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Add colormap for each segmentation dataset

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Signed-off-by: Micaela Verucchi <micaelaverucchi@gmail.com>
This commit is contained in:
Micaela Verucchi
2021-07-20 15:29:26 +02:00
parent 84ff978ccb
commit 69256992a3
6 changed files with 308 additions and 29 deletions
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src/NetworkViz.cpp
+281 -6
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@@ -12,62 +12,77 @@ cv::Mat mapillary_15_map(cv::Mat adjMap){
// cv::waitKey(0);
cv::Mat M1(1, 256, CV_8UC1), M2(1, 256, CV_8UC1), M3(1, 256, CV_8UC1);
//animal
M3.at<uchar>(0)=165;
M2.at<uchar>(0)=42;
M1.at<uchar>(0)=45;
//curb
M3.at<uchar>(1)=196;
M2.at<uchar>(1)=196;
M1.at<uchar>(1)=196;
//barrier
M3.at<uchar>(2)=90;
M2.at<uchar>(2)=120;
M1.at<uchar>(2)=150;
//road
M3.at<uchar>(3)=128;
M2.at<uchar>(3)=64;
M1.at<uchar>(3)=128;
//building
M3.at<uchar>(4)=70;
M2.at<uchar>(4)=70;
M1.at<uchar>(4)=70;
//person
M3.at<uchar>(5)=220;
M2.at<uchar>(5)=20;
M1.at<uchar>(5)=60;
//roadmark
M3.at<uchar>(6)=255;
M2.at<uchar>(6)=255;
M1.at<uchar>(6)=255;
//nature
M3.at<uchar>(7)=107;
M2.at<uchar>(7)=142;
M1.at<uchar>(7)=35;
//sky
M3.at<uchar>(8)=70;
M2.at<uchar>(8)=130;
M1.at<uchar>(8)=180;
//billboard
M3.at<uchar>(9)=220;
M2.at<uchar>(9)=220;
M1.at<uchar>(9)=220;
//pole
M3.at<uchar>(10)=153;
M2.at<uchar>(10)=153;
M1.at<uchar>(10)=153;
//traffic sign
M3.at<uchar>(11)=128;
M2.at<uchar>(11)=128;
M1.at<uchar>(11)=128;
//bike
M3.at<uchar>(12)=119;
M2.at<uchar>(12)=11;
M1.at<uchar>(12)=32;
//vehicle
M3.at<uchar>(13)=0;
M2.at<uchar>(13)=0;
M1.at<uchar>(13)=142;
//void
for(int i=14;i<256;i++)
{
M1.at<uchar>(i)=0;
@@ -93,7 +108,256 @@ cv::Mat mapillary_15_map(cv::Mat adjMap){
}
cv::Mat vizFloat2colorMap(cv::Mat map,double min, double max, bool mapillary_15) {
cv::Mat berkeley_20_map(cv::Mat adjMap){
cv::Mat M1(1, 256, CV_8UC1), M2(1, 256, CV_8UC1), M3(1, 256, CV_8UC1);
//road
M3.at<uchar>(0)=128;
M2.at<uchar>(0)=64;
M1.at<uchar>(0)=128;
//sidewalk
M3.at<uchar>(1)=244;
M2.at<uchar>(1)=35;
M1.at<uchar>(1)=232;
//building
M3.at<uchar>(2)=70;
M2.at<uchar>(2)=70;
M1.at<uchar>(2)=70;
//wall
M3.at<uchar>(3)=102;
M2.at<uchar>(3)=102;
M1.at<uchar>(3)=156;
//fence
M3.at<uchar>(4)=90;
M2.at<uchar>(4)=120;
M1.at<uchar>(4)=150;
//pole
M3.at<uchar>(5)=153;
M2.at<uchar>(5)=153;
M1.at<uchar>(5)=153;
//traffic light
M3.at<uchar>(6)=250;
M2.at<uchar>(6)=170;
M1.at<uchar>(6)=30;
//traffic sign
M3.at<uchar>(7)=128;
M2.at<uchar>(7)=128;
M1.at<uchar>(7)=128;
//nature
M3.at<uchar>(8)=107;
M2.at<uchar>(8)=142;
M1.at<uchar>(8)=35;
//ground
M3.at<uchar>(9)=0;
M2.at<uchar>(9)=192;
M1.at<uchar>(9)=0;
//sky
M3.at<uchar>(10)=70;
M2.at<uchar>(10)=130;
M1.at<uchar>(10)=180;
//person
M3.at<uchar>(11)=220;
M2.at<uchar>(11)=20;
M1.at<uchar>(11)=60;
//rider
M3.at<uchar>(12)=255;
M2.at<uchar>(12)=0;
M1.at<uchar>(12)=100;
//car
M3.at<uchar>(13)=0;
M2.at<uchar>(13)=0;
M1.at<uchar>(13)=142;
//truck
M3.at<uchar>(14)=0;
M2.at<uchar>(14)=0;
M1.at<uchar>(14)=70;
//bus
M3.at<uchar>(15)=0;
M2.at<uchar>(15)=60;
M1.at<uchar>(15)=100;
//train
M3.at<uchar>(16)=0;
M2.at<uchar>(16)=0;
M1.at<uchar>(16)=192;
//motorbike
M3.at<uchar>(17)=0;
M2.at<uchar>(17)=0;
M1.at<uchar>(17)=230;
//bike
M3.at<uchar>(18)=119;
M2.at<uchar>(18)=11;
M1.at<uchar>(18)=32;
//void
for(int i=19;i<256;i++)
{
M1.at<uchar>(i)=0;
M2.at<uchar>(i)=0;
M3.at<uchar>(i)=0;
}
cv::Mat r1,r2,r3;
cv::LUT(adjMap,M1,r1);
cv::LUT(adjMap,M2,r2);
cv::LUT(adjMap,M3,r3);
std::vector<cv::Mat> planes;
planes.push_back(r1);
planes.push_back(r2);
planes.push_back(r3);
cv::Mat dst;
cv::merge(planes,dst);
return dst;
}
cv::Mat cityscapes_19_map(cv::Mat adjMap){
cv::Mat M1(1, 256, CV_8UC1), M2(1, 256, CV_8UC1), M3(1, 256, CV_8UC1);
//road
M3.at<uchar>(0)=128;
M2.at<uchar>(0)=64;
M1.at<uchar>(0)=128;
//sidewalk
M3.at<uchar>(1)=244;
M2.at<uchar>(1)=35;
M1.at<uchar>(1)=232;
//building
M3.at<uchar>(2)=70;
M2.at<uchar>(2)=70;
M1.at<uchar>(2)=70;
//wall
M3.at<uchar>(3)=102;
M2.at<uchar>(3)=102;
M1.at<uchar>(3)=156;
//fence
M3.at<uchar>(4)=190;
M2.at<uchar>(4)=153;
M1.at<uchar>(4)=153;
//pole
M3.at<uchar>(5)=153;
M2.at<uchar>(5)=153;
M1.at<uchar>(5)=153;
//traffic light
M3.at<uchar>(6)=250;
M2.at<uchar>(6)=170;
M1.at<uchar>(6)=30;
//traffic sign
M3.at<uchar>(7)=220;
M2.at<uchar>(7)=220;
M1.at<uchar>(7)=0;
//vegetation
M3.at<uchar>(8)=107;
M2.at<uchar>(8)=142;
M1.at<uchar>(8)=35;
//terrain
M3.at<uchar>(9)=152;
M2.at<uchar>(9)=251;
M1.at<uchar>(9)=152;
//sky
M3.at<uchar>(10)=70;
M2.at<uchar>(10)=130;
M1.at<uchar>(10)=180;
//person
M3.at<uchar>(11)=220;
M2.at<uchar>(11)=20;
M1.at<uchar>(11)=60;
//rider
M3.at<uchar>(12)=255;
M2.at<uchar>(12)=0;
M1.at<uchar>(12)=0;
//car
M3.at<uchar>(13)=0;
M2.at<uchar>(13)=0;
M1.at<uchar>(13)=142;
//truck
M3.at<uchar>(14)=0;
M2.at<uchar>(14)=0;
M1.at<uchar>(14)=70;
//bus
M3.at<uchar>(15)=0;
M2.at<uchar>(15)=60;
M1.at<uchar>(15)=100;
//train
M3.at<uchar>(16)=0;
M2.at<uchar>(16)=80;
M1.at<uchar>(16)=100;
//motorcycle
M3.at<uchar>(17)=0;
M2.at<uchar>(17)=0;
M1.at<uchar>(17)=230;
//bicycle
M3.at<uchar>(18)=119;
M2.at<uchar>(18)=11;
M1.at<uchar>(18)=32;
//void
for(int i=19;i<256;i++)
{
M1.at<uchar>(i)=0;
M2.at<uchar>(i)=0;
M3.at<uchar>(i)=0;
}
cv::Mat r1,r2,r3;
cv::LUT(adjMap,M1,r1);
cv::LUT(adjMap,M2,r2);
cv::LUT(adjMap,M3,r3);
std::vector<cv::Mat> planes;
planes.push_back(r1);
planes.push_back(r2);
planes.push_back(r3);
cv::Mat dst;
cv::merge(planes,dst);
return dst;
}
cv::Mat vizFloat2colorMap(cv::Mat map,double min, double max, int classes) {
if(min == 0 && max == 0)
cv::minMaxIdx(map, &min, &max);
@@ -101,11 +365,22 @@ cv::Mat vizFloat2colorMap(cv::Mat map,double min, double max, bool mapillary_15)
cv::Mat adjMap;
cv::Mat falseColorsMap;
if(mapillary_15){
switch (classes)
{
case 15:
map.convertTo(adjMap,CV_8UC1);
falseColorsMap = mapillary_15_map(adjMap);
}
else{
break;
case 20:
map.convertTo(adjMap,CV_8UC1);
falseColorsMap = berkeley_20_map(adjMap);
break;
case 19:
map.convertTo(adjMap,CV_8UC1);
falseColorsMap = cityscapes_19_map(adjMap);
break;
default:
// expand your range to 0..255. Similar to histEq();
map.convertTo(adjMap,CV_8UC1, 255 / (max-min), -min);
applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_JET);
@@ -113,7 +388,7 @@ cv::Mat vizFloat2colorMap(cv::Mat map,double min, double max, bool mapillary_15)
return falseColorsMap;
}
cv::Mat vizData2Mat(dnnType *dataInput, tk::dnn::dataDim_t dim, int img_h, int img_w, double min, double max, bool mapillary_15) {
cv::Mat vizData2Mat(dnnType *dataInput, tk::dnn::dataDim_t dim, int img_h, int img_w, double min, double max, int classes) {
dnnType *data = nullptr;
// copy to CPU
@@ -129,7 +404,7 @@ cv::Mat vizData2Mat(dnnType *dataInput, tk::dnn::dataDim_t dim, int img_h, int i
cv::Mat grid = cv::Mat(gridSize, CV_8UC3, cv::Scalar(0));
for(int i=0; i<dim.c;i++) {
cv::Mat raw = vizFloat2colorMap(cv::Mat(cv::Size(dim.w, dim.h),CV_32FC1, data + dim.w*dim.h*i), min, max, mapillary_15);
cv::Mat raw = vizFloat2colorMap(cv::Mat(cv::Size(dim.w, dim.h),CV_32FC1, data + dim.w*dim.h*i), min, max, classes);
int r = i / gridDim;
int c = i - r * gridDim;
raw.copyTo(grid.rowRange(r*dim.h, r*dim.h + dim.h).colRange(c*dim.w, c*dim.w + dim.w));