479 lines
18 KiB
Python
479 lines
18 KiB
Python
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import math
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import os
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import random
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import cv2
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import numpy
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import torch
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from PIL import Image
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from torch.utils import data
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FORMATS = "bmp", "dng", "jpeg", "jpg", "mpo", "png", "tif", "tiff", "webp", "JPEG", "JPG", "PNG", "TIFF"
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class Dataset(data.Dataset):
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params: dict
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mosaic: bool
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augment: bool
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input_size: int
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def __init__(self, filenames, input_size: int, params: dict, augment: bool):
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self.params = params
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self.mosaic = augment
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self.augment = augment
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self.input_size = input_size
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# Read labels
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labels = self.load_label(filenames)
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self.labels = list(labels.values())
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self.filenames = list(labels.keys()) # update
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self.n = len(self.filenames) # number of samples
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self.indices = range(self.n)
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# Albumentations (optional, only used if package is installed)
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self.albumentations = Albumentations()
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def __getitem__(self, index):
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index = self.indices[index]
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if self.mosaic and random.random() < self.params["mosaic"]:
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# Load MOSAIC
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image, label = self.load_mosaic(index, self.params)
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# MixUp augmentation
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if random.random() < self.params["mix_up"]:
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index = random.choice(self.indices)
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mix_image1, mix_label1 = image, label
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mix_image2, mix_label2 = self.load_mosaic(index, self.params)
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image, label = mix_up(mix_image1, mix_label1, mix_image2, mix_label2)
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else:
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# Load image
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image, shape = self.load_image(index)
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if image is None:
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raise ValueError(f"Failed to load image at index {index}: {self.filenames[index]}")
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h, w = image.shape[:2]
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# Resize
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image, ratio, pad = resize(image, self.input_size, self.augment)
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label = self.labels[index].copy()
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if label.size:
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label[:, 1:] = wh2xy(label[:, 1:], ratio[0] * w, ratio[1] * h, int(pad[0]), int(pad[1]))
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if self.augment:
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image, label = random_perspective(image, label, self.params)
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nl = len(label) # number of labels
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h, w = image.shape[:2]
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cls = label[:, 0:1]
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box = label[:, 1:5]
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box = xy2wh(box, w, h)
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if self.augment:
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# Albumentations
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image, box, cls = self.albumentations(image, box, cls)
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nl = len(box) # update after albumentations
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# HSV color-space
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augment_hsv(image, self.params)
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# Flip up-down
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if random.random() < self.params["flip_ud"]:
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image = numpy.flipud(image)
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if nl:
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box[:, 1] = 1 - box[:, 1]
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# Flip left-right
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if random.random() < self.params["flip_lr"]:
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image = numpy.fliplr(image)
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if nl:
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box[:, 0] = 1 - box[:, 0]
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# target_cls = torch.zeros((nl, 1))
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# target_box = torch.zeros((nl, 4))
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# if nl:
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# target_cls = torch.from_numpy(cls)
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# target_box = torch.from_numpy(box)
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# fix [cls, box] empty bug. e.g. [0,1] is illegal in DataLoader collate_fn cat operation
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if nl:
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target_cls = torch.from_numpy(cls).view(-1, 1).float() # always (N,1)
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target_box = torch.from_numpy(box).reshape(-1, 4).float() # always (N,4)
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else:
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target_cls = torch.zeros((0, 1), dtype=torch.float32)
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target_box = torch.zeros((0, 4), dtype=torch.float32)
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# Convert HWC to CHW, BGR to RGB
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sample = image.transpose((2, 0, 1))[::-1]
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sample = numpy.ascontiguousarray(sample)
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# init: return torch.from_numpy(sample), target_cls, target_box, torch.zeros(nl)
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return torch.from_numpy(sample), target_cls, target_box, torch.zeros((nl, 1), dtype=torch.long)
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def __len__(self):
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return len(self.filenames)
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def load_image(self, i):
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image = cv2.imread(self.filenames[i])
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if image is None:
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raise ValueError(f"Image not found or unable to open: {self.filenames[i]}")
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h, w = image.shape[:2]
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r = self.input_size / max(h, w)
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if r != 1:
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image = cv2.resize(
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image, dsize=(int(w * r), int(h * r)), interpolation=resample() if self.augment else cv2.INTER_LINEAR
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)
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return image, (h, w)
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def load_mosaic(self, index, params):
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label4 = []
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border = [-self.input_size // 2, -self.input_size // 2]
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image4 = numpy.full((self.input_size * 2, self.input_size * 2, 3), 0, dtype=numpy.uint8)
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y1a, y2a, x1a, x2a, y1b, y2b, x1b, x2b = (None, None, None, None, None, None, None, None)
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xc = int(random.uniform(-border[0], 2 * self.input_size + border[1]))
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yc = int(random.uniform(-border[0], 2 * self.input_size + border[1]))
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indices = [index] + random.choices(self.indices, k=3)
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random.shuffle(indices)
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for i, index in enumerate(indices):
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# Load image
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image, _ = self.load_image(index)
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shape = image.shape
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if i == 0: # top left
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x1a = max(xc - shape[1], 0)
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y1a = max(yc - shape[0], 0)
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x2a = xc
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y2a = yc
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x1b = shape[1] - (x2a - x1a)
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y1b = shape[0] - (y2a - y1a)
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x2b = shape[1]
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y2b = shape[0]
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if i == 1: # top right
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x1a = xc
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y1a = max(yc - shape[0], 0)
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x2a = min(xc + shape[1], self.input_size * 2)
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y2a = yc
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x1b = 0
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y1b = shape[0] - (y2a - y1a)
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x2b = min(shape[1], x2a - x1a)
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y2b = shape[0]
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if i == 2: # bottom left
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x1a = max(xc - shape[1], 0)
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y1a = yc
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x2a = xc
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y2a = min(self.input_size * 2, yc + shape[0])
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x1b = shape[1] - (x2a - x1a)
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y1b = 0
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x2b = shape[1]
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y2b = min(y2a - y1a, shape[0])
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if i == 3: # bottom right
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x1a = xc
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y1a = yc
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x2a = min(xc + shape[1], self.input_size * 2)
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y2a = min(self.input_size * 2, yc + shape[0])
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x1b = 0
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y1b = 0
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x2b = min(shape[1], x2a - x1a)
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y2b = min(y2a - y1a, shape[0])
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pad_w = (x1a if x1a is not None else 0) - (x1b if x1b is not None else 0)
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pad_h = (y1a if y1a is not None else 0) - (y1b if y1b is not None else 0)
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image4[y1a:y2a, x1a:x2a] = image[y1b:y2b, x1b:x2b]
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# Labels
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label = self.labels[index].copy()
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if len(label):
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label[:, 1:] = wh2xy(label[:, 1:], shape[1], shape[0], pad_w, pad_h)
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label4.append(label)
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# Concat/clip labels
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label4 = numpy.concatenate(label4, 0)
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for x in label4[:, 1:]:
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numpy.clip(x, 0, 2 * self.input_size, out=x)
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# Augment
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image4, label4 = random_perspective(image4, label4, params, border)
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return image4, label4
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@staticmethod
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def collate_fn(batch):
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samples, cls, box, indices = zip(*batch)
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# ensure empty tensor shape is correct
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cls = [c.view(-1, 1) for c in cls]
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box = [b.reshape(-1, 4) for b in box]
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indices = [i for i in indices]
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cls = torch.cat(cls, dim=0) if cls else torch.zeros((0, 1))
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box = torch.cat(box, dim=0) if box else torch.zeros((0, 4))
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indices = torch.cat(indices, dim=0) if indices else torch.zeros((0,), dtype=torch.long)
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new_indices = list(indices)
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for i in range(len(indices)):
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new_indices[i] += i
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indices = torch.cat(new_indices, dim=0)
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targets = {"cls": cls, "box": box, "idx": indices}
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return torch.stack(samples, dim=0), targets
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@staticmethod
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def load_label_use_cache(filenames):
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path = f"{os.path.dirname(filenames[0])}.cache"
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if os.path.exists(path):
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return torch.load(path, weights_only=False)
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x = {}
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for filename in filenames:
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try:
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# verify images
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with open(filename, "rb") as f:
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image = Image.open(f)
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image.verify() # PIL verify
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shape = image.size # image size
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assert (shape[0] > 9) & (shape[1] > 9), f"image size {shape} <10 pixels"
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assert image.format is not None and image.format.lower() in FORMATS, (
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f"invalid image format {image.format}"
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)
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# verify labels
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a = f"{os.sep}images{os.sep}"
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b = f"{os.sep}labels{os.sep}"
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if os.path.isfile(b.join(filename.rsplit(a, 1)).rsplit(".", 1)[0] + ".txt"):
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with open(b.join(filename.rsplit(a, 1)).rsplit(".", 1)[0] + ".txt") as f:
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label = [x.split() for x in f.read().strip().splitlines() if len(x)]
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label = numpy.array(label, dtype=numpy.float32)
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nl = len(label)
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if nl:
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assert (label >= 0).all()
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assert label.shape[1] == 5
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assert (label[:, 1:] <= 1).all()
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_, i = numpy.unique(label, axis=0, return_index=True)
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if len(i) < nl: # duplicate row check
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label = label[i] # remove duplicates
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else:
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label = numpy.zeros((0, 5), dtype=numpy.float32)
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else:
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label = numpy.zeros((0, 5), dtype=numpy.float32)
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except FileNotFoundError:
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label = numpy.zeros((0, 5), dtype=numpy.float32)
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except AssertionError:
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continue
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x[filename] = label
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torch.save(x, path)
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return x
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@staticmethod
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def load_label(filenames):
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x = {}
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for filename in filenames:
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try:
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# verify images
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with open(filename, "rb") as f:
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image = Image.open(f)
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image.verify()
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shape = image.size
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assert (shape[0] > 9) & (shape[1] > 9), f"image size {shape} <10 pixels"
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assert image.format is not None and image.format.lower() in FORMATS, (
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f"invalid image format {image.format}"
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)
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# verify labels
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a = f"{os.sep}images{os.sep}"
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b = f"{os.sep}labels{os.sep}"
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label_path = b.join(filename.rsplit(a, 1)).rsplit(".", 1)[0] + ".txt"
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if os.path.isfile(label_path):
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rows = []
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with open(label_path) as f:
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for line in f:
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parts = line.strip().split()
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if len(parts) == 5: # YOLO format
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rows.append([float(x) for x in parts])
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label = numpy.array(rows, dtype=numpy.float32) if rows else numpy.zeros((0, 5), dtype=numpy.float32)
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if label.shape[0]:
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assert (label >= 0).all()
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assert label.shape[1] == 5
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assert (label[:, 1:] <= 1.0001).all()
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_, i = numpy.unique(label, axis=0, return_index=True)
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label = label[i]
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else:
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label = numpy.zeros((0, 5), dtype=numpy.float32)
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except (FileNotFoundError, AssertionError):
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label = numpy.zeros((0, 5), dtype=numpy.float32)
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x[filename] = label
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return x
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def wh2xy(x, w=640, h=640, pad_w=0, pad_h=0):
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# Convert nx4 boxes
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# from [x, y, w, h] normalized to [x1, y1, x2, y2] where xy1=top-left, xy2=bottom-right
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y = numpy.copy(x)
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y[:, 0] = w * (x[:, 0] - x[:, 2] / 2) + pad_w # top left x
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y[:, 1] = h * (x[:, 1] - x[:, 3] / 2) + pad_h # top left y
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y[:, 2] = w * (x[:, 0] + x[:, 2] / 2) + pad_w # bottom right x
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y[:, 3] = h * (x[:, 1] + x[:, 3] / 2) + pad_h # bottom right y
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return y
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def xy2wh(x, w, h):
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# warning: inplace clip
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x[:, [0, 2]] = x[:, [0, 2]].clip(0, w - 1e-3) # x1, x2
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x[:, [1, 3]] = x[:, [1, 3]].clip(0, h - 1e-3) # y1, y2
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# Convert nx4 boxes
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# from [x1, y1, x2, y2] to [x, y, w, h] normalized where xy1=top-left, xy2=bottom-right
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y = numpy.copy(x)
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y[:, 0] = ((x[:, 0] + x[:, 2]) / 2) / w # x center
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y[:, 1] = ((x[:, 1] + x[:, 3]) / 2) / h # y center
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y[:, 2] = (x[:, 2] - x[:, 0]) / w # width
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y[:, 3] = (x[:, 3] - x[:, 1]) / h # height
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return y
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||
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||
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||
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|
def resample():
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||
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|
choices = (cv2.INTER_AREA, cv2.INTER_CUBIC, cv2.INTER_LINEAR, cv2.INTER_NEAREST, cv2.INTER_LANCZOS4)
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||
|
|
return random.choice(seq=choices)
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||
|
|
|
||
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|
|
||
|
|
def augment_hsv(image, params):
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||
|
|
# HSV color-space augmentation
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||
|
|
h = params["hsv_h"]
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||
|
|
s = params["hsv_s"]
|
||
|
|
v = params["hsv_v"]
|
||
|
|
|
||
|
|
r = numpy.random.uniform(-1, 1, 3) * [h, s, v] + 1
|
||
|
|
h, s, v = cv2.split(cv2.cvtColor(image, cv2.COLOR_BGR2HSV))
|
||
|
|
|
||
|
|
x = numpy.arange(0, 256, dtype=r.dtype)
|
||
|
|
lut_h = ((x * r[0]) % 180).astype("uint8")
|
||
|
|
lut_s = numpy.clip(x * r[1], 0, 255).astype("uint8")
|
||
|
|
lut_v = numpy.clip(x * r[2], 0, 255).astype("uint8")
|
||
|
|
|
||
|
|
hsv = cv2.merge((cv2.LUT(h, lut_h), cv2.LUT(s, lut_s), cv2.LUT(v, lut_v)))
|
||
|
|
cv2.cvtColor(hsv, cv2.COLOR_HSV2BGR, dst=image) # no return needed
|
||
|
|
|
||
|
|
|
||
|
|
def resize(image, input_size, augment):
|
||
|
|
# Resize and pad image while meeting stride-multiple constraints
|
||
|
|
shape = image.shape[:2] # current shape [height, width]
|
||
|
|
|
||
|
|
# Scale ratio (new / old)
|
||
|
|
r = min(input_size / shape[0], input_size / shape[1])
|
||
|
|
if not augment: # only scale down, do not scale up (for better val mAP)
|
||
|
|
r = min(r, 1.0)
|
||
|
|
|
||
|
|
# Compute padding
|
||
|
|
pad = int(round(shape[1] * r)), int(round(shape[0] * r))
|
||
|
|
w = (input_size - pad[0]) / 2
|
||
|
|
h = (input_size - pad[1]) / 2
|
||
|
|
|
||
|
|
if shape[::-1] != pad: # resize
|
||
|
|
image = cv2.resize(image, dsize=pad, interpolation=resample() if augment else cv2.INTER_LINEAR)
|
||
|
|
top, bottom = int(round(h - 0.1)), int(round(h + 0.1))
|
||
|
|
left, right = int(round(w - 0.1)), int(round(w + 0.1))
|
||
|
|
image = cv2.copyMakeBorder(image, top, bottom, left, right, cv2.BORDER_CONSTANT) # add border
|
||
|
|
return image, (r, r), (w, h)
|
||
|
|
|
||
|
|
|
||
|
|
def candidates(box1, box2):
|
||
|
|
# box1(4,n), box2(4,n)
|
||
|
|
w1, h1 = box1[2] - box1[0], box1[3] - box1[1]
|
||
|
|
w2, h2 = box2[2] - box2[0], box2[3] - box2[1]
|
||
|
|
aspect_ratio = numpy.maximum(w2 / (h2 + 1e-16), h2 / (w2 + 1e-16)) # aspect ratio
|
||
|
|
return (w2 > 2) & (h2 > 2) & (w2 * h2 / (w1 * h1 + 1e-16) > 0.1) & (aspect_ratio < 100)
|
||
|
|
|
||
|
|
|
||
|
|
def random_perspective(image, label, params, border=(0, 0)):
|
||
|
|
h = image.shape[0] + border[0] * 2
|
||
|
|
w = image.shape[1] + border[1] * 2
|
||
|
|
|
||
|
|
# Center
|
||
|
|
center = numpy.eye(3)
|
||
|
|
center[0, 2] = -image.shape[1] / 2 # x translation (pixels)
|
||
|
|
center[1, 2] = -image.shape[0] / 2 # y translation (pixels)
|
||
|
|
|
||
|
|
# Perspective
|
||
|
|
perspective = numpy.eye(3)
|
||
|
|
|
||
|
|
# Rotation and Scale
|
||
|
|
rotate = numpy.eye(3)
|
||
|
|
a = random.uniform(-params["degrees"], params["degrees"])
|
||
|
|
s = random.uniform(1 - params["scale"], 1 + params["scale"])
|
||
|
|
rotate[:2] = cv2.getRotationMatrix2D(angle=a, center=(0, 0), scale=s)
|
||
|
|
|
||
|
|
# Shear
|
||
|
|
shear = numpy.eye(3)
|
||
|
|
shear[0, 1] = math.tan(random.uniform(-params["shear"], params["shear"]) * math.pi / 180)
|
||
|
|
shear[1, 0] = math.tan(random.uniform(-params["shear"], params["shear"]) * math.pi / 180)
|
||
|
|
|
||
|
|
# Translation
|
||
|
|
translate = numpy.eye(3)
|
||
|
|
translate[0, 2] = random.uniform(0.5 - params["translate"], 0.5 + params["translate"]) * w
|
||
|
|
translate[1, 2] = random.uniform(0.5 - params["translate"], 0.5 + params["translate"]) * h
|
||
|
|
|
||
|
|
# Combined rotation matrix, order of operations (right to left) is IMPORTANT
|
||
|
|
matrix = translate @ shear @ rotate @ perspective @ center
|
||
|
|
if (border[0] != 0) or (border[1] != 0) or (matrix != numpy.eye(3)).any(): # image changed
|
||
|
|
image = cv2.warpAffine(image, matrix[:2], dsize=(w, h), borderValue=(0, 0, 0))
|
||
|
|
|
||
|
|
# Transform label coordinates
|
||
|
|
n = len(label)
|
||
|
|
if n:
|
||
|
|
xy = numpy.ones((n * 4, 3))
|
||
|
|
xy[:, :2] = label[:, [1, 2, 3, 4, 1, 4, 3, 2]].reshape(n * 4, 2) # x1y1, x2y2, x1y2, x2y1
|
||
|
|
xy = xy @ matrix.T # transform
|
||
|
|
xy = xy[:, :2].reshape(n, 8) # perspective rescale or affine
|
||
|
|
|
||
|
|
# create new boxes
|
||
|
|
x = xy[:, [0, 2, 4, 6]]
|
||
|
|
y = xy[:, [1, 3, 5, 7]]
|
||
|
|
box = numpy.concatenate((x.min(1), y.min(1), x.max(1), y.max(1))).reshape(4, n).T
|
||
|
|
|
||
|
|
# clip
|
||
|
|
box[:, [0, 2]] = box[:, [0, 2]].clip(0, w)
|
||
|
|
box[:, [1, 3]] = box[:, [1, 3]].clip(0, h)
|
||
|
|
# filter candidates
|
||
|
|
indices = candidates(box1=label[:, 1:5].T * s, box2=box.T)
|
||
|
|
|
||
|
|
label = label[indices]
|
||
|
|
label[:, 1:5] = box[indices]
|
||
|
|
|
||
|
|
return image, label
|
||
|
|
|
||
|
|
|
||
|
|
def mix_up(image1, label1, image2, label2):
|
||
|
|
# Applies MixUp augmentation https://arxiv.org/pdf/1710.09412.pdf
|
||
|
|
alpha = numpy.random.beta(a=32.0, b=32.0) # mix-up ratio, alpha=beta=32.0
|
||
|
|
image = (image1 * alpha + image2 * (1 - alpha)).astype(numpy.uint8)
|
||
|
|
label = numpy.concatenate((label1, label2), 0)
|
||
|
|
return image, label
|
||
|
|
|
||
|
|
|
||
|
|
class Albumentations:
|
||
|
|
def __init__(self):
|
||
|
|
self.transform = None
|
||
|
|
try:
|
||
|
|
import albumentations
|
||
|
|
|
||
|
|
transforms = [
|
||
|
|
albumentations.Blur(p=0.01),
|
||
|
|
albumentations.CLAHE(p=0.01),
|
||
|
|
albumentations.ToGray(p=0.01),
|
||
|
|
albumentations.MedianBlur(p=0.01),
|
||
|
|
]
|
||
|
|
self.transform = albumentations.Compose(
|
||
|
|
transforms, albumentations.BboxParams(format="yolo", label_fields=["class_labels"])
|
||
|
|
)
|
||
|
|
|
||
|
|
except ImportError: # package not installed, skip
|
||
|
|
pass
|
||
|
|
|
||
|
|
def __call__(self, image, box, cls):
|
||
|
|
if self.transform:
|
||
|
|
x = self.transform(image=image, bboxes=box, class_labels=cls)
|
||
|
|
image = x["image"]
|
||
|
|
box = numpy.array(x["bboxes"])
|
||
|
|
cls = numpy.array(x["class_labels"])
|
||
|
|
return image, box, cls
|