yolov5/utils/datasets.py

import glob
import os
import random
import shutil
import time
from pathlib import Path
from threading import Thread

import cv2
import math
import numpy as np
import torch
from PIL import Image, ExifTags
from torch.utils.data import Dataset
from tqdm import tqdm

from utils.general import xyxy2xywh, xywh2xyxy, torch_distributed_zero_first

help_url = 'https://github.com/ultralytics/yolov5/wiki/Train-Custom-Data'
img_formats = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.dng']
vid_formats = ['.mov', '.avi', '.mp4', '.mpg', '.mpeg', '.m4v', '.wmv', '.mkv']

# Get orientation exif tag
for orientation in ExifTags.TAGS.keys():
    if ExifTags.TAGS[orientation] == 'Orientation':
        break


def get_hash(files):
    # Returns a single hash value of a list of files
    return sum(os.path.getsize(f) for f in files if os.path.isfile(f))


def exif_size(img):
    # Returns exif-corrected PIL size
    s = img.size  # (width, height)
    try:
        rotation = dict(img._getexif().items())[orientation]
        if rotation == 6:  # rotation 270
            s = (s[1], s[0])
        elif rotation == 8:  # rotation 90
            s = (s[1], s[0])
    except:
        pass

    return s


def create_dataloader(path, imgsz, batch_size, stride, opt, hyp=None, augment=False, cache=False, pad=0.0, rect=False,
                      rank=-1, world_size=1, workers=8):
    # Make sure only the first process in DDP process the dataset first, and the following others can use the cache.
    with torch_distributed_zero_first(rank):
        dataset = LoadImagesAndLabels(path, imgsz, batch_size,
                                      augment=augment,  # augment images
                                      hyp=hyp,  # augmentation hyperparameters
                                      rect=rect,  # rectangular training
                                      cache_images=cache,
                                      single_cls=opt.single_cls,
                                      stride=int(stride),
                                      pad=pad,
                                      rank=rank)

    batch_size = min(batch_size, len(dataset))
    nw = min([os.cpu_count() // world_size, batch_size if batch_size > 1 else 0, workers])  # number of workers
    sampler = torch.utils.data.distributed.DistributedSampler(dataset) if rank != -1 else None
    dataloader = InfiniteDataLoader(dataset,
                                    batch_size=batch_size,
                                    num_workers=nw,
                                    sampler=sampler,
                                    pin_memory=True,
                                    collate_fn=LoadImagesAndLabels.collate_fn)  # torch.utils.data.DataLoader()
    return dataloader, dataset


class InfiniteDataLoader(torch.utils.data.dataloader.DataLoader):
    """ Dataloader that reuses workers.

    Uses same syntax as vanilla DataLoader.
    """

    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        object.__setattr__(self, 'batch_sampler', _RepeatSampler(self.batch_sampler))
        self.iterator = super().__iter__()

    def __len__(self):
        return len(self.batch_sampler.sampler)

    def __iter__(self):
        for i in range(len(self)):
            yield next(self.iterator)


class _RepeatSampler(object):
    """ Sampler that repeats forever.

    Args:
        sampler (Sampler)
    """

    def __init__(self, sampler):
        self.sampler = sampler

    def __iter__(self):
        while True:
            yield from iter(self.sampler)


class LoadImages:  # for inference
    def __init__(self, path, img_size=640):
        p = str(Path(path))  # os-agnostic
        p = os.path.abspath(p)  # absolute path
        if '*' in p:
            files = sorted(glob.glob(p, recursive=True))  # glob
        elif os.path.isdir(p):
            files = sorted(glob.glob(os.path.join(p, '*.*')))  # dir
        elif os.path.isfile(p):
            files = [p]  # files
        else:
            raise Exception('ERROR: %s does not exist' % p)

        images = [x for x in files if os.path.splitext(x)[-1].lower() in img_formats]
        videos = [x for x in files if os.path.splitext(x)[-1].lower() in vid_formats]
        ni, nv = len(images), len(videos)

        self.img_size = img_size
        self.files = images + videos
        self.nf = ni + nv  # number of files
        self.video_flag = [False] * ni + [True] * nv
        self.mode = 'images'
        if any(videos):
            self.new_video(videos[0])  # new video
        else:
            self.cap = None
        assert self.nf > 0, 'No images or videos found in %s. Supported formats are:\nimages: %s\nvideos: %s' % \
                            (p, img_formats, vid_formats)

    def __iter__(self):
        self.count = 0
        return self

    def __next__(self):
        if self.count == self.nf:
            raise StopIteration
        path = self.files[self.count]

        if self.video_flag[self.count]:
            # Read video
            self.mode = 'video'
            ret_val, img0 = self.cap.read()
            if not ret_val:
                self.count += 1
                self.cap.release()
                if self.count == self.nf:  # last video
                    raise StopIteration
                else:
                    path = self.files[self.count]
                    self.new_video(path)
                    ret_val, img0 = self.cap.read()

            self.frame += 1
            print('video %g/%g (%g/%g) %s: ' % (self.count + 1, self.nf, self.frame, self.nframes, path), end='')

        else:
            # Read image
            self.count += 1
            img0 = cv2.imread(path)  # BGR
            assert img0 is not None, 'Image Not Found ' + path
            print('image %g/%g %s: ' % (self.count, self.nf, path), end='')

        # Padded resize
        img = letterbox(img0, new_shape=self.img_size)[0]

        # Convert
        img = img[:, :, ::-1].transpose(2, 0, 1)  # BGR to RGB, to 3x416x416
        img = np.ascontiguousarray(img)

        # cv2.imwrite(path + '.letterbox.jpg', 255 * img.transpose((1, 2, 0))[:, :, ::-1])  # save letterbox image
        return path, img, img0, self.cap

    def new_video(self, path):
        self.frame = 0
        self.cap = cv2.VideoCapture(path)
        self.nframes = int(self.cap.get(cv2.CAP_PROP_FRAME_COUNT))

    def __len__(self):
        return self.nf  # number of files


class LoadWebcam:  # for inference
    def __init__(self, pipe=0, img_size=640):
        self.img_size = img_size

        if pipe == '0':
            pipe = 0  # local camera
        # pipe = 'rtsp://192.168.1.64/1'  # IP camera
        # pipe = 'rtsp://username:password@192.168.1.64/1'  # IP camera with login
        # pipe = 'rtsp://170.93.143.139/rtplive/470011e600ef003a004ee33696235daa'  # IP traffic camera
        # pipe = 'http://wmccpinetop.axiscam.net/mjpg/video.mjpg'  # IP golf camera

        # https://answers.opencv.org/question/215996/changing-gstreamer-pipeline-to-opencv-in-pythonsolved/
        # pipe = '"rtspsrc location="rtsp://username:password@192.168.1.64/1" latency=10 ! appsink'  # GStreamer

        # https://answers.opencv.org/question/200787/video-acceleration-gstremer-pipeline-in-videocapture/
        # https://stackoverflow.com/questions/54095699/install-gstreamer-support-for-opencv-python-package  # install help
        # pipe = "rtspsrc location=rtsp://root:root@192.168.0.91:554/axis-media/media.amp?videocodec=h264&resolution=3840x2160 protocols=GST_RTSP_LOWER_TRANS_TCP ! rtph264depay ! queue ! vaapih264dec ! videoconvert ! appsink"  # GStreamer

        self.pipe = pipe
        self.cap = cv2.VideoCapture(pipe)  # video capture object
        self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 3)  # set buffer size

    def __iter__(self):
        self.count = -1
        return self

    def __next__(self):
        self.count += 1
        if cv2.waitKey(1) == ord('q'):  # q to quit
            self.cap.release()
            cv2.destroyAllWindows()
            raise StopIteration

        # Read frame
        if self.pipe == 0:  # local camera
            ret_val, img0 = self.cap.read()
            img0 = cv2.flip(img0, 1)  # flip left-right
        else:  # IP camera
            n = 0
            while True:
                n += 1
                self.cap.grab()
                if n % 30 == 0:  # skip frames
                    ret_val, img0 = self.cap.retrieve()
                    if ret_val:
                        break

        # Print
        assert ret_val, 'Camera Error %s' % self.pipe
        img_path = 'webcam.jpg'
        print('webcam %g: ' % self.count, end='')

        # Padded resize
        img = letterbox(img0, new_shape=self.img_size)[0]

        # Convert
        img = img[:, :, ::-1].transpose(2, 0, 1)  # BGR to RGB, to 3x416x416
        img = np.ascontiguousarray(img)

        return img_path, img, img0, None

    def __len__(self):
        return 0


class LoadStreams:  # multiple IP or RTSP cameras
    def __init__(self, sources='streams.txt', img_size=640):
        self.mode = 'images'
        self.img_size = img_size

        if os.path.isfile(sources):
            with open(sources, 'r') as f:
                sources = [x.strip() for x in f.read().splitlines() if len(x.strip())]
        else:
            sources = [sources]

        n = len(sources)
        self.imgs = [None] * n
        self.sources = sources
        for i, s in enumerate(sources):
            # Start the thread to read frames from the video stream
            print('%g/%g: %s... ' % (i + 1, n, s), end='')
            cap = cv2.VideoCapture(eval(s) if s.isnumeric() else s)
            assert cap.isOpened(), 'Failed to open %s' % s
            w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
            h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
            fps = cap.get(cv2.CAP_PROP_FPS) % 100
            _, self.imgs[i] = cap.read()  # guarantee first frame
            thread = Thread(target=self.update, args=([i, cap]), daemon=True)
            print(' success (%gx%g at %.2f FPS).' % (w, h, fps))
            thread.start()
        print('')  # newline

        # check for common shapes
        s = np.stack([letterbox(x, new_shape=self.img_size)[0].shape for x in self.imgs], 0)  # inference shapes
        self.rect = np.unique(s, axis=0).shape[0] == 1  # rect inference if all shapes equal
        if not self.rect:
            print('WARNING: Different stream shapes detected. For optimal performance supply similarly-shaped streams.')

    def update(self, index, cap):
        # Read next stream frame in a daemon thread
        n = 0
        while cap.isOpened():
            n += 1
            # _, self.imgs[index] = cap.read()
            cap.grab()
            if n == 4:  # read every 4th frame
                _, self.imgs[index] = cap.retrieve()
                n = 0
            time.sleep(0.01)  # wait time

    def __iter__(self):
        self.count = -1
        return self

    def __next__(self):
        self.count += 1
        img0 = self.imgs.copy()
        if cv2.waitKey(1) == ord('q'):  # q to quit
            cv2.destroyAllWindows()
            raise StopIteration

        # Letterbox
        img = [letterbox(x, new_shape=self.img_size, auto=self.rect)[0] for x in img0]

        # Stack
        img = np.stack(img, 0)

        # Convert
        img = img[:, :, :, ::-1].transpose(0, 3, 1, 2)  # BGR to RGB, to bsx3x416x416
        img = np.ascontiguousarray(img)

        return self.sources, img, img0, None

    def __len__(self):
        return 0  # 1E12 frames = 32 streams at 30 FPS for 30 years


class LoadImagesAndLabels(Dataset):  # for training/testing
    def __init__(self, path, img_size=640, batch_size=16, augment=False, hyp=None, rect=False, image_weights=False,
                 cache_images=False, single_cls=False, stride=32, pad=0.0, rank=-1):
        try:
            f = []  # image files
            for p in path if isinstance(path, list) else [path]:
                p = str(Path(p))  # os-agnostic
                parent = str(Path(p).parent) + os.sep
                if os.path.isfile(p):  # file
                    with open(p, 'r') as t:
                        t = t.read().splitlines()
                        f += [x.replace('./', parent) if x.startswith('./') else x for x in t]  # local to global path
                elif os.path.isdir(p):  # folder
                    f += glob.iglob(p + os.sep + '*.*')
                else:
                    raise Exception('%s does not exist' % p)
            self.img_files = sorted(
                [x.replace('/', os.sep) for x in f if os.path.splitext(x)[-1].lower() in img_formats])
        except Exception as e:
            raise Exception('Error loading data from %s: %s\nSee %s' % (path, e, help_url))

        n = len(self.img_files)
        assert n > 0, 'No images found in %s. See %s' % (path, help_url)
        bi = np.floor(np.arange(n) / batch_size).astype(np.int)  # batch index
        nb = bi[-1] + 1  # number of batches

        self.n = n  # number of images
        self.batch = bi  # batch index of image
        self.img_size = img_size
        self.augment = augment
        self.hyp = hyp
        self.image_weights = image_weights
        self.rect = False if image_weights else rect
        self.mosaic = self.augment and not self.rect  # load 4 images at a time into a mosaic (only during training)
        self.mosaic_border = [-img_size // 2, -img_size // 2]
        self.stride = stride

        # Define labels
        sa, sb = os.sep + 'images' + os.sep, os.sep + 'labels' + os.sep  # /images/, /labels/ substrings
        self.label_files = [x.replace(sa, sb, 1).replace(os.path.splitext(x)[-1], '.txt') for x in self.img_files]

        # Check cache
        cache_path = str(Path(self.label_files[0]).parent) + '.cache'  # cached labels
        if os.path.isfile(cache_path):
            cache = torch.load(cache_path)  # load
            if cache['hash'] != get_hash(self.label_files + self.img_files):  # dataset changed
                cache = self.cache_labels(cache_path)  # re-cache
        else:
            cache = self.cache_labels(cache_path)  # cache

        # Get labels
        labels, shapes = zip(*[cache[x] for x in self.img_files])
        self.shapes = np.array(shapes, dtype=np.float64)
        self.labels = list(labels)

        # Rectangular Training  https://github.com/ultralytics/yolov3/issues/232
        if self.rect:
            # Sort by aspect ratio
            s = self.shapes  # wh
            ar = s[:, 1] / s[:, 0]  # aspect ratio
            irect = ar.argsort()
            self.img_files = [self.img_files[i] for i in irect]
            self.label_files = [self.label_files[i] for i in irect]
            self.labels = [self.labels[i] for i in irect]
            self.shapes = s[irect]  # wh
            ar = ar[irect]

            # Set training image shapes
            shapes = [[1, 1]] * nb
            for i in range(nb):
                ari = ar[bi == i]
                mini, maxi = ari.min(), ari.max()
                if maxi < 1:
                    shapes[i] = [maxi, 1]
                elif mini > 1:
                    shapes[i] = [1, 1 / mini]

            self.batch_shapes = np.ceil(np.array(shapes) * img_size / stride + pad).astype(np.int) * stride

        # Cache labels
        create_datasubset, extract_bounding_boxes, labels_loaded = False, False, False
        nm, nf, ne, ns, nd = 0, 0, 0, 0, 0  # number missing, found, empty, datasubset, duplicate
        pbar = enumerate(self.label_files)
        if rank in [-1, 0]:
            pbar = tqdm(pbar)
        for i, file in pbar:
            l = self.labels[i]  # label
            if l is not None and l.shape[0]:
                assert l.shape[1] == 5, '> 5 label columns: %s' % file
                assert (l >= 0).all(), 'negative labels: %s' % file
                assert (l[:, 1:] <= 1).all(), 'non-normalized or out of bounds coordinate labels: %s' % file
                if np.unique(l, axis=0).shape[0] < l.shape[0]:  # duplicate rows
                    nd += 1  # print('WARNING: duplicate rows in %s' % self.label_files[i])  # duplicate rows
                if single_cls:
                    l[:, 0] = 0  # force dataset into single-class mode
                self.labels[i] = l
                nf += 1  # file found

                # Create subdataset (a smaller dataset)
                if create_datasubset and ns < 1E4:
                    if ns == 0:
                        create_folder(path='./datasubset')
                        os.makedirs('./datasubset/images')
                    exclude_classes = 43
                    if exclude_classes not in l[:, 0]:
                        ns += 1
                        # shutil.copy(src=self.img_files[i], dst='./datasubset/images/')  # copy image
                        with open('./datasubset/images.txt', 'a') as f:
                            f.write(self.img_files[i] + '\n')

                # Extract object detection boxes for a second stage classifier
                if extract_bounding_boxes:
                    p = Path(self.img_files[i])
                    img = cv2.imread(str(p))
                    h, w = img.shape[:2]
                    for j, x in enumerate(l):
                        f = '%s%sclassifier%s%g_%g_%s' % (p.parent.parent, os.sep, os.sep, x[0], j, p.name)
                        if not os.path.exists(Path(f).parent):
                            os.makedirs(Path(f).parent)  # make new output folder

                        b = x[1:] * [w, h, w, h]  # box
                        b[2:] = b[2:].max()  # rectangle to square
                        b[2:] = b[2:] * 1.3 + 30  # pad
                        b = xywh2xyxy(b.reshape(-1, 4)).ravel().astype(np.int)

                        b[[0, 2]] = np.clip(b[[0, 2]], 0, w)  # clip boxes outside of image
                        b[[1, 3]] = np.clip(b[[1, 3]], 0, h)
                        assert cv2.imwrite(f, img[b[1]:b[3], b[0]:b[2]]), 'Failure extracting classifier boxes'
            else:
                ne += 1  # print('empty labels for image %s' % self.img_files[i])  # file empty
                # os.system("rm '%s' '%s'" % (self.img_files[i], self.label_files[i]))  # remove

            if rank in [-1, 0]:
                pbar.desc = 'Scanning labels %s (%g found, %g missing, %g empty, %g duplicate, for %g images)' % (
                    cache_path, nf, nm, ne, nd, n)
        if nf == 0:
            s = 'WARNING: No labels found in %s. See %s' % (os.path.dirname(file) + os.sep, help_url)
            print(s)
            assert not augment, '%s. Can not train without labels.' % s

        # Cache images into memory for faster training (WARNING: large datasets may exceed system RAM)
        self.imgs = [None] * n
        if cache_images:
            gb = 0  # Gigabytes of cached images
            pbar = tqdm(range(len(self.img_files)), desc='Caching images')
            self.img_hw0, self.img_hw = [None] * n, [None] * n
            for i in pbar:  # max 10k images
                self.imgs[i], self.img_hw0[i], self.img_hw[i] = load_image(self, i)  # img, hw_original, hw_resized
                gb += self.imgs[i].nbytes
                pbar.desc = 'Caching images (%.1fGB)' % (gb / 1E9)

    def cache_labels(self, path='labels.cache'):
        # Cache dataset labels, check images and read shapes
        x = {}  # dict
        pbar = tqdm(zip(self.img_files, self.label_files), desc='Scanning images', total=len(self.img_files))
        for (img, label) in pbar:
            try:
                l = []
                image = Image.open(img)
                image.verify()  # PIL verify
                # _ = io.imread(img)  # skimage verify (from skimage import io)
                shape = exif_size(image)  # image size
                assert (shape[0] > 9) & (shape[1] > 9), 'image size <10 pixels'
                if os.path.isfile(label):
                    with open(label, 'r') as f:
                        l = np.array([x.split() for x in f.read().splitlines()], dtype=np.float32)  # labels
                if len(l) == 0:
                    l = np.zeros((0, 5), dtype=np.float32)
                x[img] = [l, shape]
            except Exception as e:
                x[img] = [None, None]
                print('WARNING: %s: %s' % (img, e))

        x['hash'] = get_hash(self.label_files + self.img_files)
        torch.save(x, path)  # save for next time
        return x

    def __len__(self):
        return len(self.img_files)

    # def __iter__(self):
    #     self.count = -1
    #     print('ran dataset iter')
    #     #self.shuffled_vector = np.random.permutation(self.nF) if self.augment else np.arange(self.nF)
    #     return self

    def __getitem__(self, index):
        if self.image_weights:
            index = self.indices[index]

        hyp = self.hyp
        mosaic = self.mosaic and random.random() < hyp['mosaic']
        if mosaic:
            # Load mosaic
            img, labels = load_mosaic(self, index)
            shapes = None

            # MixUp https://arxiv.org/pdf/1710.09412.pdf
            if random.random() < hyp['mixup']:
                img2, labels2 = load_mosaic(self, random.randint(0, len(self.labels) - 1))
                r = np.random.beta(8.0, 8.0)  # mixup ratio, alpha=beta=8.0
                img = (img * r + img2 * (1 - r)).astype(np.uint8)
                labels = np.concatenate((labels, labels2), 0)

        else:
            # Load image
            img, (h0, w0), (h, w) = load_image(self, index)

            # Letterbox
            shape = self.batch_shapes[self.batch[index]] if self.rect else self.img_size  # final letterboxed shape
            img, ratio, pad = letterbox(img, shape, auto=False, scaleup=self.augment)
            shapes = (h0, w0), ((h / h0, w / w0), pad)  # for COCO mAP rescaling

            # Load labels
            labels = []
            x = self.labels[index]
            if x.size > 0:
                # Normalized xywh to pixel xyxy format
                labels = x.copy()
                labels[:, 1] = ratio[0] * w * (x[:, 1] - x[:, 3] / 2) + pad[0]  # pad width
                labels[:, 2] = ratio[1] * h * (x[:, 2] - x[:, 4] / 2) + pad[1]  # pad height
                labels[:, 3] = ratio[0] * w * (x[:, 1] + x[:, 3] / 2) + pad[0]
                labels[:, 4] = ratio[1] * h * (x[:, 2] + x[:, 4] / 2) + pad[1]

        if self.augment:
            # Augment imagespace
            if not mosaic:
                img, labels = random_perspective(img, labels,
                                                 degrees=hyp['degrees'],
                                                 translate=hyp['translate'],
                                                 scale=hyp['scale'],
                                                 shear=hyp['shear'],
                                                 perspective=hyp['perspective'])

            # Augment colorspace
            augment_hsv(img, hgain=hyp['hsv_h'], sgain=hyp['hsv_s'], vgain=hyp['hsv_v'])

            # Apply cutouts
            # if random.random() < 0.9:
            #     labels = cutout(img, labels)

        nL = len(labels)  # number of labels
        if nL:
            labels[:, 1:5] = xyxy2xywh(labels[:, 1:5])  # convert xyxy to xywh
            labels[:, [2, 4]] /= img.shape[0]  # normalized height 0-1
            labels[:, [1, 3]] /= img.shape[1]  # normalized width 0-1

        if self.augment:
            # flip up-down
            if random.random() < hyp['flipud']:
                img = np.flipud(img)
                if nL:
                    labels[:, 2] = 1 - labels[:, 2]

            # flip left-right
            if random.random() < hyp['fliplr']:
                img = np.fliplr(img)
                if nL:
                    labels[:, 1] = 1 - labels[:, 1]

        labels_out = torch.zeros((nL, 6))
        if nL:
            labels_out[:, 1:] = torch.from_numpy(labels)

        # Convert
        img = img[:, :, ::-1].transpose(2, 0, 1)  # BGR to RGB, to 3x416x416
        img = np.ascontiguousarray(img)

        return torch.from_numpy(img), labels_out, self.img_files[index], shapes

    @staticmethod
    def collate_fn(batch):
        img, label, path, shapes = zip(*batch)  # transposed
        for i, l in enumerate(label):
            l[:, 0] = i  # add target image index for build_targets()
        return torch.stack(img, 0), torch.cat(label, 0), path, shapes


# Ancillary functions --------------------------------------------------------------------------------------------------
def load_image(self, index):
    # loads 1 image from dataset, returns img, original hw, resized hw
    img = self.imgs[index]
    if img is None:  # not cached
        path = self.img_files[index]
        img = cv2.imread(path)  # BGR
        assert img is not None, 'Image Not Found ' + path
        h0, w0 = img.shape[:2]  # orig hw
        r = self.img_size / max(h0, w0)  # resize image to img_size
        if r != 1:  # always resize down, only resize up if training with augmentation
            interp = cv2.INTER_AREA if r < 1 and not self.augment else cv2.INTER_LINEAR
            img = cv2.resize(img, (int(w0 * r), int(h0 * r)), interpolation=interp)
        return img, (h0, w0), img.shape[:2]  # img, hw_original, hw_resized
    else:
        return self.imgs[index], self.img_hw0[index], self.img_hw[index]  # img, hw_original, hw_resized


def augment_hsv(img, hgain=0.5, sgain=0.5, vgain=0.5):
    r = np.random.uniform(-1, 1, 3) * [hgain, sgain, vgain] + 1  # random gains
    hue, sat, val = cv2.split(cv2.cvtColor(img, cv2.COLOR_BGR2HSV))
    dtype = img.dtype  # uint8

    x = np.arange(0, 256, dtype=np.int16)
    lut_hue = ((x * r[0]) % 180).astype(dtype)
    lut_sat = np.clip(x * r[1], 0, 255).astype(dtype)
    lut_val = np.clip(x * r[2], 0, 255).astype(dtype)

    img_hsv = cv2.merge((cv2.LUT(hue, lut_hue), cv2.LUT(sat, lut_sat), cv2.LUT(val, lut_val))).astype(dtype)
    cv2.cvtColor(img_hsv, cv2.COLOR_HSV2BGR, dst=img)  # no return needed

    # Histogram equalization
    # if random.random() < 0.2:
    #     for i in range(3):
    #         img[:, :, i] = cv2.equalizeHist(img[:, :, i])


def load_mosaic(self, index):
    # loads images in a mosaic

    labels4 = []
    s = self.img_size
    yc, xc = [int(random.uniform(-x, 2 * s + x)) for x in self.mosaic_border]  # mosaic center x, y
    indices = [index] + [random.randint(0, len(self.labels) - 1) for _ in range(3)]  # 3 additional image indices
    for i, index in enumerate(indices):
        # Load image
        img, _, (h, w) = load_image(self, index)

        # place img in img4
        if i == 0:  # top left
            img4 = np.full((s * 2, s * 2, img.shape[2]), 114, dtype=np.uint8)  # base image with 4 tiles
            x1a, y1a, x2a, y2a = max(xc - w, 0), max(yc - h, 0), xc, yc  # xmin, ymin, xmax, ymax (large image)
            x1b, y1b, x2b, y2b = w - (x2a - x1a), h - (y2a - y1a), w, h  # xmin, ymin, xmax, ymax (small image)
        elif i == 1:  # top right
            x1a, y1a, x2a, y2a = xc, max(yc - h, 0), min(xc + w, s * 2), yc
            x1b, y1b, x2b, y2b = 0, h - (y2a - y1a), min(w, x2a - x1a), h
        elif i == 2:  # bottom left
            x1a, y1a, x2a, y2a = max(xc - w, 0), yc, xc, min(s * 2, yc + h)
            x1b, y1b, x2b, y2b = w - (x2a - x1a), 0, w, min(y2a - y1a, h)
        elif i == 3:  # bottom right
            x1a, y1a, x2a, y2a = xc, yc, min(xc + w, s * 2), min(s * 2, yc + h)
            x1b, y1b, x2b, y2b = 0, 0, min(w, x2a - x1a), min(y2a - y1a, h)

        img4[y1a:y2a, x1a:x2a] = img[y1b:y2b, x1b:x2b]  # img4[ymin:ymax, xmin:xmax]
        padw = x1a - x1b
        padh = y1a - y1b

        # Labels
        x = self.labels[index]
        labels = x.copy()
        if x.size > 0:  # Normalized xywh to pixel xyxy format
            labels[:, 1] = w * (x[:, 1] - x[:, 3] / 2) + padw
            labels[:, 2] = h * (x[:, 2] - x[:, 4] / 2) + padh
            labels[:, 3] = w * (x[:, 1] + x[:, 3] / 2) + padw
            labels[:, 4] = h * (x[:, 2] + x[:, 4] / 2) + padh
        labels4.append(labels)

    # Concat/clip labels
    if len(labels4):
        labels4 = np.concatenate(labels4, 0)
        np.clip(labels4[:, 1:], 0, 2 * s, out=labels4[:, 1:])  # use with random_perspective
        # img4, labels4 = replicate(img4, labels4)  # replicate

    # Augment
    img4, labels4 = random_perspective(img4, labels4,
                                       degrees=self.hyp['degrees'],
                                       translate=self.hyp['translate'],
                                       scale=self.hyp['scale'],
                                       shear=self.hyp['shear'],
                                       perspective=self.hyp['perspective'],
                                       border=self.mosaic_border)  # border to remove

    return img4, labels4


def replicate(img, labels):
    # Replicate labels
    h, w = img.shape[:2]
    boxes = labels[:, 1:].astype(int)
    x1, y1, x2, y2 = boxes.T
    s = ((x2 - x1) + (y2 - y1)) / 2  # side length (pixels)
    for i in s.argsort()[:round(s.size * 0.5)]:  # smallest indices
        x1b, y1b, x2b, y2b = boxes[i]
        bh, bw = y2b - y1b, x2b - x1b
        yc, xc = int(random.uniform(0, h - bh)), int(random.uniform(0, w - bw))  # offset x, y
        x1a, y1a, x2a, y2a = [xc, yc, xc + bw, yc + bh]
        img[y1a:y2a, x1a:x2a] = img[y1b:y2b, x1b:x2b]  # img4[ymin:ymax, xmin:xmax]
        labels = np.append(labels, [[labels[i, 0], x1a, y1a, x2a, y2a]], axis=0)

    return img, labels


def letterbox(img, new_shape=(640, 640), color=(114, 114, 114), auto=True, scaleFill=False, scaleup=True):
    # Resize image to a 32-pixel-multiple rectangle https://github.com/ultralytics/yolov3/issues/232
    shape = img.shape[:2]  # current shape [height, width]
    if isinstance(new_shape, int):
        new_shape = (new_shape, new_shape)

    # Scale ratio (new / old)
    r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])
    if not scaleup:  # only scale down, do not scale up (for better test mAP)
        r = min(r, 1.0)

    # Compute padding
    ratio = r, r  # width, height ratios
    new_unpad = int(round(shape[1] * r)), int(round(shape[0] * r))
    dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1]  # wh padding
    if auto:  # minimum rectangle
        dw, dh = np.mod(dw, 64), np.mod(dh, 64)  # wh padding
    elif scaleFill:  # stretch
        dw, dh = 0.0, 0.0
        new_unpad = (new_shape[1], new_shape[0])
        ratio = new_shape[1] / shape[1], new_shape[0] / shape[0]  # width, height ratios

    dw /= 2  # divide padding into 2 sides
    dh /= 2

    if shape[::-1] != new_unpad:  # resize
        img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR)
    top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))
    left, right = int(round(dw - 0.1)), int(round(dw + 0.1))
    img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color)  # add border
    return img, ratio, (dw, dh)


def random_perspective(img, targets=(), degrees=10, translate=.1, scale=.1, shear=10, perspective=0.0, border=(0, 0)):
    # torchvision.transforms.RandomAffine(degrees=(-10, 10), translate=(.1, .1), scale=(.9, 1.1), shear=(-10, 10))
    # targets = [cls, xyxy]

    height = img.shape[0] + border[0] * 2  # shape(h,w,c)
    width = img.shape[1] + border[1] * 2

    # Center
    C = np.eye(3)
    C[0, 2] = -img.shape[1] / 2  # x translation (pixels)
    C[1, 2] = -img.shape[0] / 2  # y translation (pixels)

    # Perspective
    P = np.eye(3)
    P[2, 0] = random.uniform(-perspective, perspective)  # x perspective (about y)
    P[2, 1] = random.uniform(-perspective, perspective)  # y perspective (about x)

    # Rotation and Scale
    R = np.eye(3)
    a = random.uniform(-degrees, degrees)
    # a += random.choice([-180, -90, 0, 90])  # add 90deg rotations to small rotations
    s = random.uniform(1 - scale, 1 + scale)
    # s = 2 ** random.uniform(-scale, scale)
    R[:2] = cv2.getRotationMatrix2D(angle=a, center=(0, 0), scale=s)

    # Shear
    S = np.eye(3)
    S[0, 1] = math.tan(random.uniform(-shear, shear) * math.pi / 180)  # x shear (deg)
    S[1, 0] = math.tan(random.uniform(-shear, shear) * math.pi / 180)  # y shear (deg)

    # Translation
    T = np.eye(3)
    T[0, 2] = random.uniform(0.5 - translate, 0.5 + translate) * width  # x translation (pixels)
    T[1, 2] = random.uniform(0.5 - translate, 0.5 + translate) * height  # y translation (pixels)

    # Combined rotation matrix
    M = T @ S @ R @ P @ C  # order of operations (right to left) is IMPORTANT
    if (border[0] != 0) or (border[1] != 0) or (M != np.eye(3)).any():  # image changed
        if perspective:
            img = cv2.warpPerspective(img, M, dsize=(width, height), borderValue=(114, 114, 114))
        else:  # affine
            img = cv2.warpAffine(img, M[:2], dsize=(width, height), borderValue=(114, 114, 114))

    # Visualize
    # import matplotlib.pyplot as plt
    # ax = plt.subplots(1, 2, figsize=(12, 6))[1].ravel()
    # ax[0].imshow(img[:, :, ::-1])  # base
    # ax[1].imshow(img2[:, :, ::-1])  # warped

    # Transform label coordinates
    n = len(targets)
    if n:
        # warp points
        xy = np.ones((n * 4, 3))
        xy[:, :2] = targets[:, [1, 2, 3, 4, 1, 4, 3, 2]].reshape(n * 4, 2)  # x1y1, x2y2, x1y2, x2y1
        xy = xy @ M.T  # transform
        if perspective:
            xy = (xy[:, :2] / xy[:, 2:3]).reshape(n, 8)  # rescale
        else:  # affine
            xy = xy[:, :2].reshape(n, 8)

        # create new boxes
        x = xy[:, [0, 2, 4, 6]]
        y = xy[:, [1, 3, 5, 7]]
        xy = np.concatenate((x.min(1), y.min(1), x.max(1), y.max(1))).reshape(4, n).T

        # # apply angle-based reduction of bounding boxes
        # radians = a * math.pi / 180
        # reduction = max(abs(math.sin(radians)), abs(math.cos(radians))) ** 0.5
        # x = (xy[:, 2] + xy[:, 0]) / 2
        # y = (xy[:, 3] + xy[:, 1]) / 2
        # w = (xy[:, 2] - xy[:, 0]) * reduction
        # h = (xy[:, 3] - xy[:, 1]) * reduction
        # xy = np.concatenate((x - w / 2, y - h / 2, x + w / 2, y + h / 2)).reshape(4, n).T

        # clip boxes
        xy[:, [0, 2]] = xy[:, [0, 2]].clip(0, width)
        xy[:, [1, 3]] = xy[:, [1, 3]].clip(0, height)

        # filter candidates
        i = box_candidates(box1=targets[:, 1:5].T * s, box2=xy.T)
        targets = targets[i]
        targets[:, 1:5] = xy[i]

    return img, targets


def box_candidates(box1, box2, wh_thr=2, ar_thr=20, area_thr=0.1):  # box1(4,n), box2(4,n)
    # Compute candidate boxes: box1 before augment, box2 after augment, wh_thr (pixels), aspect_ratio_thr, area_ratio
    w1, h1 = box1[2] - box1[0], box1[3] - box1[1]
    w2, h2 = box2[2] - box2[0], box2[3] - box2[1]
    ar = np.maximum(w2 / (h2 + 1e-16), h2 / (w2 + 1e-16))  # aspect ratio
    return (w2 > wh_thr) & (h2 > wh_thr) & (w2 * h2 / (w1 * h1 + 1e-16) > area_thr) & (ar < ar_thr)  # candidates


def cutout(image, labels):
    # Applies image cutout augmentation https://arxiv.org/abs/1708.04552
    h, w = image.shape[:2]

    def bbox_ioa(box1, box2):
        # Returns the intersection over box2 area given box1, box2. box1 is 4, box2 is nx4. boxes are x1y1x2y2
        box2 = box2.transpose()

        # Get the coordinates of bounding boxes
        b1_x1, b1_y1, b1_x2, b1_y2 = box1[0], box1[1], box1[2], box1[3]
        b2_x1, b2_y1, b2_x2, b2_y2 = box2[0], box2[1], box2[2], box2[3]

        # Intersection area
        inter_area = (np.minimum(b1_x2, b2_x2) - np.maximum(b1_x1, b2_x1)).clip(0) * \
                     (np.minimum(b1_y2, b2_y2) - np.maximum(b1_y1, b2_y1)).clip(0)

        # box2 area
        box2_area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1) + 1e-16

        # Intersection over box2 area
        return inter_area / box2_area

    # create random masks
    scales = [0.5] * 1 + [0.25] * 2 + [0.125] * 4 + [0.0625] * 8 + [0.03125] * 16  # image size fraction
    for s in scales:
        mask_h = random.randint(1, int(h * s))
        mask_w = random.randint(1, int(w * s))

        # box
        xmin = max(0, random.randint(0, w) - mask_w // 2)
        ymin = max(0, random.randint(0, h) - mask_h // 2)
        xmax = min(w, xmin + mask_w)
        ymax = min(h, ymin + mask_h)

        # apply random color mask
        image[ymin:ymax, xmin:xmax] = [random.randint(64, 191) for _ in range(3)]

        # return unobscured labels
        if len(labels) and s > 0.03:
            box = np.array([xmin, ymin, xmax, ymax], dtype=np.float32)
            ioa = bbox_ioa(box, labels[:, 1:5])  # intersection over area
            labels = labels[ioa < 0.60]  # remove >60% obscured labels

    return labels


def reduce_img_size(path='path/images', img_size=1024):  # from utils.datasets import *; reduce_img_size()
    # creates a new ./images_reduced folder with reduced size images of maximum size img_size
    path_new = path + '_reduced'  # reduced images path
    create_folder(path_new)
    for f in tqdm(glob.glob('%s/*.*' % path)):
        try:
            img = cv2.imread(f)
            h, w = img.shape[:2]
            r = img_size / max(h, w)  # size ratio
            if r < 1.0:
                img = cv2.resize(img, (int(w * r), int(h * r)), interpolation=cv2.INTER_AREA)  # _LINEAR fastest
            fnew = f.replace(path, path_new)  # .replace(Path(f).suffix, '.jpg')
            cv2.imwrite(fnew, img)
        except:
            print('WARNING: image failure %s' % f)


def recursive_dataset2bmp(dataset='path/dataset_bmp'):  # from utils.datasets import *; recursive_dataset2bmp()
    # Converts dataset to bmp (for faster training)
    formats = [x.lower() for x in img_formats] + [x.upper() for x in img_formats]
    for a, b, files in os.walk(dataset):
        for file in tqdm(files, desc=a):
            p = a + '/' + file
            s = Path(file).suffix
            if s == '.txt':  # replace text
                with open(p, 'r') as f:
                    lines = f.read()
                for f in formats:
                    lines = lines.replace(f, '.bmp')
                with open(p, 'w') as f:
                    f.write(lines)
            elif s in formats:  # replace image
                cv2.imwrite(p.replace(s, '.bmp'), cv2.imread(p))
                if s != '.bmp':
                    os.system("rm '%s'" % p)


def imagelist2folder(path='path/images.txt'):  # from utils.datasets import *; imagelist2folder()
    # Copies all the images in a text file (list of images) into a folder
    create_folder(path[:-4])
    with open(path, 'r') as f:
        for line in f.read().splitlines():
            os.system('cp "%s" %s' % (line, path[:-4]))
            print(line)


def create_folder(path='./new'):
    # Create folder
    if os.path.exists(path):
        shutil.rmtree(path)  # delete output folder
    os.makedirs(path)  # make new output folder