vision_utils

RandomScale

Rescale the input PIL.Image to the given size.

Parameters:

Name	Type	Description	Default
minsize	sequence or int	Desired min output size. If size is a sequence like (w, h), output size will be matched to this. If size is an int, smaller edge of the image will be matched to this number. i.e, if height > width, then image will be rescaled to (size * height / width, size)	required
maxsize	sequence or int	Desired max output size. If size is a sequence like (w, h), output size will be matched to this. If size is an int, smaller edge of the image will be matched to this number. i.e, if height > width, then image will be rescaled to (size * height / width, size)	required
interpolation	int	Desired interpolation. Default is PIL.Image.BILINEAR	Image.BILINEAR

Source code in omnigibson/utils/vision_utils.py

class RandomScale:
    """Rescale the input PIL.Image to the given size.
    Args:
        minsize (sequence or int): Desired min output size. If size is a sequence like
            (w, h), output size will be matched to this. If size is an int,
            smaller edge of the image will be matched to this number.
            i.e, if height > width, then image will be rescaled to
            (size * height / width, size)
        maxsize (sequence or int): Desired max output size. If size is a sequence like
            (w, h), output size will be matched to this. If size is an int,
            smaller edge of the image will be matched to this number.
            i.e, if height > width, then image will be rescaled to
            (size * height / width, size)
        interpolation (int, optional): Desired interpolation. Default is ``PIL.Image.BILINEAR``
    """

    def __init__(self, minsize, maxsize, interpolation=Image.BILINEAR):
        assert isinstance(minsize, int)
        assert isinstance(maxsize, int)
        self.minsize = minsize
        self.maxsize = maxsize
        self.interpolation = interpolation

    def __call__(self, img):
        """
        Args:
            img (PIL.Image): Image to be scaled.

        Returns:
            PIL.Image: Rescaled image.
        """

        size = random.randint(self.minsize, self.maxsize)

        if isinstance(size, int):
            w, h = img.size
            if (w <= h and w == size) or (h <= w and h == size):
                return img
            if w < h:
                ow = size
                oh = int(size * h / w)
                return img.resize((ow, oh), self.interpolation)
            else:
                oh = size
                ow = int(size * w / h)
                return img.resize((ow, oh), self.interpolation)
        else:
            raise NotImplementedError()

__call__(img)

Parameters:

Name	Type	Description	Default
img	PIL.Image	Image to be scaled.	required

Returns:

Type	Description
	PIL.Image: Rescaled image.

Source code in omnigibson/utils/vision_utils.py

def __call__(self, img):
    """
    Args:
        img (PIL.Image): Image to be scaled.

    Returns:
        PIL.Image: Rescaled image.
    """

    size = random.randint(self.minsize, self.maxsize)

    if isinstance(size, int):
        w, h = img.size
        if (w <= h and w == size) or (h <= w and h == size):
            return img
        if w < h:
            ow = size
            oh = int(size * h / w)
            return img.resize((ow, oh), self.interpolation)
        else:
            oh = size
            ow = int(size * w / h)
            return img.resize((ow, oh), self.interpolation)
    else:
        raise NotImplementedError()

randomize_colors(N, bright=True)

Modified from https://github.com/matterport/Mask_RCNN/blob/master/mrcnn/visualize.py#L59 Generate random colors. To get visually distinct colors, generate them in HSV space then convert to RGB.

Parameters:

Name	Type	Description	Default
N	int	Number of colors to generate	required

Returns:

Name	Type	Description
bright	bool	whether to increase the brightness of the colors or not

Source code in omnigibson/utils/vision_utils.py

def randomize_colors(N, bright=True):
    """
    Modified from https://github.com/matterport/Mask_RCNN/blob/master/mrcnn/visualize.py#L59
    Generate random colors.
    To get visually distinct colors, generate them in HSV space then
    convert to RGB.

    Args:
        N (int): Number of colors to generate

    Returns:
        bright (bool): whether to increase the brightness of the colors or not
    """
    brightness = 1.0 if bright else 0.5
    hsv = [(1.0 * i / N, 1, brightness) for i in range(N)]
    colors = np.array(list(map(lambda c: colorsys.hsv_to_rgb(*c), hsv)))
    rstate = np.random.RandomState(seed=20)
    np.random.shuffle(colors)
    colors[0] = [0, 0, 0]  # First color is black
    return colors

segmentation_to_rgb(seg_im, N, colors=None)

Helper function to visualize segmentations as RGB frames. NOTE: assumes that geom IDs go up to N at most - if not, multiple geoms might be assigned to the same color.

Parameters:

Name	Type	Description	Default
seg_im	W, H)-array	Segmentation image	required
N	int	Maximum segmentation ID from @seg_im	required
colors	None or list of 3-array	If specified, colors to apply to different segmentation IDs. Otherwise, will be generated randomly	None

Source code in omnigibson/utils/vision_utils.py

def segmentation_to_rgb(seg_im, N, colors=None):
    """
    Helper function to visualize segmentations as RGB frames.
    NOTE: assumes that geom IDs go up to N at most - if not,
    multiple geoms might be assigned to the same color.

    Args:
        seg_im ((W, H)-array): Segmentation image
        N (int): Maximum segmentation ID from @seg_im
        colors (None or list of 3-array): If specified, colors to apply
            to different segmentation IDs. Otherwise, will be generated randomly
    """
    # ensure all values lie within [0, N]
    seg_im = np.mod(seg_im, N)

    if colors is None:
        use_colors = randomize_colors(N=N, bright=True)
    else:
        use_colors = colors

    if N <= 256:
        return (255.0 * use_colors[seg_im]).astype(np.uint8)
    else:
        return (use_colors[seg_im]).astype(np.float)