agrobot_base/Python/OAK/datasets/roi_seg_dataset.py

# -*- coding: utf-8 -*-
from PIL import Image
import glob
import os
import cv2
import numpy as np
import torch
from torch.utils.data import Dataset

from utils import carregar_labelmap_completo, compute_roi_indices, resize_keep_width

IMG_EXTS = (".jpg", ".jpeg", ".png")
MSK_EXTS = (".png", ".jpg", ".jpeg")  # preferimos .png se existir

def _is_dir(p): return os.path.isdir(p)
def _is_file(p): return os.path.isfile(p)

def _list_groups(group_root):
    if not _is_dir(group_root): return []
    out = []
    for g in sorted(os.listdir(group_root)):
        gdir = os.path.join(group_root, g)
        if not _is_dir(gdir): 
            continue
        if _is_dir(os.path.join(gdir, "images")) and _is_dir(os.path.join(gdir, "masks")):
            out.append(g)
    return out

def _mask_for_base(msk_dir, base):
    """Encontra a máscara que casa com o base, priorizando .png."""
    best = None
    for ext in MSK_EXTS:
        cand = os.path.join(msk_dir, base + ext)
        if _is_file(cand):
            if best is None: best = cand
            # mantém .png se aparecer depois
            if os.path.splitext(cand)[1].lower() == ".png":
                return cand
    return best

def _collect_pairs_legacy(root):
    """root/{images,masks}"""
    img_dir = os.path.join(root, "images")
    msk_dir = os.path.join(root, "masks")
    imgs = []
    msks = []
    for p in sorted(glob.glob(os.path.join(img_dir, "*"))):
        base, ext = os.path.splitext(os.path.basename(p))
        if ext.lower() not in IMG_EXTS: 
            continue
        m = _mask_for_base(msk_dir, base)
        if m:
            imgs.append(p)
            msks.append(m)
    return imgs, msks

def _collect_pairs_grouped(root):
    """Suporta:
       - root/group/<g>/{images,masks}
       - root/<g>/{images,masks} (quando root já é '.../group')
    """
    # case A: root tem subpasta 'group'
    group_root = os.path.join(root, "group")
    if not _is_dir(group_root):
        # case B: root JÁ É a pasta 'group'
        group_root = root

    groups = _list_groups(group_root)
    imgs, msks = [], []
    for g in groups:
        img_dir = os.path.join(group_root, g, "images")
        msk_dir = os.path.join(group_root, g, "masks")
        for p in sorted(glob.glob(os.path.join(img_dir, "*"))):
            base, ext = os.path.splitext(os.path.basename(p))
            if ext.lower() not in IMG_EXTS:
                continue
            m = _mask_for_base(msk_dir, base)
            if m:
                imgs.append(p)
                msks.append(m)
    return imgs, msks

class ROISegDataset(Dataset):
    """
    Compatível com o dataset original, mas agora aceita:
    - root = '.../split/train'  (com 'group' dentro)
    - root = '.../split/train/group'
    - root = '.../split/train/<grupo>' (ainda funciona via legado se tiver images/masks)
    - root legado = '.../split/train' com 'images' e 'masks' diretamente
    """
    def __init__(self, root, out_dir, zona_inicio, faixa_atuacao, input_w=384, min_input_h=96, labelmap_path="labelmap.txt",
                 mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)):

        self.out_dir = out_dir
        self.zona_inicio = zona_inicio
        self.faixa_atuacao = faixa_atuacao
        self.input_w = input_w
        self.min_input_h = min_input_h
        self.mean = np.array(mean, dtype=np.float32).reshape(1, 1, 3)
        self.std = np.array(std, dtype=np.float32).reshape(1, 1, 3)

        # tenta agrupar; se não encontrar, cai pro legado
        imgs, msks = _collect_pairs_grouped(root)
        if not imgs:
            imgs, msks = _collect_pairs_legacy(root)

        assert len(imgs) == len(msks) and len(imgs) > 0, f"Nenhuma imagem/máscara encontrada em {root}"
        self.img_paths = imgs
        self.msk_paths = msks

        # labelmap
        _, _, self.classes, self.ignore_rgb = carregar_labelmap_completo(labelmap_path)
        # tipicamente ignore_rgb é (255,255,255)
        self.ignore_id = int(self.ignore_rgb[0]) if isinstance(self.ignore_rgb, (list, tuple)) else int(self.ignore_rgb)

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

    def __getitem__(self, idx):
        img_rgb = np.array(Image.open(self.img_paths[idx]).convert("RGB"))
        # Máscara como escala de cinza (IDs já foram normalizados na etapa de normalize)
        msk_grayscale = np.array(Image.open(self.msk_paths[idx]).convert("L"))

        H, W = img_rgb.shape[:2]
        y_fim, y_inicio = compute_roi_indices(H, self.zona_inicio, self.faixa_atuacao)

        img_roi = img_rgb[y_fim:y_inicio, 0:W]
        msk_roi = msk_grayscale[y_fim:y_inicio, 0:W]

        img_in = resize_keep_width(img_roi, self.input_w, self.min_input_h, cv2.INTER_AREA)
        msk_ids = resize_keep_width(msk_roi, self.input_w, self.min_input_h, cv2.INTER_NEAREST)

        valores_validos = list(range(len(self.classes))) + [255]
        msk_ids[np.isin(msk_ids, valores_validos, invert=True)] = self.ignore_id

        if np.all(msk_ids == self.ignore_id):
            raise ValueError(f"Máscara {self.msk_paths[idx]} está só com valor de ignore ({self.ignore_id})")

        img_f = img_in.astype(np.float32) / 255.0
        img_f = (img_f - self.mean) / self.std
        img_chw = np.transpose(img_f, (2, 0, 1))

        if idx == 0:
            os.makedirs(self.out_dir, exist_ok=True)
            cv2.imwrite(os.path.join(self.out_dir, "debug_roi_input.png"), cv2.cvtColor(img_roi, cv2.COLOR_RGB2BGR))
            cv2.imwrite(os.path.join(self.out_dir, "debug_roi_mask.png"), msk_roi)

        return torch.from_numpy(img_chw).float(), torch.from_numpy(msk_ids.astype(np.int64))