karussel_v2+new_model

Karussell/Supervisely/.ipynb_checkpoints/Bbox from Pose-checkpoint.ipynb

@@ -0,0 +1,217 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "07bdc0da",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import os\n",
+    "import json\n",
+    "import numpy as np\n",
+    "from tqdm.notebook import tqdm\n",
+    "path_dataset = r'D:\\downloads\\Nurburg-karussel'\n",
+    "from SuperviselyKeypointsGUI.SuperviselyKeypointsGUI import *\n",
+    "\n",
+    "\n",
+    "keypoints_3d_path = r'SuperviselyKeypointsGUI\\karussel_24kps.csv'\n",
+    "keypoints_3d = pd.read_csv(keypoints_3d_path, index_col=0).astype(float)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "id": "ca890aa0",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def find_image(id):\n",
+    "    for row in coco['images']:\n",
+    "        if row['id'] == id:\n",
+    "            return row"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "id": "b8135031",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def ltrb_from_cloud(cloud_2d, imgSize, expansion=0.1):\n",
+    "    height, width = imgSize\n",
+    "    ltrb = np.round((cloud_2d[:, 0].min(), cloud_2d[:, 1].min(),\n",
+    "                     cloud_2d[:, 0].max(), cloud_2d[:, 1].max())).astype(int)\n",
+    "    \n",
+    "    if expansion > 0:\n",
+    "        dx = np.round((ltrb[2]-ltrb[0])*expansion/2)\n",
+    "        dy = np.round((ltrb[3]-ltrb[1])*expansion/2)\n",
+    "        ltrb += np.array([-dx, -2*dy, dx, dy], dtype=int)\n",
+    "        \n",
+    "    ltrb[[0,2]] = np.clip(ltrb[[0,2]], 0, width)\n",
+    "    ltrb[[1,3]] = np.clip(ltrb[[1,3]], 0, height)\n",
+    "    \n",
+    "    return ltrb\n",
+    "\n",
+    "def ltrb2ltwh(ltrb):\n",
+    "    return np.array([ltrb[0], ltrb[1], ltrb[2]-ltrb[0], ltrb[3]-ltrb[1]], dtype=int)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "id": "79762c08",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "with open(os.path.join(path_dataset, 'karusel_COCO.json'), 'r') as file:\n",
+    "    coco = json.load(file)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "a1cfe0e2",
+   "metadata": {},
+   "source": [
+    "### Bboxes from pose"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "f9440b54",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for obj in tqdm(coco['annotations']):\n",
+    "    keypoints_2d = np.array(obj['keypoints']).reshape((-1, 3))[:, :2]\n",
+    "    id, width, height, file_name = find_image(obj['image_id']).values()\n",
+    "    \n",
+    "    bbox_ltrb = ltrb_from_cloud(keypoints_2d, (height, width), 0.4)\n",
+    "    bbox_ltwh = ltrb2ltwh(bbox_ltrb).tolist()\n",
+    "    obj['bbox'] = bbox_ltwh\n",
+    "    obj['area'] = bbox_ltwh[2]*bbox_ltwh[3]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "dfcb675b",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# with open(os.path.join(path_dataset, 'karusel_COCO.json'), 'w') as file:\n",
+    "#     json.dump(coco, file)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "e8ff698d",
+   "metadata": {},
+   "source": [
+    "### Split COCO json to train/val"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "3aec7a2b",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from sklearn.model_selection import train_test_split\n",
+    "import copy\n",
+    "\n",
+    "def split_coco_json(coco, test_size=0.2, random_state=0):\n",
+    "    \n",
+    "    train_idx, test_idx = train_test_split([i['id'] for i in coco['images']],\n",
+    "                                           test_size=test_size, random_state=random_state)\n",
+    "\n",
+    "\n",
+    "    train = copy.deepcopy(coco)\n",
+    "    test = copy.deepcopy(coco)\n",
+    "\n",
+    "    test['images'] = [x for x in coco['images'] if x['id'] in test_idx]\n",
+    "    train['images'] = [x for x in coco['images'] if x['id'] in train_idx]\n",
+    "\n",
+    "    test['annotations'] = [x for x in coco['annotations'] if x['image_id'] in test_idx]\n",
+    "    train['annotations'] = [x for x in coco['annotations'] if x['image_id'] in train_idx]\n",
+    "    return train, test"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "1cdd1a3c",
+   "metadata": {},
+   "source": [
+    "### Create new splited dataset"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "aafd54fb",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "train, test = split_coco_json(coco, 0.1, random_state=777)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "f6af98fc",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "test_path_images = [os.path.join(path_dataset, 'images', 'img', x['file_name']) for x in test['images']]\n",
+    "train_path_images = [os.path.join(path_dataset, 'images', 'img', x['file_name']) for x in train['images']]\n",
+    "\n",
+    "import shutil\n",
+    "path_new_dataset = r'C:\\Users\\Kir\\Jupiter\\Nurburg\\OpenPifPaf\\Training\\Karusel_dataset'\n",
+    "\n",
+    "path_train_img = os.path.join(path_new_dataset, 'images', 'train')\n",
+    "path_test_img = os.path.join(path_new_dataset, 'images', 'val')\n",
+    "path_ann = os.path.join(path_new_dataset, 'annotations')\n",
+    "\n",
+    "os.makedirs(path_train_img, exist_ok=True)\n",
+    "os.makedirs(path_test_img, exist_ok=True)\n",
+    "os.makedirs(path_ann, exist_ok=True)\n",
+    "\n",
+    "with open(os.path.join(path_ann, 'train.json'), 'w') as file:\n",
+    "    json.dump(train, file)\n",
+    "    \n",
+    "with open(os.path.join(path_ann, 'val.json'), 'w') as file:\n",
+    "    json.dump(test, file)\n",
+    "\n",
+    "for path in train_path_images:\n",
+    "    shutil.copy(path, path_train_img)\n",
+    "\n",
+    "for path in test_path_images:\n",
+    "    shutil.copy(path, path_test_img)"
+   ]
+  }
+ ],
+ "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
+}

Karussell/Supervisely/.ipynb_checkpoints/ToCOCO-checkpoint.ipynb

@@ -0,0 +1,212 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "283f6e9c",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import os\n",
+    "import numpy as np\n",
+    "import pandas as pd\n",
+    "import glob\n",
+    "import json\n",
+    "from tqdm.notebook import tqdm\n",
+    "\n",
+    "path_dataset = r'D:\\downloads\\Nurburg-karussel'\n",
+    "with open(os.path.join(path_dataset, 'meta.json'), 'r') as j:\n",
+    "    meta = json.load(j)\n",
+    "\n",
+    "imgs = glob.glob(path_dataset + '\\\\images\\\\img\\\\*', recursive=True)\n",
+    "anns = glob.glob(path_dataset + '\\\\images\\\\ann\\\\*', recursive=True)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "7af948d4",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def label2hash(meta_json, last):\n",
+    "    for clss in meta_json['classes']:\n",
+    "        if clss['title'] == last['classTitle']:\n",
+    "            meta_nodes = clss['geometry_config']['nodes']\n",
+    "            label2hash = {}\n",
+    "            for name in meta_nodes:\n",
+    "                label2hash[meta_nodes[name]['label']] = name\n",
+    "    return label2hash"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "id": "7ea0771e",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def annotations(meta_json, obj):\n",
+    "    nodes = obj['nodes']\n",
+    "    keypoints_2d = pd.DataFrame(columns=['x', 'y'])\n",
+    "\n",
+    "    for i in range(1, len(nodes)+1):\n",
+    "        keypoints_2d.loc[i] = nodes[label2hash(meta_json, obj)[str(i)]]['loc']\n",
+    "\n",
+    "    keypoints_2d['v'] = 2\n",
+    "    keypoints_2d = keypoints_2d.astype(float).round().astype(int)\n",
+    "    return keypoints_2d[:24]"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "26b6abf4",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def ann_json(keypoints, img_id, obj):\n",
+    "    \n",
+    "    annotation = {\n",
+    "        \"id\": obj['id'],\n",
+    "        \"segmentation\": [],\n",
+    "        \"num_keypoints\": len(keypoints),\n",
+    "        \"area\": 0,\n",
+    "        \"iscrowd\": 0,\n",
+    "        \"image_id\": img_id,\n",
+    "        \"bbox\": [],\n",
+    "        \"category_id\": 1,\n",
+    "        \"keypoints\": keypoints.values.flatten().tolist()}\n",
+    "\n",
+    "    return annotation\n",
+    "\n",
+    "def img_json(ann, name, id):\n",
+    "    height, width =  ann['size'].values()\n",
+    "    image = {\n",
+    "        \"id\": id,\n",
+    "        \"width\": width,\n",
+    "        \"height\": height,\n",
+    "        \"file_name\": name,\n",
+    "    }\n",
+    "    return image"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "id": "155be42d",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def ann_img_list(anns, imgs, meta):\n",
+    "    annotations_list = []\n",
+    "    image_list = []\n",
+    "    for i in tqdm(range(len(anns))):\n",
+    "\n",
+    "        with open(anns[i], 'r') as j:\n",
+    "            ann = json.load(j)\n",
+    "        \n",
+    "        image_name = os.path.basename(anns[i])[:-5]\n",
+    "        image = img_json(ann, image_name, i)\n",
+    "        image_list.append(image)\n",
+    "\n",
+    "        for obj in ann['objects']:\n",
+    "            keypoints = annotations(meta, obj)\n",
+    "            annotations_list.append(ann_json(keypoints, i, obj))\n",
+    "    return image_list, annotations_list"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "id": "6593f677",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def COCO(image_list, annotations_list):\n",
+    "    coco = {\n",
+    "\n",
+    "        \"info\": {\n",
+    "            \"description\": \"karusel Dataset\", \"version\": \"2.0\"\n",
+    "        },\n",
+    "\n",
+    "        \"categories\": [\n",
+    "            {\n",
+    "                \"supercategory\": \"NurburgRing\",\n",
+    "                \"id\": 1,\n",
+    "                \"name\": \"karusel\",\n",
+    "                \"keypoints\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11,\n",
+    "                              12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24],\n",
+    "                \"skeleton\": [\n",
+    "                    [1, 2],[2, 3],[3, 4],[4, 5],[5, 6],[6, 7],[7, 8],[8, 9],[9, 10],[10, 11],\n",
+    "                    [11, 12],[12, 13],[13, 14],[14, 15],[15, 16],[16, 17],[17, 18],[18, 19],[19, 20],\n",
+    "                    [20, 21],[21, 22],[22, 23],[23, 24],[24, 1],[24, 3],[1, 5]\n",
+    "                ]\n",
+    "            }\n",
+    "        ]\n",
+    "    }\n",
+    "\n",
+    "    coco['images'] = image_list\n",
+    "    coco['annotations'] = annotations_list\n",
+    "    return coco"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 8,
+   "id": "38880d13",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "96021bfc91ce425dbef57ae348321005",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "  0%|          | 0/448 [00:00<?, ?it/s]"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "coco_json = COCO(*ann_img_list(anns, imgs, meta))"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
+   "id": "314565c2",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "with open(os.path.join(path_dataset, 'karusel_COCO.json'), 'w') as file:\n",
+    "    json.dump(coco_json, file)"
+   ]
+  }
+ ],
+ "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
+}

Karussell/Supervisely/Bbox from Pose.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 5,
    "id": "07bdc0da",
    "metadata": {},
    "outputs": [],
@@ -11,7 +11,7 @@
     "import json\n",
     "import numpy as np\n",
     "from tqdm.notebook import tqdm\n",
-    "path_dataset = r'D:\\karusel'\n",
+    "path_dataset = r'D:\\downloads\\Nurburg-karussel'\n",
     "from SuperviselyKeypointsGUI.SuperviselyKeypointsGUI import *\n",
     "\n",
     "\n",
@@ -21,7 +21,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 6,
    "id": "ca890aa0",
    "metadata": {},
    "outputs": [],
@@ -34,7 +34,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 9,
    "id": "b8135031",
    "metadata": {},
    "outputs": [],
@@ -60,7 +60,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 8,
    "id": "79762c08",
    "metadata": {},
    "outputs": [],
@@ -79,10 +79,25 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 10,
    "id": "f9440b54",
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "36c51c895f4e4f6b806c2af9e7bc14b9",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "  0%|          | 0/448 [00:00<?, ?it/s]"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
    "source": [
     "for obj in tqdm(coco['annotations']):\n",
     "    keypoints_2d = np.array(obj['keypoints']).reshape((-1, 3))[:, :2]\n",
@@ -96,7 +111,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 11,
    "id": "dfcb675b",
    "metadata": {},
    "outputs": [],
@@ -115,7 +130,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 12,
    "id": "3aec7a2b",
    "metadata": {},
    "outputs": [],
@@ -150,17 +165,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 23,
    "id": "aafd54fb",
    "metadata": {},
    "outputs": [],
    "source": [
-    "train, test = split_coco_json(coco, 0.1, random_state=777)"
+    "train, test = split_coco_json(coco, 0.1, random_state=77)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 24,
    "id": "f6af98fc",
    "metadata": {},
    "outputs": [],
@@ -169,7 +184,7 @@
     "train_path_images = [os.path.join(path_dataset, 'images', 'img', x['file_name']) for x in train['images']]\n",
     "\n",
     "import shutil\n",
-    "path_new_dataset = r'C:\\Users\\Kir\\Jupiter\\Nurburg\\OpenPifPaf\\Training\\Karusel_dataset'\n",
+    "path_new_dataset = r'C:\\Users\\Kir\\Jupiter\\Drivecast\\place6D_Nurburgring\\Karussell\\Training\\Karusel_dataset_v2'\n",
     "\n",
     "path_train_img = os.path.join(path_new_dataset, 'images', 'train')\n",
     "path_test_img = os.path.join(path_new_dataset, 'images', 'val')\n",

Karussell/Supervisely/ToCOCO.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "id": "283f6e9c",
    "metadata": {},
    "outputs": [],
@@ -14,7 +14,7 @@
     "import json\n",
     "from tqdm.notebook import tqdm\n",
     "\n",
-    "path_dataset = r'D:\\karusel'\n",
+    "path_dataset = r'D:\\downloads\\Nurburg-karussel'\n",
     "with open(os.path.join(path_dataset, 'meta.json'), 'r') as j:\n",
     "    meta = json.load(j)\n",
     "\n",
@@ -24,7 +24,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 3,
    "id": "7af948d4",
    "metadata": {},
    "outputs": [],
@@ -41,7 +41,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 4,
    "id": "7ea0771e",
    "metadata": {},
    "outputs": [],
@@ -60,7 +60,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 5,
    "id": "26b6abf4",
    "metadata": {},
    "outputs": [],
@@ -93,7 +93,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 6,
    "id": "155be42d",
    "metadata": {},
    "outputs": [],
@@ -118,7 +118,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 7,
    "id": "6593f677",
    "metadata": {},
    "outputs": [],
@@ -127,7 +127,7 @@
     "    coco = {\n",
     "\n",
     "        \"info\": {\n",
-    "            \"description\": \"karusel Dataset\", \"version\": \"1.0\"\n",
+    "            \"description\": \"karusel Dataset\", \"version\": \"2.0\"\n",
     "        },\n",
     "\n",
     "        \"categories\": [\n",
@@ -153,17 +153,32 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 8,
    "id": "38880d13",
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "96021bfc91ce425dbef57ae348321005",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "  0%|          | 0/448 [00:00<?, ?it/s]"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
    "source": [
     "coco_json = COCO(*ann_img_list(anns, imgs, meta))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 10,
    "id": "314565c2",
    "metadata": {},
    "outputs": [],