visualize.py

# Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from __future__ import division

import os
import cv2
import numpy as np
from PIL import Image, ImageDraw, ImageFile
ImageFile.LOAD_TRUNCATED_IMAGES = True
import math


def visualize_box_mask(im, results, labels, threshold=0.5):
    """
    Args:
        im (str/np.ndarray): path of image/np.ndarray read by cv2
        results (dict): include 'boxes': np.ndarray: shape:[N,6], N: number of box,
                        matix element:[class, score, x_min, y_min, x_max, y_max]
                        MaskRCNN's results include 'masks': np.ndarray:
                        shape:[N, im_h, im_w]
        labels (list): labels:['class1', ..., 'classn']
        threshold (float): Threshold of score.
    Returns:
        im (PIL.Image.Image): visualized image
    """
    if isinstance(im, str):
        im = Image.open(im).convert('RGB')
    elif isinstance(im, np.ndarray):
        im = Image.fromarray(im)
    if 'masks' in results and 'boxes' in results and len(results['boxes']) > 0:
        im = draw_mask(
            im, results['boxes'], results['masks'], labels, threshold=threshold)
    if 'boxes' in results and len(results['boxes']) > 0:
        im = draw_box(im, results['boxes'], labels, threshold=threshold)
    if 'segm' in results:
        im = draw_segm(
            im,
            results['segm'],
            results['label'],
            results['score'],
            labels,
            threshold=threshold)
    return im


def get_color_map_list(num_classes):
    """
    Args:
        num_classes (int): number of class
    Returns:
        color_map (list): RGB color list
    """
    color_map = num_classes * [0, 0, 0]
    for i in range(0, num_classes):
        j = 0
        lab = i
        while lab:
            color_map[i * 3] |= (((lab >> 0) & 1) << (7 - j))
            color_map[i * 3 + 1] |= (((lab >> 1) & 1) << (7 - j))
            color_map[i * 3 + 2] |= (((lab >> 2) & 1) << (7 - j))
            j += 1
            lab >>= 3
    color_map = [color_map[i:i + 3] for i in range(0, len(color_map), 3)]
    return color_map


def draw_mask(im, np_boxes, np_masks, labels, threshold=0.5):
    """
    Args:
        im (PIL.Image.Image): PIL image
        np_boxes (np.ndarray): shape:[N,6], N: number of box,
            matix element:[class, score, x_min, y_min, x_max, y_max]
        np_masks (np.ndarray): shape:[N, im_h, im_w]
        labels (list): labels:['class1', ..., 'classn']
        threshold (float): threshold of mask
    Returns:
        im (PIL.Image.Image): visualized image
    """
    color_list = get_color_map_list(len(labels))
    w_ratio = 0.4
    alpha = 0.7
    im = np.array(im).astype('float32')
    clsid2color = {}
    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
    np_boxes = np_boxes[expect_boxes, :]
    np_masks = np_masks[expect_boxes, :, :]
    im_h, im_w = im.shape[:2]
    np_masks = np_masks[:, :im_h, :im_w]
    for i in range(len(np_masks)):
        clsid, score = int(np_boxes[i][0]), np_boxes[i][1]
        mask = np_masks[i]
        if clsid not in clsid2color:
            clsid2color[clsid] = color_list[clsid]
        color_mask = clsid2color[clsid]
        for c in range(3):
            color_mask[c] = color_mask[c] * (1 - w_ratio) + w_ratio * 255
        idx = np.nonzero(mask)
        color_mask = np.array(color_mask)
        im[idx[0], idx[1], :] *= 1.0 - alpha
        im[idx[0], idx[1], :] += alpha * color_mask
    return Image.fromarray(im.astype('uint8'))


def draw_box(im, np_boxes, labels, threshold=0.5):
    """
    Args:
        im (PIL.Image.Image): PIL image
        np_boxes (np.ndarray): shape:[N,6], N: number of box,
                               matix element:[class, score, x_min, y_min, x_max, y_max]
        labels (list): labels:['class1', ..., 'classn']
        threshold (float): threshold of box
    Returns:
        im (PIL.Image.Image): visualized image
    """
    draw_thickness = min(im.size) // 320
    draw = ImageDraw.Draw(im)
    clsid2color = {}
    color_list = get_color_map_list(len(labels))
    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
    np_boxes = np_boxes[expect_boxes, :]

    for dt in np_boxes:
        clsid, bbox, score = int(dt[0]), dt[2:], dt[1]
        if clsid not in clsid2color:
            clsid2color[clsid] = color_list[clsid]
        color = tuple(clsid2color[clsid])

        if len(bbox) == 4:
            xmin, ymin, xmax, ymax = bbox
            print('class_id:{:d}, confidence:{:.4f}, left_top:[{:.2f},{:.2f}],'
                  'right_bottom:[{:.2f},{:.2f}]'.format(
                      int(clsid), score, xmin, ymin, xmax, ymax))
            # draw bbox
            draw.line(
                [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
                 (xmin, ymin)],
                width=draw_thickness,
                fill=color)
        elif len(bbox) == 8:
            x1, y1, x2, y2, x3, y3, x4, y4 = bbox
            draw.line(
                [(x1, y1), (x2, y2), (x3, y3), (x4, y4), (x1, y1)],
                width=2,
                fill=color)
            xmin = min(x1, x2, x3, x4)
            ymin = min(y1, y2, y3, y4)

        # draw label
        text = "{} {:.4f}".format(labels[clsid], score)
        left, top, right, bottom = draw.textbbox(text)
        tw, th = right - left, bottom - top
        draw.rectangle(
            [(xmin + 1, ymin - th), (xmin + tw + 1, ymin)], fill=color)
        draw.text((xmin + 1, ymin - th), text, fill=(255, 255, 255))
    return im


def draw_segm(im,
              np_segms,
              np_label,
              np_score,
              labels,
              threshold=0.5,
              alpha=0.7):
    """
    Draw segmentation on image
    """
    mask_color_id = 0
    w_ratio = .4
    color_list = get_color_map_list(len(labels))
    im = np.array(im).astype('float32')
    clsid2color = {}
    np_segms = np_segms.astype(np.uint8)
    for i in range(np_segms.shape[0]):
        mask, score, clsid = np_segms[i], np_score[i], np_label[i]
        if score < threshold:
            continue

        if clsid not in clsid2color:
            clsid2color[clsid] = color_list[clsid]
        color_mask = clsid2color[clsid]
        for c in range(3):
            color_mask[c] = color_mask[c] * (1 - w_ratio) + w_ratio * 255
        idx = np.nonzero(mask)
        color_mask = np.array(color_mask)
        idx0 = np.minimum(idx[0], im.shape[0] - 1)
        idx1 = np.minimum(idx[1], im.shape[1] - 1)
        im[idx0, idx1, :] *= 1.0 - alpha
        im[idx0, idx1, :] += alpha * color_mask
        sum_x = np.sum(mask, axis=0)
        x = np.where(sum_x > 0.5)[0]
        sum_y = np.sum(mask, axis=1)
        y = np.where(sum_y > 0.5)[0]
        x0, x1, y0, y1 = x[0], x[-1], y[0], y[-1]
        cv2.rectangle(im, (x0, y0), (x1, y1),
                      tuple(color_mask.astype('int32').tolist()), 1)
        bbox_text = '%s %.2f' % (labels[clsid], score)
        t_size = cv2.getTextSize(bbox_text, 0, 0.3, thickness=1)[0]
        cv2.rectangle(im, (x0, y0), (x0 + t_size[0], y0 - t_size[1] - 3),
                      tuple(color_mask.astype('int32').tolist()), -1)
        cv2.putText(
            im,
            bbox_text, (x0, y0 - 2),
            cv2.FONT_HERSHEY_SIMPLEX,
            0.3, (0, 0, 0),
            1,
            lineType=cv2.LINE_AA)
    return Image.fromarray(im.astype('uint8'))


def get_color(idx):
    idx = idx * 3
    color = ((37 * idx) % 255, (17 * idx) % 255, (29 * idx) % 255)
    return color


def visualize_pose(imgfile,
                   results,
                   visual_thresh=0.6,
                   save_name='pose.jpg',
                   save_dir='output',
                   returnimg=False,
                   ids=None):
    try:
        import matplotlib.pyplot as plt
        import matplotlib
        plt.switch_backend('agg')
    except Exception as e:
        print('Matplotlib not found, please install matplotlib.'
              'for example: `pip install matplotlib`.')
        raise e
    skeletons, scores = results['keypoint']
    skeletons = np.array(skeletons)
    kpt_nums = 17
    if len(skeletons) > 0:
        kpt_nums = skeletons.shape[1]
    if kpt_nums == 17:  #plot coco keypoint
        EDGES = [(0, 1), (0, 2), (1, 3), (2, 4), (3, 5), (4, 6), (5, 7), (6, 8),
                 (7, 9), (8, 10), (5, 11), (6, 12), (11, 13), (12, 14),
                 (13, 15), (14, 16), (11, 12)]
    else:  #plot mpii keypoint
        EDGES = [(0, 1), (1, 2), (3, 4), (4, 5), (2, 6), (3, 6), (6, 7), (7, 8),
                 (8, 9), (10, 11), (11, 12), (13, 14), (14, 15), (8, 12),
                 (8, 13)]
    NUM_EDGES = len(EDGES)

    colors = [[255, 0, 0], [255, 85, 0], [255, 170, 0], [255, 255, 0], [170, 255, 0], [85, 255, 0], [0, 255, 0], \
            [0, 255, 85], [0, 255, 170], [0, 255, 255], [0, 170, 255], [0, 85, 255], [0, 0, 255], [85, 0, 255], \
            [170, 0, 255], [255, 0, 255], [255, 0, 170], [255, 0, 85]]
    cmap = matplotlib.cm.get_cmap('hsv')
    plt.figure()

    img = cv2.imread(imgfile) if type(imgfile) == str else imgfile

    color_set = results['colors'] if 'colors' in results else None

    if 'bbox' in results and ids is None:
        bboxs = results['bbox']
        for j, rect in enumerate(bboxs):
            xmin, ymin, xmax, ymax = rect
            color = colors[0] if color_set is None else colors[color_set[j] %
                                                               len(colors)]
            cv2.rectangle(img, (xmin, ymin), (xmax, ymax), color, 1)

    canvas = img.copy()
    for i in range(kpt_nums):
        for j in range(len(skeletons)):
            if skeletons[j][i, 2] < visual_thresh:
                continue
            if ids is None:
                color = colors[i] if color_set is None else colors[color_set[j]
                                                                   %
                                                                   len(colors)]
            else:
                color = get_color(ids[j])

            cv2.circle(
                canvas,
                tuple(skeletons[j][i, 0:2].astype('int32')),
                2,
                color,
                thickness=-1)

    to_plot = cv2.addWeighted(img, 0.3, canvas, 0.7, 0)
    fig = matplotlib.pyplot.gcf()

    stickwidth = 2

    for i in range(NUM_EDGES):
        for j in range(len(skeletons)):
            edge = EDGES[i]
            if skeletons[j][edge[0], 2] < visual_thresh or skeletons[j][edge[
                    1], 2] < visual_thresh:
                continue

            cur_canvas = canvas.copy()
            X = [skeletons[j][edge[0], 1], skeletons[j][edge[1], 1]]
            Y = [skeletons[j][edge[0], 0], skeletons[j][edge[1], 0]]
            mX = np.mean(X)
            mY = np.mean(Y)
            length = ((X[0] - X[1])**2 + (Y[0] - Y[1])**2)**0.5
            angle = math.degrees(math.atan2(X[0] - X[1], Y[0] - Y[1]))
            polygon = cv2.ellipse2Poly((int(mY), int(mX)),
                                       (int(length / 2), stickwidth),
                                       int(angle), 0, 360, 1)
            if ids is None:
                color = colors[i] if color_set is None else colors[color_set[j]
                                                                   %
                                                                   len(colors)]
            else:
                color = get_color(ids[j])
            cv2.fillConvexPoly(cur_canvas, polygon, color)
            canvas = cv2.addWeighted(canvas, 0.4, cur_canvas, 0.6, 0)
    if returnimg:
        return canvas
    save_name = os.path.join(
        save_dir, os.path.splitext(os.path.basename(imgfile))[0] + '_vis.jpg')
    plt.imsave(save_name, canvas[:, :, ::-1])
    print("keypoint visualize image saved to: " + save_name)
    plt.close()


def visualize_attr(im, results, boxes=None, is_mtmct=False):
    if isinstance(im, str):
        im = Image.open(im)
        im = np.ascontiguousarray(np.copy(im))
        im = cv2.cvtColor(im, cv2.COLOR_RGB2BGR)
    else:
        im = np.ascontiguousarray(np.copy(im))

    im_h, im_w = im.shape[:2]
    text_scale = max(0.5, im.shape[0] / 3000.)
    text_thickness = 1

    line_inter = im.shape[0] / 40.
    for i, res in enumerate(results):
        if boxes is None:
            text_w = 3
            text_h = 1
        elif is_mtmct:
            box = boxes[i]  # multi camera, bbox shape is x,y, w,h
            text_w = int(box[0]) + 3
            text_h = int(box[1])
        else:
            box = boxes[i]  # single camera, bbox shape is 0, 0, x,y, w,h
            text_w = int(box[2]) + 3
            text_h = int(box[3])
        for text in res:
            text_h += int(line_inter)
            text_loc = (text_w, text_h)
            cv2.putText(
                im,
                text,
                text_loc,
                cv2.FONT_ITALIC,
                text_scale, (0, 255, 255),
                thickness=text_thickness)
    return im


def visualize_action(im,
                     mot_boxes,
                     action_visual_collector=None,
                     action_text="",
                     video_action_score=None,
                     video_action_text=""):
    im = cv2.imread(im) if isinstance(im, str) else im
    im_h, im_w = im.shape[:2]

    text_scale = max(1, im.shape[1] / 400.)
    text_thickness = 2

    if action_visual_collector:
        id_action_dict = {}
        for collector, action_type in zip(action_visual_collector, action_text):
            id_detected = collector.get_visualize_ids()
            for pid in id_detected:
                id_action_dict[pid] = id_action_dict.get(pid, [])
                id_action_dict[pid].append(action_type)
        for mot_box in mot_boxes:
            # mot_box is a format with [mot_id, class, score, xmin, ymin, w, h] 
            if mot_box[0] in id_action_dict:
                text_position = (int(mot_box[3] + mot_box[5] * 0.75),
                                 int(mot_box[4] - 10))
                display_text = ', '.join(id_action_dict[mot_box[0]])
                cv2.putText(im, display_text, text_position,
                            cv2.FONT_HERSHEY_PLAIN, text_scale, (0, 0, 255), 2)

    if video_action_score:
        cv2.putText(
            im,
            video_action_text + ': %.2f' % video_action_score,
            (int(im_w / 2), int(15 * text_scale) + 5),
            cv2.FONT_ITALIC,
            text_scale, (0, 0, 255),
            thickness=text_thickness)

    return im


def visualize_vehicleplate(im, results, boxes=None):
    if isinstance(im, str):
        im = Image.open(im)
        im = np.ascontiguousarray(np.copy(im))
        im = cv2.cvtColor(im, cv2.COLOR_RGB2BGR)
    else:
        im = np.ascontiguousarray(np.copy(im))

    im_h, im_w = im.shape[:2]
    text_scale = max(1.0, im.shape[0] / 400.)
    text_thickness = 2

    line_inter = im.shape[0] / 40.
    for i, res in enumerate(results):
        if boxes is None:
            text_w = 3
            text_h = 1
        else:
            box = boxes[i]
            text = res
            if text == "":
                continue
            text_w = int(box[2])
            text_h = int(box[5] + box[3])
            text_loc = (text_w, text_h)
            cv2.putText(
                im,
                "LP: " + text,
                text_loc,
                cv2.FONT_ITALIC,
                text_scale, (0, 255, 255),
                thickness=text_thickness)
    return im


def draw_press_box_lanes(im, np_boxes, labels, threshold=0.5):
    """
    Args:
        im (PIL.Image.Image): PIL image
        np_boxes (np.ndarray): shape:[N,6], N: number of box,
                               matix element:[class, score, x_min, y_min, x_max, y_max]
        labels (list): labels:['class1', ..., 'classn']
        threshold (float): threshold of box
    Returns:
        im (PIL.Image.Image): visualized image
    """

    if isinstance(im, str):
        im = Image.open(im).convert('RGB')
    elif isinstance(im, np.ndarray):
        im = Image.fromarray(im)

    draw_thickness = min(im.size) // 320
    draw = ImageDraw.Draw(im)
    clsid2color = {}
    color_list = get_color_map_list(len(labels))

    if np_boxes.shape[1] == 7:
        np_boxes = np_boxes[:, 1:]

    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
    np_boxes = np_boxes[expect_boxes, :]

    for dt in np_boxes:
        clsid, bbox, score = int(dt[0]), dt[2:], dt[1]
        if clsid not in clsid2color:
            clsid2color[clsid] = color_list[clsid]
        color = tuple(clsid2color[clsid])

        if len(bbox) == 4:
            xmin, ymin, xmax, ymax = bbox
            # draw bbox
            draw.line(
                [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
                 (xmin, ymin)],
                width=draw_thickness,
                fill=(0, 0, 255))
        elif len(bbox) == 8:
            x1, y1, x2, y2, x3, y3, x4, y4 = bbox
            draw.line(
                [(x1, y1), (x2, y2), (x3, y3), (x4, y4), (x1, y1)],
                width=2,
                fill=color)
            xmin = min(x1, x2, x3, x4)
            ymin = min(y1, y2, y3, y4)

        # draw label
        text = "{}".format(labels[clsid])
        left, top, right, bottom = draw.textbbox(text)
        tw, th = right - left, bottom - top
        draw.rectangle(
            [(xmin + 1, ymax - th), (xmin + tw + 1, ymax)], fill=color)
        draw.text((xmin + 1, ymax - th), text, fill=(0, 0, 255))
    return im


def visualize_vehiclepress(im, results, threshold=0.5):
    results = np.array(results)
    labels = ['violation']
    im = draw_press_box_lanes(im, results, labels, threshold=threshold)
    return im


def visualize_lane(im, lanes):
    if isinstance(im, str):
        im = Image.open(im).convert('RGB')
    elif isinstance(im, np.ndarray):
        im = Image.fromarray(im)

    draw_thickness = min(im.size) // 320
    draw = ImageDraw.Draw(im)

    if len(lanes) > 0:
        for lane in lanes:
            draw.line(
                [(lane[0], lane[1]), (lane[2], lane[3])],
                width=draw_thickness,
                fill=(0, 0, 255))

    return im


def visualize_vehicle_retrograde(im, mot_res, vehicle_retrograde_res):
    if isinstance(im, str):
        im = Image.open(im).convert('RGB')
    elif isinstance(im, np.ndarray):
        im = Image.fromarray(im)

    draw_thickness = min(im.size) // 320
    draw = ImageDraw.Draw(im)

    lane = vehicle_retrograde_res['fence_line']
    if lane is not None:
        draw.line(
            [(lane[0], lane[1]), (lane[2], lane[3])],
            width=draw_thickness,
            fill=(0, 0, 0))

    mot_id = vehicle_retrograde_res['output']
    if mot_id is None or len(mot_id) == 0:
        return im

    if mot_res is None:
        return im
    np_boxes = mot_res['boxes']

    if np_boxes is not None:
        for dt in np_boxes:
            if dt[0] not in mot_id:
                continue
            bbox = dt[3:]
            if len(bbox) == 4:
                xmin, ymin, xmax, ymax = bbox
                # draw bbox
                draw.line(
                    [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
                     (xmin, ymin)],
                    width=draw_thickness,
                    fill=(0, 255, 0))

            # draw label
            text = "retrograde"
            left, top, right, bottom = draw.textbbox(text)
            tw, th = right - left, bottom - top
            draw.rectangle(
                [(xmax + 1, ymin - th), (xmax + tw + 1, ymin)],
                fill=(0, 255, 0))
            draw.text((xmax + 1, ymin - th), text, fill=(0, 255, 0))

    return im


COLORS = [
    (255, 0, 0),
    (0, 255, 0),
    (0, 0, 255),
    (255, 255, 0),
    (255, 0, 255),
    (0, 255, 255),
    (128, 255, 0),
    (255, 128, 0),
    (128, 0, 255),
    (255, 0, 128),
    (0, 128, 255),
    (0, 255, 128),
    (128, 255, 255),
    (255, 128, 255),
    (255, 255, 128),
    (60, 180, 0),
    (180, 60, 0),
    (0, 60, 180),
    (0, 180, 60),
    (60, 0, 180),
    (180, 0, 60),
    (255, 0, 0),
    (0, 255, 0),
    (0, 0, 255),
    (255, 255, 0),
    (255, 0, 255),
    (0, 255, 255),
    (128, 255, 0),
    (255, 128, 0),
    (128, 0, 255),
]


def imshow_lanes(img, lanes, show=False, out_file=None, width=4):
    lanes_xys = []
    for _, lane in enumerate(lanes):
        xys = []
        for x, y in lane:
            if x <= 0 or y <= 0:
                continue
            x, y = int(x), int(y)
            xys.append((x, y))
        lanes_xys.append(xys)
    lanes_xys.sort(key=lambda xys: xys[0][0] if len(xys) > 0 else 0)

    for idx, xys in enumerate(lanes_xys):
        for i in range(1, len(xys)):
            cv2.line(img, xys[i - 1], xys[i], COLORS[idx], thickness=width)

    if show:
        cv2.imshow('view', img)
        cv2.waitKey(0)

    if out_file:
        if not os.path.exists(os.path.dirname(out_file)):
            os.makedirs(os.path.dirname(out_file))
        cv2.imwrite(out_file, img)