):
    # Changes mask elements from one colormap to another

    # mask: HW(C) [0; max_index] mask
    check_is_mask(mask)

    return np.array([map_fn(c) for c in range(256)], dtype=np.uint8)[mask]

def make_index_mask(binary_mask, index):
    return np.choose(binary_mask, np.array([0, index], dtype=np.uint8))

def make_binary_mask(mask):
    return np.nonzero(mask)


def load_mask(path, inverse_colormap=None):
    mask = load_image(path, dtype=np.uint8)
    if inverse_colormap is not None:
        if len(mask.shape) == 3 and mask.shape[2] != 1:
            mask = unpaint_mask(mask, inverse_colormap)
    return mask

def lazy_mask(path, inverse_colormap=None):
    return lazy_image(path, lambda path: load_mask(path, inverse_colormap))

def mask_to_rle(binary_mask):
    # walk in row-major order as COCO format specifies
    bounded = binary_mask.ravel(order='F')

    # add borders to sequence
    # find boundary positions for sequences and compute their lengths
    difs = np.diff(bounded, prepend=[1 - bounded[0]], append=[1 - bounded[-1]])
    counts, = np.where(difs != 0)

    # start RLE encoding from 0 as COCO format specifies
    if bounded[0] != 0:
        counts = np.diff(counts, prepend=[0])
    else:
        counts = np.diff(counts)

    return {
        'counts': counts,
        'size': list(binary_mask.shape)
    }

def mask_to_polygons(mask, tolerance=1.0, area_threshold=1):
    """
    Convert an instance mask to polygons

    Args:
        mask: a 2d binary mask
        tolerance: maximum distance from original points of
            a polygon to the approximated ones
        area_threshold: minimal area of generated polygons

    Returns:
        A list of polygons like [[x1,y1, x2,y2 ...], [...]]
    """
    from pycocotools import mask as mask_utils
    from skimage import measure

    polygons = []

    # pad mask with 0 around borders
    padded_mask = np.pad(mask, pad_width=1, mode='constant', constant_values=0)
    contours = measure.find_contours(padded_mask, 0.5)
    # Fix coordinates after padding
    contours = np.subtract(contours, 1)

    for contour in contours:
        if not np.array_equal(contour[0], contour[-1]):
            contour = np.vstack((contour, contour[0])) # make polygon closed

        contour = measure.approximate_polygon(contour, tolerance)
        if len(contour) <= 2:
            continue

        contour = np.flip(contour, axis=1).flatten().clip(0) # [x0, y0, ...]

        # Check if the polygon is big enough
        rle = mask_utils.frPyObjects([contour], mask.shape[0], mask.shape[1])
        area = sum(mask_utils.area(rle))
        if area_threshold <= area:
            polygons.append(contour)
    return polygons

def crop_covered_segments(segments, width, height,
        iou_threshold=0.0, ratio_tolerance=0.001, area_threshold=1,
        return_masks=False):
    """
    Find all segments occluded by others and crop them to the visible part only.
    Input segments are expected to be sorted from background to foreground.

    Args:
        segments: 1d list of segment RLEs (in COCO format)
        width: width of the image
        height: height of the image
        iou_threshold: IoU threshold for objects to be counted as intersected
            By default is set to 0 to process any intersected objects
        ratio_tolerance: an IoU "handicap" value for a situation
            when an object is (almost) fully covered by another one and we
            don't want make a "hole" in the background object
        area_threshold: minimal area of included segments

    Returns:
        A list of input segments' parts (in the same order as input):
            [
                [[x1,y1, x2,y2 ...], ...], # input segment #0 parts
                mask1, # input segment #1 mask (if source segment is mask)
                [], # when source segment is too small
                ...
            ]
    """
    from pycocotools import mask as mask_utils

    segments = [[s] for s in segments]
    input_rles = [mask_utils.frPyObjects(s, height, width) for s in segments]

    for i, rle_bottom in enumerate(input_rles):
        area_bottom = sum(mask_utils.area(rle_bottom))
        if area_bottom < area_threshold:
            segments[i] = [] if not return_masks else None
            continue

        rles_top = []
        for j in range(i + 1, len(input_rles)):
            rle_top = input_rles[j]
            iou = sum(mask_utils.iou(rle_bottom, rle_top, [0, 0]))[0]

            if iou <= iou_threshold:
                continue

            area_top = sum(mask_utils.area(rle_top))
            area_ratio = area_top / area_bottom

            # If a segment is fully inside another one, skip this segment
            if abs(area_ratio - iou) < ratio_tolerance:
                continue

            # Check if the bottom segment is fully covered by the top one.
            # There is a mistake in the annotation, keep the background one
            if abs(1 / area_ratio - iou) < ratio_tolerance:
                rles_top = []
                break

            rles_top += rle_top

        if not rles_top and not isinstance(segments[i][0], dict) \
                and not return_masks:
            continue

        rle_bottom = rle_bottom[0]
        bottom_mask = mask_utils.decode(rle_bottom).astype(np.uint8)

        if rles_top:
            rle_top = mask_utils.merge(rles_top)
            top_mask = mask_utils.decode(rle_top).astype(np.uint8)

            bottom_mask -= top_mask
            bottom_mask[bottom_mask != 1] = 0

        if not return_masks and not isinstance(segments[i][0], dict):
            segments[i] = mask_to_polygons(bottom_mask,
                area_threshold=area_threshold)
        else:
            segments[i] = bottom_mask

    return segments

def rles_to_mask(rles, width, height):
    from pycocotools import mask as mask_utils

    rles = mask_utils.frPyObjects(rles, height, width)
    rles = mask_utils.merge(rles)
    mask = mask_utils.decode(rles)
    return mask

def find_mask_bbox(mask):
    cols = np.any(mask, axis=0)
    rows = np.any(mask, axis=1)
    x0, x1 = np.where(cols)[0][[0, -1]]
    y0, y1 = np.where(rows)[0][[0, -1]]
    return [x0, y0, x1 - x0, y1 - y0]

def merge_masks(masks):
    """
        Merges masks into one, mask order is responsible for z order.
    """
    if not masks:
        return None

    merged_mask = masks[0]
    for m in masks[1:]:
        merged_mask = np.where(m != 0, m, merged_mask)

    return merged_mask