detectron/projects/DensePose/densepose/densepose_coco_evaluation.py

# Copyright (c) Facebook, Inc. and its affiliates.
# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
# This is a modified version of cocoeval.py where we also have the densepose evaluation.

__author__ = "tsungyi"

import copy
import datetime
import itertools
import logging
import numpy as np
import pickle
import time
from collections import defaultdict
import scipy.spatial.distance as ssd
from fvcore.common.file_io import PathManager
from pycocotools import mask as maskUtils
from scipy.io import loadmat

from .structures import DensePoseResult

logger = logging.getLogger(__name__)


class DensePoseCocoEval(object):
    # Interface for evaluating detection on the Microsoft COCO dataset.
    #
    # The usage for CocoEval is as follows:
    #  cocoGt=..., cocoDt=...       # load dataset and results
    #  E = CocoEval(cocoGt,cocoDt); # initialize CocoEval object
    #  E.params.recThrs = ...;      # set parameters as desired
    #  E.evaluate();                # run per image evaluation
    #  E.accumulate();              # accumulate per image results
    #  E.summarize();               # display summary metrics of results
    # For example usage see evalDemo.m and http://mscoco.org/.
    #
    # The evaluation parameters are as follows (defaults in brackets):
    #  imgIds     - [all] N img ids to use for evaluation
    #  catIds     - [all] K cat ids to use for evaluation
    #  iouThrs    - [.5:.05:.95] T=10 IoU thresholds for evaluation
    #  recThrs    - [0:.01:1] R=101 recall thresholds for evaluation
    #  areaRng    - [...] A=4 object area ranges for evaluation
    #  maxDets    - [1 10 100] M=3 thresholds on max detections per image
    #  iouType    - ['segm'] set iouType to 'segm', 'bbox', 'keypoints' or 'densepose'
    #  iouType replaced the now DEPRECATED useSegm parameter.
    #  useCats    - [1] if true use category labels for evaluation
    # Note: if useCats=0 category labels are ignored as in proposal scoring.
    # Note: multiple areaRngs [Ax2] and maxDets [Mx1] can be specified.
    #
    # evaluate(): evaluates detections on every image and every category and
    # concats the results into the "evalImgs" with fields:
    #  dtIds      - [1xD] id for each of the D detections (dt)
    #  gtIds      - [1xG] id for each of the G ground truths (gt)
    #  dtMatches  - [TxD] matching gt id at each IoU or 0
    #  gtMatches  - [TxG] matching dt id at each IoU or 0
    #  dtScores   - [1xD] confidence of each dt
    #  gtIgnore   - [1xG] ignore flag for each gt
    #  dtIgnore   - [TxD] ignore flag for each dt at each IoU
    #
    # accumulate(): accumulates the per-image, per-category evaluation
    # results in "evalImgs" into the dictionary "eval" with fields:
    #  params     - parameters used for evaluation
    #  date       - date evaluation was performed
    #  counts     - [T,R,K,A,M] parameter dimensions (see above)
    #  precision  - [TxRxKxAxM] precision for every evaluation setting
    #  recall     - [TxKxAxM] max recall for every evaluation setting
    # Note: precision and recall==-1 for settings with no gt objects.
    #
    # See also coco, mask, pycocoDemo, pycocoEvalDemo
    #
    # Microsoft COCO Toolbox.      version 2.0
    # Data, paper, and tutorials available at:  http://mscoco.org/
    # Code written by Piotr Dollar and Tsung-Yi Lin, 2015.
    # Licensed under the Simplified BSD License [see coco/license.txt]
    def __init__(self, cocoGt=None, cocoDt=None, iouType="densepose"):
        """
        Initialize CocoEval using coco APIs for gt and dt
        :param cocoGt: coco object with ground truth annotations
        :param cocoDt: coco object with detection results
        :return: None
        """
        self.cocoGt = cocoGt  # ground truth COCO API
        self.cocoDt = cocoDt  # detections COCO API
        self.params = {}  # evaluation parameters
        self.evalImgs = defaultdict(list)  # per-image per-category eval results [KxAxI]
        self.eval = {}  # accumulated evaluation results
        self._gts = defaultdict(list)  # gt for evaluation
        self._dts = defaultdict(list)  # dt for evaluation
        self.params = Params(iouType=iouType)  # parameters
        self._paramsEval = {}  # parameters for evaluation
        self.stats = []  # result summarization
        self.ious = {}  # ious between all gts and dts
        if cocoGt is not None:
            self.params.imgIds = sorted(cocoGt.getImgIds())
            self.params.catIds = sorted(cocoGt.getCatIds())
        self.ignoreThrBB = 0.7
        self.ignoreThrUV = 0.9

    def _loadGEval(self):
        smpl_subdiv_fpath = PathManager.get_local_path("detectron2://densepose/SMPL_subdiv.mat")
        pdist_transform_fpath = PathManager.get_local_path(
            "detectron2://densepose/SMPL_SUBDIV_TRANSFORM.mat"
        )
        pdist_matrix_fpath = PathManager.get_local_path("detectron2://densepose/Pdist_matrix.pkl")
        SMPL_subdiv = loadmat(smpl_subdiv_fpath)
        self.PDIST_transform = loadmat(pdist_transform_fpath)
        self.PDIST_transform = self.PDIST_transform["index"].squeeze()
        UV = np.array([SMPL_subdiv["U_subdiv"], SMPL_subdiv["V_subdiv"]]).squeeze()
        ClosestVertInds = np.arange(UV.shape[1]) + 1
        self.Part_UVs = []
        self.Part_ClosestVertInds = []
        for i in np.arange(24):
            self.Part_UVs.append(UV[:, SMPL_subdiv["Part_ID_subdiv"].squeeze() == (i + 1)])
            self.Part_ClosestVertInds.append(
                ClosestVertInds[SMPL_subdiv["Part_ID_subdiv"].squeeze() == (i + 1)]
            )

        with open(pdist_matrix_fpath, "rb") as hFile:
            arrays = pickle.load(hFile, encoding="latin1")
        self.Pdist_matrix = arrays["Pdist_matrix"]
        self.Part_ids = np.array(SMPL_subdiv["Part_ID_subdiv"].squeeze())
        # Mean geodesic distances for parts.
        self.Mean_Distances = np.array([0, 0.351, 0.107, 0.126, 0.237, 0.173, 0.142, 0.128, 0.150])
        # Coarse Part labels.
        self.CoarseParts = np.array(
            [0, 1, 1, 2, 2, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8]
        )

    def _prepare(self):
        """
        Prepare ._gts and ._dts for evaluation based on params
        :return: None
        """

        def _toMask(anns, coco):
            # modify ann['segmentation'] by reference
            for ann in anns:
                rle = coco.annToRLE(ann)
                ann["segmentation"] = rle

        def _getIgnoreRegion(iid, coco):
            img = coco.imgs[iid]

            if "ignore_regions_x" not in img.keys():
                return None

            if len(img["ignore_regions_x"]) == 0:
                return None

            rgns_merged = []
            for region_x, region_y in zip(img["ignore_regions_x"], img["ignore_regions_y"]):
                rgns = [iter(region_x), iter(region_y)]
                rgns_merged.append([next(it) for it in itertools.cycle(rgns)])
            rles = maskUtils.frPyObjects(rgns_merged, img["height"], img["width"])
            rle = maskUtils.merge(rles)
            return maskUtils.decode(rle)

        def _checkIgnore(dt, iregion):
            if iregion is None:
                return True

            bb = np.array(dt["bbox"]).astype(np.int)
            x1, y1, x2, y2 = bb[0], bb[1], bb[0] + bb[2], bb[1] + bb[3]
            x2 = min([x2, iregion.shape[1]])
            y2 = min([y2, iregion.shape[0]])

            if bb[2] * bb[3] == 0:
                return False

            crop_iregion = iregion[y1:y2, x1:x2]

            if crop_iregion.sum() == 0:
                return True

            if "densepose" not in dt.keys():  # filtering boxes
                return crop_iregion.sum() / bb[2] / bb[3] < self.ignoreThrBB

            # filtering UVs
            ignoremask = np.require(crop_iregion, requirements=["F"])
            uvmask = np.require(
                np.asarray(dt["densepose"][0] > 0), dtype=np.uint8, requirements=["F"]
            )
            uvmask_ = maskUtils.encode(uvmask)
            ignoremask_ = maskUtils.encode(ignoremask)
            uviou = maskUtils.iou([uvmask_], [ignoremask_], [1])[0]
            return uviou < self.ignoreThrUV

        p = self.params

        if p.useCats:
            gts = self.cocoGt.loadAnns(self.cocoGt.getAnnIds(imgIds=p.imgIds, catIds=p.catIds))
            dts = self.cocoDt.loadAnns(self.cocoDt.getAnnIds(imgIds=p.imgIds, catIds=p.catIds))
        else:
            gts = self.cocoGt.loadAnns(self.cocoGt.getAnnIds(imgIds=p.imgIds))
            dts = self.cocoDt.loadAnns(self.cocoDt.getAnnIds(imgIds=p.imgIds))

        # if iouType == 'uv', add point gt annotations
        if p.iouType == "densepose":
            self._loadGEval()

        # convert ground truth to mask if iouType == 'segm'
        if p.iouType == "segm":
            _toMask(gts, self.cocoGt)
            _toMask(dts, self.cocoDt)

        # set ignore flag
        for gt in gts:
            gt["ignore"] = gt["ignore"] if "ignore" in gt else 0
            gt["ignore"] = "iscrowd" in gt and gt["iscrowd"]
            if p.iouType == "keypoints":
                gt["ignore"] = (gt["num_keypoints"] == 0) or gt["ignore"]
            if p.iouType == "densepose":
                gt["ignore"] = ("dp_x" in gt) == 0

        self._gts = defaultdict(list)  # gt for evaluation
        self._dts = defaultdict(list)  # dt for evaluation
        self._igrgns = defaultdict(list)

        for gt in gts:
            iid = gt["image_id"]
            if iid not in self._igrgns.keys():
                self._igrgns[iid] = _getIgnoreRegion(iid, self.cocoGt)
            if _checkIgnore(gt, self._igrgns[iid]):
                self._gts[iid, gt["category_id"]].append(gt)
        for dt in dts:
            if _checkIgnore(dt, self._igrgns[dt["image_id"]]):
                self._dts[dt["image_id"], dt["category_id"]].append(dt)

        self.evalImgs = defaultdict(list)  # per-image per-category evaluation results
        self.eval = {}  # accumulated evaluation results

    def evaluate(self):
        """
        Run per image evaluation on given images and store results (a list of dict) in self.evalImgs
        :return: None
        """
        tic = time.time()
        logger.info("Running per image DensePose evaluation... {}".format(self.params.iouType))
        p = self.params
        # add backward compatibility if useSegm is specified in params
        if p.useSegm is not None:
            p.iouType = "segm" if p.useSegm == 1 else "bbox"
            logger.info("useSegm (deprecated) is not None. Running DensePose evaluation")
        p.imgIds = list(np.unique(p.imgIds))
        if p.useCats:
            p.catIds = list(np.unique(p.catIds))
        p.maxDets = sorted(p.maxDets)
        self.params = p

        self._prepare()
        # loop through images, area range, max detection number
        catIds = p.catIds if p.useCats else [-1]

        if p.iouType in ["segm", "bbox"]:
            computeIoU = self.computeIoU
        elif p.iouType == "keypoints":
            computeIoU = self.computeOks
        elif p.iouType == "densepose":
            computeIoU = self.computeOgps

        self.ious = {
            (imgId, catId): computeIoU(imgId, catId) for imgId in p.imgIds for catId in catIds
        }

        evaluateImg = self.evaluateImg
        maxDet = p.maxDets[-1]
        self.evalImgs = [
            evaluateImg(imgId, catId, areaRng, maxDet)
            for catId in catIds
            for areaRng in p.areaRng
            for imgId in p.imgIds
        ]
        self._paramsEval = copy.deepcopy(self.params)
        toc = time.time()
        logger.info("DensePose evaluation DONE (t={:0.2f}s).".format(toc - tic))

    def computeIoU(self, imgId, catId):
        p = self.params
        if p.useCats:
            gt = self._gts[imgId, catId]
            dt = self._dts[imgId, catId]
        else:
            gt = [_ for cId in p.catIds for _ in self._gts[imgId, cId]]
            dt = [_ for cId in p.catIds for _ in self._dts[imgId, cId]]
        if len(gt) == 0 and len(dt) == 0:
            return []
        inds = np.argsort([-d["score"] for d in dt], kind="mergesort")
        dt = [dt[i] for i in inds]
        if len(dt) > p.maxDets[-1]:
            dt = dt[0 : p.maxDets[-1]]

        if p.iouType == "segm":
            g = [g["segmentation"] for g in gt]
            d = [d["segmentation"] for d in dt]
        elif p.iouType == "bbox":
            g = [g["bbox"] for g in gt]
            d = [d["bbox"] for d in dt]
        else:
            raise Exception("unknown iouType for iou computation")

        # compute iou between each dt and gt region
        iscrowd = [int(o["iscrowd"]) for o in gt]
        ious = maskUtils.iou(d, g, iscrowd)
        return ious

    def computeOks(self, imgId, catId):
        p = self.params
        # dimension here should be Nxm
        gts = self._gts[imgId, catId]
        dts = self._dts[imgId, catId]
        inds = np.argsort([-d["score"] for d in dts], kind="mergesort")
        dts = [dts[i] for i in inds]
        if len(dts) > p.maxDets[-1]:
            dts = dts[0 : p.maxDets[-1]]
        # if len(gts) == 0 and len(dts) == 0:
        if len(gts) == 0 or len(dts) == 0:
            return []
        ious = np.zeros((len(dts), len(gts)))
        sigmas = (
            np.array(
                [
                    0.26,
                    0.25,
                    0.25,
                    0.35,
                    0.35,
                    0.79,
                    0.79,
                    0.72,
                    0.72,
                    0.62,
                    0.62,
                    1.07,
                    1.07,
                    0.87,
                    0.87,
                    0.89,
                    0.89,
                ]
            )
            / 10.0
        )
        vars = (sigmas * 2) ** 2
        k = len(sigmas)
        # compute oks between each detection and ground truth object
        for j, gt in enumerate(gts):
            # create bounds for ignore regions(double the gt bbox)
            g = np.array(gt["keypoints"])
            xg = g[0::3]
            yg = g[1::3]
            vg = g[2::3]
            k1 = np.count_nonzero(vg > 0)
            bb = gt["bbox"]
            x0 = bb[0] - bb[2]
            x1 = bb[0] + bb[2] * 2
            y0 = bb[1] - bb[3]
            y1 = bb[1] + bb[3] * 2
            for i, dt in enumerate(dts):
                d = np.array(dt["keypoints"])
                xd = d[0::3]
                yd = d[1::3]
                if k1 > 0:
                    # measure the per-keypoint distance if keypoints visible
                    dx = xd - xg
                    dy = yd - yg
                else:
                    # measure minimum distance to keypoints in (x0,y0) & (x1,y1)
                    z = np.zeros((k))
                    dx = np.max((z, x0 - xd), axis=0) + np.max((z, xd - x1), axis=0)
                    dy = np.max((z, y0 - yd), axis=0) + np.max((z, yd - y1), axis=0)
                e = (dx ** 2 + dy ** 2) / vars / (gt["area"] + np.spacing(1)) / 2
                if k1 > 0:
                    e = e[vg > 0]
                ious[i, j] = np.sum(np.exp(-e)) / e.shape[0]
        return ious

    def computeOgps(self, imgId, catId):
        p = self.params
        # dimension here should be Nxm
        g = self._gts[imgId, catId]
        d = self._dts[imgId, catId]
        inds = np.argsort([-d_["score"] for d_ in d], kind="mergesort")
        d = [d[i] for i in inds]
        if len(d) > p.maxDets[-1]:
            d = d[0 : p.maxDets[-1]]
        # if len(gts) == 0 and len(dts) == 0:
        if len(g) == 0 or len(d) == 0:
            return []
        ious = np.zeros((len(d), len(g)))
        # compute opgs between each detection and ground truth object
        # sigma = self.sigma #0.255 # dist = 0.3m corresponds to ogps = 0.5
        # 1 # dist = 0.3m corresponds to ogps = 0.96
        # 1.45 # dist = 1.7m (person height) corresponds to ogps = 0.5)
        for j, gt in enumerate(g):
            if not gt["ignore"]:
                g_ = gt["bbox"]
                for i, dt in enumerate(d):
                    #
                    dy = int(dt["bbox"][3])
                    dx = int(dt["bbox"][2])
                    dp_x = np.array(gt["dp_x"]) * g_[2] / 255.0
                    dp_y = np.array(gt["dp_y"]) * g_[3] / 255.0
                    py = (dp_y + g_[1] - dt["bbox"][1]).astype(np.int)
                    px = (dp_x + g_[0] - dt["bbox"][0]).astype(np.int)
                    #
                    pts = np.zeros(len(px))
                    pts[px >= dx] = -1
                    pts[py >= dy] = -1
                    pts[px < 0] = -1
                    pts[py < 0] = -1
                    if len(pts) < 1:
                        ogps = 0.0
                    elif np.max(pts) == -1:
                        ogps = 0.0
                    else:
                        px[pts == -1] = 0
                        py[pts == -1] = 0
                        (densepose_shape, densepose_data_encoded), densepose_bbox_xywh = dt[
                            "densepose"
                        ]
                        densepose_data = DensePoseResult.decode_png_data(
                            densepose_shape, densepose_data_encoded
                        )
                        assert densepose_data.shape[2] == dx, (
                            "DensePoseData width {} should be equal to "
                            "detection bounding box width {}".format(densepose_data.shape[2], dx)
                        )
                        assert densepose_data.shape[1] == dy, (
                            "DensePoseData height {} should be equal to "
                            "detection bounding box height {}".format(densepose_data.shape[1], dy)
                        )
                        ipoints = densepose_data[0, py, px]
                        upoints = densepose_data[1, py, px] / 255.0  # convert from uint8 by /255.
                        vpoints = densepose_data[2, py, px] / 255.0
                        ipoints[pts == -1] = 0
                        # Find closest vertices in subsampled mesh.
                        cVerts, cVertsGT = self.findAllClosestVerts(gt, upoints, vpoints, ipoints)
                        # Get pairwise geodesic distances between gt and estimated mesh points.
                        dist = self.getDistances(cVertsGT, cVerts)
                        # Compute the Ogps measure.
                        # Find the mean geodesic normalization distance for
                        # each GT point, based on which part it is on.
                        Current_Mean_Distances = self.Mean_Distances[
                            self.CoarseParts[self.Part_ids[cVertsGT[cVertsGT > 0].astype(int) - 1]]
                        ]
                        # Compute gps
                        ogps_values = np.exp(-(dist ** 2) / (2 * (Current_Mean_Distances ** 2)))
                        #
                        if len(dist) > 0:
                            ogps = np.sum(ogps_values) / len(dist)
                    ious[i, j] = ogps

        gbb = [gt["bbox"] for gt in g]
        dbb = [dt["bbox"] for dt in d]

        # compute iou between each dt and gt region
        iscrowd = [int(o["iscrowd"]) for o in g]
        ious_bb = maskUtils.iou(dbb, gbb, iscrowd)
        return ious, ious_bb

    def evaluateImg(self, imgId, catId, aRng, maxDet):
        """
        perform evaluation for single category and image
        :return: dict (single image results)
        """

        p = self.params
        if p.useCats:
            gt = self._gts[imgId, catId]
            dt = self._dts[imgId, catId]
        else:
            gt = [_ for cId in p.catIds for _ in self._gts[imgId, cId]]
            dt = [_ for cId in p.catIds for _ in self._dts[imgId, cId]]
        if len(gt) == 0 and len(dt) == 0:
            return None

        for g in gt:
            # g['_ignore'] = g['ignore']
            if g["ignore"] or (g["area"] < aRng[0] or g["area"] > aRng[1]):
                g["_ignore"] = True
            else:
                g["_ignore"] = False

        # sort dt highest score first, sort gt ignore last
        gtind = np.argsort([g["_ignore"] for g in gt], kind="mergesort")
        gt = [gt[i] for i in gtind]
        dtind = np.argsort([-d["score"] for d in dt], kind="mergesort")
        dt = [dt[i] for i in dtind[0:maxDet]]
        iscrowd = [int(o["iscrowd"]) for o in gt]
        # load computed ious
        if p.iouType == "densepose":
            # print('Checking the length', len(self.ious[imgId, catId]))
            # if len(self.ious[imgId, catId]) == 0:
            #    print(self.ious[imgId, catId])
            ious = (
                self.ious[imgId, catId][0][:, gtind]
                if len(self.ious[imgId, catId]) > 0
                else self.ious[imgId, catId]
            )
            ioubs = (
                self.ious[imgId, catId][1][:, gtind]
                if len(self.ious[imgId, catId]) > 0
                else self.ious[imgId, catId]
            )
        else:
            ious = (
                self.ious[imgId, catId][:, gtind]
                if len(self.ious[imgId, catId]) > 0
                else self.ious[imgId, catId]
            )

        T = len(p.iouThrs)
        G = len(gt)
        D = len(dt)
        gtm = np.zeros((T, G))
        dtm = np.zeros((T, D))
        gtIg = np.array([g["_ignore"] for g in gt])
        dtIg = np.zeros((T, D))
        if np.all(gtIg) and p.iouType == "densepose":
            dtIg = np.logical_or(dtIg, True)

        if len(ious) > 0:  # and not p.iouType == 'densepose':
            for tind, t in enumerate(p.iouThrs):
                for dind, d in enumerate(dt):
                    # information about best match so far (m=-1 -> unmatched)
                    iou = min([t, 1 - 1e-10])
                    m = -1
                    for gind, _g in enumerate(gt):
                        # if this gt already matched, and not a crowd, continue
                        if gtm[tind, gind] > 0 and not iscrowd[gind]:
                            continue
                        # if dt matched to reg gt, and on ignore gt, stop
                        if m > -1 and gtIg[m] == 0 and gtIg[gind] == 1:
                            break
                        # continue to next gt unless better match made
                        if ious[dind, gind] < iou:
                            continue
                        if ious[dind, gind] == 0.0:
                            continue
                        # if match successful and best so far, store appropriately
                        iou = ious[dind, gind]
                        m = gind
                    # if match made store id of match for both dt and gt
                    if m == -1:
                        continue
                    dtIg[tind, dind] = gtIg[m]
                    dtm[tind, dind] = gt[m]["id"]
                    gtm[tind, m] = d["id"]

        if p.iouType == "densepose":
            if not len(ioubs) == 0:
                for dind, d in enumerate(dt):
                    # information about best match so far (m=-1 -> unmatched)
                    if dtm[tind, dind] == 0:
                        ioub = 0.8
                        m = -1
                        for gind, _g in enumerate(gt):
                            # if this gt already matched, and not a crowd, continue
                            if gtm[tind, gind] > 0 and not iscrowd[gind]:
                                continue
                            # continue to next gt unless better match made
                            if ioubs[dind, gind] < ioub:
                                continue
                            # if match successful and best so far, store appropriately
                            ioub = ioubs[dind, gind]
                            m = gind
                            # if match made store id of match for both dt and gt
                        if m > -1:
                            dtIg[:, dind] = gtIg[m]
                            if gtIg[m]:
                                dtm[tind, dind] = gt[m]["id"]
                                gtm[tind, m] = d["id"]
        # set unmatched detections outside of area range to ignore
        a = np.array([d["area"] < aRng[0] or d["area"] > aRng[1] for d in dt]).reshape((1, len(dt)))
        dtIg = np.logical_or(dtIg, np.logical_and(dtm == 0, np.repeat(a, T, 0)))
        # store results for given image and category
        # print('Done with the function', len(self.ious[imgId, catId]))
        return {
            "image_id": imgId,
            "category_id": catId,
            "aRng": aRng,
            "maxDet": maxDet,
            "dtIds": [d["id"] for d in dt],
            "gtIds": [g["id"] for g in gt],
            "dtMatches": dtm,
            "gtMatches": gtm,
            "dtScores": [d["score"] for d in dt],
            "gtIgnore": gtIg,
            "dtIgnore": dtIg,
        }

    def accumulate(self, p=None):
        """
        Accumulate per image evaluation results and store the result in self.eval
        :param p: input params for evaluation
        :return: None
        """
        logger.info("Accumulating evaluation results...")
        tic = time.time()
        if not self.evalImgs:
            logger.info("Please run evaluate() first")
        # allows input customized parameters
        if p is None:
            p = self.params
        p.catIds = p.catIds if p.useCats == 1 else [-1]
        T = len(p.iouThrs)
        R = len(p.recThrs)
        K = len(p.catIds) if p.useCats else 1
        A = len(p.areaRng)
        M = len(p.maxDets)
        precision = -np.ones((T, R, K, A, M))  # -1 for the precision of absent categories
        recall = -np.ones((T, K, A, M))

        # create dictionary for future indexing
        logger.info("Categories: {}".format(p.catIds))
        _pe = self._paramsEval
        catIds = _pe.catIds if _pe.useCats else [-1]
        setK = set(catIds)
        setA = set(map(tuple, _pe.areaRng))
        setM = set(_pe.maxDets)
        setI = set(_pe.imgIds)
        # get inds to evaluate
        k_list = [n for n, k in enumerate(p.catIds) if k in setK]
        m_list = [m for n, m in enumerate(p.maxDets) if m in setM]
        a_list = [n for n, a in enumerate(map(lambda x: tuple(x), p.areaRng)) if a in setA]
        i_list = [n for n, i in enumerate(p.imgIds) if i in setI]
        I0 = len(_pe.imgIds)
        A0 = len(_pe.areaRng)
        # retrieve E at each category, area range, and max number of detections
        for k, k0 in enumerate(k_list):
            Nk = k0 * A0 * I0
            for a, a0 in enumerate(a_list):
                Na = a0 * I0
                for m, maxDet in enumerate(m_list):
                    E = [self.evalImgs[Nk + Na + i] for i in i_list]
                    E = [e for e in E if e is not None]
                    if len(E) == 0:
                        continue
                    dtScores = np.concatenate([e["dtScores"][0:maxDet] for e in E])

                    # different sorting method generates slightly different results.
                    # mergesort is used to be consistent as Matlab implementation.
                    inds = np.argsort(-dtScores, kind="mergesort")

                    dtm = np.concatenate([e["dtMatches"][:, 0:maxDet] for e in E], axis=1)[:, inds]
                    dtIg = np.concatenate([e["dtIgnore"][:, 0:maxDet] for e in E], axis=1)[:, inds]
                    gtIg = np.concatenate([e["gtIgnore"] for e in E])
                    npig = np.count_nonzero(gtIg == 0)
                    if npig == 0:
                        continue
                    tps = np.logical_and(dtm, np.logical_not(dtIg))
                    fps = np.logical_and(np.logical_not(dtm), np.logical_not(dtIg))
                    tp_sum = np.cumsum(tps, axis=1).astype(dtype=np.float)
                    fp_sum = np.cumsum(fps, axis=1).astype(dtype=np.float)
                    for t, (tp, fp) in enumerate(zip(tp_sum, fp_sum)):
                        tp = np.array(tp)
                        fp = np.array(fp)
                        nd = len(tp)
                        rc = tp / npig
                        pr = tp / (fp + tp + np.spacing(1))
                        q = np.zeros((R,))

                        if nd:
                            recall[t, k, a, m] = rc[-1]
                        else:
                            recall[t, k, a, m] = 0

                        # numpy is slow without cython optimization for accessing elements
                        # use python array gets significant speed improvement
                        pr = pr.tolist()
                        q = q.tolist()

                        for i in range(nd - 1, 0, -1):
                            if pr[i] > pr[i - 1]:
                                pr[i - 1] = pr[i]

                        inds = np.searchsorted(rc, p.recThrs, side="left")
                        try:
                            for ri, pi in enumerate(inds):
                                q[ri] = pr[pi]
                        except Exception:
                            pass
                        precision[t, :, k, a, m] = np.array(q)
        logger.info(
            "Final: max precision {}, min precision {}".format(np.max(precision), np.min(precision))
        )
        self.eval = {
            "params": p,
            "counts": [T, R, K, A, M],
            "date": datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"),
            "precision": precision,
            "recall": recall,
        }
        toc = time.time()
        logger.info("DONE (t={:0.2f}s).".format(toc - tic))

    def summarize(self):
        """
        Compute and display summary metrics for evaluation results.
        Note this function can *only* be applied on the default parameter setting
        """

        def _summarize(ap=1, iouThr=None, areaRng="all", maxDets=100):
            p = self.params
            iStr = " {:<18} {} @[ {}={:<9} | area={:>6s} | maxDets={:>3d} ] = {:0.3f}"
            titleStr = "Average Precision" if ap == 1 else "Average Recall"
            typeStr = "(AP)" if ap == 1 else "(AR)"
            measure = "IoU"
            if self.params.iouType == "keypoints":
                measure = "OKS"
            elif self.params.iouType == "densepose":
                measure = "OGPS"
            iouStr = (
                "{:0.2f}:{:0.2f}".format(p.iouThrs[0], p.iouThrs[-1])
                if iouThr is None
                else "{:0.2f}".format(iouThr)
            )

            aind = [i for i, aRng in enumerate(p.areaRngLbl) if aRng == areaRng]
            mind = [i for i, mDet in enumerate(p.maxDets) if mDet == maxDets]
            if ap == 1:
                # dimension of precision: [TxRxKxAxM]
                s = self.eval["precision"]
                # IoU
                if iouThr is not None:
                    t = np.where(np.abs(iouThr - p.iouThrs) < 0.001)[0]
                    s = s[t]
                s = s[:, :, :, aind, mind]
            else:
                # dimension of recall: [TxKxAxM]
                s = self.eval["recall"]
                if iouThr is not None:
                    t = np.where(iouThr == p.iouThrs)[0]
                    s = s[t]
                s = s[:, :, aind, mind]
            if len(s[s > -1]) == 0:
                mean_s = -1
            else:
                mean_s = np.mean(s[s > -1])
            logger.info(iStr.format(titleStr, typeStr, measure, iouStr, areaRng, maxDets, mean_s))
            return mean_s

        def _summarizeDets():
            stats = np.zeros((12,))
            stats[0] = _summarize(1)
            stats[1] = _summarize(1, iouThr=0.5, maxDets=self.params.maxDets[2])
            stats[2] = _summarize(1, iouThr=0.75, maxDets=self.params.maxDets[2])
            stats[3] = _summarize(1, areaRng="small", maxDets=self.params.maxDets[2])
            stats[4] = _summarize(1, areaRng="medium", maxDets=self.params.maxDets[2])
            stats[5] = _summarize(1, areaRng="large", maxDets=self.params.maxDets[2])
            stats[6] = _summarize(0, maxDets=self.params.maxDets[0])
            stats[7] = _summarize(0, maxDets=self.params.maxDets[1])
            stats[8] = _summarize(0, maxDets=self.params.maxDets[2])
            stats[9] = _summarize(0, areaRng="small", maxDets=self.params.maxDets[2])
            stats[10] = _summarize(0, areaRng="medium", maxDets=self.params.maxDets[2])
            stats[11] = _summarize(0, areaRng="large", maxDets=self.params.maxDets[2])
            return stats

        def _summarizeKps():
            stats = np.zeros((10,))
            stats[0] = _summarize(1, maxDets=20)
            stats[1] = _summarize(1, maxDets=20, iouThr=0.5)
            stats[2] = _summarize(1, maxDets=20, iouThr=0.75)
            stats[3] = _summarize(1, maxDets=20, areaRng="medium")
            stats[4] = _summarize(1, maxDets=20, areaRng="large")
            stats[5] = _summarize(0, maxDets=20)
            stats[6] = _summarize(0, maxDets=20, iouThr=0.5)
            stats[7] = _summarize(0, maxDets=20, iouThr=0.75)
            stats[8] = _summarize(0, maxDets=20, areaRng="medium")
            stats[9] = _summarize(0, maxDets=20, areaRng="large")
            return stats

        def _summarizeUvs():
            stats = np.zeros((10,))
            stats[0] = _summarize(1, maxDets=self.params.maxDets[0])
            stats[1] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.5)
            stats[2] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.75)
            stats[3] = _summarize(1, maxDets=self.params.maxDets[0], areaRng="medium")
            stats[4] = _summarize(1, maxDets=self.params.maxDets[0], areaRng="large")
            stats[5] = _summarize(0, maxDets=self.params.maxDets[0])
            stats[6] = _summarize(0, maxDets=self.params.maxDets[0], iouThr=0.5)
            stats[7] = _summarize(0, maxDets=self.params.maxDets[0], iouThr=0.75)
            stats[8] = _summarize(0, maxDets=self.params.maxDets[0], areaRng="medium")
            stats[9] = _summarize(0, maxDets=self.params.maxDets[0], areaRng="large")
            return stats

        def _summarizeUvsOld():
            stats = np.zeros((18,))
            stats[0] = _summarize(1, maxDets=self.params.maxDets[0])
            stats[1] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.5)
            stats[2] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.55)
            stats[3] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.60)
            stats[4] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.65)
            stats[5] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.70)
            stats[6] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.75)
            stats[7] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.80)
            stats[8] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.85)
            stats[9] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.90)
            stats[10] = _summarize(1, maxDets=self.params.maxDets[0], iouThr=0.95)
            stats[11] = _summarize(1, maxDets=self.params.maxDets[0], areaRng="medium")
            stats[12] = _summarize(1, maxDets=self.params.maxDets[0], areaRng="large")
            stats[13] = _summarize(0, maxDets=self.params.maxDets[0])
            stats[14] = _summarize(0, maxDets=self.params.maxDets[0], iouThr=0.5)
            stats[15] = _summarize(0, maxDets=self.params.maxDets[0], iouThr=0.75)
            stats[16] = _summarize(0, maxDets=self.params.maxDets[0], areaRng="medium")
            stats[17] = _summarize(0, maxDets=self.params.maxDets[0], areaRng="large")
            return stats

        if not self.eval:
            raise Exception("Please run accumulate() first")
        iouType = self.params.iouType
        if iouType in ["segm", "bbox"]:
            summarize = _summarizeDets
        elif iouType in ["keypoints"]:
            summarize = _summarizeKps
        elif iouType in ["densepose"]:
            summarize = _summarizeUvs
        self.stats = summarize()

    def __str__(self):
        self.summarize()

    # ================ functions for dense pose ==============================
    def findAllClosestVerts(self, gt, U_points, V_points, Index_points):
        #
        I_gt = np.array(gt["dp_I"])
        U_gt = np.array(gt["dp_U"])
        V_gt = np.array(gt["dp_V"])
        #
        # print(I_gt)
        #
        ClosestVerts = np.ones(Index_points.shape) * -1
        for i in np.arange(24):
            #
            if sum(Index_points == (i + 1)) > 0:
                UVs = np.array(
                    [U_points[Index_points == (i + 1)], V_points[Index_points == (i + 1)]]
                )
                Current_Part_UVs = self.Part_UVs[i]
                Current_Part_ClosestVertInds = self.Part_ClosestVertInds[i]
                D = ssd.cdist(Current_Part_UVs.transpose(), UVs.transpose()).squeeze()
                ClosestVerts[Index_points == (i + 1)] = Current_Part_ClosestVertInds[
                    np.argmin(D, axis=0)
                ]
        #
        ClosestVertsGT = np.ones(Index_points.shape) * -1
        for i in np.arange(24):
            if sum(I_gt == (i + 1)) > 0:
                UVs = np.array([U_gt[I_gt == (i + 1)], V_gt[I_gt == (i + 1)]])
                Current_Part_UVs = self.Part_UVs[i]
                Current_Part_ClosestVertInds = self.Part_ClosestVertInds[i]
                D = ssd.cdist(Current_Part_UVs.transpose(), UVs.transpose()).squeeze()
                ClosestVertsGT[I_gt == (i + 1)] = Current_Part_ClosestVertInds[np.argmin(D, axis=0)]
        #
        return ClosestVerts, ClosestVertsGT

    def getDistances(self, cVertsGT, cVerts):

        ClosestVertsTransformed = self.PDIST_transform[cVerts.astype(int) - 1]
        ClosestVertsGTTransformed = self.PDIST_transform[cVertsGT.astype(int) - 1]
        #
        ClosestVertsTransformed[cVerts < 0] = 0
        ClosestVertsGTTransformed[cVertsGT < 0] = 0
        #
        cVertsGT = ClosestVertsGTTransformed
        cVerts = ClosestVertsTransformed
        #
        n = 27554
        dists = []
        for d in range(len(cVertsGT)):
            if cVertsGT[d] > 0:
                if cVerts[d] > 0:
                    i = cVertsGT[d] - 1
                    j = cVerts[d] - 1
                    if j == i:
                        dists.append(0)
                    elif j > i:
                        ccc = i
                        i = j
                        j = ccc
                        i = n - i - 1
                        j = n - j - 1
                        k = (n * (n - 1) / 2) - (n - i) * ((n - i) - 1) / 2 + j - i - 1
                        k = (n * n - n) / 2 - k - 1
                        dists.append(self.Pdist_matrix[int(k)][0])
                    else:
                        i = n - i - 1
                        j = n - j - 1
                        k = (n * (n - 1) / 2) - (n - i) * ((n - i) - 1) / 2 + j - i - 1
                        k = (n * n - n) / 2 - k - 1
                        dists.append(self.Pdist_matrix[int(k)][0])
                else:
                    dists.append(np.inf)
        return np.array(dists).squeeze()


class Params:
    """
    Params for coco evaluation api
    """

    def setDetParams(self):
        self.imgIds = []
        self.catIds = []
        # np.arange causes trouble.  the data point on arange is slightly larger than the true value
        self.iouThrs = np.linspace(0.5, 0.95, np.round((0.95 - 0.5) / 0.05) + 1, endpoint=True)
        self.recThrs = np.linspace(0.0, 1.00, np.round((1.00 - 0.0) / 0.01) + 1, endpoint=True)
        self.maxDets = [1, 10, 100]
        self.areaRng = [
            [0 ** 2, 1e5 ** 2],
            [0 ** 2, 32 ** 2],
            [32 ** 2, 96 ** 2],
            [96 ** 2, 1e5 ** 2],
        ]
        self.areaRngLbl = ["all", "small", "medium", "large"]
        self.useCats = 1

    def setKpParams(self):
        self.imgIds = []
        self.catIds = []
        # np.arange causes trouble.  the data point on arange is slightly larger than the true value
        self.iouThrs = np.linspace(0.5, 0.95, np.round((0.95 - 0.5) / 0.05) + 1, endpoint=True)
        self.recThrs = np.linspace(0.0, 1.00, np.round((1.00 - 0.0) / 0.01) + 1, endpoint=True)
        self.maxDets = [20]
        self.areaRng = [[0 ** 2, 1e5 ** 2], [32 ** 2, 96 ** 2], [96 ** 2, 1e5 ** 2]]
        self.areaRngLbl = ["all", "medium", "large"]
        self.useCats = 1

    def setUvParams(self):
        self.imgIds = []
        self.catIds = []
        self.iouThrs = np.linspace(0.5, 0.95, int(np.round((0.95 - 0.5) / 0.05)) + 1, endpoint=True)
        self.recThrs = np.linspace(0.0, 1.00, int(np.round((1.00 - 0.0) / 0.01)) + 1, endpoint=True)
        self.maxDets = [20]
        self.areaRng = [[0 ** 2, 1e5 ** 2], [32 ** 2, 96 ** 2], [96 ** 2, 1e5 ** 2]]
        self.areaRngLbl = ["all", "medium", "large"]
        self.useCats = 1

    def __init__(self, iouType="segm"):
        if iouType == "segm" or iouType == "bbox":
            self.setDetParams()
        elif iouType == "keypoints":
            self.setKpParams()
        elif iouType == "densepose":
            self.setUvParams()
        else:
            raise Exception("iouType not supported")
        self.iouType = iouType
        # useSegm is deprecated
        self.useSegm = None