remap_semantic_labels.py

#!/usr/bin/env python3
# This file is covered by the LICENSE file in the root of this project.

import argparse
import os
import yaml
import numpy as np

# possible splits
splits = ["train", "valid", "test"]

if __name__ == '__main__':
  parser = argparse.ArgumentParser("./remap_semantic_labels.py")
  parser.add_argument(
      '--dataset', '-d',
      type=str,
      required=False,
      default=None,
      help='Dataset dir. WARNING: This file remaps the labels in place, so the original labels will be lost. Cannot be used together with -predictions- flag.'
  )
  parser.add_argument(
      '--predictions', '-p',
      type=str,
      required=False,
      default=None,
      help='Prediction dir. WARNING: This file remaps the predictions in place, so the original predictions will be lost. Cannot be used together with -dataset- flag.'
  )
  parser.add_argument(
      '--split', '-s',
      type=str,
      required=False,
      default="valid",
      help='Split to evaluate on. One of ' +
      str(splits) + '. Defaults to %(default)s',
  )
  parser.add_argument(
      '--datacfg', '-dc',
      type=str,
      required=False,
      default="config/semantic-kitti.yaml",
      help='Dataset config file. Defaults to %(default)s',
  )
  parser.add_argument(
      '--inverse',
      dest='inverse',
      default=False,
      action='store_true',
      help='Map from xentropy to original, instead of original to xentropy. '
      'Defaults to %(default)s',
  )
  FLAGS, unparsed = parser.parse_known_args()

  # print summary of what we will do
  print("*" * 80)
  print("INTERFACE:")
  print("Data: ", FLAGS.dataset)
  print("Predictions: ", FLAGS.predictions)
  print("Split: ", FLAGS.split)
  print("Config: ", FLAGS.datacfg)
  print("Inverse: ", FLAGS.inverse)
  print("*" * 80)

  # only predictions or dataset can be handled at once and one MUST be given (xor)
  assert((FLAGS.dataset is not None) != (FLAGS.predictions is not None))

  # check name
  root_directory = ""
  label_directory = ""
  if(FLAGS.dataset is not None):
    root_directory = FLAGS.dataset
    label_directory = "labels"
  elif(FLAGS.predictions is not None):
    root_directory = FLAGS.predictions
    label_directory = "predictions"
  else:
    print("I don't even know how I got here")
    quit()

  # assert split
  assert(FLAGS.split in splits)

  print("Opening data config file %s" % FLAGS.datacfg)
  DATA = yaml.safe_load(open(FLAGS.datacfg, 'r'))

  # get number of interest classes, and the label mappings
  if FLAGS.inverse:
    print("Mapping xentropy to original labels")
    remapdict = DATA["learning_map_inv"]
  else:
    remapdict = DATA["learning_map"]
  nr_classes = len(remapdict)

  # make lookup table for mapping
  maxkey = max(remapdict.keys())

  # +100 hack making lut bigger just in case there are unknown labels
  remap_lut = np.zeros((maxkey + 100), dtype=np.int32)
  remap_lut[list(remapdict.keys())] = list(remapdict.values())
  # print(remap_lut)

  # get wanted set
  sequences = []
  sequences.extend(DATA["split"][FLAGS.split])

  # get label paths
  label_names = []
  for sequence in sequences:
    sequence = '{0:02d}'.format(int(sequence))
    label_paths = os.path.join(root_directory, "sequences",
                               sequence, label_directory)
    # populate the label names
    seq_label_names = [os.path.join(dp, f) for dp, dn, fn in os.walk(
        os.path.expanduser(label_paths)) for f in fn if ".label" in f]
    seq_label_names.sort()
    label_names.extend(seq_label_names)
  # print(label_names)

  # open each file, get the tensor, and remap only the lower half (semantics)
  for label_file in label_names:
    # open label
    print(label_file)
    label = np.fromfile(label_file, dtype=np.uint32)
    label = label.reshape((-1))
    upper_half = label >> 16      # get upper half for instances
    lower_half = label & 0xFFFF   # get lower half for semantics
    lower_half = remap_lut[lower_half]  # do the remapping of semantics
    label = (upper_half << 16) + lower_half   # reconstruct full label
    label = label.astype(np.uint32)
    label.tofile(label_file)