mirror of
https://github.com/SikongJueluo/Mini-Nav.git
synced 2026-07-12 20:15:31 +08:00
SikongJueluo
4918b654e7
- Refactor model_loader.py: improve return type annotations from tuple[Any, Any] to tuple[AutoImageProcessor, AutoModel] - Refactor proposal/core.py: add input validation for mask array dimensionality, handle 2D masks and batch dimensions gracefully - Refactor proposal_segament.ipynb: replace inline model loading with centralized load_owlv2_model() and load_sam_model() functions, use batched detect_objects_batch() and generate_proposals_batch() APIs
256 lines
7.3 KiB
Python
256 lines
7.3 KiB
Python
import marimo
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__generated_with = "0.21.1"
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app = marimo.App()
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@app.cell
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def _():
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import marimo as mo
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import numpy as np
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from PIL import Image, ImageDraw, ImageFont
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return Image, ImageDraw, ImageFont, mo, np
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@app.cell
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def _(np):
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from scenegraph import RoomNode
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from simulator import (
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HabitatSimulatorConfig,
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TopDownSceneElements,
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create_habitat_simulator,
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render_topdown_scene_map,
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)
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from habitat.utils.visualizations import maps
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scene_path = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
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image_size = 768
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num_rooms = 3
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views_per_room = 6
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meters_per_pixel = 0.05
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sim, agent = create_habitat_simulator(
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HabitatSimulatorConfig(
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scene_path=scene_path,
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views_per_room=views_per_room,
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image_size=image_size,
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sensor_height=1.5,
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move_forward_step=0.25,
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enable_physics=False,
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)
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)
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room_nodes = []
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for _idx in range(num_rooms):
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point = sim.pathfinder.get_random_navigable_point()
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room_nodes.append(
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RoomNode(
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room_id=f"room_{_idx:02d}",
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center=np.asarray(point, dtype=np.float32),
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bbox_extent=np.asarray([1.5, 2.0, 1.5], dtype=np.float32),
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)
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)
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render_topdown_scene_map(
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pathfinder=sim.pathfinder,
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elements=TopDownSceneElements(room_nodes=room_nodes),
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meters_per_pixel=meters_per_pixel,
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maps_module=maps,
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)
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return agent, room_nodes, sim, views_per_room
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@app.cell
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def _(agent, room_nodes, sim, views_per_room):
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from simulator import collect_room_views_by_room
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all_room_views = collect_room_views_by_room(
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agent=agent,
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sim=sim,
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room_nodes=room_nodes,
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views_per_room=views_per_room,
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)
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return (all_room_views,)
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@app.cell
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def _(ImageDraw, ImageFont, all_room_views, mo):
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from compressors.model_loader import load_owlv2_model
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from compressors.proposal.core import detect_objects_batch
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from utils.common import get_device
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from utils.image import numpy_to_pil
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device = get_device()
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score_threshold = 0.25
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postprocess_threshold = 0.1
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text_labels = [
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"a cat",
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"a dog",
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"a TV remote control",
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"a chair",
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"a table",
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"a vase",
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"a painting",
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"a window",
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]
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owl_processor, owl_model = load_owlv2_model(
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model_name="google/owlv2-base-patch16-ensemble"
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)
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image = numpy_to_pil(all_room_views["room_00"][1])
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detection_batch = detect_objects_batch(
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model=owl_model,
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processor=owl_processor,
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images=[image],
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text_labels_per_image=[text_labels],
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score_threshold=score_threshold,
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postprocess_threshold=postprocess_threshold,
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)
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detections = detection_batch[0] if detection_batch else []
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filtered_items = [(det["bbox"], det["score"], det["label"]) for det in detections]
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_vis_image = image.copy()
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_draw = ImageDraw.Draw(_vis_image)
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try:
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font = ImageFont.truetype("arial.ttf", 18)
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except Exception:
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font = ImageFont.load_default()
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for _box, _score, _text_label in filtered_items:
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_x1, _y1, _x2, _y2 = [float(v) for v in _box]
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_label = f"{_text_label}: {_score:.3f}"
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_draw.rectangle([_x1, _y1, _x2, _y2], outline="red", width=3)
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try:
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_tx1, _ty1, _tx2, _ty2 = _draw.textbbox((_x1, _y1), _label, font=font)
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except Exception:
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_w = _draw.textlength(_label, font=font)
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_h = 20
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_tx1, _ty1, _tx2, _ty2 = _x1, _y1, _x1 + _w + 6, _y1 + _h
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text_bg = [_tx1, max(0, _ty1 - 2), _tx2 + 4, _ty2 + 2]
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_draw.rectangle(text_bg, fill="red")
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_draw.text((_x1 + 2, max(0, _y1)), _label, fill="white", font=font)
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# 8. 结果文本
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detection_lines = []
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for _box, _score, _text_label in filtered_items:
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box_rounded = [round(_v, 2) for _v in _box]
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detection_lines.append(
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f"- {_text_label}: score={_score:.3f}, box={box_rounded}"
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)
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if not detection_lines:
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detection_text = f"没有检测到 score >= {score_threshold:.2f} 的目标"
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else:
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detection_text = "\n".join(detection_lines)
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mo.vstack(
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[
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mo.md(
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"## OWLv2 检测可视化结果"
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f"\n\ndevice: `{device}`"
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f"\n\n过滤阈值：`score >= {score_threshold:.2f}`"
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),
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mo.image(_vis_image, width=700),
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mo.md(detection_text),
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]
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)
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return device, filtered_items, image
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@app.cell
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def _(Image, ImageDraw, device, filtered_items, image, mo, np):
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from compressors.model_loader import load_sam_model
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from compressors.proposal.core import generate_proposals_batch
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sam2_processor, sam2_model = load_sam_model(
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model_name="facebook/sam2.1-hiera-large"
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)
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input_boxes = [[box for box, _score, _text_label in filtered_items]]
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proposal_batch = generate_proposals_batch(
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model=sam2_model,
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processor=sam2_processor,
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images=[image],
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bboxes_per_image=input_boxes,
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)
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proposals = proposal_batch[0] if proposal_batch else []
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base_rgba = image.convert("RGBA")
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_vis_image = base_rgba.copy()
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summary_lines = []
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colors = [
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(255, 0, 0, 90),
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(0, 255, 0, 90),
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(0, 0, 255, 90),
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(255, 255, 0, 90),
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(255, 0, 255, 90),
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(0, 255, 255, 90),
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(255, 128, 0, 90),
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(128, 0, 255, 90),
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]
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for _idx, ((_box, _score, _text_label), proposal) in enumerate(
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zip(filtered_items, proposals)
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):
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mask_np = proposal["segment"]
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color = colors[_idx % len(colors)]
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mask_rgba = np.zeros((image.height, image.width, 4), dtype=np.uint8)
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mask_rgba[mask_np] = color
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mask_img = Image.fromarray(mask_rgba, mode="RGBA")
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_vis_image = Image.alpha_composite(_vis_image, mask_img)
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_draw = ImageDraw.Draw(_vis_image)
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for (_box, _score, _text_label), proposal in zip(filtered_items, proposals):
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_x1, _y1, _x2, _y2 = [float(v) for v in _box]
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mask_area = int(proposal["area"])
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_label = f"{_text_label} | owl={_score:.3f} | mask_area={mask_area}"
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_draw.rectangle([_x1, _y1, _x2, _y2], outline=(255, 0, 0, 255), width=3)
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try:
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_tx1, _ty1, _tx2, _ty2 = _draw.textbbox((_x1, _y1), _label)
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except Exception:
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_tx1, _ty1, _tx2, _ty2 = _x1, _y1, _x1 + 220, _y1 + 20
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_draw.rectangle(
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[_tx1, max(0, _ty1 - 2), _tx2 + 4, _ty2 + 2],
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fill=(255, 0, 0, 220),
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)
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_draw.text((_x1 + 2, max(0, _y1)), _label, fill="white")
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summary_lines.append(
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f"- {_text_label}: owl_score={_score:.3f}, mask_area={mask_area}"
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)
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if not filtered_items:
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summary_text = (
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"没有可用于分割的检测框，请先降低 OWLv2 的 score_threshold 或检查检测结果。"
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)
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elif not summary_lines:
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summary_text = "没有生成任何 mask"
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else:
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summary_text = "\n".join(summary_lines)
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mo.vstack(
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[
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mo.md(f"## SAM2 分割可视化结果\n\ndevice: `{device}`"),
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mo.image(_vis_image, width=700),
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mo.md(summary_text),
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]
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)
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return
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if __name__ == "__main__":
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app.run()
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