pspnet-video.py

#!/usr/bin/env python
"""
This module is a Keras/Tensorflow based implementation of Pyramid Scene Parsing Networks.

Original paper & code published by Hengshuang Zhao et al. (2017)
"""
from __future__ import print_function
from __future__ import division
from os.path import splitext, join, isfile
from os import environ
from math import ceil
import argparse
import numpy as np
from scipy import misc, ndimage
from keras import backend as K
from keras.models import model_from_json
import tensorflow as tf
import layers_builder as layers
from utils import utils
import matplotlib.pyplot as plt
import cv2
import datetime
from tensorflow.python.client import device_lib

__author__ = "Vlad Kryvoruchko, Chaoyue Wang, Jeffrey Hu & Julian Tatsch"


# These are the means for the ImageNet pretrained ResNet
DATA_MEAN = np.array([[[123.68, 116.779, 103.939]]])  # RGB order
EVALUATION_SCALES = [1.0]  # must be all floats!


def getGPUname():
    local_device_protos = device_lib.list_local_devices()
    l = [x.physical_device_desc for x in local_device_protos if x.device_type == 'GPU']
    s=''
    for t in l:
        s+=t[t.find("name: ")+len("name: "):t.find(", pci")] + " "
    return s


GPU_NAME = getGPUname()


class PSPNet(object):
    """Pyramid Scene Parsing Network by Hengshuang Zhao et al 2017."""

    def __init__(self, nb_classes, resnet_layers, input_shape, weights):
        """Instanciate a PSPNet."""
        self.input_shape = input_shape
        json_path = join("weights", "keras", weights + ".json")
        h5_path = join("weights", "keras", weights + ".h5")
        if isfile(json_path) and isfile(h5_path):
            print("Keras model & weights found, loading...")
            with open(json_path, 'r') as file_handle:
                self.model = model_from_json(file_handle.read())
            self.model.load_weights(h5_path)
        else:
            print("No Keras model & weights found, import from npy weights.")
            self.model = layers.build_pspnet(nb_classes=nb_classes,
                                             resnet_layers=resnet_layers,
                                             input_shape=self.input_shape)
            self.set_npy_weights(weights)

    def predict(self, img, flip_evaluation):
        """
        Predict segementation for an image.

        Arguments:
            img: must be rowsxcolsx3
        """
        h_ori, w_ori = img.shape[:2]
        if img.shape[0:2] != self.input_shape:
            # print("Input %s not fitting for network size %s, resizing. You may want to try sliding prediction for better results." % (img.shape[0:2], self.input_shape))
            img = misc.imresize(img, self.input_shape)
        input_data = self.preprocess_image(img)
        # utils.debug(self.model, input_data)

        regular_prediction = self.model.predict(input_data)[0]
        if flip_evaluation:
            print("Predict flipped")
            flipped_prediction = np.fliplr(self.model.predict(np.flip(input_data, axis=2))[0])
            prediction = (regular_prediction + flipped_prediction) / 2.0
        else:
            prediction = regular_prediction

        if img.shape[0:1] != self.input_shape:  # upscale prediction if necessary
            h, w = prediction.shape[:2]
            # prediction = ndimage.zoom(prediction, (1.*h_ori/h, 1.*w_ori/w, 1.), order=1, prefilter=False)
            prediction = cv2.resize(prediction,(w_ori,h_ori))
        return prediction

    def preprocess_image(self, img):
        """Preprocess an image as input."""
        float_img = img.astype('float16')
        centered_image = float_img - DATA_MEAN
        bgr_image = centered_image[:, :, ::-1]  # RGB => BGR
        input_data = bgr_image[np.newaxis, :, :, :]  # Append sample dimension for keras
        return input_data

    def set_npy_weights(self, weights_path):
        """Set weights from the intermediary npy file."""
        npy_weights_path = join("weights", "npy", weights_path + ".npy")
        json_path = join("weights", "keras", weights_path + ".json")
        h5_path = join("weights", "keras", weights_path + ".h5")

        print("Importing weights from %s" % npy_weights_path)
        weights = np.load(npy_weights_path, encoding="latin1").item()

        whitelist = ["InputLayer", "Activation", "ZeroPadding2D", "Add", "MaxPooling2D", "AveragePooling2D", "Lambda", "Concatenate", "Dropout"]

        weights_set = 0
        for layer in self.model.layers:
            print("Processing %s" % layer.name)
            if layer.name[:4] == 'conv' and layer.name[-2:] == 'bn':
                mean = weights[layer.name]['mean'].reshape(-1)
                variance = weights[layer.name]['variance'].reshape(-1)
                scale = weights[layer.name]['scale'].reshape(-1)
                offset = weights[layer.name]['offset'].reshape(-1)

                self.model.get_layer(layer.name).set_weights([mean, variance,
                                                             scale, offset])
                weights_set += 1
            elif layer.name[:4] == 'conv' and not layer.name[-4:] == 'relu':
                try:
                    weight = weights[layer.name]['weights']
                    self.model.get_layer(layer.name).set_weights([weight])
                except Exception:
                    biases = weights[layer.name]['biases']
                    self.model.get_layer(layer.name).set_weights([weight,
                                                                 biases])
                weights_set += 1
            elif layer.__class__.__name__ in whitelist:
                # print("Nothing to set in %s" % layer.__class__.__name__)
                pass
            else:
                print("Warning: Did not find weights for keras layer %s in numpy weights" % layer)

        print("Set a total of %i weights" % weights_set)

        print('Finished importing weights.')

        print("Writing keras model & weights")
        json_string = self.model.to_json()
        with open(json_path, 'w') as file_handle:
            file_handle.write(json_string)
        self.model.save_weights(h5_path)
        print("Finished writing Keras model & weights")


class PSPNet50(PSPNet):
    """Build a PSPNet based on a 50-Layer ResNet."""

    def __init__(self, nb_classes, weights, input_shape):
        """Instanciate a PSPNet50."""
        PSPNet.__init__(self, nb_classes=nb_classes, resnet_layers=50,
                        input_shape=input_shape, weights=weights)


class PSPNet101(PSPNet):
    """Build a PSPNet based on a 101-Layer ResNet."""

    def __init__(self, nb_classes, weights, input_shape):
        """Instanciate a PSPNet101."""
        PSPNet.__init__(self, nb_classes=nb_classes, resnet_layers=101,
                        input_shape=input_shape, weights=weights)


def pad_image(img, target_size):
    """Pad an image up to the target size."""
    rows_missing = target_size[0] - img.shape[0]
    cols_missing = target_size[1] - img.shape[1]
    padded_img = np.pad(img, ((0, rows_missing), (0, cols_missing), (0, 0)), 'constant')
    return padded_img


def visualize_prediction(prediction):
    """Visualize prediction."""
    cm = np.argmax(prediction, axis=2) + 1
    color_cm = utils.add_color(cm)
    plt.imshow(color_cm)
    plt.show()


def predict_sliding(full_image, net, flip_evaluation):
    """Predict on tiles of exactly the network input shape so nothing gets squeezed."""
    tile_size = net.input_shape
    classes = net.model.outputs[0].shape[3]
    overlap = 1/3

    stride = ceil(tile_size[0] * (1 - overlap))
    tile_rows = int(ceil((full_image.shape[0] - tile_size[0]) / stride) + 1)  # strided convolution formula
    tile_cols = int(ceil((full_image.shape[1] - tile_size[1]) / stride) + 1)
    print("Need %i x %i prediction tiles @ stride %i px" % (tile_cols, tile_rows, stride))
    full_probs = np.zeros((full_image.shape[0], full_image.shape[1], classes))
    count_predictions = np.zeros((full_image.shape[0], full_image.shape[1], classes))
    tile_counter = 0
    for row in range(tile_rows):
        for col in range(tile_cols):
            x1 = int(col * stride)
            y1 = int(row * stride)
            x2 = min(x1 + tile_size[1], full_image.shape[1])
            y2 = min(y1 + tile_size[0], full_image.shape[0])
            x1 = max(int(x2 - tile_size[1]), 0)  # for portrait images the x1 underflows sometimes
            y1 = max(int(y2 - tile_size[0]), 0)  # for very few rows y1 underflows

            img = full_image[y1:y2, x1:x2]
            padded_img = pad_image(img, tile_size)
            # plt.imshow(padded_img)
            # plt.show()
            tile_counter += 1
            print("Predicting tile %i" % tile_counter)
            padded_prediction = net.predict(padded_img, flip_evaluation)
            prediction = padded_prediction[0:img.shape[0], 0:img.shape[1], :]
            count_predictions[y1:y2, x1:x2] += 1
            full_probs[y1:y2, x1:x2] += prediction  # accumulate the predictions also in the overlapping regions

    # average the predictions in the overlapping regions
    full_probs /= count_predictions
    # visualize normalization Weights
    # plt.imshow(np.mean(count_predictions, axis=2))
    # plt.show()
    return full_probs


def predict_multi_scale(full_image, net, scales, sliding_evaluation, flip_evaluation):
    """Predict an image by looking at it with different scales."""
    classes = net.model.outputs[0].shape[3]
    full_probs = np.zeros((full_image.shape[0], full_image.shape[1], classes))
    h_ori, w_ori = full_image.shape[:2]
    for scale in scales:
        print("Predicting image scaled by %f" % scale)
        scaled_img = misc.imresize(full_image, size=scale, interp="bilinear")
        if sliding_evaluation:
            scaled_probs = predict_sliding(scaled_img, net, flip_evaluation)
        else:
            scaled_probs = net.predict(scaled_img, flip_evaluation)
        # scale probs up to full size
        h, w = scaled_probs.shape[:2]
        probs = ndimage.zoom(scaled_probs, (1.*h_ori/h, 1.*w_ori/w, 1.),order=1, prefilter=False)
        # visualize_prediction(probs)
        # integrate probs over all scales
        full_probs += probs
    full_probs /= len(scales)
    return full_probs


def _predict(full_image, net, flip_evaluation):
    classes = net.model.outputs[0].shape[3]
    full_probs = np.zeros((full_image.shape[0], full_image.shape[1], classes))
    h_ori, w_ori = full_image.shape[:2]
    scaled_probs = net.predict(full_image, flip_evaluation)
    # scale probs up to full size
    h, w = scaled_probs.shape[:2]
    probs = cv2.resize(scaled_probs,(w_ori,h_ori))
    # visualize_prediction(probs)
    # integrate probs over all scales
    full_probs += probs
    return full_probs


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument('-m', '--model', type=str, default='pspnet50_ade20k',
                        help='Model/Weights to use',
                        choices=['pspnet50_ade20k',
                                 'pspnet101_cityscapes',
                                 'pspnet101_voc2012'])
    parser.add_argument('-i', '--input_path', type=str, default='example_images/ade20k.jpg',
                        help='Path the input image')
    parser.add_argument('-o', '--output_path', type=str, default='example_results/ade20k.jpg',
                        help='Path to output')
    parser.add_argument('--id', default="1")
    parser.add_argument('-s', '--sliding', action='store_true',
                        help="Whether the network should be slided over the original image for prediction.")
    parser.add_argument('-f', '--flip', action='store_true',
                        help="Whether the network should predict on both image and flipped image.")
    parser.add_argument('-ms', '--multi_scale', action='store_true',
                        help="Whether the network should predict on multiple scales.")
    args = parser.parse_args()

    # environ["CUDA_VISIBLE_DEVICES"] = args.id

    sess = tf.Session()
    K.set_session(sess)

    with sess.as_default():
        cap = cv2.VideoCapture(args.input_path)
        print(args)
        counter = 0

        if "pspnet50" in args.model:
            pspnet = PSPNet50(nb_classes=150, input_shape=(473, 473),
                              weights=args.model)
        elif "pspnet101" in args.model:
            if "cityscapes" in args.model:
                pspnet = PSPNet101(nb_classes=19, input_shape=(713, 713),
                                   weights=args.model)
            if "voc2012" in args.model:
                pspnet = PSPNet101(nb_classes=21, input_shape=(473, 473),
                                   weights=args.model)

        else:
            print("Network architecture not implemented.")

        if args.multi_scale:
            EVALUATION_SCALES = [0.5, 0.75, 1.0, 1.25, 1.5, 1.75]  # must be all floats!
            EVALUATION_SCALES = [0.15, 0.25, 0.5]  # must be all floats!

        time_sum = 0
        while(True):
            # Capture frame-by-frame
            ret, img = cap.read()
            if img is None:
                break


            # img = cv2.resize(img,(int(16.0*713/9.0),713))
            img = cv2.cvtColor(img,cv2.COLOR_BGR2RGB)

            start = datetime.datetime.now()
            # class_scores = predict_multi_scale(img, pspnet, EVALUATION_SCALES, args.sliding, args.flip)
            class_scores = _predict(img, pspnet, args.flip)

            # End time
            end = datetime.datetime.now()

            # Time elapsed
            diff = end - start

            class_image = np.argmax(class_scores, axis=2)
            pm = np.max(class_scores, axis=2)
            colored_class_image = utils.color_class_image(class_image, args.model)

            alpha_blended = 0.5 * colored_class_image + 0.5 * img
            filename, ext = splitext(args.output_path)

            time_sum += diff.microseconds/1000.0
            print(counter,diff.microseconds/1000.0,'ms')


            cv2.putText(alpha_blended,'%s %s'%(GPU_NAME,args.model),(100,100), cv2.FONT_HERSHEY_SIMPLEX, 3,(0,0,0),16,cv2.LINE_AA)
            cv2.putText(alpha_blended,'%s %s'%(GPU_NAME,args.model),(100,100), cv2.FONT_HERSHEY_SIMPLEX, 3,(255,255,255),10,cv2.LINE_AA)

            cv2.putText(alpha_blended,'Prediction time: %.0fms (%.1f fps) AVG: %.0fms (%.1f fps)'%(diff.microseconds/1000.0,1000000.0/diff.microseconds,time_sum/(counter+1),1000.0/(time_sum/(counter+1))),(100,200), cv2.FONT_HERSHEY_SIMPLEX, 3,(0,0,0),16,cv2.LINE_AA)
            cv2.putText(alpha_blended,'Prediction time: %.0fms (%.1f fps) AVG: %.0fms (%.1f fps)'%(diff.microseconds/1000.0,1000000.0/diff.microseconds,time_sum/(counter+1),1000.0/(time_sum/(counter+1))),(100,200), cv2.FONT_HERSHEY_SIMPLEX, 3,(255,255,255),10,cv2.LINE_AA)

            misc.imsave(filename + "_%08d_seg"%counter + ext, colored_class_image)
            misc.imsave(filename + "_%08d_probs"%counter + ext, pm)
            misc.imsave(filename + "_%08d_seg_blended"%counter + ext, alpha_blended)
            counter = counter + 1