commit 018e799afed17426df30a28a564bf66b15b6a4e8 Author: sk Date: Mon May 16 18:19:43 2022 +0300 init diff --git a/Inference/model/mobilenetv2-220420-152335-karusel.pkl.epoch470 b/Inference/model/mobilenetv2-220420-152335-karusel.pkl.epoch470 new file mode 100644 index 0000000..a897bc9 Binary files /dev/null and b/Inference/model/mobilenetv2-220420-152335-karusel.pkl.epoch470 differ diff --git a/Inference/predict.ipynb b/Inference/predict.ipynb new file mode 100644 index 0000000..097e935 --- /dev/null +++ b/Inference/predict.ipynb @@ -0,0 +1,54 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "120b4212", + "metadata": {}, + "outputs": [], + "source": [ + "!python -m openpifpaf.predict test\\images\\test.png \\\n", + "--checkpoint=model/mobilenetv2-220420-152335-karusel.pkl.epoch470 --image-output \\\n", + "--keypoint-threshold-rel=0.01 --cif-th=0.01 --caf-th=0.01 --seed-threshold=0.01 \\\n", + "--keypoint-threshold=0.01 --tr-minimum-threshold=0.01 --tr-single-pose-threshold=0.01 \\\n", + "--tr-multi-pose-threshold=0.01 --instance-threshold=0.1 --line-width=4 --json-output" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "984d60d5", + "metadata": {}, + "outputs": [], + "source": [ + "!python -m openpifpaf.video --source test\\videos\\turn180_1d.mp4 \\\n", + "--checkpoint=model/mobilenetv2-220420-152335-karusel.pkl.epoch470 --video-output --json-output \\\n", + "--keypoint-threshold-rel=0.01 --cif-th=0.01 --caf-th=0.01 --seed-threshold=0.01 \\\n", + "--keypoint-threshold=0.01 --tr-minimum-threshold=0.01 --tr-single-pose-threshold=0.01 \\\n", + "--tr-multi-pose-threshold=0.01 --instance-threshold=0.1 --line-width=4 --video-fps=25 \\\n", + "--scale=1 --loader-workers=3" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": 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a/Inference/test/videos/turn180_1d.mp4.openpifpaf.mp4 b/Inference/test/videos/turn180_1d.mp4.openpifpaf.mp4 new file mode 100644 index 0000000..9bb7d8c Binary files /dev/null and b/Inference/test/videos/turn180_1d.mp4.openpifpaf.mp4 differ diff --git a/Inference/test/videos/turn180_1d_logo.mp4 b/Inference/test/videos/turn180_1d_logo.mp4 new file mode 100644 index 0000000..f66eed5 Binary files /dev/null and b/Inference/test/videos/turn180_1d_logo.mp4 differ diff --git a/SuperviselyKeypointsGUI/Icon.ico b/SuperviselyKeypointsGUI/Icon.ico new file mode 100644 index 0000000..034a5e6 Binary files /dev/null and b/SuperviselyKeypointsGUI/Icon.ico differ diff --git a/SuperviselyKeypointsGUI/SuperviselyAPI_requirements.txt b/SuperviselyKeypointsGUI/SuperviselyAPI_requirements.txt new file mode 100644 index 0000000..2c3e8dd --- /dev/null +++ b/SuperviselyKeypointsGUI/SuperviselyAPI_requirements.txt @@ -0,0 +1,5 @@ +pip install wxPython==4.1.1 +pip install cv2 +pip install numpy +pip install pandas +pip install supervisely \ No newline at end of file diff --git a/SuperviselyKeypointsGUI/SuperviselyAPI_start.ipynb b/SuperviselyKeypointsGUI/SuperviselyAPI_start.ipynb new file mode 100644 index 0000000..230a41b --- /dev/null +++ b/SuperviselyKeypointsGUI/SuperviselyAPI_start.ipynb @@ -0,0 +1,53 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "a916d355", + "metadata": {}, + "outputs": [], + "source": [ + "from SuperviselyKeypointsGUI import *\n", + "\n", + "keypoints_3d_path = r'karussel_24kps.csv'\n", + "token = ''\n", + "dataset_id = 627375 #(images)\n", + "project_id = 184347 #(Nurburg-karussel)\n", + "keypoints_3d = pd.read_csv(keypoints_3d_path, index_col=0).astype(float)\n", + "sp = Start_annotation(project_id, dataset_id, token,\n", + " 'local_dataset_path', keypoints_3d_path, 'point_cloud_path')" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "d4037523", + "metadata": {}, + "outputs": [], + "source": [ + "sp.start()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.9.7" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/SuperviselyKeypointsGUI/SuperviselyKeypointsGUI.py b/SuperviselyKeypointsGUI/SuperviselyKeypointsGUI.py new file mode 100644 index 0000000..999ea58 --- /dev/null +++ b/SuperviselyKeypointsGUI/SuperviselyKeypointsGUI.py @@ -0,0 +1,250 @@ +import supervisely_lib as sly +import pandas as pd +import cv2 as cv +import os +# from PIL import Image +import numpy as np +# import open3d as o3d +import wx +import wx.xrc + + +def last_keypoints_on_img(ann_info): + updated = [] + for obj in ann_info[2]['objects']: + updated.append([obj['classTitle'], obj['updatedAt']]) + updated = pd.DataFrame(updated, columns=['classTitle', 'updatedAt']) + updated.updatedAt = pd.to_datetime(updated.updatedAt) + last = updated[updated.updatedAt == updated.updatedAt.max()] + return last + + +def label2hash(meta_json, last): + for clss in meta_json['classes']: + if clss['title'] == last['classTitle'].values[0]: + meta_nodes = clss['geometry_config']['nodes'] + label2hash = {} + for name in meta_nodes: + label2hash[meta_nodes[name]['label']] = name + return label2hash + + +def fit(imageSize, keypoints_2d, keypoints_3d, focus=1): + + objectPoints = keypoints_3d.loc[keypoints_2d.index].values + imagePoints = keypoints_2d[['x', 'y']].values.astype('float') + + n = len(imagePoints) + fx = fy = focus*np.hypot(*imageSize) + cx = imageSize[1]/2 + cy = imageSize[0]/2 + distCoeffs = np.zeros(4, np.float32) + if n < 6: + raise ValueError('Number of keypoints must be > 5') + + cameraMatrix = np.float32([[fx,0, cx], + [0, fy,cy], + [0, 0, 1]]) + + _, rvecs, tvecs = cv.solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, flags=cv.SOLVEPNP_ITERATIVE ) + return rvecs, tvecs, cameraMatrix, distCoeffs + + +def draw_cloud(img, points_3d, params): + imgpts, _ = cv.projectPoints(points_3d, *params) + + for p in imgpts[:, 0]: + img = cv.circle(img, p.astype(int), 0, (255,20,147), -1) + + +def draw_keypoints(img, keypoints_3d, params): + imgpts, _ = cv.projectPoints(keypoints_3d, *params) + + for p in imgpts[:, 0]: + img = cv.circle(img, p.astype(int), 5, (0,0,0), -1) + + +def resize(img, width=1000): + y, x = img.shape[:2] + return cv.resize(img, (width, int(y/x*width))) + + +class Start_annotation(): + def __init__( self, project_id, dataset_id, token, + local_dataset_path, keypoints_3d_path, point_cloud_path): + + adress = 'https://app.supervise.ly/' +# self.local_dataset_path = local_dataset_path +# self.points_3d = np.asarray(o3d.io.read_point_cloud(point_cloud_path).points) + self.keypoints_3d = pd.read_csv(keypoints_3d_path, index_col=0).astype(float) + + self.api = sly.Api(adress, token) + self.meta_json = self.api.project.get_meta(project_id) + self.meta = sly.ProjectMeta.from_json(self.meta_json) + self.images = pd.DataFrame(self.api.image.get_list(dataset_id)).sort_values('name', ignore_index=True) + + + + def load_ann(self, img_id): + ann_info = self.api.annotation.download(img_id) + return ann_info + + def annotations(self, ann_info): + + last = last_keypoints_on_img(ann_info) + if len(last) == 0: + return + nodes = ann_info[2]['objects'][last.index[0]]['nodes'] + keypoints_2d = pd.DataFrame(columns=['x', 'y']) + + for i in range(1, len(nodes)+1): + keypoints_2d.loc[i] = nodes[label2hash(self.meta_json, last)[str(i)]]['loc'] + + return keypoints_2d + + def new_annotations(self, ann_info, new_keypoints): + + last = last_keypoints_on_img(ann_info) + nodes = ann_info[2]['objects'][last.index[0]]['nodes'] + + for i in new_keypoints.index: + nodes[label2hash(self.meta_json, last)[str(i)]]['loc'] = new_keypoints.loc[i].tolist() + + return ann_info + + def start(self): + app = wx.App() + wnd = GUI(self.images, self.transform_by_visible) + wnd.Show(True) + app.MainLoop() + + def transform_by_visible(self, idxs, img_id, name, focus=1, send=True, all_points=False, change_all=False, plot=False): + if send==plot==False: + return 'Error_empty_request' + ann_info = self.load_ann(img_id) + keypoints_2d = self.annotations(ann_info) + if keypoints_2d is None: + return 'Error_annotations' + if not all_points: + keypoints_2d = keypoints_2d.loc[idxs] + imgSize = list(ann_info.annotation['size'].values()) + params = fit(imgSize, keypoints_2d, self.keypoints_3d, focus) + new_keypoints = pd.DataFrame(cv.projectPoints(self.keypoints_3d.values, *params)[0][:, 0], + columns=['x', 'y'], index=range(1, len(self.keypoints_3d)+1)) + if not change_all: + new_keypoints = new_keypoints.drop(idxs) + if send: + new_ann = self.new_annotations(ann_info, new_keypoints) + new_ann = sly.Annotation.from_json(new_ann.annotation, self.meta) + self.api.annotation.upload_ann(img_id, new_ann) + if plot: + img = cv.imread(os.path.join(self.local_dataset_path, name)) + # for p in keypoints_2d.values: + # img = cv.circle(img, p.astype(int), 8, (255,255,255), -1) + draw_cloud(img, self.points_3d, params) + cv.imshow(name, resize(img, 1200)) + a = cv.waitKey(0) + if (a==ord('q')) | (a==233): + cv.destroyAllWindows() + return len(keypoints_2d) + +class GUI( wx.Frame ): + def __init__( self, images, func): + wx.Frame.__init__ ( self, None, id = wx.ID_ANY, title = 'SuperviselyKeypointsGui', pos = wx.DefaultPosition, size = wx.Size( 250,450 ), style = wx.CAPTION|wx.CLOSE_BOX|wx.SYSTEM_MENU|wx.RESIZE_BORDER|wx.TAB_TRAVERSAL ) + self.images = images + self.func = func + self.SetSizeHints( wx.DefaultSize, wx.DefaultSize ) + + gbSizer1 = wx.GridBagSizer( 0, 0 ) + gbSizer1.SetFlexibleDirection( wx.VERTICAL ) + gbSizer1.SetNonFlexibleGrowMode( wx.FLEX_GROWMODE_SPECIFIED ) + + gbSizer1.SetMinSize( wx.Size( 200,400 ) ) + + bSizer3 = wx.BoxSizer( wx.VERTICAL ) + self.m_checkBoxes = [] + for i in range(25): + CheckBox = wx.CheckBox( self, wx.ID_ANY, u"{}".format(str(i+1)), wx.DefaultPosition, wx.DefaultSize, 0 ) + self.m_checkBoxes.append(CheckBox) + bSizer3.Add( self.m_checkBoxes[i], 0, wx.ALL, 0 ) + + gbSizer1.Add( bSizer3, wx.GBPosition( 0, 0 ), wx.GBSpan( 1, 1 ), wx.EXPAND|wx.LEFT|wx.TOP, 5 ) + wSizer5 = wx.WrapSizer( wx.HORIZONTAL, 0 ) + + m_radioBox5Choices = [ u"True", u"False" ] + self.radioBox_send = wx.RadioBox( self, wx.ID_ANY, u"SendKeypoints", wx.DefaultPosition, wx.DefaultSize, m_radioBox5Choices, 1, wx.RA_SPECIFY_COLS ) + self.radioBox_send.SetSelection( 1 ) + wSizer5.Add( self.radioBox_send, 1, wx.ALL, 5 ) + + m_radioBox7Choices = [ u"True", u"False" ] + self.radioBox_plot = wx.RadioBox( self, wx.ID_ANY, u"Plot", wx.DefaultPosition, wx.DefaultSize, m_radioBox7Choices, 1, wx.RA_SPECIFY_COLS ) + self.radioBox_plot.SetSelection( 1 ) + wSizer5.Add( self.radioBox_plot, 1, wx.ALL, 5 ) + + self.m_checkBox26 = wx.CheckBox(self, wx.ID_ANY, u"All points", wx.DefaultPosition, wx.DefaultSize, 0) + wSizer5.Add( self.m_checkBox26, 0, wx.ALL, 5 ) + + self.m_staticText7 = wx.StaticText( self, wx.ID_ANY, u"0", wx.DefaultPosition, wx.DefaultSize, 0 ) + self.m_staticText7.Wrap( -1 ) + wSizer5.Add( self.m_staticText7, 0, wx.ALL, 5 ) + + self.m_button3 = wx.Button( self, wx.ID_ANY, u"Go", wx.DefaultPosition, wx.DefaultSize, 0 ) + wSizer5.Add( self.m_button3, 0, wx.ALL, 5 ) + + gbSizer1.Add( wSizer5, wx.GBPosition( 0, 1 ), wx.GBSpan( 1, 1 ), wx.ALIGN_CENTER_HORIZONTAL|wx.EXPAND|wx.TOP, 0 ) + + m_choice3Choices = self.images.name.tolist() + self.m_choice3 = wx.Choice( self, wx.ID_ANY, wx.DefaultPosition, wx.DefaultSize, m_choice3Choices, 0 ) + self.m_choice3.SetSelection( 0 ) + gbSizer1.Add( self.m_choice3, wx.GBPosition( 1, 0 ), wx.GBSpan( 2, 8 ), wx.ALL, 5 ) + + self.SetSizer( gbSizer1 ) + self.Layout() + + self.Centre( wx.BOTH ) + self.m_button3.Bind( wx.EVT_BUTTON, self.Go ) + + def __del__( self ): + pass + + def Go( self, event ): + idxs = [] + for i, checkBox in enumerate(self.m_checkBoxes, start=1): + if checkBox.IsChecked(): + idxs.append(i) + all_points = self.m_checkBox26.IsChecked() + if (len(idxs)<6) & (not all_points): + wx.MessageBox('Точек должно быть больше 5', 'Ошибка', wx.OK) + event.Skip() + return + if all_points: + n = 25 + else: + n = len(idxs) + self.m_staticText7.SetLabel(str(n)) + img_name = self.m_choice3.GetString(self.m_choice3.GetSelection()) + send = self.radioBox_send.GetString(self.radioBox_send.GetSelection()) + plot = self.radioBox_plot.GetString(self.radioBox_plot.GetSelection()) + img_id = int(self.images[self.images.name==img_name].id.values[0]) + out = self.func(idxs, img_id, img_name, 1, send=(send=='True'), plot=(plot=='True'), all_points=all_points) + if out == 'Error_empty_request': + wx.MessageBox('Выберите plot или send', 'Ошибка', wx.OK) + elif out == 'Error_annotations': + wx.MessageBox('На этом изображении нет разметки', 'Ошибка', wx.OK) + event.Skip() + return + + +if __name__ == '__main__': + + point_cloud_path = r'' + keypoints_3d_path = r'karussel_24kps.csv' + local_dataset_path = r'' + token = '' + dataset_id = 627375 #(images) + project_id = 184347 #(Nurburg-karussel) + + sp = Start_annotation(project_id, dataset_id, token, + local_dataset_path, keypoints_3d_path, point_cloud_path) + + sp.start() \ No newline at end of file diff --git a/SuperviselyKeypointsGUI/karussel_24kps.csv b/SuperviselyKeypointsGUI/karussel_24kps.csv new file mode 100644 index 0000000..322fecf --- /dev/null +++ b/SuperviselyKeypointsGUI/karussel_24kps.csv @@ -0,0 +1,25 @@ +,x,y,z +1,129,-137,0 +2,-41,33,0 +3,-65,46,0 +4,22,-134,0 +5,70,-253,0 +6,69,-329,0 +7,-37,-224,0 +8,-88,-199,0 +9,-143,-171,0 +10,-173,-119,0 +11,-219,-30,0 +12,-307,-26,0 +13,-207,123,0 +14,-138,258,0 +15,-43,240,0 +16,10,242,0 +17,62,229,0 +18,146,174,0 +19,213,138,0 +20,230,59,0 +21,302,-11,0 +22,288,-93,0 +23,172,-65,0 +24,103,-14,0 diff --git a/SuperviselyKeypointsGUI/start.bat b/SuperviselyKeypointsGUI/start.bat new file mode 100644 index 0000000..d573999 --- /dev/null +++ b/SuperviselyKeypointsGUI/start.bat @@ -0,0 +1,4 @@ +@echo on +call C:\Anaconda\Scripts\activate.bat +C:\Anaconda\python.exe SuperviselyKeypointsGUI.py +pause \ No newline at end of file diff --git a/Training/Karusel_dataset-COCO/annotations/train.json b/Training/Karusel_dataset-COCO/annotations/train.json new file mode 100644 index 0000000..ca75e80 --- /dev/null +++ b/Training/Karusel_dataset-COCO/annotations/train.json @@ -0,0 +1 @@ +{"info": {"description": "karusel Dataset", "version": "1.0"}, "categories": [{"supercategory": "NurburgRing", "id": 1, "name": "karusel", "keypoints": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24], "skeleton": [[1, 2], [2, 3], [3, 4], [4, 5], [5, 6], [6, 7], [7, 8], [8, 9], [9, 10], [10, 11], [11, 12], [12, 13], 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+def register(): + openpifpaf.DATAMODULES['karusel'] = karusel_kp.karusel_Kp + openpifpaf.CHECKPOINT_URLS['shufflenetv2k16-apollo-24'] = \ + "http://github.com/DuncanZauss/openpifpaf_assets/releases/" \ + "download/v0.1.0/shufflenetv2k16-201113-135121-apollo.pkl.epoch290" + openpifpaf.CHECKPOINT_URLS['shufflenetv2k16-apollo-66'] = \ + "http://github.com/DuncanZauss/openpifpaf_assets/releases/" \ + "download/v0.1.0/sk16_apollo_66kp.pkl" + openpifpaf.CHECKPOINT_URLS['shufflenetv2k30-apollo-66'] = \ + "http://github.com/DuncanZauss/openpifpaf_assets/releases/" \ + "download/v0.1.0/sk30_apollo_66kp.pkl" diff --git a/Training/openpifpaf_karussel/__pycache__/__init__.cpython-38.pyc b/Training/openpifpaf_karussel/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..2096b53 Binary files /dev/null and b/Training/openpifpaf_karussel/__pycache__/__init__.cpython-38.pyc differ diff --git a/Training/openpifpaf_karussel/__pycache__/__init__.cpython-39.pyc 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a/Training/openpifpaf_karussel/__pycache__/metrics.cpython-39.pyc b/Training/openpifpaf_karussel/__pycache__/metrics.cpython-39.pyc new file mode 100644 index 0000000..3d77347 Binary files /dev/null and b/Training/openpifpaf_karussel/__pycache__/metrics.cpython-39.pyc differ diff --git a/Training/openpifpaf_karussel/constants.py b/Training/openpifpaf_karussel/constants.py new file mode 100644 index 0000000..1fc48b6 --- /dev/null +++ b/Training/openpifpaf_karussel/constants.py @@ -0,0 +1,267 @@ +import os + +import numpy as np +try: + import matplotlib.cm as mplcm + from matplotlib.animation import FuncAnimation + from mpl_toolkits.mplot3d import Axes3D +except ImportError: + pass + +import openpifpaf + +CAR_KEYPOINTS_24 = ['1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11', '12', + '13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23', '24'] + +CAR_SKELETON_24 = [ + [1, 2],[2, 3],[3, 4],[4, 5],[5, 6],[6, 7],[7, 8],[8, 9],[9, 10],[10, 11], + [11, 12],[12, 13],[13, 14],[14, 15],[15, 16],[16, 17],[17, 18],[18, 19],[19, 20], + [20, 21],[21, 22],[22, 23],[23, 24],[24, 1],[24, 3],[1, 5] + ] + +CAR_CATEGORIES_24 = ['karusel'] + + +CAR_SCORE_WEIGHTS_24 = [5,5,5,0.5,2,2,5,1,1,1,1,4,3,2,3,3,3,1,5,5,2,4,0.5,2] + +CAR_SIGMAS_24 = [0.05] * len(CAR_KEYPOINTS_24) + +CAR_POSE_24 = np.array([[ 129., -137., 0.], + [ -41., 33., 0.], + [ -65., 46., 0.], + [ 22., -134., 0.], + [ 70., -253., 0.], + [ 69., -329., 0.], + [ -37., -224., 0.], + [ -88., -199., 0.], + [-143., -171., 0.], + [-173., -119., 0.], + [-219., -30., 0.], + [-307., -26., 0.], + [-207., 123., 0.], + [-138., 258., 0.], + [ -43., 240., 0.], + [ 10., 242., 0.], + [ 62., 229., 0.], + [ 146., 174., 0.], + [ 213., 138., 0.], + [ 230., 59., 0.], + [ 302., -11., 0.], + [ 288., -93., 0.], + [ 172., -65., 0.], + [ 103., -14., 0.]]) + +HFLIP_24 = { + '1': '1', + '2': '2', + '3': '3', + '4': '4', + '5': '5', + '6': '6', + '7': '7', + '8': '8', + '9': '9', + '10': '10', + '11': '11', + '12': '12', + '13': '13', + '14': '14', + '15': '15', + '16': '16', + '17': '17', + '18': '18', + '19': '19', + '20': '20', + '21': '21', + '22': '22', + '23': '23', + '24': '24' +} + +training_weights_local_centrality = [ + 0.890968488270775, + 0.716506138617812, + 1.05674590410869, + 0.764774195768455, + 0.637682585483328, + 0.686680807728366, + 0.955422595797394, + 0.936714585642375, + 1.34823795445326, + 1.38308992581967, + 1.32689945125819, + 1.38838655605483, + 1.18980184904613, + 1.02584355494795, + 0.90969156732068, + 1.24732068576104, + 1.11338768064342, + 0.933815217550391, + 0.852297518872114, + 1.04167641424727, + 1.01668968075247, + 1.34625964088011, + 0.911796331039028, + 0.866206536337413, + 1.55957820407853, + 0.730844382675724, + 0.651138644197359, + 0.758018559633786, + 1.31842501396691, + 1.32186116654782, + 0.744347016851606, + 0.636390683664723, + 0.715244950821949, + 1.63122349407032, + 0.849835699185461, + 0.910488007220499, + 1.44244151650561, + 1.14150437331681, + 1.19808610191343, + 0.960186788642886, + 1.05023623286937, + 1.19761709710598, + 1.3872216313401, + 1.01256700741214, + 1.1167909667759, + 1.27893496336199, + 1.54475684725655, + 1.40343733870633, + 1.45552060866114, + 1.47264222155031, + 0.970060423999993, + 0.944450314768933, + 0.623987071240172, + 0.5745237907704, + 0.66890646050993, + 0.978411632994504, + 0.587396395188292, + 0.76307999741129, + 0.609793563449648, + 0.67983566494545, + 0.685883538168462, + 0.753587600664775, + 0.770335133588157, + 0.764713638033368, + 0.792364155965385, + 0.796435233566833 +] + + +def get_constants(num_kps): + if num_kps == 24: + CAR_POSE_24[:, 2] = 2.0 + return [CAR_KEYPOINTS_24, CAR_SKELETON_24, HFLIP_24, CAR_SIGMAS_24, + CAR_POSE_24, CAR_CATEGORIES_24, CAR_SCORE_WEIGHTS_24] + if num_kps == 66: + CAR_POSE_66[:, 2] = 2.0 + return [CAR_KEYPOINTS_66, CAR_SKELETON_66, HFLIP_66, CAR_SIGMAS_66, + CAR_POSE_66, CAR_CATEGORIES_66, CAR_SCORE_WEIGHTS_66] + # using no if-elif-else construction due to pylint no-else-return error + raise Exception("Only poses with 24 or 66 keypoints are available.") + + +def draw_ann(ann, *, keypoint_painter, filename=None, margin=0.5, aspect=None, **kwargs): + from openpifpaf import show # pylint: disable=import-outside-toplevel + + bbox = ann.bbox() + xlim = bbox[0] - margin, bbox[0] + bbox[2] + margin + ylim = bbox[1] - margin, bbox[1] + bbox[3] + margin + if aspect == 'equal': + fig_w = 5.0 + else: + fig_w = 5.0 / (ylim[1] - ylim[0]) * (xlim[1] - xlim[0]) + + with show.canvas(filename, figsize=(fig_w, 5), nomargin=True, **kwargs) as ax: + ax.set_axis_off() + ax.set_xlim(*xlim) + ax.set_ylim(*ylim) + + if aspect is not None: + ax.set_aspect(aspect) + + keypoint_painter.annotation(ax, ann) + + +def draw_skeletons(pose, sigmas, skel, kps, scr_weights): + from openpifpaf.annotation import Annotation # pylint: disable=import-outside-toplevel + from openpifpaf import show # pylint: disable=import-outside-toplevel + + scale = np.sqrt( + (np.max(pose[:, 0]) - np.min(pose[:, 0])) + * (np.max(pose[:, 1]) - np.min(pose[:, 1])) + ) + + show.KeypointPainter.show_joint_scales = True + keypoint_painter = show.KeypointPainter() + ann = Annotation(keypoints=kps, skeleton=skel, score_weights=scr_weights) + ann.set(pose, np.array(sigmas) * scale) + os.makedirs('docs', exist_ok=True) + draw_ann(ann, filename='docs/skeleton_car.png', keypoint_painter=keypoint_painter) + + +def plot3d_red(ax_2D, p3d, skeleton): + skeleton = [(bone[0] - 1, bone[1] - 1) for bone in skeleton] + + rot_p90_x = np.array([[1, 0, 0], [0, 0, 1], [0, 1, 0]]) + p3d = p3d @ rot_p90_x + + fig = ax_2D.get_figure() + ax = Axes3D(fig, auto_add_to_figure=False) + fig.add_axes(ax) + ax.set_axis_off() + ax_2D.set_axis_off() + + ax.view_init(azim=-90, elev=20) + ax.set_xlabel('X') + ax.set_ylabel('Y') + ax.set_zlabel('Z') + max_range = np.array([p3d[:, 0].max() - p3d[:, 0].min(), + p3d[:, 1].max() - p3d[:, 1].min(), + p3d[:, 2].max() - p3d[:, 2].min()]).max() / 2.0 + mid_x = (p3d[:, 0].max() + p3d[:, 0].min()) * 0.5 + mid_y = (p3d[:, 1].max() + p3d[:, 1].min()) * 0.5 + mid_z = (p3d[:, 2].max() + p3d[:, 2].min()) * 0.5 + + ax.set_xlim(mid_x - max_range, mid_x + max_range) + ax.set_ylim(mid_y - max_range, mid_y + max_range) + ax.set_zlim(mid_z - max_range, mid_z + max_range) # pylint: disable=no-member + + for ci, bone in enumerate(skeleton): + c = mplcm.get_cmap('tab20')((ci % 20 + 0.05) / 20) # Same coloring as Pifpaf preds + ax.plot(p3d[bone, 0], p3d[bone, 1], p3d[bone, 2], color=c) + + def animate(i): + ax.view_init(elev=10., azim=i) + return fig + + return FuncAnimation(fig, animate, frames=360, interval=100) + + +def print_associations(): + print("\nAssociations of the car skeleton with 24 keypoints") + for j1, j2 in CAR_SKELETON_24: + print(CAR_KEYPOINTS_24[j1 - 1], '-', CAR_KEYPOINTS_24[j2 - 1]) + print("\nAssociations of the car skeleton with 66 keypoints") + for j1, j2 in CAR_SKELETON_66: + print(CAR_KEYPOINTS_66[j1 - 1], '-', CAR_KEYPOINTS_66[j2 - 1]) + + +def main(): +# print_associations() +# ============================================================================= +# draw_skeletons(CAR_POSE_24, sigmas = CAR_SIGMAS_24, skel = CAR_SKELETON_24, +# kps = CAR_KEYPOINTS_24, scr_weights = CAR_SCORE_WEIGHTS_24) +# draw_skeletons(CAR_POSE_66, sigmas = CAR_SIGMAS_66, skel = CAR_SKELETON_66, +# kps = CAR_KEYPOINTS_66, scr_weights = CAR_SCORE_WEIGHTS_66) +# ============================================================================= +# with openpifpaf.show.Canvas.blank(nomargin=True) as ax_2D: +# anim_66 = plot3d_red(ax_2D, CAR_POSE_66, CAR_SKELETON_66) +# anim_66.save('./CAR_66_Pose.gif', fps=30) + with openpifpaf.show.Canvas.blank(nomargin=True) as ax_2D: + anim_24 = plot3d_red(ax_2D, CAR_POSE_24, CAR_SKELETON_24) + anim_24.save('./CAR_24_Pose.gif', fps=30) + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/Training/openpifpaf_karussel/karusel_kp.py b/Training/openpifpaf_karussel/karusel_kp.py new file mode 100644 index 0000000..aa637bc --- /dev/null +++ b/Training/openpifpaf_karussel/karusel_kp.py @@ -0,0 +1,332 @@ +""" +Interface for custom data. + +This module handles datasets and is the class that you need to inherit from for your custom dataset. +This class gives you all the handles so that you can train with a new –dataset=mydataset. +The particular configuration of keypoints and skeleton is specified in the headmeta instances +""" + + +import argparse +import torch +import numpy as np +try: + from pycocotools.coco import COCO +except ImportError: + COCO = None + +from openpifpaf.datasets import DataModule +from openpifpaf import encoder, headmeta, metric, transforms +from openpifpaf.datasets import collate_images_anns_meta, collate_images_targets_meta +from openpifpaf.plugins.coco import CocoDataset as CocoLoader + +from .constants import get_constants, training_weights_local_centrality +from .metrics import MeanPixelError + + +class karusel_Kp(DataModule): + """ + DataModule for the karusel Dataset. + """ + + train_annotations = 'Karusel_dataset-COCO/annotations/train.json' + val_annotations = 'Karusel_dataset-COCO/annotations/val.json' + eval_annotations = val_annotations + train_image_dir = 'Karusel_dataset-COCO/images/train/' + val_image_dir = 'Karusel_dataset-COCO/images/val/' + eval_image_dir = val_image_dir + + n_images = None + square_edge = 513 + extended_scale = False + orientation_invariant = 0.0 + blur = 0.0 + augmentation = True + rescale_images = 1.0 + upsample_stride = 1 + min_kp_anns = 1 + b_min = 1 # 1 pixel + + eval_annotation_filter = True + eval_long_edge = 0 # set to zero to deactivate rescaling + eval_orientation_invariant = 0.0 + eval_extended_scale = False + + def __init__(self): + super().__init__() + if self.weights is not None: + caf_weights = [] + for bone in self.CAR_SKELETON: + caf_weights.append(max(self.weights[bone[0] - 1], + self.weights[bone[1] - 1])) + w_np = np.array(caf_weights) + caf_weights = list(w_np / np.sum(w_np) * len(caf_weights)) + else: + caf_weights = None + cif = headmeta.Cif('cif', 'apollo', + keypoints=self.CAR_KEYPOINTS, + sigmas=self.CAR_SIGMAS, + pose=self.CAR_POSE, + draw_skeleton=self.CAR_SKELETON, + score_weights=self.CAR_SCORE_WEIGHTS, + training_weights=self.weights) + caf = headmeta.Caf('caf', 'apollo', + keypoints=self.CAR_KEYPOINTS, + sigmas=self.CAR_SIGMAS, + pose=self.CAR_POSE, + skeleton=self.CAR_SKELETON, + training_weights=caf_weights) + + cif.upsample_stride = self.upsample_stride + caf.upsample_stride = self.upsample_stride + self.head_metas = [cif, caf] + + @classmethod + def cli(cls, parser: argparse.ArgumentParser): + group = parser.add_argument_group('data module Apollo') + + group.add_argument('--karusel-train-annotations', + default=cls.train_annotations) + group.add_argument('--karusel-val-annotations', + default=cls.val_annotations) + group.add_argument('--karusel-train-image-dir', + default=cls.train_image_dir) + group.add_argument('--karusel-val-image-dir', + default=cls.val_image_dir) + + group.add_argument('--karusel-square-edge', + default=cls.square_edge, type=int, + help='square edge of input images') + assert not cls.extended_scale + group.add_argument('--karusel-extended-scale', + default=False, action='store_true', + help='augment with an extended scale range') + group.add_argument('--karusel-orientation-invariant', + default=cls.orientation_invariant, type=float, + help='augment with random orientations') + group.add_argument('--karusel-blur', + default=cls.blur, type=float, + help='augment with blur') + assert cls.augmentation + group.add_argument('--karusel-no-augmentation', + dest='karusel_augmentation', + default=True, action='store_false', + help='do not apply data augmentation') + group.add_argument('--karusel-rescale-images', + default=cls.rescale_images, type=float, + help='overall rescale factor for images') + group.add_argument('--karusel-upsample', + default=cls.upsample_stride, type=int, + help='head upsample stride') + group.add_argument('--karusel-min-kp-anns', + default=cls.min_kp_anns, type=int, + help='filter images with fewer keypoint annotations') + group.add_argument('--karusel-bmin', + default=cls.b_min, type=int, + help='b minimum in pixels') + group.add_argument('--karusel-apply-local-centrality-weights', + dest='karusel_apply_local_centrality', + default=False, action='store_true', + help='Weigh the CIF and CAF head during training.') + + # evaluation + assert cls.eval_annotation_filter + group.add_argument('--karusel-no-eval-annotation-filter', + dest='karusel_eval_annotation_filter', + default=True, action='store_false') + group.add_argument('--karusel-eval-long-edge', default=cls.eval_long_edge, type=int, + help='set to zero to deactivate rescaling') + assert not cls.eval_extended_scale + group.add_argument('--karusel-eval-extended-scale', default=False, action='store_true') + group.add_argument('--karusel-eval-orientation-invariant', + default=cls.eval_orientation_invariant, type=float) + group.add_argument('--karusel-use-24-kps', default=False, action='store_true', + help=('The ApolloCar3D dataset can ' + 'be trained with 24 or 66 kps. If you want to train a model ' + 'with 24 kps activate this flag. Change the annotations ' + 'path to the json files with 24 kps.')) + + @classmethod + def configure(cls, args: argparse.Namespace): + # extract global information + cls.debug = args.debug + cls.pin_memory = args.pin_memory + + # Apollo specific + cls.train_annotations = args.karusel_train_annotations + cls.val_annotations = args.karusel_val_annotations + cls.eval_annotations = cls.val_annotations + cls.train_image_dir = args.karusel_train_image_dir + cls.val_image_dir = args.karusel_val_image_dir + cls.eval_image_dir = cls.val_image_dir + + cls.square_edge = args.karusel_square_edge + cls.extended_scale = args.karusel_extended_scale + cls.orientation_invariant = args.karusel_orientation_invariant + cls.blur = args.karusel_blur + cls.augmentation = args.karusel_augmentation # loaded by the dest name + cls.rescale_images = args.karusel_rescale_images + cls.upsample_stride = args.karusel_upsample + cls.min_kp_anns = args.karusel_min_kp_anns + cls.b_min = args.karusel_bmin + if args.karusel_use_24_kps: + (cls.CAR_KEYPOINTS, cls.CAR_SKELETON, cls.HFLIP, cls.CAR_SIGMAS, cls.CAR_POSE, + cls.CAR_CATEGORIES, cls.CAR_SCORE_WEIGHTS) = get_constants(24) + else: + (cls.CAR_KEYPOINTS, cls.CAR_SKELETON, cls.HFLIP, cls.CAR_SIGMAS, cls.CAR_POSE, + cls.CAR_CATEGORIES, cls.CAR_SCORE_WEIGHTS) = get_constants(66) + # evaluation + cls.eval_annotation_filter = args.karusel_eval_annotation_filter + cls.eval_long_edge = args.karusel_eval_long_edge + cls.eval_orientation_invariant = args.karusel_eval_orientation_invariant + cls.eval_extended_scale = args.karusel_eval_extended_scale + if args.karusel_apply_local_centrality: + if args.karusel_use_24_kps: + raise Exception("Applying local centrality weights only works with 66 kps.") + cls.weights = training_weights_local_centrality + else: + cls.weights = None + + def _preprocess(self): + encoders = (encoder.Cif(self.head_metas[0], bmin=self.b_min), + encoder.Caf(self.head_metas[1], bmin=self.b_min)) + + if not self.augmentation: + return transforms.Compose([ + transforms.NormalizeAnnotations(), + transforms.RescaleAbsolute(self.square_edge), + transforms.CenterPad(self.square_edge), + transforms.EVAL_TRANSFORM, + transforms.Encoders(encoders), + ]) + + if self.extended_scale: + rescale_t = transforms.RescaleRelative( + scale_range=(0.2 * self.rescale_images, + 2.0 * self.rescale_images), + power_law=True, stretch_range=(0.75, 1.33)) + else: + rescale_t = transforms.RescaleRelative( + scale_range=(0.33 * self.rescale_images, + 1.33 * self.rescale_images), + power_law=True, stretch_range=(0.75, 1.33)) + + return transforms.Compose([ + transforms.NormalizeAnnotations(), + # transforms.AnnotationJitter(), + transforms.RandomApply(transforms.HFlip(self.CAR_KEYPOINTS, self.HFLIP), 0.5), + rescale_t, + transforms.RandomApply(transforms.Blur(), self.blur), + transforms.RandomChoice( + [transforms.RotateBy90(), + transforms.RotateUniform(30.0)], + [self.orientation_invariant, 0.2], + ), + transforms.Crop(self.square_edge, use_area_of_interest=True), + transforms.CenterPad(self.square_edge), + transforms.MinSize(min_side=32.0), + transforms.TRAIN_TRANSFORM, + transforms.Encoders(encoders), + ]) + + def train_loader(self): + train_data = CocoLoader( + image_dir=self.train_image_dir, + ann_file=self.train_annotations, + preprocess=self._preprocess(), + annotation_filter=True, + min_kp_anns=self.min_kp_anns, + category_ids=[1], + ) + return torch.utils.data.DataLoader( + train_data, batch_size=self.batch_size, shuffle=not self.debug, + pin_memory=self.pin_memory, num_workers=self.loader_workers, drop_last=True, + collate_fn=collate_images_targets_meta) + + def val_loader(self): + val_data = CocoLoader( + image_dir=self.val_image_dir, + ann_file=self.val_annotations, + preprocess=self._preprocess(), + annotation_filter=True, + min_kp_anns=self.min_kp_anns, + category_ids=[1], + ) + return torch.utils.data.DataLoader( + val_data, batch_size=self.batch_size, shuffle=False, + pin_memory=self.pin_memory, num_workers=self.loader_workers, drop_last=True, + collate_fn=collate_images_targets_meta) + + @classmethod + def common_eval_preprocess(cls): + rescale_t = None + if cls.eval_extended_scale: + assert cls.eval_long_edge + rescale_t = [ + transforms.DeterministicEqualChoice([ + transforms.RescaleAbsolute(cls.eval_long_edge), + transforms.RescaleAbsolute((cls.eval_long_edge - 1) // 2 + 1), + ], salt=1) + ] + elif cls.eval_long_edge: + rescale_t = transforms.RescaleAbsolute(cls.eval_long_edge) + + if cls.batch_size == 1: + padding_t = transforms.CenterPadTight(16) + else: + assert cls.eval_long_edge + padding_t = transforms.CenterPad(cls.eval_long_edge) + + orientation_t = None + if cls.eval_orientation_invariant: + orientation_t = transforms.DeterministicEqualChoice([ + None, + transforms.RotateBy90(fixed_angle=90), + transforms.RotateBy90(fixed_angle=180), + transforms.RotateBy90(fixed_angle=270), + ], salt=3) + + return [ + transforms.NormalizeAnnotations(), + rescale_t, + padding_t, + orientation_t, + ] + + def _eval_preprocess(self): + return transforms.Compose([ + *self.common_eval_preprocess(), + transforms.ToAnnotations([ + transforms.ToKpAnnotations( + self.CAR_CATEGORIES, + keypoints_by_category={1: self.head_metas[0].keypoints}, + skeleton_by_category={1: self.head_metas[1].skeleton}, + ), + transforms.ToCrowdAnnotations(self.CAR_CATEGORIES), + ]), + transforms.EVAL_TRANSFORM, + ]) + + def eval_loader(self): + eval_data = CocoLoader( + image_dir=self.eval_image_dir, + ann_file=self.eval_annotations, + preprocess=self._eval_preprocess(), + annotation_filter=self.eval_annotation_filter, + min_kp_anns=self.min_kp_anns if self.eval_annotation_filter else 0, + category_ids=[1] if self.eval_annotation_filter else [], + ) + return torch.utils.data.DataLoader( + eval_data, batch_size=self.batch_size, shuffle=False, + pin_memory=self.pin_memory, num_workers=self.loader_workers, drop_last=False, + collate_fn=collate_images_anns_meta) + +# TODO: make sure that 24kp flag is activated when evaluating a 24kp model + def metrics(self): + return [metric.Coco( + COCO(self.eval_annotations), + max_per_image=20, + category_ids=[1], + iou_type='keypoints', + keypoint_oks_sigmas=self.CAR_SIGMAS + ), MeanPixelError()] diff --git a/Training/openpifpaf_karussel/metrics.py b/Training/openpifpaf_karussel/metrics.py new file mode 100644 index 0000000..e797b85 --- /dev/null +++ b/Training/openpifpaf_karussel/metrics.py @@ -0,0 +1,131 @@ +import logging + +import numpy as np + +from openpifpaf.metric.base import Base +from openpifpaf.annotation import Annotation + +try: + import scipy +except ImportError: + scipy = None + +LOG = logging.getLogger(__name__) + + +class MeanPixelError(Base): + """ + Calculate mean pixel error and detection rate for a given image + and category in an "all-vs-all setting" + """ + predictions = [] + image_ids = [] + errors = [] # mean pixel errors + detections = [] # detection rate + errors_scaled = [] # mean pixel errors + detections_scaled = [] # detection rate + px_ref = 368 # CPM crop size in pixels + + def accumulate(self, predictions, image_meta, *, ground_truth=None): + errors = [] + detections = [] + errors_scaled = [] + detections_scaled = [] + + # Filter ground-truth + for annotation in ground_truth: + if not isinstance(annotation, Annotation): + continue + indices_gt = np.nonzero(annotation.data[:, 2] > 1.0) + if indices_gt[0].size <= 3: + continue + gts = annotation.data[indices_gt, 0:2].squeeze() + width = float(annotation.fixed_bbox[2]) + height = float(annotation.fixed_bbox[3]) + scale = np.array([self.px_ref / width, self.px_ref / height]).reshape(1, 2) + + # Evaluate each keypoint + for idx, gt in zip(indices_gt[0], gts): + preds = np.array([p.data[idx] for p in predictions]).reshape(-1, 3)[:, 0:2] + if preds.size <= 0: + continue + i = np.argmin(np.linalg.norm(preds - gt, axis=1)) + dist = preds[i:i + 1] - gt + dist_scaled = dist * scale + d = float(np.linalg.norm(dist, axis=1)) + d_scaled = float(np.linalg.norm(dist_scaled, axis=1)) + + # Prediction correct if error less than 10 pixels + if d < 10: + errors.append(d) + detections.append(1) + else: + detections.append(0) + if d_scaled < 10: + errors_scaled.append(d) + detections_scaled.append(1) + else: + detections_scaled.append(0) + + # Stats for a single image + mpe = average(errors) + mpe_scaled = average(errors_scaled) + det_rate = 100 * average(detections) + det_rate_scaled = 100 * average(detections_scaled) + LOG.info('Mean Pixel Error (scaled): %s (%s) Det. Rate (scaled): %s (%s)', + str(mpe)[:4], str(mpe_scaled)[:4], str(det_rate)[:4], str(det_rate_scaled)[:4]) + + # Accumulate stats + self.errors.extend(errors) + self.detections.extend(detections) + self.errors_scaled.extend(errors_scaled) + self.detections_scaled.extend(detections_scaled) + + def write_predictions(self, filename, *, additional_data=None): + raise NotImplementedError + + def stats(self): + mpe = average(self.errors) + mpe_scaled = average(self.errors_scaled) + det_rate = 100 * average(self.detections) + det_rate_scaled = 100 * average(self.detections_scaled) + LOG.info('Final Results: \nMean Pixel Error [scaled] : %f [%f] ' + '\nDetection Rate [scaled]: %f [%f]', + mpe, mpe_scaled, det_rate, det_rate_scaled) + data = { + 'stats': [mpe, mpe_scaled, det_rate, det_rate_scaled], + 'text_labels': ['Mean Pixel Error', + 'Mean Pixel Error Scaled', + 'Detection Rate [%]', + 'Detection Rate Scaled[%]'], + } + return data + + +def hungarian_matching(gts, predictions, thresh=0.5): + cost = np.zeros((len(gts), len(predictions))) + + for i, (dg, vg) in enumerate(gts): + for j, pred in enumerate(predictions): + p = np.array(pred.data) + dp = p[:, 0:2][vg > 1.0] + vp = p[:, 2][vg > 1.0] + + dp[vp < thresh] = -100 + dp[vp < thresh] = -100 + + # measure the per-keypoint distance + distances = np.clip(np.linalg.norm(dp - dg, axis=1), 0, 10) + cost[i, j] = float(np.mean(distances)) + + assert np.max(cost) < 11 + row, cols = scipy.optimize.linear_sum_assignment(cost) + return row, cols, cost + + +def average(my_list, *, empty_value=0.0): + """calculate mean of a list""" + if not my_list: + return empty_value + + return sum(my_list) / float(len(my_list)) diff --git a/Training/training.ipynb b/Training/training.ipynb new file mode 100644 index 0000000..3d30c86 --- /dev/null +++ b/Training/training.ipynb @@ -0,0 +1,84 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "39a59328", + "metadata": { + "collapsed": true + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "INFO:__main__:neural network device: cuda (CUDA available: True, count: 1)\n", + "INFO:openpifpaf.network.factory:filtering for dataset heads and extending existing heads\n", + "INFO:openpifpaf.network.losses.multi_head:multihead loss: ['apollo.cif.c', 'apollo.cif.vec', 'apollo.cif.scales', 'apollo.caf.c', 'apollo.caf.vec', 'apollo.caf.scales'], [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]\n", + "INFO:__main__:Single GPU training\n", + "INFO:openpifpaf.logger:{'type': 'process', 'argv': ['C:\\\\Anaconda\\\\lib\\\\site-packages\\\\openpifpaf\\\\train.py', '--dataset', 'karusel', '--checkpoint=mobilenetv2', '--lr=0.00002', '--momentum=0.95', '--b-scale=5.0', '--epochs=151', '--lr-decay', '160', '260', '--lr-decay-epochs=10', '--weight-decay=1e-5', '--weight-decay=1e-5', '--val-interval', '10', '--loader-workers', '3', '--batch-size', '1', '--karusel-use-24-kps', '--karusel-square-edge=769', '--karusel-bmin', '2'], 'args': {'output': 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'caf_fixed_size': False, 'caf_aspect_ratio': 0.0, 'encoder_suppress_selfhidden': True, 'encoder_suppress_invisible': False, 'encoder_suppress_collision': False, 'momentum': 0.95, 'beta2': 0.999, 'adam_eps': 1e-06, 'nesterov': True, 'weight_decay': 1e-05, 'adam': False, 'amsgrad': False, 'lr': 2e-05, 'lr_decay': [160.0, 260.0], 'lr_decay_factor': 0.1, 'lr_decay_epochs': 10.0, 'lr_warm_up_start_epoch': 0, 'lr_warm_up_epochs': 1, 'lr_warm_up_factor': 0.001, 'lr_warm_restarts': [], 'lr_warm_restart_duration': 0.5, 'dataset': 'karusel', 'loader_workers': 3, 'batch_size': 1, 'dataset_weights': None, 'animal_train_annotations': 'data-animalpose/annotations/animal_keypoints_20_train.json', 'animal_val_annotations': 'data-animalpose/annotations/animal_keypoints_20_val.json', 'animal_train_image_dir': 'data-animalpose/images/train/', 'animal_val_image_dir': 'data-animalpose/images/val/', 'animal_square_edge': 513, 'animal_extended_scale': False, 'animal_orientation_invariant': 0.0, 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'cocokp_extended_scale': False, 'cocokp_orientation_invariant': 0.0, 'cocokp_blur': 0.0, 'cocokp_augmentation': True, 'cocokp_rescale_images': 1.0, 'cocokp_upsample': 1, 'cocokp_min_kp_anns': 1, 'cocokp_bmin': 0.1, 'cocokp_eval_test2017': False, 'cocokp_eval_testdev2017': False, 'coco_eval_annotation_filter': True, 'coco_eval_long_edge': 641, 'coco_eval_extended_scale': False, 'coco_eval_orientation_invariant': 0.0, 'crowdpose_train_annotations': 'data-crowdpose/json/crowdpose_train.json', 'crowdpose_val_annotations': 'data-crowdpose/json/crowdpose_val.json', 'crowdpose_image_dir': 'data-crowdpose/images/', 'crowdpose_square_edge': 385, 'crowdpose_extended_scale': False, 'crowdpose_orientation_invariant': 0.0, 'crowdpose_augmentation': True, 'crowdpose_rescale_images': 1.0, 'crowdpose_upsample': 1, 'crowdpose_min_kp_anns': 1, 'crowdpose_eval_test': False, 'crowdpose_eval_long_edge': 641, 'crowdpose_eval_extended_scale': False, 'crowdpose_eval_orientation_invariant': 0.0, 'crowdpose_index': None, 'nuscenes_train_annotations': '../../../NuScenes/mscoco_style_annotations/nuimages_v1.0-train.json', 'nuscenes_val_annotations': '../../../NuScenes/mscoco_style_annotations/nuimages_v1.0-val.json', 'nuscenes_train_image_dir': '../../../NuScenes/nuimages-v1.0-all-samples', 'nuscenes_val_image_dir': '../../../NuScenes/nuimages-v1.0-all-samples', 'nuscenes_square_edge': 513, 'nuscenes_extended_scale': False, 'nuscenes_orientation_invariant': 0.0, 'nuscenes_blur': 0.0, 'nuscenes_augmentation': True, 'nuscenes_rescale_images': 1.0, 'nuscenes_upsample': 1, 'karusel_train_annotations': 'Karusel_dataset-COCO/annotations/train.json', 'karusel_val_annotations': 'Karusel_dataset-COCO/annotations/val.json', 'karusel_train_image_dir': 'Karusel_dataset-COCO/images/train/', 'karusel_val_image_dir': 'Karusel_dataset-COCO/images/val/', 'karusel_square_edge': 769, 'karusel_extended_scale': False, 'karusel_orientation_invariant': 0.0, 'karusel_blur': 0.0, 'karusel_augmentation': 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'posetrack_eval_orientation_invariant': 0.0, 'posetrack_ablation_without_tcaf': False, 'posetrack2017_eval_annotations': 'data-posetrack2017/annotations/val/*.json', 'posetrack2017_data_root': 'data-posetrack2017', 'cocokpst_max_shift': 30.0, 'wholebody_train_annotations': 'data-mscoco/annotations/person_keypoints_train2017_wholebody_pifpaf_style.json', 'wholebody_val_annotations': 'data-mscoco/annotations/coco_wholebody_val_v1.0.json', 'wholebody_train_image_dir': 'data-mscoco/images/train2017/', 'wholebody_val_image_dir': 'data-mscoco/images/val2017', 'wholebody_square_edge': 385, 'wholebody_extended_scale': False, 'wholebody_orientation_invariant': 0.0, 'wholebody_blur': 0.0, 'wholebody_augmentation': True, 'wholebody_rescale_images': 1.0, 'wholebody_upsample': 1, 'wholebody_min_kp_anns': 1, 'wholebody_bmin': 1.0, 'wholebody_apply_local_centrality': False, 'wholebody_eval_test2017': False, 'wholebody_eval_testdev2017': False, 'wholebody_eval_annotation_filter': True, 'wholebody_eval_long_edge': 641, 'wholebody_eval_extended_scale': False, 'wholebody_eval_orientation_invariant': 0.0, 'save_all': None, 'show': False, 'image_width': None, 'image_height': None, 'image_dpi_factor': 2.0, 'image_min_dpi': 50.0, 'show_file_extension': 'jpeg', 'textbox_alpha': 0.5, 'text_color': 'white', 'font_size': 8, 'monocolor_connections': False, 'line_width': None, 'skeleton_solid_threshold': 0.5, 'show_box': False, 'white_overlay': False, 'show_joint_scales': False, 'show_joint_confidences': False, 'show_decoding_order': False, 'show_frontier_order': False, 'show_only_decoded_connections': False, 'video_fps': 10, 'video_dpi': 100, 'debug_indices': [], 'device': device(type='cuda'), 'pin_memory': True}, 'version': '0.13.3', 'plugin_versions': {'openpifpaf_karussel': 'unknown'}, 'hostname': 'DESKTOP-9FV4E0P'}\n", + "loading annotations into memory...\n", + "Done (t=0.00s)\n", + "creating index...\n", + "index created!\n", + "INFO:openpifpaf.plugins.coco.dataset:filter for annotations (min kp=1) ...\n", + "INFO:openpifpaf.plugins.coco.dataset:... done.\n", + "INFO:openpifpaf.plugins.coco.dataset:Images: 104\n", + "loading annotations into memory...\n", + "Done (t=0.00s)\n", + "creating index...\n", + "index created!\n", + "INFO:openpifpaf.plugins.coco.dataset:filter for annotations (min kp=1) ...\n", + "INFO:openpifpaf.plugins.coco.dataset:... done.\n", + "INFO:openpifpaf.plugins.coco.dataset:Images: 12\n", + "INFO:openpifpaf.optimize:SGD optimizer\n", + "INFO:openpifpaf.optimize:training batches per epoch = 104\n", + "INFO:openpifpaf.network.trainer:{'type': 'config', 'field_names': ['apollo.cif.c', 'apollo.cif.vec', 'apollo.cif.scales', 'apollo.caf.c', 'apollo.caf.vec', 'apollo.caf.scales']}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 0, 'n_batches': 104, 'time': 3.312, 'data_time': 9.933, 'lr': 2e-05, 'loss': 3996.015, 'head_losses': [381.82, 1338.938, 2.815, 422.177, 1845.92, 4.346]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 11, 'n_batches': 104, 'time': 0.11, 'data_time': 0.0, 'lr': 2e-05, 'loss': 2537.655, 'head_losses': [108.509, 748.191, 1.287, 225.264, 1452.322, 2.082]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 22, 'n_batches': 104, 'time': 0.145, 'data_time': 0.0, 'lr': 2e-05, 'loss': 3143.217, 'head_losses': [110.165, 1304.007, 3.605, 168.33, 1549.557, 7.551]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 33, 'n_batches': 104, 'time': 0.114, 'data_time': 0.838, 'lr': 2e-05, 'loss': 2561.634, 'head_losses': [104.38, 760.872, 0.937, 145.966, 1548.282, 1.197]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 44, 'n_batches': 104, 'time': 0.158, 'data_time': 0.598, 'lr': 2e-05, 'loss': 3077.632, 'head_losses': [94.998, 1271.543, 1.153, 115.789, 1591.439, 2.709]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 55, 'n_batches': 104, 'time': 0.147, 'data_time': 0.548, 'lr': 2e-05, 'loss': 3387.694, 'head_losses': [117.256, 1455.369, 14.965, 120.495, 1657.198, 22.411]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 66, 'n_batches': 104, 'time': 0.136, 'data_time': 0.0, 'lr': 2e-05, 'loss': 2697.875, 'head_losses': [141.474, 840.148, 1.025, 203.103, 1510.888, 1.238]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 77, 'n_batches': 104, 'time': 0.124, 'data_time': 0.0, 'lr': 2e-05, 'loss': 2917.647, 'head_losses': [117.105, 1214.693, 1.097, 128.015, 1454.447, 2.292]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 88, 'n_batches': 104, 'time': 0.112, 'data_time': 0.0, 'lr': 2e-05, 'loss': 2877.594, 'head_losses': [117.213, 1145.017, 0.308, 142.698, 1471.487, 0.872]}\n", + "INFO:openpifpaf.network.trainer:{'type': 'train', 'epoch': 150, 'batch': 99, 'n_batches': 104, 'time': 0.134, 'data_time': 0.0, 'lr': 2e-05, 'loss': 537.43, 'head_losses': [29.236, 148.922, 0.908, 44.595, 312.376, 1.394]}\n", + "INFO:openpifpaf.network.trainer:applying ema\n", + "INFO:openpifpaf.network.trainer:{'type': 'train-epoch', 'epoch': 151, 'loss': 2661.64299, 'head_losses': [103.41938, 976.64185, 3.44785, 147.09363, 1425.81744, 5.22282], 'time': 58.1, 'n_clipped_grad': 0, 'max_norm': 0.0}\n", + "INFO:openpifpaf.network.trainer:model written: outputs/mobilenetv2-220516-170827-karusel.pkl.epoch151\n", + "INFO:openpifpaf.network.trainer:{'type': 'val-epoch', 'epoch': 151, 'loss': 2293.58988, 'head_losses': [75.23923, 780.86423, 1.6363, 120.32408, 1312.80143, 2.72463], 'time': 13.4}\n" + ] + } + ], + "source": [ + "!python -m openpifpaf.train --dataset karusel \\\n", + "--checkpoint=mobilenetv2 --lr=0.00002 --momentum=0.95 --b-scale=5.0 \\\n", + "--epochs=151 --lr-decay 160 260 --lr-decay-epochs=10 --weight-decay=1e-5 \\\n", + "--weight-decay=1e-5 --val-interval 10 --loader-workers 3 \\\n", + "--batch-size 1 --karusel-use-24-kps --karusel-square-edge=769 --karusel-bmin 2" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.9.7" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/utils/coca-cola.png b/utils/coca-cola.png new file mode 100644 index 0000000..4a95b1a Binary files /dev/null and b/utils/coca-cola.png differ diff --git a/utils/functions_shield.py b/utils/functions_shield.py new file mode 100644 index 0000000..16d169f --- /dev/null +++ b/utils/functions_shield.py @@ -0,0 +1,133 @@ +import cv2 +import numpy as np +import os + +# Read shield with alpha channel +def readAlpha(path): + src = cv2.imread(path, cv2.IMREAD_UNCHANGED) + src = cv2.cvtColor(src, cv2.COLOR_BGRA2RGBA) + # b, g, r, alpha = cv2.split(src) + # dst1 = cv2.merge((b, g, r)) + # alpha = cv2.cvtColor(alpha, cv2.COLOR_GRAY2BGR) + # dst1_64 = dst1.astype(np.float64) + # alpha_64 = alpha.astype(np.float64) + # alpha_64 *= 1./255. + # dst2_64 = np.multiply(dst1_64, alpha_64) + # dst2 = dst2_64.astype(np.uint8) + return src + +# Read shield with alpha channel and points +def readShield(path, step_board=0): + pict = readAlpha(path) + h_pict = pict.shape[0] + w_pict = pict.shape[1] + pts_pict = np.array( + [[step_board, step_board], [w_pict - step_board, step_board], [w_pict - step_board, h_pict - step_board], + [step_board, h_pict - step_board]]) + return pict, pts_pict + +def ReadShields(shield_album): + picts_paths = [] + f = open(shield_album) + for g in f: + if g[-1] == '\n': + picts_paths.append(g[:-1]) + else: + picts_paths.append(g) + f.close() + # print(picts_paths) + picts = [] + pts_picts = [] + for shield_path in picts_paths: + pict, pts_pict = readShield(shield_path) + picts.append(pict) + pts_picts.append(pts_pict) + return picts, pts_picts + +def ReadShieldsAni(shield_album): + picts_paths = [] + # filelist = os.listdir(shield_album) + # for g in filelist: + # picts_paths.append(shield_album + "/" + g) + # # print(picts_paths) + picts = [] + pts_picts = [] + for i in range(0,55): + str_i = str(i).zfill(4) + pict, pts_pict = readShield(shield_album + "/frame_"+str_i+".png") + picts.append(pict) + pts_picts.append(pts_pict) + return picts, pts_picts + +# Overaling transformed shield on frame +def overlaying(pict, img, pts_pict, pts_frame, part=1.0): + # Homography + # h, status = cv2.findHomography(pts_pict, pts_frame) + + + +# x1 = int(pts_frame[0][1]) +# if x1 < 0: +# x1 = 0 +# x2 = int(pts_frame[2][1]) +# y1 = int(pts_frame[0][0]) +# if y1 < 0: +# y1 = 0 +# y2 = int(pts_frame[2][0]) + + (y1, x1), (y2, x2) = pts_frame.min(axis=0), pts_frame.max(axis=0) + if (x2 - x1) > 50 and (y2 - y1) > 50: + try: + area = img[x1:x2, y1:y2] + # rows, cols, channels = area.shape + + b, g, r, alpha = cv2.split(pict) + pict_rgb = cv2.merge((r, g, b)) + + h, status = cv2.findHomography(pts_pict, pts_frame) + imgWarp = cv2.warpPerspective(pict_rgb, h, (img.shape[1], img.shape[0])) + alphaWarp = cv2.warpPerspective(alpha, h, (img.shape[1], img.shape[0])) + pict_area = imgWarp[x1:x2, y1:y2] + alpha_area = alphaWarp[x1:x2, y1:y2] + + # pict = cv2.resize(pict, (cols, rows)) + + znam = 1./255. + alpha_area = cv2.cvtColor(alpha_area, cv2.COLOR_GRAY2BGR) + pict_32 = pict_area.astype(np.float32) + area_32 = area.astype(np.float32) + alpha_32 = alpha_area.astype(np.float32) + alpha_32 *= znam + if part != 1.: + alpha_32 *= part + alpha_nega_32 = 1. - alpha_32 + dst1_32 = np.multiply(pict_32, alpha_32) + dst2_32 = np.multiply(area_32, alpha_nega_32) + dst_32 = dst1_32 + dst2_32 + img[x1:x2, y1:y2] = dst_32.astype(np.uint8) + + # Warp transform shield + # imgWarp = cv2.warpPerspective(pict_rgb, h, (img.shape[1], img.shape[0])) + # alphaWarp = cv2.warpPerspective(alpha, h, (img.shape[1], img.shape[0])) + + # Placing sheild on frame + # imgAug = cv2.addWeighted(img, 1.0, imgWarp, 0.5, 0.0) + except: + pass + + return img + +def applistShields(album_paths): + picts_paths = [] + picts_names = [] + f = open(album_paths) + for g in f: + if g[-1] == '\n': + picts_paths.append(g[:-1]) + else: + picts_paths.append(g) + f.close() + for path in picts_paths: + name = path.split('.')[0].split("/")[1] + picts_names.append(name) + return picts_paths, picts_names diff --git a/utils/karussel_24kps.csv b/utils/karussel_24kps.csv new file mode 100644 index 0000000..bf437e3 --- /dev/null +++ b/utils/karussel_24kps.csv @@ -0,0 +1,25 @@ +,x,y,z +1,-11.728358247427778,-219.4412122023117,0.0 +2,-15.92420132696894,20.938476833288533,0.0 +3,-24.15779771912961,46.96169512870693,0.0 +4,-86.61374177228646,-142.95474716218305,0.0 +5,-134.74977744065188,-261.8997851845144,0.0 +6,-188.2631533958743,-315.8749516397929,0.0 +7,-191.57404333357664,-166.7104853355808,0.0 +8,-210.8939138893729,-113.29941343370568,0.0 +9,-231.00716853514677,-54.9516886489786,0.0 +10,-216.46512728143847,3.293732082401192,0.0 +11,-187.73016312616568,99.26925935365503,0.0 +12,-248.253432074131,163.27655515540138,0.0 +13,-72.81535484187529,200.9923483599607,0.0 +14,70.59797139345626,250.17179384400777,0.0 +15,126.43140175736619,171.23113224430733,0.0 +16,165.9457279162327,135.85291821065778,0.0 +17,194.32083871787557,90.37926554238746,0.0 +18,216.53917157107745,-7.535726594794127,0.0 +19,239.72723685724318,-79.97407022773838,0.0 +20,197.07800219673948,-148.61110675229477,0.0 +21,200.24438188899256,-248.98029544904819,0.0 +22,133.21163830661362,-298.2409418903916,0.0 +23,69.21865584018204,-197.5190565076657,0.0 +24,55.01178651022396,-112.90129912872368,0.0 diff --git a/utils/keypoints2pose_video.ipynb b/utils/keypoints2pose_video.ipynb new file mode 100644 index 0000000..0fecc0b --- /dev/null +++ b/utils/keypoints2pose_video.ipynb @@ -0,0 +1,8034 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "f9a03d7c", + "metadata": {}, + "outputs": [], + "source": [ + "import json\n", + "import os\n", + "import pandas as pd\n", + "import numpy as np\n", + "import plotly.express as px\n", + "import cv2\n", + "from tqdm.notebook import tqdm \n", + "from utils import *" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "7e671b5a", + "metadata": {}, + "outputs": [], + "source": [ + "path_video_OpenPifPaf_detection = r'..\\Inference\\test\\videos\\turn180_1d.mp4.openpifpaf.json'\n", + "\n", + "video_json = []\n", + "for line in open(path_video_OpenPifPaf_detection, 'r'):\n", + " video_json.append(json.loads(line))\n", + "\n", + "keypoints_3d_path = r'karussel_24kps.csv'\n", + "keypoints_3d = pd.read_csv(keypoints_3d_path, index_col=0).astype(float)\n", + "\n", + "axes_3d = np.float32([[0,0,0],\n", + " [1,0,0],\n", + " [0,1,0],\n", + " [0,0,1]])" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "1beeef98", + "metadata": {}, + "outputs": [], + "source": [ + "def pict_points(size=100):\n", + " s = size//2\n", + " return np.float32([[0,0,0],\n", + " [-s,-s, 0],\n", + " [s, -s, 0],\n", + " [s, s, 0],\n", + " [-s, s, 0]])\n", + "\n", + "from functions_shield import *\n", + "logo, pts_pict = readShield(\"coca-cola.png\")" + ] + }, + { + "cell_type": "markdown", + "id": "99354896", + "metadata": {}, + "source": [ + "### video" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "id": "3164afcb", + "metadata": { + "scrolled": true + }, + "outputs": [ + { + "data": { + "application/vnd.jupyter.widget-view+json": { + "model_id": "d11eec7ddd3a434082a3c453f81bc877", + "version_major": 2, + "version_minor": 0 + }, + "text/plain": [ + " 0%| | 0/375 [00:00score:\n", + " score = i['score']\n", + " ann = i\n", + " rvec = []\n", + " if ann != []:\n", + " keypoints_2d, bbox, score = encode(ann)\n", + " conf_keypoints_2d = keypoints_2d[keypoints_2d['conf']>0.35]\n", + " if len(conf_keypoints_2d)>5:\n", + " rvec, tvec, camMatrx, dist = fit((1920, 1080), conf_keypoints_2d, keypoints_3d, focus=1)\n", + "\n", + " imgpts = cv.projectPoints(box_pict, rvec, tvec, camMatrx, dist)[0][:, 0].astype(int)\n", + " imgpts_list.append(imgpts)\n", + " \n", + " imgpts = imgpts_filt_list[number]\n", + " img = overlaying(logo, img, pts_pict, imgpts[1:])\n", + " \n", + " for p in imgpts[1:]:\n", + " img = cv.circle(img, p.astype(int), 5, (0,0,0), -1)\n", + "# for p in conf_keypoints_2d[['x', 'y']].values:\n", + "# img = cv.circle(img, p.astype(int), 5, (0,0,0), -1)\n", + " number += 1\n", + " \n", + " out.write(img)\n", + " \n", + "video.release()\n", + "out.release()" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "ada19ded", + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + " \n", + " " + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { 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" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "from scipy.signal import savgol_filter\n", + "def filt(df, window_length=101, polyorder=2):\n", + " df = df.copy()\n", + " for column in df.columns:\n", + " df[column] = savgol_filter(df[column].values, window_length, polyorder)\n", + " return df\n", + "\n", + "df = pd.DataFrame(np.array(imgpts_list).reshape(-1, 10),\n", + " columns=['x0', 'y0', 'x1', 'y1', 'x2', 'y2', 'x3', 'y3', 'x4', 'y4'])\n", + "df[df==0] = None\n", + "df_filt = filt(df.dropna(), 51, 3)\n", + "imgpts_filt_list = df_filt.astype(int).values.reshape(-1, 5, 2)\n", + "\n", + "px.line(df-df_filt)\n", + "\n", + "px.line(df)\n", + "\n", + "px.line(df_filt)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.9.7" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/utils/utils.py b/utils/utils.py new file mode 100644 index 0000000..d3952c7 --- /dev/null +++ b/utils/utils.py @@ -0,0 +1,111 @@ +import cv2 as cv +import pandas as pd +import math +import numpy as np +from tqdm.notebook import tqdm + + +def encode(ann): + keypoints_2d = pd.DataFrame(np.array(ann['keypoints']).reshape(-1, 3), + columns=['x','y','conf'], index=range(1, 25)) + bbox = np.array(ann['bbox']) + score = ann['score'] + return keypoints_2d, bbox, score + + +def fit(imageSize, keypoints_2d, keypoints_3d, focus=1): + + objectPoints = keypoints_3d.loc[keypoints_2d.index].values + imagePoints = keypoints_2d[['x', 'y']].values.astype('float') + + n = len(imagePoints) + fx = fy = focus*np.hypot(*imageSize) + cx = imageSize[0]/2 + cy = imageSize[1]/2 + distCoeffs = np.zeros(4, np.float32) + if n < 6: + raise ValueError('Number of keypoints must be > 5') + + cameraMatrix = np.float32([[fx,0, cx], + [0, fy,cy], + [0, 0, 1]]) + + _, rvecs, tvecs = cv.solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, flags=cv.SOLVEPNP_ITERATIVE ) + return rvecs, tvecs, cameraMatrix, distCoeffs + + +def rvec2euler(rvec): + rvec_matrix = cv.Rodrigues(rvec)[0] + proj_matrix = np.hstack((rvec_matrix, np.zeros_like(rvec))) + euler_angles = cv.decomposeProjectionMatrix(proj_matrix)[6] + return euler_angles.flatten() + +# Checks if a matrix is a valid rotation matrix. +def isRotationMatrix(R) : + Rt = np.transpose(R) + shouldBeIdentity = np.dot(Rt, R) + I = np.identity(3, dtype = R.dtype) + n = np.linalg.norm(I - shouldBeIdentity) + return n < 1e-6 + +# Calculates rotation matrix to euler angles +# The result is the same as MATLAB except the order +# of the euler angles ( x and z are swapped ). +def rotationMatrixToEulerAngles(R) : + + assert(isRotationMatrix(R)) + + sy = math.sqrt(R[0,0] * R[0,0] + R[1,0] * R[1,0]) + + singular = sy < 1e-6 + + if not singular : + x = math.atan2(R[2,1] , R[2,2]) + y = math.atan2(-R[2,0], sy) + z = math.atan2(R[1,0], R[0,0]) + else : + x = math.atan2(-R[1,2], R[1,1]) + y = math.atan2(-R[2,0], sy) + z = 0 + + return np.array([x, y, z]) + +def rvec2euler_Fridman(rvec): + R = cv.Rodrigues(rvec)[0] + euler_angles = np.rad2deg(rotationMatrixToEulerAngles(R)) + return euler_angles + + +def pose_estimation(img_json, keypoints_3d, ImageSize=(1920, 1080), treshhold=0.01, focus=1, fridman=False): + poses = [] + for i, ann in enumerate(img_json): + keypoints_2d, bbox, score = encode(ann) + + conf_keypoints_2d = keypoints_2d[keypoints_2d['conf']>treshhold] + if len(conf_keypoints_2d)>5: + rvec, tvec, camMatrx, dist = fit(ImageSize, conf_keypoints_2d, keypoints_3d, focus=focus) + if not fridman: + euler_angles = rvec2euler(rvec) + else: + euler_angles = rvec2euler_Fridman(rvec) #alternative + + pose = {'Euler angles':[-euler_angles[2], -euler_angles[0]+90, -euler_angles[1]], + 'xyz coords':[tvec[2][0],tvec[0][0],-tvec[1][0]]} + poses.append(pose) + return poses + + +def image_pose_estimation(img_json, img_name, *args, **kvargs): + poses = pose_estimation(img_json, *args, **kvargs) + UE4_json = {'data':{'filename':img_name, 'poses':poses}} + return UE4_json + + +def video_pose_estimation(video_json, video_name, *args, **kvargs): + video_poses = [] + for frame in tqdm(video_json): + num = frame['frame'] + frame_poses = pose_estimation(frame['predictions'], *args, **kvargs) + video_poses.append({'frame':num, 'poses':frame_poses}) + UE4_json_video = {'filename':video_name, 'data':video_poses} + return UE4_json_video \ No newline at end of file