perception4e.py

"""Perception (Chapter 24)"""

import numpy as np
import scipy.signal
import matplotlib.pyplot as plt
from utils4e import gaussian_kernel_2d
import keras
from keras.datasets import mnist
from keras.models import Sequential
from keras.layers import Dense,  Activation, Flatten, InputLayer
from keras.layers import Conv2D, MaxPooling2D
import cv2

# ____________________________________________________
# 24.3 Early Image Processing Operators
# 24.3.1 Edge Detection


def array_normalization(array, range_min, range_max):
    """normalize an array in the range of (range_min, range_max)"""
    if not isinstance(array, np.ndarray):
        array = np.asarray(array)
    array = array - np.min(array)
    array = array * (range_max - range_min) / np.max(array) + range_min
    return array


def gradient_edge_detector(image):
    """
    Image edge detection by calculating gradients in the image
    :param image: numpy ndarray or an iterable object
    :return: numpy ndarray, representing a gray scale image
    """
    if not isinstance(image, np.ndarray):
        image = np.asarray(image)
    # gradient filters of x and y direction edges
    x_filter, y_filter = np.array([[1, -1]]), np.array([[1], [-1]])
    # convolution between filter and image to get edges
    y_edges = scipy.signal.convolve2d(image, x_filter, 'same')
    x_edges = scipy.signal.convolve2d(image, y_filter, 'same')
    edges = array_normalization(x_edges+y_edges, 0, 255)
    return edges


def gaussian_derivative_edge_detector(image):
    """Image edge detector using derivative of gaussian kernels"""
    if not isinstance(image, np.ndarray):
        image = np.asarray(image)
    gaussian_filter = gaussian_kernel_2d()
    # init derivative of gaussian filters
    x_filter = scipy.signal.convolve2d(gaussian_filter, np.asarray([[1, -1]]), 'same')
    y_filter = scipy.signal.convolve2d(gaussian_filter, np.asarray([[1], [-1]]), 'same')
    # extract edges using convolution
    y_edges = scipy.signal.convolve2d(image, x_filter, 'same')
    x_edges = scipy.signal.convolve2d(image, y_filter, 'same')
    edges = array_normalization(x_edges+y_edges, 0, 255)
    return edges


def laplacian_edge_detector(image):
    """Extract image edge with laplacian filter"""
    if not isinstance(image, np.ndarray):
        image = np.asarray(image)
    # init laplacian filter
    laplacian_kernel = np.asarray([[0, -1, 0], [-1, 4, -1], [0, -1, 0]])
    # extract edges with convolution
    edges = scipy.signal.convolve2d(image, laplacian_kernel, 'same')
    edges = array_normalization(edges, 0, 255)
    return edges


def show_edges(edges):
    """ helper function to show edges picture"""
    plt.imshow(edges, cmap='gray', vmin=0, vmax=255)
    plt.axis('off')
    plt.show()

# __________________________________________________
# 24.3.3 Optical flow


def sum_squared_difference(pic1, pic2):
    """ssd of two frames"""
    pic1 = np.asarray(pic1)
    pic2 = np.asarray(pic2)
    assert pic1.shape == pic2.shape
    min_ssd = float('inf')
    min_dxy = (float('inf'), float('inf'))

    # consider picture shift from -30 to 30
    for Dx in range(-30, 31):
        for Dy in range(-30, 31):
            # shift the image
            shifted_pic = np.roll(pic2, Dx, axis=0)
            shifted_pic = np.roll(shifted_pic, Dy, axis=1)
            # calculate the difference
            diff = np.sum((pic1 - shifted_pic) ** 2)
            if diff < min_ssd:
                min_dxy = (Dx, Dy)
                min_ssd = diff
    return min_dxy, min_ssd


# ____________________________________________________
# segmentation

def gen_gray_scale_picture(size, level=3):
    """
    Generate a picture with different gray scale levels
    :param size: size of generated picture
    :param level: the number of level of gray scales in the picture,
                  range (0, 255) are equally divided by number of levels
    :return image in numpy ndarray type
    """
    assert level > 0
    # init an empty image
    image = np.zeros((size, size))
    if level == 1:
        return image
    # draw a square on the left upper corner of the image
    for x in range(size):
        for y in range(size):
            image[x,y] += (250//(level-1)) * (max(x, y)*level//size)
    return image


gray_scale_image = gen_gray_scale_picture(3)


def probability_contour_detection(image, discs, threshold=0):
    """
    detect edges/contours by applying a set of discs to an image
    :param image: an image in type of numpy ndarray
    :param discs: a set of discs/filters to apply to pixels of image
    :param threshold: threshold to tell whether the pixel at (x, y) is on an edge
    :return image showing edges in numpy ndarray type
    """
    # init an empty output image
    res = np.zeros(image.shape)
    step = discs[0].shape[0]
    for x_i in range(0, image.shape[0]-step+1,1):
        for y_i in range(0, image.shape[1]-step+1, 1):
            diff = []
            # apply each pair of discs and calculate the difference
            for d in range(0, len(discs),2):
                disc1, disc2 = discs[d], discs[d+1]
                # crop the region of interest
                region = image[x_i: x_i+step, y_i: y_i+step]
                diff.append(np.sum(np.multiply(region, disc1)) - np.sum(np.multiply(region, disc2)))
            if max(diff) > threshold:
                # change color of the center of region
                res[x_i + step//2, y_i + step//2] = 255
    return res


def group_contour_detection(image, cluster_num=2):
    """
    detecting contours in an image with k-means clustering
    :param image: an image in numpy ndarray type
    :param cluster_num: number of clusters in k-means
    """
    img = image
    Z = np.float32(img)
    criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 10, 1.0)
    K = cluster_num
    # use kmeans in opencv-python
    ret, label, center = cv2.kmeans(Z, K, None, criteria, 10, cv2.KMEANS_RANDOM_CENTERS)
    center = np.uint8(center)
    res = center[label.flatten()]
    res2 = res.reshape((img.shape))
    # show the image
    # cv2.imshow('res2', res2)
    # cv2.waitKey(0)
    # cv2.destroyAllWindows()
    return res2


def image_to_graph(image):
    """
    convert an image to an graph in adjacent matrix form
    """
    graph_dict = {}
    for x in range(image.shape[0]):
        for y in range(image.shape[1]):
            graph_dict[(x, y)] = [(x+1, y) if x+1 < image.shape[0] else None, (x, y+1) if y+1 < image.shape[1] else None]
    return graph_dict


def generate_edge_weight(image, v1, v2):
    """
    find edge weight between two vertices in an image
    :param image: image in numpy ndarray type
    :param v1, v2: verticles in the image in form of (x index, y index)
    """
    diff = abs(image[v1[0], v1[1]] - image[v2[0], v2[1]])
    return 255-diff


class Graph:
    """graph in adjacent matrix to represent an image"""
    def __init__(self, image):
        """image: ndarray"""
        self.graph = image_to_graph(image)
        # number of columns and rows
        self.ROW = len(self.graph)
        self.COL = 2
        self.image = image
        # dictionary to save the maximum flow of each edge
        self.flow = {}
        # initialize the flow
        for s in self.graph:
            self.flow[s] = {}
            for t in self.graph[s]:
                if t:
                    self.flow[s][t] = generate_edge_weight(image, s, t)

    def bfs(self, s, t, parent):
        """breadth first search to tell whether there is an edge between source and sink
        parent: a list to save the path between s and t"""
        # queue to save the current searching frontier
        queue = [s]
        visited = []

        while queue:
            u = queue.pop(0)
            for node in self.graph[u]:
                # only select edge with positive flow
                if node not in visited and node and self.flow[u][node]>0:
                    queue.append(node)
                    visited.append(node)
                    parent.append((u, node))
        return True if t in visited else False

    def min_cut(self, source, sink):
        """find the minimum cut of the graph between source and sink"""
        parent = []
        max_flow = 0

        while self.bfs(source, sink, parent):
            path_flow = float('inf')
            # find the minimum flow of s-t path
            for s, t in parent:
                path_flow = min(path_flow, self.flow[s][t])

            max_flow += path_flow

            # update all edges between source and sink
            for s in self.flow:
                for t in self.flow[s]:
                    if t[0] <= sink[0] and t[1] <= sink[1]:
                        self.flow[s][t] -= path_flow
            parent = []
        res = []
        for i in self.flow:
            for j in self.flow[i]:
                if self.flow[i][j] == 0 and generate_edge_weight(self.image, i,j) > 0:
                    res.append((i,j))
        return res


def gen_discs(init_scale, scales=1):
    """
    Generate a collection of disc pairs by splitting an round discs with different angles
    :param init_scale: the initial size of each half discs
    :param scales: scale number of each type of half discs, the scale size will be doubled each time
    :return: the collection of generated discs: [discs of scale1, discs of scale2...]
    """
    discs = []
    for m in range(scales):
        scale = init_scale * (m+1)
        disc = []
        # make the full empty dist
        white = np.zeros((scale, scale))
        center = (scale-1)/2
        for i in range(scale):
            for j in range(scale):
                if (i-center)**2 + (j-center)**2 <= (center ** 2):
                    white[i, j] = 255
        # generate lower half and upper half
        lower_half = np.copy(white)
        lower_half[:(scale-1)//2, :] = 0
        upper_half = lower_half[::-1, ::-1]
        # generate left half and right half
        disc += [lower_half, upper_half, np.transpose(lower_half), np.transpose(upper_half)]
        # generate upper-left, lower-right, upper-right, lower-left half discs
        disc += [np.tril(white, 0), np.triu(white, 0), np.flip(np.tril(white, 0), axis=0), np.flip(np.triu(white, 0), axis=0)]
        discs.append(disc)
    return discs


# __________________________________________________
# 24.4 Classifying Images


def load_MINST(train_size, val_size, test_size):
    """load MINST dataset from keras"""
    (x_train, y_train), (x_test, y_test) = mnist.load_data()
    total_size = len(x_train)
    if train_size + val_size > total_size:
        train_size = total_size - val_size
    x_train = x_train.reshape(x_train.shape[0], 1, 28, 28)
    x_test = x_test.reshape(x_test.shape[0], 1, 28, 28)
    x_train = x_train.astype('float32')
    x_train /= 255
    test_x = x_test.astype('float32')
    test_x /= 255
    y_train = keras.utils.to_categorical(y_train, 10)
    y_test = keras.utils.to_categorical(y_test, 10)
    return (x_train[:train_size], y_train[:train_size]), \
           (x_train[train_size:train_size+val_size], y_train[train_size:train_size+val_size]), \
           (x_test[:test_size], y_test[:test_size])


def simple_convnet(size=3, num_classes=10):
    """
    simple convolutional network for digit recognition
    :param size: number of convolution layers
    :param num_classes: number of output classes
    :return a convolution network in keras model type
    """
    model = Sequential()
    # add input layer for images of size (28, 28)
    model.add(
        InputLayer(input_shape=(1, 28, 28))
    )
    # add convolution layers and max pooling layers
    for _ in range(size):
        model.add(
            Conv2D(
                32, (2, 2),
                padding='same',
                kernel_initializer='random_uniform'
            )
        )
        model.add(MaxPooling2D(padding='same'))

    # add flatten layer and output layers
    model.add(Flatten())
    model.add(Dense(num_classes))
    model.add(Activation('softmax'))

    # compile model
    opt = keras.optimizers.rmsprop(lr=0.0001, decay=1e-6)
    model.compile(loss='categorical_crossentropy',
                  optimizer=opt,
                  metrics=['accuracy'])
    print(model.summary())
    return model


def train_model(model):
    """train the simple convolution network"""
    # load dataset
    (train_x, train_y), (val_x, val_y), (test_x, test_y) = load_MINST(1000, 100, 100)
    model.fit(train_x, train_y, validation_data=(val_x, val_y), epochs=5, verbose=2, batch_size=32)
    scores = model.evaluate(test_x, test_y, verbose=1)
    print(scores)
    return model


# _____________________________________________________
# 24.5 DETECTING OBJECTS


def selective_search(image):
    """
    selective search for object detection
    :param image: str, the path of image or image in ndarray type with 3 channels
    :return list of bounding boxes, each element is in form of [x_min, y_min, x_max, y_max]
    """
    if not image:
        im = cv2.imread("./images/stapler1-test.png")
    elif isinstance(image, str):
        im = cv2.imread(image)
    else:
        im =np.stack((image)*3, axis=-1)

    # use opencv python to extract bounding box with selective search
    ss = cv2.ximgproc.segmentation.createSelectiveSearchSegmentation()
    ss.setBaseImage(im)
    ss.switchToSelectiveSearchQuality()
    rects = ss.process()

    # show bounding boxes with the input image
    image_out = im.copy()
    for rect in rects[:100]:
        print(rect)
        x, y, w, h = rect
        cv2.rectangle(image_out, (x, y), (x + w, y + h), (0, 255, 0), 1, cv2.LINE_AA)
    cv2.imshow("Output", image_out)
    cv2.waitKey(0)
    return rects


# faster RCNN
def pool_rois(feature_map, rois, pooled_height, pooled_width):
    """
    Applies ROI pooling for a single image and varios ROIs
    :param feature_map: ndarray, in shape of (width, height, channel)
    :param rois: list of roi
    :param pooled_height: height of pooled area
    :param pooled_width: width of pooled area
    :return list of pooled features
    """

    def curried_pool_roi(roi):
        return pool_roi(feature_map, roi, pooled_height, pooled_width)

    pooled_areas = list(map(curried_pool_roi, rois))
    return pooled_areas


def pool_roi(feature_map, roi, pooled_height, pooled_width):
    """
    Applies a single ROI pooling to a single image
    :param feature_map: ndarray, in shape of (width, height, channel)
    :param roi: region of interest, in form of [x_min_ratio, y_min_ratio, x_max_ratio, y_max_ratio]
    :return feature of pooling output, in shape of (pooled_width, pooled_height)
    """

    # Compute the region of interest
    feature_map_height = int(feature_map.shape[0])
    feature_map_width = int(feature_map.shape[1])

    h_start = int(feature_map_height * roi[0])
    w_start = int(feature_map_width * roi[1])
    h_end = int(feature_map_height * roi[2])
    w_end = int(feature_map_width * roi[3])

    region = feature_map[h_start:h_end, w_start:w_end, :]

    # Divide the region into non overlapping areas
    region_height = h_end - h_start
    region_width = w_end - w_start
    h_step = region_height // pooled_height
    w_step = region_width // pooled_width

    areas = [[(
        i * h_step,
        j * w_step,
        (i + 1) * h_step if i + 1 < pooled_height else region_height,
        (j + 1) * w_step if j + 1 < pooled_width else region_width
    )
        for j in range(pooled_width)]
        for i in range(pooled_height)]

    # take the maximum of each area and stack the result
    def pool_area(x):
        return np.max(region[x[0]:x[2], x[1]:x[3], :])

    pooled_features = np.stack([[pool_area(x) for x in row] for row in areas])
    return pooled_features


# faster rcnn demo can be installed and shown in jupyter notebook
# def faster_rcnn_demo(directory):
#     """
#     show the demo of rcnn, the model is from
#     @inproceedings{renNIPS15fasterrcnn,
#     Author = {Shaoqing Ren and Kaiming He and Ross Girshick and Jian Sun},
#     Title = {Faster {R-CNN}: Towards Real-Time Object Detection
#              with Region Proposal Networks},
#     Booktitle = {Advances in Neural Information Processing Systems ({NIPS})},
#     Year = {2015}}
#     :param directory: the directory where the faster rcnn model is installed
#     """
    # os.chdir(directory + '/lib')
    # # make file
    # os.system("make clean")
    # os.system("make")
    # # run demo
    # os.chdir(directory)
    # os.system("./tools/demo.py")
    # return 0