.. _sec_semantic_segmentation:
语义分割和数据集
================
在 :numref:`sec_bbox`—
:numref:`sec_rcnn`\ 中讨论的目标检测问题中，我们一直使用方形边界框来标注和预测图像中的目标。
本节将探讨\ *语义分割*\ （semantic
segmentation）问题，它重点关注于如何将图像分割成属于不同语义类别的区域。
与目标检测不同，语义分割可以识别并理解图像中每一个像素的内容：其语义区域的标注和预测是像素级的。
:numref:`fig_segmentation`\ 展示了语义分割中图像有关狗、猫和背景的标签。
与目标检测相比，语义分割标注的像素级的边框显然更加精细。
.. _fig_segmentation:
.. figure:: ../img/segmentation.svg
语义分割中图像有关狗、猫和背景的标签
图像分割和实例分割
------------------
计算机视觉领域还有2个与语义分割相似的重要问题，即\ *图像分割*\ （image
segmentation）和\ *实例分割*\ （instance segmentation）。
我们在这里将它们同语义分割简单区分一下。
- *图像分割*\ 将图像划分为若干组成区域，这类问题的方法通常利用图像中像素之间的相关性。它在训练时不需要有关图像像素的标签信息，在预测时也无法保证分割出的区域具有我们希望得到的语义。以
:numref:`fig_segmentation`\ 中的图像作为输入，图像分割可能会将狗分为两个区域：一个覆盖以黑色为主的嘴和眼睛，另一个覆盖以黄色为主的其余部分身体。
- *实例分割*\ 也叫\ *同时检测并分割*\ （simultaneous detection and
segmentation），它研究如何识别图像中各个目标实例的像素级区域。与语义分割不同，实例分割不仅需要区分语义，还要区分不同的目标实例。例如，如果图像中有两条狗，则实例分割需要区分像素属于的两条狗中的哪一条。
Pascal VOC2012 语义分割数据集
-----------------------------
最重要的语义分割数据集之一是\ `Pascal
VOC2012 `__\ 。
下面我们深入了解一下这个数据集。
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\diilbookstyleinputcell
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%matplotlib inline
import os
from mxnet import gluon, image, np, npx
from d2l import mxnet as d2l
npx.set_np()
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%matplotlib inline
import os
import torch
import torchvision
from d2l import torch as d2l
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\diilbookstyleinputcell
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%matplotlib inline
import warnings
from d2l import paddle as d2l
warnings.filterwarnings("ignore")
import os
import paddle
import paddle.vision as paddlevision
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\diilbookstyleinputcell
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#@save
d2l.DATA_HUB['voc2012'] = (d2l.DATA_URL + 'VOCtrainval_11-May-2012.tar',
'4e443f8a2eca6b1dac8a6c57641b67dd40621a49')
voc_dir = d2l.download_extract('voc2012', 'VOCdevkit/VOC2012')
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\diilbookstyleoutputcell
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Downloading ../data/VOCtrainval_11-May-2012.tar from http://d2l-data.s3-accelerate.amazonaws.com/VOCtrainval_11-May-2012.tar...
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#@save
d2l.DATA_HUB['voc2012'] = (d2l.DATA_URL + 'VOCtrainval_11-May-2012.tar',
'4e443f8a2eca6b1dac8a6c57641b67dd40621a49')
voc_dir = d2l.download_extract('voc2012', 'VOCdevkit/VOC2012')
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\diilbookstyleoutputcell
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Downloading ../data/VOCtrainval_11-May-2012.tar from http://d2l-data.s3-accelerate.amazonaws.com/VOCtrainval_11-May-2012.tar...
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#@save
d2l.DATA_HUB['voc2012'] = (d2l.DATA_URL + 'VOCtrainval_11-May-2012.tar',
'4e443f8a2eca6b1dac8a6c57641b67dd40621a49')
voc_dir = d2l.download_extract('voc2012', 'VOCdevkit/VOC2012')
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\diilbookstyleoutputcell
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正在从http://d2l-data.s3-accelerate.amazonaws.com/VOCtrainval_11-May-2012.tar下载../data/VOCtrainval_11-May-2012.tar...
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#@save
def read_voc_images(voc_dir, is_train=True):
"""读取所有VOC图像并标注"""
txt_fname = os.path.join(voc_dir, 'ImageSets', 'Segmentation',
'train.txt' if is_train else 'val.txt')
with open(txt_fname, 'r') as f:
images = f.read().split()
features, labels = [], []
for i, fname in enumerate(images):
features.append(image.imread(os.path.join(
voc_dir, 'JPEGImages', f'{fname}.jpg')))
labels.append(image.imread(os.path.join(
voc_dir, 'SegmentationClass', f'{fname}.png')))
return features, labels
train_features, train_labels = read_voc_images(voc_dir, True)
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[07:19:06] ../src/storage/storage.cc:196: Using Pooled (Naive) StorageManager for CPU
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#@save
def read_voc_images(voc_dir, is_train=True):
"""读取所有VOC图像并标注"""
txt_fname = os.path.join(voc_dir, 'ImageSets', 'Segmentation',
'train.txt' if is_train else 'val.txt')
mode = torchvision.io.image.ImageReadMode.RGB
with open(txt_fname, 'r') as f:
images = f.read().split()
features, labels = [], []
for i, fname in enumerate(images):
features.append(torchvision.io.read_image(os.path.join(
voc_dir, 'JPEGImages', f'{fname}.jpg')))
labels.append(torchvision.io.read_image(os.path.join(
voc_dir, 'SegmentationClass' ,f'{fname}.png'), mode))
return features, labels
train_features, train_labels = read_voc_images(voc_dir, True)
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#@save
def read_voc_images(voc_dir, is_train=True):
"""Defined in :numref:`sec_semantic_segmentation`"""
"""读取所有VOC图像并标注
Defined in :numref:`sec_semantic_segmentation`"""
txt_fname = os.path.join(voc_dir, 'ImageSets', 'Segmentation',
'train.txt' if is_train else 'val.txt')
with open(txt_fname, 'r') as f:
images = f.read().split()
features, labels = [], []
for i, fname in enumerate(images):
features.append(paddle.vision.image.image_load(os.path.join(
voc_dir, 'JPEGImages', f'{fname}.jpg'), backend='cv2')[..., ::-1].transpose(
[2, 0, 1]))
labels.append(paddle.vision.image.image_load(os.path.join(
voc_dir, 'SegmentationClass', f'{fname}.png'), backend='cv2')[..., ::-1].transpose(
[2, 0, 1]))
return features, labels
train_features, train_labels = read_voc_images(voc_dir, True)
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n = 5
imgs = train_features[0:n] + train_labels[0:n]
d2l.show_images(imgs, 2, n);
.. figure:: output_semantic-segmentation-and-dataset_23ff18_39_0.png
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\diilbookstyleinputcell
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n = 5
imgs = train_features[0:n] + train_labels[0:n]
imgs = [img.permute(1,2,0) for img in imgs]
d2l.show_images(imgs, 2, n);
.. figure:: output_semantic-segmentation-and-dataset_23ff18_42_0.png
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n = 5
imgs = train_features[0:n] + train_labels[0:n]
imgs = [img.transpose([1, 2, 0]) for img in imgs]
d2l.show_images(imgs, 2, n);
.. figure:: output_semantic-segmentation-and-dataset_23ff18_45_0.png
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#@save
VOC_COLORMAP = [[0, 0, 0], [128, 0, 0], [0, 128, 0], [128, 128, 0],
[0, 0, 128], [128, 0, 128], [0, 128, 128], [128, 128, 128],
[64, 0, 0], [192, 0, 0], [64, 128, 0], [192, 128, 0],
[64, 0, 128], [192, 0, 128], [64, 128, 128], [192, 128, 128],
[0, 64, 0], [128, 64, 0], [0, 192, 0], [128, 192, 0],
[0, 64, 128]]
#@save
VOC_CLASSES = ['background', 'aeroplane', 'bicycle', 'bird', 'boat',
'bottle', 'bus', 'car', 'cat', 'chair', 'cow',
'diningtable', 'dog', 'horse', 'motorbike', 'person',
'potted plant', 'sheep', 'sofa', 'train', 'tv/monitor']
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#@save
VOC_COLORMAP = [[0, 0, 0], [128, 0, 0], [0, 128, 0], [128, 128, 0],
[0, 0, 128], [128, 0, 128], [0, 128, 128], [128, 128, 128],
[64, 0, 0], [192, 0, 0], [64, 128, 0], [192, 128, 0],
[64, 0, 128], [192, 0, 128], [64, 128, 128], [192, 128, 128],
[0, 64, 0], [128, 64, 0], [0, 192, 0], [128, 192, 0],
[0, 64, 128]]
#@save
VOC_CLASSES = ['background', 'aeroplane', 'bicycle', 'bird', 'boat',
'bottle', 'bus', 'car', 'cat', 'chair', 'cow',
'diningtable', 'dog', 'horse', 'motorbike', 'person',
'potted plant', 'sheep', 'sofa', 'train', 'tv/monitor']
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#@save
VOC_COLORMAP = [[0, 0, 0], [128, 0, 0], [0, 128, 0], [128, 128, 0],
[0, 0, 128], [128, 0, 128], [0, 128, 128], [128, 128, 128],
[64, 0, 0], [192, 0, 0], [64, 128, 0], [192, 128, 0],
[64, 0, 128], [192, 0, 128], [64, 128, 128], [192, 128, 128],
[0, 64, 0], [128, 64, 0], [0, 192, 0], [128, 192, 0],
[0, 64, 128]]
#@save
VOC_CLASSES = ['background', 'aeroplane', 'bicycle', 'bird', 'boat',
'bottle', 'bus', 'car', 'cat', 'chair', 'cow',
'diningtable', 'dog', 'horse', 'motorbike', 'person',
'potted plant', 'sheep', 'sofa', 'train', 'tv/monitor']
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#@save
def voc_colormap2label():
"""构建从RGB到VOC类别索引的映射"""
colormap2label = np.zeros(256 ** 3)
for i, colormap in enumerate(VOC_COLORMAP):
colormap2label[
(colormap[0] * 256 + colormap[1]) * 256 + colormap[2]] = i
return colormap2label
#@save
def voc_label_indices(colormap, colormap2label):
"""将VOC标签中的RGB值映射到它们的类别索引"""
colormap = colormap.astype(np.int32)
idx = ((colormap[:, :, 0] * 256 + colormap[:, :, 1]) * 256
+ colormap[:, :, 2])
return colormap2label[idx]
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#@save
def voc_colormap2label():
"""构建从RGB到VOC类别索引的映射"""
colormap2label = torch.zeros(256 ** 3, dtype=torch.long)
for i, colormap in enumerate(VOC_COLORMAP):
colormap2label[
(colormap[0] * 256 + colormap[1]) * 256 + colormap[2]] = i
return colormap2label
#@save
def voc_label_indices(colormap, colormap2label):
"""将VOC标签中的RGB值映射到它们的类别索引"""
colormap = colormap.permute(1, 2, 0).numpy().astype('int32')
idx = ((colormap[:, :, 0] * 256 + colormap[:, :, 1]) * 256
+ colormap[:, :, 2])
return colormap2label[idx]
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#@save
def voc_colormap2label():
"""构建从RGB到VOC类别索引的映射"""
colormap2label = paddle.zeros([256 ** 3], dtype=paddle.int64)
for i, colormap in enumerate(VOC_COLORMAP):
colormap2label[
(colormap[0] * 256 + colormap[1]) * 256 + colormap[2]] = i
return colormap2label
#@save
def voc_label_indices(colormap, colormap2label):
"""将VOC标签中的RGB值映射到它们的类别索引"""
colormap = colormap.transpose([1, 2, 0]).astype('int32')
idx = ((colormap[:, :, 0] * 256 + colormap[:, :, 1]) * 256
+ colormap[:, :, 2])
return colormap2label[idx]
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y = voc_label_indices(train_labels[0], voc_colormap2label())
y[105:115, 130:140], VOC_CLASSES[1]
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\diilbookstyleoutputcell
.. parsed-literal::
:class: output
(array([[0., 0., 0., 0., 0., 0., 0., 0., 0., 1.],
[0., 0., 0., 0., 0., 0., 0., 1., 1., 1.],
[0., 0., 0., 0., 0., 0., 1., 1., 1., 1.],
[0., 0., 0., 0., 0., 1., 1., 1., 1., 1.],
[0., 0., 0., 0., 0., 1., 1., 1., 1., 1.],
[0., 0., 0., 0., 1., 1., 1., 1., 1., 1.],
[0., 0., 0., 0., 0., 1., 1., 1., 1., 1.],
[0., 0., 0., 0., 0., 1., 1., 1., 1., 1.],
[0., 0., 0., 0., 0., 0., 1., 1., 1., 1.],
[0., 0., 0., 0., 0., 0., 0., 0., 1., 1.]]),
'aeroplane')
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\diilbookstyleinputcell
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y = voc_label_indices(train_labels[0], voc_colormap2label())
y[105:115, 130:140], VOC_CLASSES[1]
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\diilbookstyleoutputcell
.. parsed-literal::
:class: output
(tensor([[0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[0, 0, 0, 0, 0, 0, 0, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 1, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1]]),
'aeroplane')
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\diilbookstyleinputcell
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y = voc_label_indices(train_labels[0], voc_colormap2label())
y[105:115, 130:140], VOC_CLASSES[1]
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\diilbookstyleoutputcell
.. parsed-literal::
:class: output
(Tensor(shape=[10, 10], dtype=int64, place=Place(cpu), stop_gradient=True,
[[0, 0, 0, 0, 0, 0, 0, 0, 0, 1],
[0, 0, 0, 0, 0, 0, 0, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 1, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 1, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 1, 1, 1, 1],
[0, 0, 0, 0, 0, 0, 0, 0, 1, 1]]),
'aeroplane')
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#@save
def voc_rand_crop(feature, label, height, width):
"""随机裁剪特征和标签图像"""
feature, rect = image.random_crop(feature, (width, height))
label = image.fixed_crop(label, *rect)
return feature, label
imgs = []
for _ in range(n):
imgs += voc_rand_crop(train_features[0], train_labels[0], 200, 300)
d2l.show_images(imgs[::2] + imgs[1::2], 2, n);
.. figure:: output_semantic-segmentation-and-dataset_23ff18_87_0.png
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#@save
def voc_rand_crop(feature, label, height, width):
"""随机裁剪特征和标签图像"""
rect = torchvision.transforms.RandomCrop.get_params(
feature, (height, width))
feature = torchvision.transforms.functional.crop(feature, *rect)
label = torchvision.transforms.functional.crop(label, *rect)
return feature, label
imgs = []
for _ in range(n):
imgs += voc_rand_crop(train_features[0], train_labels[0], 200, 300)
imgs = [img.permute(1, 2, 0) for img in imgs]
d2l.show_images(imgs[::2] + imgs[1::2], 2, n);
.. figure:: output_semantic-segmentation-and-dataset_23ff18_90_0.png
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#@save
def voc_rand_crop(feature, label, height, width):
"""随机裁剪特征和标签图像"""
rect = paddle.vision.transforms.RandomCrop((height, width))._get_param(
img=feature, output_size=(height, width))
feature = paddle.vision.transforms.crop(feature, *rect)
label = paddle.vision.transforms.crop(label, *rect)
return feature, label
imgs = []
for _ in range(n):
imgs += voc_rand_crop(train_features[0].transpose([1, 2, 0]), train_labels[0].transpose([1, 2, 0]), 200, 300)
imgs = [img for img in imgs]
d2l.show_images(imgs[::2] + imgs[1::2], 2, n);
.. figure:: output_semantic-segmentation-and-dataset_23ff18_93_0.png
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#@save
class VOCSegDataset(gluon.data.Dataset):
"""一个用于加载VOC数据集的自定义数据集"""
def __init__(self, is_train, crop_size, voc_dir):
self.rgb_mean = np.array([0.485, 0.456, 0.406])
self.rgb_std = np.array([0.229, 0.224, 0.225])
self.crop_size = crop_size
features, labels = read_voc_images(voc_dir, is_train=is_train)
self.features = [self.normalize_image(feature)
for feature in self.filter(features)]
self.labels = self.filter(labels)
self.colormap2label = voc_colormap2label()
print('read ' + str(len(self.features)) + ' examples')
def normalize_image(self, img):
return (img.astype('float32') / 255 - self.rgb_mean) / self.rgb_std
def filter(self, imgs):
return [img for img in imgs if (
img.shape[0] >= self.crop_size[0] and
img.shape[1] >= self.crop_size[1])]
def __getitem__(self, idx):
feature, label = voc_rand_crop(self.features[idx], self.labels[idx],
*self.crop_size)
return (feature.transpose(2, 0, 1),
voc_label_indices(label, self.colormap2label))
def __len__(self):
return len(self.features)
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#@save
class VOCSegDataset(torch.utils.data.Dataset):
"""一个用于加载VOC数据集的自定义数据集"""
def __init__(self, is_train, crop_size, voc_dir):
self.transform = torchvision.transforms.Normalize(
mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225])
self.crop_size = crop_size
features, labels = read_voc_images(voc_dir, is_train=is_train)
self.features = [self.normalize_image(feature)
for feature in self.filter(features)]
self.labels = self.filter(labels)
self.colormap2label = voc_colormap2label()
print('read ' + str(len(self.features)) + ' examples')
def normalize_image(self, img):
return self.transform(img.float() / 255)
def filter(self, imgs):
return [img for img in imgs if (
img.shape[1] >= self.crop_size[0] and
img.shape[2] >= self.crop_size[1])]
def __getitem__(self, idx):
feature, label = voc_rand_crop(self.features[idx], self.labels[idx],
*self.crop_size)
return (feature, voc_label_indices(label, self.colormap2label))
def __len__(self):
return len(self.features)
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#@save
class VOCSegDataset(paddle.io.Dataset):
"""一个用于加载VOC数据集的自定义数据集
Defined in :numref:`sec_semantic_segmentation`"""
def __init__(self, is_train, crop_size, voc_dir):
self.transform = paddle.vision.transforms.Normalize(
mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225])
self.crop_size = crop_size
features, labels = read_voc_images(voc_dir, is_train=is_train)
self.features = [self.normalize_image(feature)
for feature in self.filter(features)]
self.labels = self.filter(labels)
self.colormap2label = voc_colormap2label()
print('read ' + str(len(self.features)) + ' examples')
def normalize_image(self, img):
return self.transform(img.astype("float32") / 255)
def filter(self, imgs):
return [img for img in imgs if (
img.shape[1] >= self.crop_size[0] and
img.shape[2] >= self.crop_size[1])]
def __getitem__(self, idx):
feature = paddle.to_tensor(self.features[idx],dtype='float32')
label = paddle.to_tensor(self.labels[idx],dtype='float32')
feature, label = voc_rand_crop(feature,label,
*self.crop_size)
return (feature, voc_label_indices(label, self.colormap2label))
def __len__(self):
return len(self.features)
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\diilbookstyleinputcell
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crop_size = (320, 480)
voc_train = VOCSegDataset(True, crop_size, voc_dir)
voc_test = VOCSegDataset(False, crop_size, voc_dir)
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\diilbookstyleoutputcell
.. parsed-literal::
:class: output
read 1114 examples
read 1078 examples
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\diilbookstyleinputcell
.. code:: python
crop_size = (320, 480)
voc_train = VOCSegDataset(True, crop_size, voc_dir)
voc_test = VOCSegDataset(False, crop_size, voc_dir)
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\diilbookstyleoutputcell
.. parsed-literal::
:class: output
read 1114 examples
read 1078 examples
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\diilbookstyleinputcell
.. code:: python
crop_size = (320, 480)
voc_train = VOCSegDataset(True, crop_size, voc_dir)
voc_test = VOCSegDataset(False, crop_size, voc_dir)
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\diilbookstyleoutputcell
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:class: output
read 1114 examples
read 1078 examples
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\diilbookstyleinputcell
.. code:: python
batch_size = 64
train_iter = gluon.data.DataLoader(voc_train, batch_size, shuffle=True,
last_batch='discard',
num_workers=d2l.get_dataloader_workers())
for X, Y in train_iter:
print(X.shape)
print(Y.shape)
break
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\diilbookstyleoutputcell
.. parsed-literal::
:class: output
(64, 3, 320, 480)
(64, 320, 480)
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\diilbookstyleinputcell
.. code:: python
batch_size = 64
train_iter = torch.utils.data.DataLoader(voc_train, batch_size, shuffle=True,
drop_last=True,
num_workers=d2l.get_dataloader_workers())
for X, Y in train_iter:
print(X.shape)
print(Y.shape)
break
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\diilbookstyleoutputcell
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:class: output
torch.Size([64, 3, 320, 480])
torch.Size([64, 320, 480])
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\diilbookstyleinputcell
.. code:: python
batch_size = 64
train_iter = paddle.io.DataLoader(voc_train, batch_size=batch_size, shuffle=True,
drop_last=True,
return_list=True,
num_workers=d2l.get_dataloader_workers())
for X, Y in train_iter:
print(X.shape)
print(Y.shape)
break
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\diilbookstyleoutputcell
.. parsed-literal::
:class: output
[64, 3, 320, 480]
[64, 320, 480]
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\diilbookstyleinputcell
.. code:: python
#@save
def load_data_voc(batch_size, crop_size):
"""加载VOC语义分割数据集"""
voc_dir = d2l.download_extract('voc2012', os.path.join(
'VOCdevkit', 'VOC2012'))
num_workers = d2l.get_dataloader_workers()
train_iter = gluon.data.DataLoader(
VOCSegDataset(True, crop_size, voc_dir), batch_size,
shuffle=True, last_batch='discard', num_workers=num_workers)
test_iter = gluon.data.DataLoader(
VOCSegDataset(False, crop_size, voc_dir), batch_size,
last_batch='discard', num_workers=num_workers)
return train_iter, test_iter
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\diilbookstyleinputcell
.. code:: python
#@save
def load_data_voc(batch_size, crop_size):
"""加载VOC语义分割数据集"""
voc_dir = d2l.download_extract('voc2012', os.path.join(
'VOCdevkit', 'VOC2012'))
num_workers = d2l.get_dataloader_workers()
train_iter = torch.utils.data.DataLoader(
VOCSegDataset(True, crop_size, voc_dir), batch_size,
shuffle=True, drop_last=True, num_workers=num_workers)
test_iter = torch.utils.data.DataLoader(
VOCSegDataset(False, crop_size, voc_dir), batch_size,
drop_last=True, num_workers=num_workers)
return train_iter, test_iter
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\diilbookstyleinputcell
.. code:: python
#@save
def load_data_voc(batch_size, crop_size):
"""加载VOC语义分割数据集"""
voc_dir = d2l.download_extract('voc2012', os.path.join(
'VOCdevkit', 'VOC2012'))
num_workers = d2l.get_dataloader_workers()
train_iter = paddle.io.DataLoader(
VOCSegDataset(True, crop_size, voc_dir), batch_size=batch_size,
shuffle=True, return_list=True, drop_last=True, num_workers=num_workers)
test_iter = paddle.io.DataLoader(
VOCSegDataset(False, crop_size, voc_dir), batch_size=batch_size,
drop_last=True, return_list=True, num_workers=num_workers)
return train_iter, test_iter
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`Discussions `__
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`Discussions `__
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