local_segment/sam3/eval/coco_eval.py

# Copyright (c) Meta Platforms, Inc. and affiliates. All Rights Reserved

# pyre-unsafe

"""
COCO evaluator that works in distributed mode.

Mostly copy-paste from https://github.com/pytorch/vision/blob/edfd5a7/references/detection/coco_eval.py
The difference is that there is less copy-pasting from pycocotools
in the end of the file, as python3 can suppress prints with contextlib
"""

import contextlib
import copy
import json
import logging
import os
import pickle
from collections import defaultdict
from pathlib import Path
from typing import Any, List, Optional

import numpy as np
import pycocotools.mask as mask_utils
import torch
from iopath.common.file_io import g_pathmgr
from pycocotools.coco import COCO
from pycocotools.cocoeval import COCOeval
from sam3.train.masks_ops import rle_encode
from sam3.train.utils.distributed import (
    all_gather,
    gather_to_rank_0_via_filesys,
    get_rank,
    is_main_process,
)

RARITY_BUCKETS = {0: "frequent", 1: "common", 2: "medium", 3: "rare"}


class CocoEvaluator:
    def __init__(
        self,
        coco_gt,
        iou_types: List[str],
        useCats: bool,
        dump_dir: Optional[str],
        postprocessor,
        average_by_rarity=False,
        metrics_dump_dir: Optional[str] = None,
        gather_pred_via_filesys=False,
        use_normalized_areas=True,
        maxdets=[1, 10, 100],
        exhaustive_only=False,
        all_exhaustive_only=True,
    ):
        """Online coco evaluator. It will evaluate images as they are generated by the model, then accumulate/summarize at the end

        Args:
           - coco_gt: COCO api object containing the gt
           - iou_types: can be either "bbox" or "segm"
           - useCats: If true, categories will be used for evaluation
           - dump_dir: if non null, then the predictions will be dumped in that directory
           - postprocessor: Module to convert the model's output into the coco format
           - average_by_rarity: if true then we expect the images information in the gt dataset
                 to have a "rarity" field. Then the AP will be computed on all rarity buckets
                 individually, then averaged
           - gather_pred_via_filesys: if true, we use the filesystem for collective gathers
           - use_normalized_areas: if true, the areas of the objects in the GT are assumed to be
                 normalized by the area of the image. In that case, the size buckets are adjusted
           - maxdets: maximal number of detections to be evaluated on each image.
           - exhaustive_only: If true, we restrict eval only to exhaustive annotations
           - all_exhaustive_only: If true, datapoints are restricted only to those with all exhaustive annotations

        """
        # coco_gt = copy.deepcopy(coco_gt)
        self.coco_gts = [coco_gt] if not isinstance(coco_gt, list) else coco_gt
        assert len(maxdets) == 3, f"expecting 3 detection threshold, got {len(maxdets)}"

        self.use_normalized_areas = use_normalized_areas
        self.iou_types = iou_types
        self.useCats = useCats
        self.maxdets = maxdets
        self.dump = None
        self.dump_dir = dump_dir
        if self.dump_dir is not None:
            self.dump = []
            if is_main_process():
                if not os.path.exists(self.dump_dir):
                    os.makedirs(self.dump_dir, exist_ok=True)
                    logging.info(f"Create the folder: {dump_dir}")

        self.initialized = False

        # Whether to gather predictions through filesystem (instead of torch
        # collective ops; requiring a shared filesystem across all ranks)
        self.gather_pred_via_filesys = gather_pred_via_filesys
        self.use_self_evaluate = True  # CPP version is disabled
        self.postprocessor = postprocessor
        self.average_by_rarity = average_by_rarity
        self.exhaustive_only = exhaustive_only
        self.all_exhaustive_only = all_exhaustive_only
        self.metrics_dump_dir = metrics_dump_dir
        if self.metrics_dump_dir is not None:
            if is_main_process():
                if not os.path.exists(self.metrics_dump_dir):
                    os.makedirs(self.metrics_dump_dir, exist_ok=True)
                    logging.info(f"Create the folder: {metrics_dump_dir}")

    def _lazy_init(self, coco_cls=COCO):
        if self.initialized:
            return

        self.initialized = True

        self.coco_gts = [
            coco_cls(g_pathmgr.get_local_path(gt)) if isinstance(gt, str) else gt
            for gt in self.coco_gts
        ]

        self.reset()

        self.eval_img_ids = None

        if self.exhaustive_only:
            exclude_img_ids = set()
            # exclude_img_ids are the ids that are not exhaustively annotated in any of the other gts
            if self.all_exhaustive_only:
                for coco_gt in self.coco_gts[1:]:
                    exclude_img_ids = exclude_img_ids.union(
                        {
                            img["id"]
                            for img in coco_gt.dataset["images"]
                            if not img["is_instance_exhaustive"]
                        }
                    )
            # we only eval on instance exhaustive queries
            self.eval_img_ids = [
                img["id"]
                for img in self.coco_gts[0].dataset["images"]
                if (img["is_instance_exhaustive"] and img["id"] not in exclude_img_ids)
            ]

        self.rarity_buckets = None
        if self.average_by_rarity:
            self.rarity_buckets = defaultdict(list)
            eval_img_ids_set = (
                set(self.eval_img_ids) if self.eval_img_ids is not None else None
            )
            for img in self.coco_gts[0].dataset["images"]:
                if self.eval_img_ids is not None and img["id"] not in eval_img_ids_set:
                    continue
                self.rarity_buckets[img["rarity"]].append(img["id"])
            print("Rarity buckets sizes:")
            for k, v in self.rarity_buckets.items():
                print(f"{k}: {len(v)}")

    def set_sync_device(self, device: torch.device) -> Any:
        self._sync_device = device

    def _evaluate(self, *args, **kwargs):
        return evaluate(*args, **kwargs)

    def _loadRes(self, *args, **kwargs):
        return loadRes(*args, **kwargs)

    def update(self, *args, **kwargs):
        self._lazy_init()
        predictions = self.postprocessor.process_results(*args, **kwargs)

        img_ids = list(np.unique(list(predictions.keys())))
        self.img_ids.extend(img_ids)

        for iou_type in self.iou_types:
            results = self.prepare(predictions, iou_type)
            self._dump(results)

            assert len(self.coco_gts) == len(self.coco_evals)
            all_scorings = []
            for cur_coco_gt, cur_coco_eval in zip(self.coco_gts, self.coco_evals):
                # suppress pycocotools prints
                with open(os.devnull, "w") as devnull:
                    with contextlib.redirect_stdout(devnull):
                        coco_dt = (
                            self._loadRes(cur_coco_gt, results) if results else COCO()
                        )

                coco_eval = cur_coco_eval[iou_type]

                coco_eval.cocoDt = coco_dt
                coco_eval.params.imgIds = list(img_ids)
                coco_eval.params.useCats = self.useCats
                coco_eval.params.maxDets = self.maxdets
                img_ids, eval_imgs = self._evaluate(coco_eval, self.use_self_evaluate)
                all_scorings.append(eval_imgs)

            selected = self.select_best_scoring(all_scorings)
            self.eval_imgs[iou_type].append(selected)

    def select_best_scoring(self, scorings):
        # This function is used for "oracle" type evaluation.
        # It accepts the evaluation results with respect to several ground truths, and picks the best
        if len(scorings) == 1:
            return scorings[0]

        # Currently we don't support Oracle Phrase AP.
        # To implement it, we likely need to modify the cpp code since the eval_image type is opaque
        raise RuntimeError("Not implemented")

    def _dump(self, results):
        if self.dump is not None:
            dumped_results = copy.deepcopy(results)
            for r in dumped_results:
                if "bbox" not in self.iou_types and "bbox" in r:
                    del r["bbox"]
                elif "bbox" in r:
                    r["bbox"] = [round(coord, 5) for coord in r["bbox"]]
                r["score"] = round(r["score"], 5)
            self.dump.extend(dumped_results)

    def synchronize_between_processes(self):
        self._lazy_init()
        logging.info("Coco evaluator: Synchronizing between processes")
        for iou_type in self.iou_types:
            if len(self.eval_imgs[iou_type]) > 0:
                self.eval_imgs[iou_type] = np.concatenate(self.eval_imgs[iou_type], 2)
            else:
                num_areas = len(self.coco_evals[0][iou_type].params.areaRng)
                # assuming 1 class
                assert not self.useCats
                self.eval_imgs[iou_type] = np.empty((1, num_areas, 0))
            create_common_coco_eval(
                self.coco_evals[0][iou_type],
                self.img_ids,
                self.eval_imgs[iou_type],
                use_self_evaluate=self.use_self_evaluate,
                gather_pred_via_filesys=self.gather_pred_via_filesys,
                metrics_dump_dir=self.metrics_dump_dir,
            )
        if self.dump is not None:
            dumped_file = Path(self.dump_dir) / f"coco_predictions_{get_rank()}.json"
            logging.info(f"COCO evaluator: Dumping local predictions to {dumped_file}")
            with g_pathmgr.open(str(dumped_file), "w") as f:
                json.dump(self.dump, f)

            # if self.gather_pred_via_filesys:
            #     dump = gather_to_rank_0_via_filesys(self.dump)
            # else:
            #     dump = all_gather(self.dump, force_cpu=True)
            # self.dump = sum(dump, [])

    def accumulate(self, imgIds=None):
        self._lazy_init()
        logging.info(
            f"Coco evaluator: Accumulating on {len(imgIds) if imgIds is not None else 'all'} images"
        )
        if not is_main_process():
            return

        if imgIds is None:
            for coco_eval in self.coco_evals[0].values():
                accumulate(coco_eval, use_self_eval=self.use_self_evaluate)

        if imgIds is not None:
            imgIds = set(imgIds)
            for coco_eval in self.coco_evals[0].values():
                p = coco_eval.params
                id_mask = np.array([(i in imgIds) for i in p.imgIds], dtype=bool)
                old_img_ids = p.imgIds
                coco_eval.params.imgIds = np.asarray(p.imgIds)[id_mask]
                old_img_evals = coco_eval.evalImgs
                catIds = p.catIds if p.useCats else [-1]
                coco_eval.evalImgs = list(
                    np.asarray(coco_eval.evalImgs)
                    .reshape(len(catIds), len(p.areaRng), len(old_img_ids))[
                        ..., id_mask
                    ]
                    .flatten()
                )
                accumulate(coco_eval, use_self_eval=self.use_self_evaluate)
                coco_eval.evalImgs = old_img_evals
                coco_eval.params.imgIds = old_img_ids

    def summarize(self):
        self._lazy_init()
        logging.info("Coco evaluator: Summarizing")
        if not is_main_process():
            return {}

        outs = {}
        if self.rarity_buckets is None:
            self.accumulate(self.eval_img_ids)
            for iou_type, coco_eval in self.coco_evals[0].items():
                print("IoU metric: {}".format(iou_type))
                summarize(coco_eval)

            if "bbox" in self.coco_evals[0]:
                for key, value in zip(*self.coco_evals[0]["bbox"].stats):
                    outs[f"coco_eval_bbox_{key}"] = value
            if "segm" in self.coco_evals[0]:
                for key, value in zip(*self.coco_evals[0]["segm"].stats):
                    outs[f"coco_eval_masks_{key}"] = value
        else:
            total_stats = {}
            all_keys = {}
            for bucket, img_list in self.rarity_buckets.items():
                self.accumulate(imgIds=img_list)
                bucket_name = RARITY_BUCKETS[bucket]
                for iou_type, coco_eval in self.coco_evals[0].items():
                    print(f"IoU metric: {iou_type}. Rarity bucket: {bucket_name}")
                    summarize(coco_eval)

                if "bbox" in self.coco_evals[0]:
                    if "bbox" not in total_stats:
                        total_stats["bbox"] = np.zeros_like(
                            self.coco_evals[0]["bbox"].stats[1]
                        )
                        all_keys["bbox"] = self.coco_evals[0]["bbox"].stats[0]
                    total_stats["bbox"] += self.coco_evals[0]["bbox"].stats[1]
                    for key, value in zip(*self.coco_evals[0]["bbox"].stats):
                        outs[f"coco_eval_bbox_{bucket_name}_{key}"] = value
                if "segm" in self.coco_evals[0]:
                    if "segm" not in total_stats:
                        total_stats["segm"] = np.zeros_like(
                            self.coco_evals[0]["segm"].stats[1]
                        )
                        all_keys["segm"] = self.coco_evals[0]["segm"].stats[0]
                    total_stats["segm"] += self.coco_evals[0]["segm"].stats[1]
                    for key, value in zip(*self.coco_evals[0]["segm"].stats):
                        outs[f"coco_eval_masks_{bucket_name}_{key}"] = value

            if "bbox" in total_stats:
                total_stats["bbox"] /= len(self.rarity_buckets)
                for key, value in zip(all_keys["bbox"], total_stats["bbox"]):
                    outs[f"coco_eval_bbox_{key}"] = value
            if "segm" in total_stats:
                total_stats["segm"] /= len(self.rarity_buckets)
                for key, value in zip(all_keys["segm"], total_stats["segm"]):
                    outs[f"coco_eval_masks_{key}"] = value

        # if self.dump is not None:
        #     assert self.dump_dir is not None
        #     logging.info("Coco evaluator: Dumping the global result file to disk")
        #     with g_pathmgr.open(str(Path(self.dump_dir) / "coco_eval.json"), "w") as f:
        #         json.dump(self.dump, f)
        return outs

    def compute_synced(self):
        self._lazy_init()
        self.synchronize_between_processes()
        return self.summarize()

    def compute(self):
        self._lazy_init()
        return {"": 0.0}

    def reset(self, cocoeval_cls=COCOeval):
        self.coco_evals = [{} for _ in range(len(self.coco_gts))]
        for i, coco_gt in enumerate(self.coco_gts):
            for iou_type in self.iou_types:
                self.coco_evals[i][iou_type] = cocoeval_cls(coco_gt, iouType=iou_type)
                self.coco_evals[i][iou_type].params.useCats = self.useCats
                self.coco_evals[i][iou_type].params.maxDets = self.maxdets
                if self.use_normalized_areas:
                    self.coco_evals[i][iou_type].params.areaRng = [
                        [0, 1e5],
                        [0, 0.001],
                        [0.001, 0.01],
                        [0.01, 0.1],
                        [0.1, 0.5],
                        [0.5, 0.95],
                        [0.95, 1e5],
                    ]
                    self.coco_evals[i][iou_type].params.areaRngLbl = [
                        "all",
                        "tiny",
                        "small",
                        "medium",
                        "large",
                        "huge",
                        "whole_image",
                    ]

        self.img_ids = []
        self.eval_imgs = {k: [] for k in self.iou_types}
        if self.dump is not None:
            self.dump = []

    def write(self, stats):
        self._lazy_init()
        """Write the results in the stats dict"""
        if "bbox" in self.coco_evals[0]:
            stats["coco_eval_bbox"] = self.coco_evals[0]["bbox"].stats.tolist()
        if "segm" in self.coco_evals[0]:
            stats["coco_eval_masks"] = self.coco_evals[0]["segm"].stats.tolist()
        return stats

    def prepare(self, predictions, iou_type):
        self._lazy_init()
        if iou_type == "bbox":
            return self.prepare_for_coco_detection(predictions)
        elif iou_type == "segm":
            return self.prepare_for_coco_segmentation(predictions)
        elif iou_type == "keypoints":
            return self.prepare_for_coco_keypoint(predictions)
        else:
            raise ValueError("Unknown iou type {}".format(iou_type))

    def prepare_for_coco_detection(self, predictions):
        self._lazy_init()
        coco_results = []
        for original_id, prediction in predictions.items():
            if len(prediction) == 0:
                continue

            boxes = prediction["boxes"]
            boxes = convert_to_xywh(boxes).tolist()
            scores = prediction["scores"].tolist()
            labels = prediction["labels"].tolist()

            coco_results.extend(
                [
                    {
                        "image_id": original_id,
                        "category_id": labels[k],
                        "bbox": box,
                        "score": scores[k],
                    }
                    for k, box in enumerate(boxes)
                ]
            )
        return coco_results

    @torch.no_grad()
    def prepare_for_coco_segmentation(self, predictions):
        self._lazy_init()
        coco_results = []
        for original_id, prediction in predictions.items():
            if len(prediction) == 0:
                continue

            scores = prediction["scores"].tolist()
            labels = prediction["labels"].tolist()
            boundaries, dilated_boundaries = None, None
            if "boundaries" in prediction:
                boundaries = prediction["boundaries"]
                dilated_boundaries = prediction["dilated_boundaries"]
                assert dilated_boundaries is not None
                assert len(scores) == len(boundaries)

            if "masks_rle" in prediction:
                rles = prediction["masks_rle"]
                areas = []
                for rle in rles:
                    cur_area = mask_utils.area(rle)
                    h, w = rle["size"]
                    areas.append(cur_area / (h * w))
            else:
                masks = prediction["masks"]

                masks = masks > 0.5
                h, w = masks.shape[-2:]

                areas = masks.flatten(1).sum(1) / (h * w)
                areas = areas.tolist()

                rles = rle_encode(masks.squeeze(1))

                # memory clean
                del masks
                del prediction["masks"]

            assert len(areas) == len(rles) == len(scores)
            for k, rle in enumerate(rles):
                payload = {
                    "image_id": original_id,
                    "category_id": labels[k],
                    "segmentation": rle,
                    "score": scores[k],
                    "area": areas[k],
                }
                if boundaries is not None:
                    payload["boundary"] = boundaries[k]
                    payload["dilated_boundary"] = dilated_boundaries[k]

                coco_results.append(payload)

        return coco_results

    def prepare_for_coco_keypoint(self, predictions):
        self._lazy_init()
        coco_results = []
        for original_id, prediction in predictions.items():
            if len(prediction) == 0:
                continue

            boxes = prediction["boxes"]
            boxes = convert_to_xywh(boxes).tolist()
            scores = prediction["scores"].tolist()
            labels = prediction["labels"].tolist()
            keypoints = prediction["keypoints"]
            keypoints = keypoints.flatten(start_dim=1).tolist()

            coco_results.extend(
                [
                    {
                        "image_id": original_id,
                        "category_id": labels[k],
                        "keypoints": keypoint,
                        "score": scores[k],
                    }
                    for k, keypoint in enumerate(keypoints)
                ]
            )
        return coco_results


def convert_to_xywh(boxes):
    xmin, ymin, xmax, ymax = boxes.unbind(-1)
    return torch.stack((xmin, ymin, xmax - xmin, ymax - ymin), dim=-1)


def merge(img_ids, eval_imgs, gather_pred_via_filesys=False):
    if gather_pred_via_filesys:
        # only gather the predictions to rank 0 (other ranks will receive empty
        # lists for `all_img_ids` and `all_eval_imgs`, which should be OK as
        # merging and evaluation are only done on rank 0)
        all_img_ids = gather_to_rank_0_via_filesys(img_ids)
        all_eval_imgs = gather_to_rank_0_via_filesys(eval_imgs)
    else:
        all_img_ids = all_gather(img_ids, force_cpu=True)
        all_eval_imgs = all_gather(eval_imgs, force_cpu=True)
    if not is_main_process():
        return None, None

    merged_img_ids = []
    for p in all_img_ids:
        merged_img_ids.extend(p)

    merged_eval_imgs = []
    for p in all_eval_imgs:
        merged_eval_imgs.append(p)

    merged_img_ids = np.array(merged_img_ids)
    merged_eval_imgs = np.concatenate(merged_eval_imgs, 2)

    # keep only unique (and in sorted order) images
    merged_img_ids, idx = np.unique(merged_img_ids, return_index=True)
    merged_eval_imgs = merged_eval_imgs[..., idx]

    return merged_img_ids, merged_eval_imgs


def create_common_coco_eval(
    coco_eval,
    img_ids,
    eval_imgs,
    use_self_evaluate,
    gather_pred_via_filesys=False,
    metrics_dump_dir=None,
):
    img_ids, eval_imgs = merge(img_ids, eval_imgs, gather_pred_via_filesys)
    if not is_main_process():
        return
    if metrics_dump_dir is not None:
        dumped_file = (
            Path(metrics_dump_dir) / f"coco_eval_img_metrics_{get_rank()}.json"
        )
        logging.info(f"COCO evaluator: Dumping local predictions to {dumped_file}")
        with g_pathmgr.open(str(dumped_file), "w") as f:
            json.dump(eval_imgs.squeeze(), f, default=lambda x: x.tolist())
    img_ids = list(img_ids)

    # If some images were not predicted, we need to create dummy detections for them
    missing_img_ids = set(coco_eval.cocoGt.getImgIds()) - set(img_ids)
    if len(missing_img_ids) > 0:
        print(f"WARNING: {len(missing_img_ids)} images were not predicted!")
        coco_eval.cocoDt = COCO()
        coco_eval.params.imgIds = list(missing_img_ids)
        new_img_ids, new_eval_imgs = evaluate(coco_eval, use_self_evaluate)
        img_ids.extend(new_img_ids)
        eval_imgs = np.concatenate((eval_imgs, new_eval_imgs), axis=2)

    eval_imgs = list(eval_imgs.flatten())
    assert len(img_ids) == len(coco_eval.cocoGt.getImgIds())

    coco_eval.evalImgs = eval_imgs
    coco_eval.params.imgIds = img_ids
    coco_eval._paramsEval = copy.deepcopy(coco_eval.params)


#################################################################
# From pycocotools, just removed the prints and fixed
# a Python3 bug about unicode not defined
#################################################################


# Copy of COCO prepare, but doesn't convert anntoRLE
def segmentation_prepare(self):
    """
    Prepare ._gts and ._dts for evaluation based on params
    :return: None
    """
    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))

    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"]
    self._gts = defaultdict(list)  # gt for evaluation
    self._dts = defaultdict(list)  # dt for evaluation
    for gt in gts:
        self._gts[gt["image_id"], gt["category_id"]].append(gt)
    for dt in dts:
        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, use_self_evaluate):
    """
    Run per image evaluation on given images and store results (a list of dict) in self.evalImgs
    :return: None
    """
    # tic = time.time()
    # print('Running per image evaluation...', use_self_evaluate)
    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"
        print(
            "useSegm (deprecated) is not None. Running {} evaluation".format(p.iouType)
        )
    # print('Evaluate annotation type *{}*'.format(p.iouType))
    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 == "segm" or p.iouType == "bbox":
        computeIoU = self.computeIoU
    elif p.iouType == "keypoints":
        computeIoU = self.computeOks
    self.ious = {
        (imgId, catId): computeIoU(imgId, catId)
        for imgId in p.imgIds
        for catId in catIds
    }

    maxDet = p.maxDets[-1]
    if use_self_evaluate:
        evalImgs = [
            self.evaluateImg(imgId, catId, areaRng, maxDet)
            for catId in catIds
            for areaRng in p.areaRng
            for imgId in p.imgIds
        ]
        # this is NOT in the pycocotools code, but could be done outside
        evalImgs = np.asarray(evalImgs).reshape(
            len(catIds), len(p.areaRng), len(p.imgIds)
        )
        return p.imgIds, evalImgs

    # <<<< Beginning of code differences with original COCO API
    # def convert_instances_to_cpp(instances, is_det=False):
    #     # Convert annotations for a list of instances in an image to a format that's fast
    #     # to access in C++
    #     instances_cpp = []
    #     for instance in instances:
    #         instance_cpp = _CPP.InstanceAnnotation(
    #             int(instance["id"]),
    #             instance["score"] if is_det else instance.get("score", 0.0),
    #             instance["area"],
    #             bool(instance.get("iscrowd", 0)),
    #             bool(instance.get("ignore", 0)),
    #         )
    #         instances_cpp.append(instance_cpp)
    #     return instances_cpp

    # # Convert GT annotations, detections, and IOUs to a format that's fast to access in C++
    # ground_truth_instances = [
    #     [convert_instances_to_cpp(self._gts[imgId, catId]) for catId in p.catIds]
    #     for imgId in p.imgIds
    # ]
    # detected_instances = [
    #     [
    #         convert_instances_to_cpp(self._dts[imgId, catId], is_det=True)
    #         for catId in p.catIds
    #     ]
    #     for imgId in p.imgIds
    # ]
    # ious = [[self.ious[imgId, catId] for catId in catIds] for imgId in p.imgIds]

    # if not p.useCats:
    #     # For each image, flatten per-category lists into a single list
    #     ground_truth_instances = [
    #         [[o for c in i for o in c]] for i in ground_truth_instances
    #     ]
    #     detected_instances = [[[o for c in i for o in c]] for i in detected_instances]

    # # Call C++ implementation of self.evaluateImgs()
    # _evalImgs_cpp = _CPP.COCOevalEvaluateImages(
    #     p.areaRng, maxDet, p.iouThrs, ious, ground_truth_instances, detected_instances
    # )

    # self._paramsEval = copy.deepcopy(self.params)
    # evalImgs = np.asarray(_evalImgs_cpp).reshape(
    #     len(catIds), len(p.areaRng), len(p.imgIds)
    # )
    # return p.imgIds, evalImgs


#################################################################
# end of straight copy from pycocotools, just removing the prints
#################################################################


#################################################################
# From pycocotools, but disabled mask->box conversion which is
# pointless
#################################################################
def loadRes(self, resFile):
    """
    Load result file and return a result api object.
    :param   resFile (str)     : file name of result file
    :return: res (obj)         : result api object
    """
    res = COCO()
    res.dataset["images"] = [img for img in self.dataset["images"]]

    if type(resFile) == str:
        anns = json.load(open(resFile))
    elif type(resFile) == np.ndarray:
        anns = self.loadNumpyAnnotations(resFile)
    else:
        anns = resFile
    assert type(anns) == list, "results in not an array of objects"
    annsImgIds = [ann["image_id"] for ann in anns]
    assert set(annsImgIds) == (set(annsImgIds) & set(self.getImgIds())), (
        "Results do not correspond to current coco set"
    )
    if "caption" in anns[0]:
        imgIds = set([img["id"] for img in res.dataset["images"]]) & set(
            [ann["image_id"] for ann in anns]
        )
        res.dataset["images"] = [
            img for img in res.dataset["images"] if img["id"] in imgIds
        ]
        for id, ann in enumerate(anns):
            ann["id"] = id + 1
    elif "bbox" in anns[0] and not anns[0]["bbox"] == []:
        res.dataset["categories"] = copy.deepcopy(self.dataset["categories"])
        for id, ann in enumerate(anns):
            bb = ann["bbox"]
            x1, x2, y1, y2 = [bb[0], bb[0] + bb[2], bb[1], bb[1] + bb[3]]
            if "segmentation" not in ann:
                ann["segmentation"] = [[x1, y1, x1, y2, x2, y2, x2, y1]]
            ann["area"] = bb[2] * bb[3]
            ann["id"] = id + 1
            ann["iscrowd"] = 0
    elif "segmentation" in anns[0]:
        res.dataset["categories"] = copy.deepcopy(self.dataset["categories"])
        for id, ann in enumerate(anns):
            # now only support compressed RLE format as segmentation results
            # ann["area"] = mask_util.area(ann["segmentation"])
            # The following lines are disabled because they are pointless
            #  if not 'bbox' in ann:
            #     ann['bbox'] = maskUtils.toBbox(ann['segmentation'])
            ann["id"] = id + 1
            ann["iscrowd"] = 0
    elif "keypoints" in anns[0]:
        res.dataset["categories"] = copy.deepcopy(self.dataset["categories"])
        for id, ann in enumerate(anns):
            s = ann["keypoints"]
            x = s[0::3]
            y = s[1::3]
            x0, x1, y0, y1 = np.min(x), np.max(x), np.min(y), np.max(y)
            ann["area"] = (x1 - x0) * (y1 - y0)
            ann["id"] = id + 1
            ann["bbox"] = [x0, y0, x1 - x0, y1 - y0]

    res.dataset["annotations"] = anns
    res.createIndex()
    return res


#################################################################
# end of straight copy from pycocotools
#################################################################


#################################################################
# From pycocotools, but added handling of custom area rngs, and returns stat keys
#################################################################
def summarize(self):
    """
    Compute and display summary metrics for evaluation results.
    Note this functin can *only* be applied on the default parameter setting
    """

    def _summarize(ap=1, iouThr=None, areaRng="all", maxDets=100):
        p = self.params
        iStr = " {:<18} {} @[ IoU={:<9} | area={:>6s} | maxDets={:>3d} ] = {:0.3f}"
        titleStr = "Average Precision" if ap == 1 else "Average Recall"
        typeStr = "(AP)" if ap == 1 else "(AR)"
        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(iouThr == p.iouThrs)[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])
        print(iStr.format(titleStr, typeStr, iouStr, areaRng, maxDets, mean_s))
        return mean_s

    def _summarizeDets():
        nb_results = 6 + (len(self.params.areaRng) - 1) * 2
        assert len(self.params.areaRng) == len(self.params.areaRngLbl)
        stats = np.zeros((nb_results,))
        keys = ["AP", "AP_50", "AP_75"]
        stats[0] = _summarize(1, maxDets=self.params.maxDets[2])
        stats[1] = _summarize(1, iouThr=0.5, maxDets=self.params.maxDets[2])
        stats[2] = _summarize(1, iouThr=0.75, maxDets=self.params.maxDets[2])
        cur_id = 3
        for area in self.params.areaRngLbl[1:]:
            stats[cur_id] = _summarize(1, areaRng=area, maxDets=self.params.maxDets[2])
            cur_id += 1
            keys.append(f"AP_{area}")
        stats[cur_id] = _summarize(0, maxDets=self.params.maxDets[0])
        cur_id += 1
        stats[cur_id] = _summarize(0, maxDets=self.params.maxDets[1])
        cur_id += 1
        stats[cur_id] = _summarize(0, maxDets=self.params.maxDets[2])
        cur_id += 1
        keys += ["AR", "AR_50", "AR_75"]

        for area in self.params.areaRngLbl[1:]:
            stats[cur_id] = _summarize(0, areaRng=area, maxDets=self.params.maxDets[2])
            cur_id += 1
            keys.append(f"AR_{area}")
        assert len(stats) == len(keys)
        return keys, stats

    if not self.eval:
        raise Exception("Please run accumulate() first")
    self.stats = _summarizeDets()


#################################################################
# end of straight copy from pycocotools
#################################################################


#################################################################
# From https://github.com/facebookresearch/detectron2/blob/main/detectron2/evaluation/fast_eval_api.py
# with slight adjustments
#################################################################
def accumulate(self, use_self_eval=False):
    """
    Accumulate per image evaluation results and store the result in self.eval.  Does not
    support changing parameter settings from those used by self.evaluate()
    """
    if use_self_eval:
        self.accumulate()
        return
    # CPP code is disabled
    # self.eval = _CPP.COCOevalAccumulate(self.params, self.evalImgs)

    # # recall is num_iou_thresholds X num_categories X num_area_ranges X num_max_detections
    # self.eval["recall"] = np.array(self.eval["recall"]).reshape(
    #     self.eval["counts"][:1] + self.eval["counts"][2:]
    # )

    # # precision and scores are num_iou_thresholds X num_recall_thresholds X num_categories X
    # # num_area_ranges X num_max_detections
    # self.eval["precision"] = np.array(self.eval["precision"]).reshape(
    #     self.eval["counts"]
    # )
    # self.eval["scores"] = np.array(self.eval["scores"]).reshape(self.eval["counts"])