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Remove colorBounds metadata property #971

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Merged
merged 3 commits into from
Jan 20, 2022
Merged

Remove colorBounds metadata property #971

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13ff1c4
removing colorBounds metadata value in favor of calculating bounding-…
Jan 19, 2022
0e6e788
removing colorBounds from json schema
Jan 19, 2022
7bb2a76
Merge branch 'main' into erick/remove-color-bounds
Jan 20, 2022
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44 changes: 20 additions & 24 deletions ai2thor/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -269,8 +269,6 @@ def process_colors_ids(self):
if self.instance_segmentation_frame is None:
return

MIN_DETECTION_LEN = 0

self.instance_detections2D = {}
unique_ids, unique_inverse = unique_rows(
self.instance_segmentation_frame.reshape(-1, 3), return_inverse=True
Expand All @@ -283,9 +281,7 @@ def process_colors_ids(self):
== np.arange(len(unique_ids))[:, np.newaxis, np.newaxis]
)

# for unique_color_ind, unique_color in enumerate(unique_ids):
for color_bounds in self.metadata["colorBounds"]:
color = np.array(color_bounds["color"])
for color_ind, color in enumerate(unique_ids):
color_name = self.color_to_object_id.get(
tuple(int(cc) for cc in color), "background"
)
Expand All @@ -295,29 +291,29 @@ def process_colors_ids(self):
cls = cls.split("|")[0]
simObj = True

bb = np.array(color_bounds["bounds"])
bb[[1, 3]] = self.metadata["screenHeight"] - bb[[3, 1]]
if not (
(bb[2] - bb[0]) < MIN_DETECTION_LEN
or (bb[3] - bb[1]) < MIN_DETECTION_LEN
):
if cls not in self.class_detections2D:
self.class_detections2D[cls] = []
if cls not in self.class_detections2D:
self.class_detections2D[cls] = []
mask = unique_masks[color_ind, ...]
bb = self.mask_bounding_box(mask)
self.class_detections2D[cls].append(bb)

if simObj:
self.instance_detections2D[color_name] = bb
self.instance_masks[color_name] = mask

self.class_detections2D[cls].append(bb)
if cls not in self.class_masks:
self.class_masks[cls] = mask
else:
self.class_masks[cls] = np.logical_or(self.class_masks[cls], mask)

color_ind = np.argmin(np.sum(np.abs(unique_ids - color), axis=1))
def mask_bounding_box(self, mask):
rows = np.any(mask, axis=1)
cols = np.any(mask, axis=0)
rmin, rmax = np.where(rows)[0][[0, -1]]
cmin, cmax = np.where(cols)[0][[0, -1]]

if simObj:
self.instance_detections2D[color_name] = bb
self.instance_masks[color_name] = unique_masks[color_ind, ...]
return cmin, rmin, cmax, rmax

if cls not in self.class_masks:
self.class_masks[cls] = unique_masks[color_ind, ...]
else:
self.class_masks[cls] = np.logical_or(
self.class_masks[cls], unique_masks[color_ind, ...]
)

def _image_depth(self, image_depth_data, **kwargs):
image_depth = read_buffer_image(
Expand Down
4 changes: 0 additions & 4 deletions ai2thor/tests/data/arm-metadata-schema.json
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Original file line number Diff line number Diff line change
Expand Up @@ -603,9 +603,6 @@
"colors": {
"type": "null"
},
"colorBounds": {
"type": "null"
},
"flatSurfacesOnGrid": {
"type": "array"
},
Expand Down Expand Up @@ -708,7 +705,6 @@
"cameraPosition",
"collided",
"collidedObjects",
"colorBounds",
"colors",
"currentTime",
"distances",
Expand Down
4 changes: 0 additions & 4 deletions ai2thor/tests/data/metadata-schema.json
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Original file line number Diff line number Diff line change
Expand Up @@ -467,9 +467,6 @@
"colors": {
"type": "null"
},
"colorBounds": {
"type": "null"
},
"flatSurfacesOnGrid": {
"type": "array"
},
Expand Down Expand Up @@ -571,7 +568,6 @@
"cameraPosition",
"collided",
"collidedObjects",
"colorBounds",
"colors",
"currentTime",
"distances",
Expand Down
38 changes: 0 additions & 38 deletions unity/Assets/Scripts/AgentManager.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -797,43 +797,6 @@ private void addObjectImage(List<KeyValuePair<string, byte[]>> payload, BaseFPSA
byte[] bytes = agent.imageSynthesis.Encode("_id");
payload.Add(new KeyValuePair<string, byte[]>("image_ids", bytes));

Color[] id_image = agent.imageSynthesis.tex.GetPixels();
Dictionary<Color, int[]> colorBounds = new Dictionary<Color, int[]>();
for (int yy = 0; yy < UnityEngine.Screen.height; yy++) {
for (int xx = 0; xx < tex.width; xx++) {
Color colorOn = id_image[yy * UnityEngine.Screen.width + xx];
if (!colorBounds.ContainsKey(colorOn)) {
colorBounds[colorOn] = new int[] { xx, yy, xx, yy };
} else {
int[] oldPoint = colorBounds[colorOn];
if (xx < oldPoint[0]) {
oldPoint[0] = xx;
}
if (yy < oldPoint[1]) {
oldPoint[1] = yy;
}
if (xx > oldPoint[2]) {
oldPoint[2] = xx;
}
if (yy > oldPoint[3]) {
oldPoint[3] = yy;
}
}
}
}
List<ColorBounds> boundsList = new List<ColorBounds>();
foreach (Color key in colorBounds.Keys) {
ColorBounds bounds = new ColorBounds();
bounds.color = new ushort[] {
(ushort)Math.Round (key.r * 255),
(ushort)Math.Round (key.g * 255),
(ushort)Math.Round (key.b * 255)
};
bounds.bounds = colorBounds[key];
boundsList.Add(bounds);
}
metadata.colorBounds = boundsList.ToArray();

List<ColorId> colors = new List<ColorId>();
foreach (Color key in agent.imageSynthesis.colorIds.Keys) {
ColorId cid = new ColorId();
Expand Down Expand Up @@ -1601,7 +1564,6 @@ public struct MetadataWrapper {
public int screenHeight;
public int agentId;
public ColorId[] colors;
public ColorBounds[] colorBounds;

// Extras
public float[] flatSurfacesOnGrid;
Expand Down