XML dataset addition + mxnet-cu102 fix

bin/install.sh

@@ -35,17 +35,16 @@ pip3 install setuptools configparser
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
             && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 
+# Build OpenDR
+make install_compilation_dependencies
+make install_runtime_dependencies
+make libopendr
 
-# If working on GPU install GPU dependencies beforehand
+# If working on GPU install GPU dependencies as needed
 if [[ "${OPENDR_DEVICE}" == "gpu" ]]; then
   echo "[INFO] Installing  mxnet-cu102==1.8.0. You can override this later if you are using a different CUDA version."
   pip3 install mxnet-cu102==1.8.0
 fi
 
-# Build OpenDR
-make install_compilation_dependencies
-make install_runtime_dependencies
-make libopendr
-
 deactivate
 

src/opendr/perception/object_detection_2d/datasets/__init__.py

@@ -1,5 +1,8 @@
 from .detection_dataset import DetectionDataset
 from .wider_face import WiderFaceDataset
 from .wider_person import WiderPersonDataset
+from .xmldataset import XMLBasedDataset
+from .detection_dataset import ConcatDataset
 
-__all__ = ['DetectionDataset', 'WiderFaceDataset', 'WiderPersonDataset']
+__all__ = ['DetectionDataset', 'WiderFaceDataset', 'WiderPersonDataset', 'XMLBasedDataset',
+           'ConcatDataset']

src/opendr/perception/object_detection_2d/datasets/detection_dataset.py

@@ -12,6 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import bisect
+from itertools import accumulate
+
 from opendr.engine.datasets import DatasetIterator
 
 
@@ -68,3 +71,54 @@ def __getitem__(self, idx):
         if isinstance(item, tuple):
             return self.map_function(*item)
         return self.map_function(item)
+
+
+class ConcatDataset(DetectionDataset):
+    """
+    Basic dataset concatenation class. The datasets are assumed to have the same classes.
+
+    :param datasets: list of DetectionDataset type or subclass
+    """
+    def __init__(self, datasets):
+        super(ConcatDataset, self).__init__(classes=datasets[0].classes, dataset_type='concat_dataset',
+                                            root=None)
+        self.cumulative_lengths = list(accumulate([len(dataset) for dataset in datasets]))
+        self.datasets = datasets
+
+    def set_transform(self, transform):
+        self._transform = transform
+        for dataset in self.datasets:
+            dataset.transform(transform)
+
+    def transform(self, transform):
+        mapped_datasets = [MappedDetectionDataset(dataset, transform) for dataset in self.datasets]
+        return ConcatDataset(mapped_datasets)
+
+    def set_image_transform(self, transform):
+        self._image_transform = transform
+        for dataset in self.datasets:
+            dataset.set_image_transform(transform)
+
+    def set_target_transform(self, transform):
+        self._target_transform = transform
+        for dataset in self.datasets:
+            dataset.set_target_transform(transform)
+
+    def __len__(self):
+        return self.cumulative_lengths[-1]
+
+    def __getitem__(self, item):
+        dataset_idx = bisect.bisect_right(self.cumulative_lengths, item)
+        if dataset_idx == 0:
+            sample_idx = item
+        else:
+            sample_idx = item - self.cumulative_lengths[dataset_idx - 1]
+        return self.datasets[dataset_idx][sample_idx]
+
+
+def is_image_type(filename):
+    return filename.lower().endswith(('png', 'jpg', 'jpeg', 'tiff', 'bmp', 'gif'))
+
+
+def remove_extension(filename):
+    return '.'.join(filename.split('.')[:-1])

src/opendr/perception/object_detection_2d/datasets/xmldataset.py

@@ -0,0 +1,114 @@
+# Copyright 2020-2022 OpenDR European Project
+#
+# 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.
+
+import os
+try:
+    import xml.etree.cElementTree as ET
+except ImportError:
+    import xml.etree.ElementTree as ET
+import cv2
+
+from opendr.engine.data import Image
+from opendr.engine.target import BoundingBox, BoundingBoxList
+from opendr.perception.object_detection_2d.datasets.detection_dataset import DetectionDataset, is_image_type, remove_extension
+
+
+class XMLBasedDataset(DetectionDataset):
+    """
+    Reader class for datasets annotated with the LabelImg tool in Pascal VOC XML format.
+    The dataset should be in the following structure:
+    data_root
+    |-- images
+    |-- annotations
+    The exact names of the folders can be passed as arguments (images_dir) and (annotations_dir).
+    """
+    def __init__(self, dataset_type, root, classes=None, image_transform=None,
+                 target_transform=None, transform=None, splits='',
+                 images_dir='images', annotations_dir='annotations', preload_anno=False):
+        self.abs_images_dir = os.path.join(root, images_dir)
+        self.abs_annot_dir = os.path.join(root, annotations_dir)
+        image_names = [im_filename for im_filename in os.listdir(self.abs_images_dir)
+                       if is_image_type(im_filename)]
+
+        if classes is None:
+            classes = []
+        self.classes = classes
+        super().__init__(classes, dataset_type, root, image_transform=image_transform, target_transform=target_transform,
+                         transform=transform, image_paths=image_names, splits=splits)
+        self.bboxes = []
+        self.preload_anno = preload_anno
+        if preload_anno:
+            for image_name in image_names:
+                annot_file = os.path.join(self.abs_annot_dir, remove_extension(image_name) + '.xml')
+                bboxes = self._read_annotation_file(annot_file)
+                self.bboxes.append(bboxes)
+
+    def _read_annotation_file(self, filename):
+        root = ET.parse(filename).getroot()
+        bounding_boxes = []
+        for obj in root.iter('object'):
+            cls_name = obj.find('name').text.strip().lower()
+            if cls_name not in self.classes:
+                self.classes.append(cls_name)
+            cls_id = self.classes.index(cls_name)
+            xml_box = obj.find('bndbox')
+            xmin = (float(xml_box.find('xmin').text) - 1)
+            ymin = (float(xml_box.find('ymin').text) - 1)
+            xmax = (float(xml_box.find('xmax').text) - 1)
+            ymax = (float(xml_box.find('ymax').text) - 1)
+            bounding_box = BoundingBox(name=int(cls_id),
+                                       left=float(xmin), top=float(ymin),
+                                       width=float(xmax) - float(xmin),
+                                       height=float(ymax) - float(ymin))
+            bounding_boxes.append(bounding_box)
+        return BoundingBoxList(boxes=bounding_boxes)
+
+    def __len__(self):
+        return len(self.image_paths)
+
+    def __getitem__(self, item):
+        image_name = self.image_paths[item]
+        image_path = os.path.join(self.abs_images_dir, image_name)
+        img_np = cv2.imread(image_path)
+        img = Image(img_np)
+
+        if self.preload_anno:
+            label = self.bboxes[item]
+        else:
+            annot_file = os.path.join(self.abs_annot_dir, remove_extension(image_name) + '.xml')
+            label = self._read_annotation_file(annot_file)
+
+        if self._image_transform is not None:
+            img = self._image_transform(img)
+
+        if self._target_transform is not None:
+            label = self._target_transform(label)
+
+        if self._transform is not None:
+            return self._transform(img, label)
+        return img, label
+
+    def get_image(self, item):
+        image_name = self.image_paths[item]
+        image_path = os.path.join(self.abs_images_dir, image_name)
+        img_np = cv2.imread(image_path)
+        if self._image_transform is not None:
+            img = self._image_transform(img_np)
+        return img
+
+    def get_bboxes(self, item):
+        boxes = self.bboxes[item]
+        if self._target_transform is not None:
+            boxes = self._target_transform(boxes)
+        return boxes

src/opendr/perception/object_detection_2d/ssd/ssd_learner.py

@@ -87,6 +87,7 @@ def __init__(self, lr=1e-3, epochs=120, batch_size=8,
                 self.ctx = mx.gpu(0)
             else:
                 self.ctx = mx.cpu()
+                print("Device set to cuda but no GPU available, using CPU...")
         else:
             self.ctx = mx.cpu()