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UA_DETRAC.py
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# --------------------------------------------------------
# Deformable Convolutional Networks
# Copyright (c) 2017 Microsoft
# Licensed under The Apache-2.0 License [see LICENSE for details]
# Modified by Shuo Wang
# --------------------------------------------------------
"""
Pascal VOC database
This class loads ground truth notations from standard Pascal VOC XML data formats
and transform them into IMDB format. Selective search is used for proposals, see roidb
function. Results are written as the Pascal VOC format. Evaluation is based on mAP
criterion.
"""
import cPickle
import cv2
import os
import numpy as np
import PIL
from imdb import IMDB
from pascal_voc_eval import voc_eval, voc_eval_sds
from ds_utils import unique_boxes, filter_small_boxes
class UADETRAC(IMDB):
def __init__(self, image_set, root_path, devkit_path, result_path=None, mask_size=-1, binary_thresh=None):
"""
fill basic information to initialize imdb
:param image_set: 2007_trainval, 2007_test, etc
:param root_path: 'selective_search_data' and 'cache'
:param devkit_path: data and results
:return: imdb object
"""
self.year = 2017
#year = image_set.split('_')[0]
#image_set = image_set[len(year) + 1 : len(image_set)]
super(UADETRAC, self).__init__('UADETRAC', image_set, root_path, devkit_path, result_path) # set self.name
#self.year = year
self.root_path = root_path
self.devkit_path = devkit_path
self.data_path = os.path.join(devkit_path, 'UADETRAC')
self.classes = ['__background__', # always index 0
'vehicle']
self.num_classes = len(self.classes)
self.image_set_index = self.load_image_set_index()
self.num_images = len(self.image_set_index)
print 'num_images', self.num_images
self.mask_size = mask_size
self.binary_thresh = binary_thresh
self.config = {'comp_id': 'comp4',
'use_diff': False,
'min_size': 2}
def load_image_set_index(self):
"""
find out which indexes correspond to given image set (train or val)
:return:
"""
image_set_index_file = os.path.join(self.data_path, 'Sequences', self.image_set + '.txt')
assert os.path.exists(image_set_index_file), 'Path does not exist: {}'.format(image_set_index_file)
with open(image_set_index_file) as f:
image_set_index = [x.strip() for x in f.readlines()]
return image_set_index
def image_path_from_index(self, index):
"""
given image index, find out full path
:param index: index of a specific image
:return: full path of this image
"""
image_files_folder = os.path.join(self.data_path, 'TrainSequences', index)
assert os.path.exists(image_files_folder), 'Path does not exist: {}'.format(image_files_folder)
return image_files_folder
def segmentation_path_from_index(self, index):
"""
given image index, find out the full path of segmentation class
:param index: index of a specific image
:return: full path of segmentation class
"""
seg_class_file = os.path.join(self.data_path, 'SegmentationClass', index + '.png')
assert os.path.exists(seg_class_file), 'Path does not exist: {}'.format(seg_class_file)
return seg_class_file
def gt_roidb(self):
"""
return ground truth image regions database
:return: imdb[image_index]['boxes', 'gt_classes', 'gt_overlaps', 'flipped']
"""
cache_file = os.path.join(self.cache_path, self.name + '_gt_roidb.pkl')
if os.path.exists(cache_file):
with open(cache_file, 'rb') as fid:
roidb = cPickle.load(fid)
print '{} gt roidb loaded from {}'.format(self.name, cache_file)
return roidb
#gt_roidb = [self.load_UADETRAC_annotation(index) for index in self.image_set_index]
gt_roidb = []
for index in self.image_set_index:
gt_roidb.extend(self.load_UADETRAC_annotation(index))
with open(cache_file, 'wb') as fid:
cPickle.dump(gt_roidb, fid, cPickle.HIGHEST_PROTOCOL)
print 'wrote gt roidb to {}'.format(cache_file)
return gt_roidb
def gt_roidb_Shuo(self):
"""
return ground truth image regions database
:return: imdb[image_index]['boxes', 'gt_classes', 'gt_overlaps', 'flipped']
"""
cache_file = os.path.join(self.cache_path, self.name + '_gt_roidb.pkl')
if os.path.exists(cache_file):
with open(cache_file, 'rb') as fid:
roidb = cPickle.load(fid)
print '{} gt roidb loaded from {}'.format(self.name, cache_file)
return roidb
#gt_roidb = [self.load_UADETRAC_annotation(index) for index in self.image_set_index]
gt_roidb = []
for index in self.image_set_index:
gt_roidb.extend(self.load_UADETRAC_annotation_Shuo(index))
with open(cache_file, 'wb') as fid:
cPickle.dump(gt_roidb, fid, cPickle.HIGHEST_PROTOCOL)
print 'wrote gt roidb to {}'.format(cache_file)
return gt_roidb
def gt_segdb(self):
"""
return ground truth image regions database
:return: imdb[image_index]['boxes', 'gt_classes', 'gt_overlaps', 'flipped']
"""
cache_file = os.path.join(self.cache_path, self.name + '_gt_segdb.pkl')
if os.path.exists(cache_file):
with open(cache_file, 'rb') as fid:
segdb = cPickle.load(fid)
print '{} gt segdb loaded from {}'.format(self.name, cache_file)
return segdb
gt_segdb = [self.load_pascal_segmentation_annotation(index) for index in self.image_set_index]
with open(cache_file, 'wb') as fid:
cPickle.dump(gt_segdb, fid, cPickle.HIGHEST_PROTOCOL)
print 'wrote gt segdb to {}'.format(cache_file)
return gt_segdb
def load_UADETRAC_annotation(self, index):
"""
for a given sequence, load images and bounding boxes info from XML file
:param index: index of a specific sequence
:return: record['boxes', 'gt_classes', 'gt_overlaps', 'flipped']
"""
import xml.etree.ElementTree as ET
roi_recs = []
image_folder = self.image_path_from_index(index)
filename = os.path.join(self.data_path, 'TrainAnnotationsXML', index + '.xml')
tree = ET.parse(filename)
frames = tree.findall('frame')
for ix, frame in enumerate(frames):
density = frame.attrib['density'] # string '7'
frame_num = frame.attrib['num'] # string '1'
img_num = ''
if len(frame_num) < 5:
for iter_img_num in range(5-len(frame_num)):
img_num = '0'+img_num
img_num = img_num + frame_num
roi_rec = dict()
roi_rec['image'] = os.path.join(self.image_path_from_index(index),'img'+img_num+'.jpg')
#print(roi_rec['image'] )
im_size = cv2.imread(roi_rec['image'], cv2.IMREAD_COLOR|cv2.IMREAD_IGNORE_ORIENTATION).shape
#print roi_rec['image'], im_size
roi_rec['height'] = float(im_size[0])
roi_rec['width'] = float(im_size[1])
target_list = frame.findall('target_list')
if len(target_list)>0:
tl = target_list[0]
targets = tl.findall('target')
#if not self.config['use_diff']:
# non_diff_objs = [obj for obj in objs if int(obj.find('difficult').text) == 0]
# objs = non_diff_objs
num_targets = len(targets)
boxes = np.zeros((num_targets, 4), dtype=np.uint16)
gt_classes = np.zeros((num_targets), dtype=np.int32)
overlaps = np.zeros((num_targets, self.num_classes), dtype=np.float32)
class_to_index = dict(zip(self.classes, range(self.num_classes)))
# Load object bounding boxes into a data frame.
for ix, target in enumerate(targets):
bbox = target.find('box').attrib
# Make pixel indexes 0-based
x1 = float(bbox['left'])-1
y1 = float(bbox['top'])-1
x2 = x1 + float(bbox['width'])
y2 = y1 + float(bbox['height'])
#x1 = float(bbox.find('xmin').text) - 1
#y1 = float(bbox.find('ymin').text) - 1
#x2 = float(bbox.find('xmax').text) - 1
#y2 = float(bbox.find('ymax').text) - 1
#cls = class_to_index[obj.find('name').text.lower().strip()]
cls = class_to_index['vehicle']
boxes[ix, :] = [x1, y1, x2, y2]
gt_classes[ix] = cls
overlaps[ix, cls] = 1.0
roi_rec.update({'boxes': boxes,
'gt_classes': gt_classes,
'gt_overlaps': overlaps,
'max_classes': overlaps.argmax(axis=1),
'max_overlaps': overlaps.max(axis=1),
'flipped': False})
roi_recs.append(roi_rec)
return roi_recs
def load_UADETRAC_annotation_Shuo(self, index):
"""
for a given sequence, load images and bounding boxes info from XML file
:param index: index of a specific sequence
:return: record['boxes', 'gt_classes', 'gt_overlaps', 'flipped']
"""
import xml.etree.ElementTree as ET
roi_recs = []
image_folder = self.image_path_from_index(index)
#filename = os.path.join(self.data_path, 'TrainSequences', index)
#tree = ET.parse(filename)
frames = os.listdir(image_folder)
for ix, frame in enumerate(frames):
roi_rec = dict()
roi_rec['image'] = os.path.join(self.image_path_from_index(index),frame)
#print(roi_rec['image'] )
im_size = cv2.imread(roi_rec['image'], cv2.IMREAD_COLOR|cv2.IMREAD_IGNORE_ORIENTATION).shape
#print roi_rec['image'], im_size
roi_rec['height'] = float(im_size[0])
roi_rec['width'] = float(im_size[1])
"""
target_list = frame.findall('target_list')
if len(target_list)>0:
tl = target_list[0]
targets = tl.findall('target')
#if not self.config['use_diff']:
# non_diff_objs = [obj for obj in objs if int(obj.find('difficult').text) == 0]
# objs = non_diff_objs
num_targets = len(targets)
boxes = np.zeros((num_targets, 4), dtype=np.uint16)
gt_classes = np.zeros((num_targets), dtype=np.int32)
overlaps = np.zeros((num_targets, self.num_classes), dtype=np.float32)
class_to_index = dict(zip(self.classes, range(self.num_classes)))
# Load object bounding boxes into a data frame.
for ix, target in enumerate(targets):
bbox = target.find('box').attrib
# Make pixel indexes 0-based
x1 = float(bbox['left'])-1
y1 = float(bbox['top'])-1
x2 = x1 + float(bbox['width'])
y2 = y1 + float(bbox['height'])
#x1 = float(bbox.find('xmin').text) - 1
#y1 = float(bbox.find('ymin').text) - 1
#x2 = float(bbox.find('xmax').text) - 1
#y2 = float(bbox.find('ymax').text) - 1
#cls = class_to_index[obj.find('name').text.lower().strip()]
cls = class_to_index['vehicle']
boxes[ix, :] = [x1, y1, x2, y2]
gt_classes[ix] = cls
overlaps[ix, cls] = 1.0
roi_rec.update({'boxes': boxes,
'gt_classes': gt_classes,
'gt_overlaps': overlaps,
'max_classes': overlaps.argmax(axis=1),
'max_overlaps': overlaps.max(axis=1),
'flipped': False})
"""
overlaps = np.ones((1, self.num_classes), dtype=np.float32)
roi_rec.update({'boxes': np.zeros((1, 4), dtype=np.uint16),
'gt_classes': np.ones((1), dtype=np.int32),
'gt_overlaps': overlaps,
'max_classes': overlaps.argmax(axis=1),
'max_overlaps': overlaps.max(axis=1),
'flipped': False})
roi_recs.append(roi_rec)
return roi_recs
def load_selective_search_roidb(self, gt_roidb):
"""
turn selective search proposals into selective search roidb
:param gt_roidb: [image_index]['boxes', 'gt_classes', 'gt_overlaps', 'flipped']
:return: roidb: [image_index]['boxes', 'gt_classes', 'gt_overlaps', 'flipped']
"""
import scipy.io
matfile = os.path.join(self.root_path, 'selective_search_data', self.name + '.mat')
assert os.path.exists(matfile), 'selective search data does not exist: {}'.format(matfile)
raw_data = scipy.io.loadmat(matfile)['boxes'].ravel() # original was dict ['images', 'boxes']
box_list = []
for i in range(raw_data.shape[0]):
boxes = raw_data[i][:, (1, 0, 3, 2)] - 1 # pascal voc dataset starts from 1.
keep = unique_boxes(boxes)
boxes = boxes[keep, :]
keep = filter_small_boxes(boxes, self.config['min_size'])
boxes = boxes[keep, :]
box_list.append(boxes)
return self.create_roidb_from_box_list(box_list, gt_roidb)
def selective_search_roidb(self, gt_roidb, append_gt=False):
"""
get selective search roidb and ground truth roidb
:param gt_roidb: ground truth roidb
:param append_gt: append ground truth
:return: roidb of selective search
"""
cache_file = os.path.join(self.cache_path, self.name + '_ss_roidb.pkl')
if os.path.exists(cache_file):
with open(cache_file, 'rb') as fid:
roidb = cPickle.load(fid)
print '{} ss roidb loaded from {}'.format(self.name, cache_file)
return roidb
if append_gt:
print 'appending ground truth annotations'
ss_roidb = self.load_selective_search_roidb(gt_roidb)
roidb = IMDB.merge_roidbs(gt_roidb, ss_roidb)
else:
roidb = self.load_selective_search_roidb(gt_roidb)
with open(cache_file, 'wb') as fid:
cPickle.dump(roidb, fid, cPickle.HIGHEST_PROTOCOL)
print 'wrote ss roidb to {}'.format(cache_file)
return roidb
def load_pascal_segmentation_annotation(self, index):
"""
for a given index, load image and bounding boxes info from XML file
:param index: index of a specific image
:return: record['seg_cls_path', 'flipped']
"""
import xml.etree.ElementTree as ET
seg_rec = dict()
seg_rec['image'] = self.image_path_from_index(index)
size = cv2.imread(seg_rec['image']).shape
seg_rec['height'] = size[0]
seg_rec['width'] = size[1]
seg_rec['seg_cls_path'] = self.segmentation_path_from_index(index)
seg_rec['flipped'] = False
return seg_rec
def evaluate_detections(self, detections):
"""
top level evaluations
:param detections: result matrix, [bbox, confidence]
:return: None
"""
# make all these folders for results
result_dir = os.path.join(self.result_path, 'results')
if not os.path.exists(result_dir):
os.mkdir(result_dir)
year_folder = os.path.join(self.result_path, 'results', 'VOC' + self.year)
if not os.path.exists(year_folder):
os.mkdir(year_folder)
res_file_folder = os.path.join(self.result_path, 'results', 'VOC' + self.year, 'Main')
if not os.path.exists(res_file_folder):
os.mkdir(res_file_folder)
self.write_pascal_results(detections)
info = self.do_python_eval()
return info
def evaluate_segmentations(self, pred_segmentations=None):
"""
top level evaluations
:param pred_segmentations: the pred segmentation result
:return: the evaluation results
"""
# make all these folders for results
if not (pred_segmentations is None):
self.write_pascal_segmentation_result(pred_segmentations)
info = self._py_evaluate_segmentation()
return info
def write_pascal_segmentation_result(self, pred_segmentations):
"""
Write pred segmentation to res_file_folder
:param pred_segmentations: the pred segmentation results
:param res_file_folder: the saving folder
:return: [None]
"""
result_dir = os.path.join(self.result_path, 'results')
if not os.path.exists(result_dir):
os.mkdir(result_dir)
year_folder = os.path.join(self.result_path, 'results', 'VOC' + self.year)
if not os.path.exists(year_folder):
os.mkdir(year_folder)
res_file_folder = os.path.join(self.result_path, 'results', 'VOC' + self.year, 'Segmentation')
if not os.path.exists(res_file_folder):
os.mkdir(res_file_folder)
result_dir = os.path.join(self.result_path, 'results', 'VOC' + self.year, 'Segmentation')
if not os.path.exists(result_dir):
os.mkdir(result_dir)
pallete = self.get_pallete(256)
for i, index in enumerate(self.image_set_index):
segmentation_result = np.uint8(np.squeeze(np.copy(pred_segmentations[i])))
segmentation_result = PIL.Image.fromarray(segmentation_result)
segmentation_result.putpalette(pallete)
segmentation_result.save(os.path.join(result_dir, '%s.png'%(index)))
def get_pallete(self, num_cls):
"""
this function is to get the colormap for visualizing the segmentation mask
:param num_cls: the number of visulized class
:return: the pallete
"""
n = num_cls
pallete = [0]*(n*3)
for j in xrange(0,n):
lab = j
pallete[j*3+0] = 0
pallete[j*3+1] = 0
pallete[j*3+2] = 0
i = 0
while (lab > 0):
pallete[j*3+0] |= (((lab >> 0) & 1) << (7-i))
pallete[j*3+1] |= (((lab >> 1) & 1) << (7-i))
pallete[j*3+2] |= (((lab >> 2) & 1) << (7-i))
i = i + 1
lab >>= 3
return pallete
def get_confusion_matrix(self, gt_label, pred_label, class_num):
"""
Calcute the confusion matrix by given label and pred
:param gt_label: the ground truth label
:param pred_label: the pred label
:param class_num: the nunber of class
:return: the confusion matrix
"""
index = (gt_label * class_num + pred_label).astype('int32')
label_count = np.bincount(index)
confusion_matrix = np.zeros((class_num, class_num))
for i_label in range(class_num):
for i_pred_label in range(class_num):
cur_index = i_label * class_num + i_pred_label
if cur_index < len(label_count):
confusion_matrix[i_label, i_pred_label] = label_count[cur_index]
return confusion_matrix
def _py_evaluate_segmentation(self):
"""
This function is a wrapper to calculte the metrics for given pred_segmentation results
:param pred_segmentations: the pred segmentation result
:return: the evaluation metrics
"""
confusion_matrix = np.zeros((self.num_classes,self.num_classes))
result_dir = os.path.join(self.result_path, 'results', 'VOC' + self.year, 'Segmentation')
for i, index in enumerate(self.image_set_index):
seg_gt_info = self.load_pascal_segmentation_annotation(index)
seg_gt_path = seg_gt_info['seg_cls_path']
seg_gt = np.array(PIL.Image.open(seg_gt_path)).astype('float32')
seg_pred_path = os.path.join(result_dir, '%s.png'%(index))
seg_pred = np.array(PIL.Image.open(seg_pred_path)).astype('float32')
seg_gt = cv2.resize(seg_gt, (seg_pred.shape[1], seg_pred.shape[0]), interpolation=cv2.INTER_NEAREST)
ignore_index = seg_gt != 255
seg_gt = seg_gt[ignore_index]
seg_pred = seg_pred[ignore_index]
confusion_matrix += self.get_confusion_matrix(seg_gt, seg_pred, self.num_classes)
pos = confusion_matrix.sum(1)
res = confusion_matrix.sum(0)
tp = np.diag(confusion_matrix)
IU_array = (tp / np.maximum(1.0, pos + res - tp))
mean_IU = IU_array.mean()
return {'meanIU':mean_IU, 'IU_array':IU_array}
def get_result_file_template(self):
"""
this is a template
VOCdevkit/results/VOC2007/Main/<comp_id>_det_test_aeroplane.txt
:return: a string template
"""
res_file_folder = os.path.join(self.result_path, 'results', 'VOC' + self.year, 'Main')
comp_id = self.config['comp_id']
filename = comp_id + '_det_' + self.image_set + '_{:s}.txt'
path = os.path.join(res_file_folder, filename)
return path
def write_pascal_results(self, all_boxes):
"""
write results files in pascal devkit path
:param all_boxes: boxes to be processed [bbox, confidence]
:return: None
"""
for cls_ind, cls in enumerate(self.classes):
if cls == '__background__':
continue
print 'Writing {} VOC results file'.format(cls)
filename = self.get_result_file_template().format(cls)
with open(filename, 'wt') as f:
for im_ind, index in enumerate(self.image_set_index):
dets = all_boxes[cls_ind][im_ind]
if len(dets) == 0:
continue
# the VOCdevkit expects 1-based indices
for k in range(dets.shape[0]):
f.write('{:s} {:.3f} {:.1f} {:.1f} {:.1f} {:.1f}\n'.
format(index, dets[k, -1],
dets[k, 0] + 1, dets[k, 1] + 1, dets[k, 2] + 1, dets[k, 3] + 1))
def do_python_eval(self):
"""
python evaluation wrapper
:return: info_str
"""
info_str = ''
annopath = os.path.join(self.data_path, 'Annotations', '{0!s}.xml')
imageset_file = os.path.join(self.data_path, 'ImageSets', 'Main', self.image_set + '.txt')
annocache = os.path.join(self.cache_path, self.name + '_annotations.pkl')
aps = []
# The PASCAL VOC metric changed in 2010
use_07_metric = True if self.year == 'SDS' or int(self.year) < 2010 else False
print 'VOC07 metric? ' + ('Y' if use_07_metric else 'No')
info_str += 'VOC07 metric? ' + ('Y' if use_07_metric else 'No')
info_str += '\n'
for cls_ind, cls in enumerate(self.classes):
if cls == '__background__':
continue
filename = self.get_result_file_template().format(cls)
rec, prec, ap = voc_eval(filename, annopath, imageset_file, cls, annocache,
ovthresh=0.5, use_07_metric=use_07_metric)
aps += [ap]
print('AP for {} = {:.4f}'.format(cls, ap))
info_str += 'AP for {} = {:.4f}\n'.format(cls, ap)
print('Mean [email protected] = {:.4f}'.format(np.mean(aps)))
info_str += 'Mean [email protected] = {:.4f}\n\n'.format(np.mean(aps))
# @0.7
aps = []
for cls_ind, cls in enumerate(self.classes):
if cls == '__background__':
continue
filename = self.get_result_file_template().format(cls)
rec, prec, ap = voc_eval(filename, annopath, imageset_file, cls, annocache,
ovthresh=0.7, use_07_metric=use_07_metric)
aps += [ap]
print('AP for {} = {:.4f}'.format(cls, ap))
info_str += 'AP for {} = {:.4f}\n'.format(cls, ap)
print('Mean [email protected] = {:.4f}'.format(np.mean(aps)))
info_str += 'Mean [email protected] = {:.4f}'.format(np.mean(aps))
return info_str