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Fix crop on boxes and pts2d when using absolute position #136

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Dec 20, 2021
Merged

Fix crop on boxes and pts2d when using absolute position #136

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44 changes: 26 additions & 18 deletions aloscene/bounding_boxes_2d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -185,7 +185,10 @@ def xyxy(self) -> BoundingBoxes2D:
if tensor.boxes_format == "xcyc":
labels = tensor.drop_children()
# Convert from xcyc to xyxy
n_tensor = torch.cat([tensor[:, :2] - (tensor[:, 2:] / 2), tensor[:, :2] + (tensor[:, 2:] / 2)], dim=1,)
n_tensor = torch.cat(
[tensor[:, :2] - (tensor[:, 2:] / 2), tensor[:, :2] + (tensor[:, 2:] / 2)],
dim=1,
)
n_tensor.boxes_format = "xyxy"
n_tensor.set_children(labels)
return n_tensor
Expand All @@ -195,7 +198,10 @@ def xyxy(self) -> BoundingBoxes2D:
labels = tensor.drop_children()
tensor.rename_(None)
# Convert from yxyx to xyxy
n_tensor = torch.cat([tensor[:, :2].flip([1]), tensor[:, 2:].flip([1])], dim=1,)
n_tensor = torch.cat(
[tensor[:, :2].flip([1]), tensor[:, 2:].flip([1])],
dim=1,
)
tensor.reset_names()
n_tensor.reset_names()
n_tensor.boxes_format = "xyxy"
Expand Down Expand Up @@ -236,7 +242,10 @@ def yxyx(self) -> BoundingBoxes2D:
labels = tensor.drop_children()
tensor.rename_(None)
# Convert from xyxy to yxyx
yxyx_boxes = torch.cat([tensor[:, :2].flip([1]), tensor[:, 2:].flip([1])], dim=1,)
yxyx_boxes = torch.cat(
[tensor[:, :2].flip([1]), tensor[:, 2:].flip([1])],
dim=1,
)
yxyx_boxes.reset_names()
tensor.reset_names()
yxyx_boxes.boxes_format = "yxyx"
Expand Down Expand Up @@ -480,7 +489,6 @@ def get_view(self, frame: Tensor = None, size: tuple = None, labels_set: str = N
color = (0, 1, 0)
cv2.rectangle(frame, (int(x1), int(y1)), (int(x2), int(y2)), color, 3)


# Return the view to display
return View(frame, **kwargs)

Expand Down Expand Up @@ -694,7 +702,10 @@ def _crop(self, H_crop: tuple, W_crop: tuple, **kwargs):

# Put back the instance into the same state as before
if absolute:
cropped_boxes = cropped_boxes.abs_pos(frame_size)
n_frame_size = ((H_crop[1] - H_crop[0]) * frame_size[0], (W_crop[1] - W_crop[0]) * frame_size[1])
cropped_boxes = cropped_boxes.abs_pos(n_frame_size)
else:
cropped_boxes.frame_size = None

cropped_boxes = cropped_boxes.get_with_format(boxes_format)

Expand All @@ -715,7 +726,6 @@ def fit_to_padded_size(self):
offset_y = (self.padded_size[0][0], self.padded_size[0][1])
offset_x = (self.padded_size[1][0], self.padded_size[1][1])


if not self.absolute:
boxes = self.abs_pos((100, 100)).xcyc()
h_shift = boxes.frame_size[0] * offset_y[0]
Expand Down Expand Up @@ -771,24 +781,22 @@ def _pad(self, offset_y: tuple, offset_x: tuple, pad_boxes: bool = True, **kwarg
padded_size = n_boxes.padded_size

prev_padded_size = (
(
(padded_size[0][0] * pr_frame_size[0]),
(padded_size[0][1] * pr_frame_size[0])
),
(
(padded_size[1][0] * pr_frame_size[1]),
(padded_size[1][1] * pr_frame_size[1])
)
((padded_size[0][0] * pr_frame_size[0]), (padded_size[0][1] * pr_frame_size[0])),
((padded_size[1][0] * pr_frame_size[1]), (padded_size[1][1] * pr_frame_size[1])),
)

n_padded_size = (
(
prev_padded_size[0][0] + offset_y[0] * (prev_padded_size[0][0] + prev_padded_size[0][1] + pr_frame_size[0]),
prev_padded_size[0][1] + offset_y[1] * (prev_padded_size[0][0] + prev_padded_size[0][1] + pr_frame_size[0]),
prev_padded_size[0][0]
+ offset_y[0] * (prev_padded_size[0][0] + prev_padded_size[0][1] + pr_frame_size[0]),
prev_padded_size[0][1]
+ offset_y[1] * (prev_padded_size[0][0] + prev_padded_size[0][1] + pr_frame_size[0]),
),
(
prev_padded_size[1][0] + offset_x[0] * (prev_padded_size[1][0] + prev_padded_size[1][1] + pr_frame_size[1]),
prev_padded_size[1][1] + offset_x[1] * (prev_padded_size[1][0] + prev_padded_size[1][1] + pr_frame_size[1]),
prev_padded_size[1][0]
+ offset_x[0] * (prev_padded_size[1][0] + prev_padded_size[1][1] + pr_frame_size[1]),
prev_padded_size[1][1]
+ offset_x[1] * (prev_padded_size[1][0] + prev_padded_size[1][1] + pr_frame_size[1]),
),
)

Expand Down
9 changes: 7 additions & 2 deletions aloscene/points_2d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -444,9 +444,10 @@ def _crop(self, H_crop: tuple, W_crop: tuple, **kwargs) -> Points2D:

absolute = self.absolute
frame_size = self.frame_size

points_format = self.points_format

# Get a new set of bbox
# Get a new set of points
n_points = self.abs_pos((100, 100)).xy()

# Retrieve crop coordinates
Expand All @@ -467,7 +468,11 @@ def _crop(self, H_crop: tuple, W_crop: tuple, **kwargs) -> Points2D:

# Put back the instance into the same state as before
if absolute:
cropped_points = cropped_points.abs_pos(frame_size)
n_frame_size = ((H_crop[1] - H_crop[0]) * frame_size[0], (W_crop[1] - W_crop[0]) * frame_size[1])
cropped_points = cropped_points.abs_pos(n_frame_size)
else:
cropped_points.frame_size = None

cropped_points = cropped_points.get_with_format(points_format)

return cropped_points
Expand Down
23 changes: 21 additions & 2 deletions unittest/test_boxes.py
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
# from aloscene.renderer import View
from alodataset import WaymoDataset # , Split
import aloscene

import torch
import numpy as np

waymo_dataset = WaymoDataset(sample=True)
TEST_FRAME = 0
Expand Down Expand Up @@ -375,6 +375,24 @@ def test_boxes_slice():
assert len(n_frame.boxes2d["gt_boxes_2d"].shape) == 2


def test_crop_abs():
image = np.zeros((3, 843, 1500))
boxes = [[298, 105, 50, 50], [1250, 105, 50, 50], [298, 705, 50, 50], [1250, 705, 50, 50]]
frame = aloscene.Frame(image)
labels = aloscene.Labels([0, 0, 0, 0], labels_names=["boxes"])
boxes = aloscene.BoundingBoxes2D(
boxes, boxes_format="xcyc", frame_size=(frame.H, frame.W), absolute=True, labels=labels
)
frame.append_boxes2d(boxes)
# frame.get_view().render()
frame = frame.crop(H_crop=(0.0, 0.5), W_crop=(0.0, 0.5))
# frame.get_view().render()
# frame.get_view().render()
assert torch.allclose(frame.boxes2d[0].as_tensor(), boxes[0].as_tensor())
assert np.allclose(frame.boxes2d.frame_size[0], frame.HW[0])
assert np.allclose(frame.boxes2d.frame_size[1], frame.HW[1])


if __name__ == "__main__":
test_boxes_from_dt()
test_boxes_rel_xcyc()
Expand All @@ -383,5 +401,6 @@ def test_boxes_slice():
test_boxes_abs_xcyc()
test_boxes_abs_yxyx()
test_boxes_abs_xyxy()
# test_padded_boxes() # Outdated
# test_padded_boxes() Outdated
test_boxes_slice()
test_crop_abs()
24 changes: 24 additions & 0 deletions unittest/test_points2d.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,24 @@
# from aloscene.renderer import View
from alodataset import WaymoDataset # , Split
import aloscene
import torch
import numpy as np


def test_crop_abs():
image = np.zeros((3, 843, 1500))
corners = [[298, 105], [1250, 105], [298, 705], [1250, 705]]
frame = aloscene.Frame(image)
labels = aloscene.Labels([0, 0, 0, 0], labels_names=["corners"])
corners = aloscene.Points2D(
corners, points_format="xy", frame_size=(frame.H, frame.W), absolute=True, labels=labels
)
frame.append_points2d(corners)
frame = frame.crop(H_crop=(0.0, 0.5), W_crop=(0.0, 0.5))
assert torch.allclose(frame.points2d[0].as_tensor(), corners[0].as_tensor())
assert np.allclose(frame.points2d.frame_size[0], frame.HW[0])
assert np.allclose(frame.points2d.frame_size[1], frame.HW[1])


if __name__ == "__main__":
test_crop_abs()