Further updates to tracking 01 notebook
This commit is contained in:
Karine Ip
GitHub
Родитель
7a31602e57
Коммит
74dd76f2da
Различия файлов скрыты, потому что одна или несколько строк слишком длинны
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@ -10,7 +10,6 @@ class Urls:
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fridge_objects_path = urljoin(base, "odFridgeObjects_FairMOT-Format.zip")
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carcans_annotations_path = urljoin(base, "carcans_vott-csv-export.zip")
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carcans_video_path = urljoin(base, "car_cans_8s.mp4")
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@classmethod
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def all(cls) -> List[str]:
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@ -2,16 +2,19 @@
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# Licensed under the MIT License.
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from collections import OrderedDict
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import numpy as np
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import os
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import os.path as osp
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from typing import Dict, List
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import numpy as np
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from torch.utils.data import DataLoader
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from torchvision.transforms import transforms as T
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from .bbox import TrackingBbox
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from .references.fairmot.datasets.dataset.jde import JointDataset
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from .opts import opts
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from ..common.gpu import db_num_workers
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from .opts import opts
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from .references.fairmot.datasets.dataset.jde import JointDataset
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class TrackingDataset:
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@ -74,10 +77,10 @@ def boxes_to_mot(results: Dict[int, List[TrackingBbox]]) -> None:
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[
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bb.frame_id,
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bb.track_id,
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bb.top,
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bb.left,
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bb.bottom - bb.top,
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bb.top,
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bb.right - bb.left,
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bb.bottom - bb.top,
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1,
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-1,
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-1,
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@ -1,26 +1,26 @@
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# Copyright (c) Microsoft Corporation. All rights reserved.
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# Licensed under the MIT License.
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import argparse
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from collections import OrderedDict, defaultdict
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from collections import defaultdict
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from copy import deepcopy
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import glob
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import requests
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import os
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import os.path as osp
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import tempfile
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from typing import Dict, List, Optional, Tuple
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import cv2
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import matplotlib.pyplot as plt
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import motmetrics as mm
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import numpy as np
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import torch
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import torch.cuda as cuda
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import torch.nn as nn
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from torch.utils.data import DataLoader
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import cv2
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import numpy as np
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import pandas as pd
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import matplotlib.pyplot as plt
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import motmetrics as mm
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from .bbox import TrackingBbox
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from ..common.gpu import torch_device
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from .dataset import TrackingDataset, boxes_to_mot
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from .opts import opts
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from .references.fairmot.datasets.dataset.jde import LoadImages, LoadVideo
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from .references.fairmot.models.model import (
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@ -32,12 +32,6 @@ from .references.fairmot.tracker.multitracker import JDETracker
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from .references.fairmot.tracking_utils.evaluation import Evaluator
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from .references.fairmot.trains.train_factory import train_factory
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from .bbox import TrackingBbox
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from .dataset import TrackingDataset, boxes_to_mot
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from .opts import opts
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from .plot import draw_boxes, assign_colors
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from ..common.gpu import torch_device
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def _get_gpu_str():
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if cuda.is_available():
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@ -47,79 +41,43 @@ def _get_gpu_str():
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return "-1" # cpu
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def write_video(results: Dict[int, List[TrackingBbox]],
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input_video: str,
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output_video: str) -> None:
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"""
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Plot the predicted tracks on the input video. Write the output to {output_path}.
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Args:
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results: dictionary mapping frame id to a list of predicted TrackingBboxes
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input_video: path to the input video
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output_video: path to write out the output video
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"""
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results = OrderedDict(sorted(results.items()))
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# read video and initialize new tracking video
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def _get_frame(input_video: str, frame_id: int):
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video = cv2.VideoCapture()
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video.open(input_video)
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image_width = int(video.get(cv2.CAP_PROP_FRAME_WIDTH))
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image_height = int(video.get(cv2.CAP_PROP_FRAME_HEIGHT))
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fourcc = cv2.VideoWriter_fourcc(*"MP4V")
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frame_rate = int(video.get(cv2.CAP_PROP_FPS))
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writer = cv2.VideoWriter(
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output_video, fourcc, frame_rate, (image_width, image_height)
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)
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# assign bbox color per id
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unique_ids = list(
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set([bb.track_id for frame in results.values() for bb in frame])
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)
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color_map = assign_colors(unique_ids)
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# create images and add to video writer, adapted from https://github.com/ZQPei/deep_sort_pytorch
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frame_idx = 0
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while video.grab():
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_, cur_image = video.retrieve()
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cur_tracks = results[frame_idx]
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if len(cur_tracks) > 0:
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cur_image = draw_boxes(cur_image, cur_tracks, color_map)
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writer.write(cur_image)
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frame_idx += 1
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print(f"Output saved to {output_video}.")
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video.set(cv2.CAP_PROP_POS_FRAMES, frame_id)
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_, im = video.read()
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im = cv2.cvtColor(im, cv2.COLOR_BGR2RGB)
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return im
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def savetxt_results(results: Dict[int, List[TrackingBbox]],
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exp_name: str = 'results',
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root_path: str = None,
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result_filename: str = 'results.txt') -> str:
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"""Save tracking results to txt in tmp directory or provided path.
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def savetxt_results(
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results: Dict[int, List[TrackingBbox]],
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exp_name: str,
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root_path: str,
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result_filename: str,
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) -> str:
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"""Save tracking results to txt in provided path.
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Args:
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results: prediction results from predict() function, i.e. Dict[int, List[TrackingBbox]]
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exp_name: subfolder for each experiment
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root_path: results saved root path. Default: None
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result_filename: saved prediction results txt file; End with '.txt'
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root_path: root path for results saved
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result_filename: saved prediction results txt file; end with '.txt'
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Returns:
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result_path: saved prediction results txt file path
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"""
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if not root_path:
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with tempfile.TemporaryDirectory() as tmpdir1:
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os.makedirs(osp.join(tmpdir1, exp_name))
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result_path = osp.join(tmpdir1, exp_name, result_filename)
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else:
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result_path = osp.join(root_path, exp_name, result_filename)
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# Save results in MOT format for evaluation
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# Convert prediction results to mot format
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bboxes_mot = boxes_to_mot(results)
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# Save results
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result_path = osp.join(root_path, exp_name, result_filename)
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np.savetxt(result_path, bboxes_mot, delimiter=",", fmt="%s")
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return result_path
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def evaluate_mot(gt_root_path: str,
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exp_name: str,
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result_path: str) -> object:
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def evaluate_mot(gt_root_path: str, exp_name: str, result_path: str) -> object:
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""" eval code that calls on 'motmetrics' package in referenced FairMOT script, to produce MOT metrics on inference, given ground-truth.
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Args:
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gt_root_path: path of dataset containing GT annotations in MOTchallenge format (xywh)
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@ -137,15 +95,14 @@ def evaluate_mot(gt_root_path: str,
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return mot_accumulator
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def mot_summary(accumulators: list,
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exp_names: list) -> str:
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def mot_summary(accumulators: list, exp_names: list) -> str:
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"""Given a list of MOTAccumulators, get total summary by method in 'motmetrics', containing metrics scores
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Args:
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accumulators: list of MOTAccumulators
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exp_names: list of experiment names (str) corresponds to MOTAccumulators
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Returns:
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strsummary: pandas.DataFrame output by method in 'motmetrics', containing metrics scores
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strsummary: str output by method in 'motmetrics', containing metrics scores
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"""
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metrics = mm.metrics.motchallenge_metrics
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mh = mm.metrics.create()
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@ -154,7 +111,7 @@ def mot_summary(accumulators: list,
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strsummary = mm.io.render_summary(
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summary,
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formatters=mh.formatters,
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namemap=mm.io.motchallenge_metric_names
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namemap=mm.io.motchallenge_metric_names,
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)
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return strsummary
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@ -164,11 +121,11 @@ class TrackingLearner(object):
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"""Tracking Learner for Multi-Object Tracking"""
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def __init__(
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self,
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dataset: Optional[TrackingDataset] = None,
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model_path: Optional[str] = None,
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arch: str = "dla_34",
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head_conv: int = None,
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self,
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dataset: Optional[TrackingDataset] = None,
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model_path: Optional[str] = None,
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arch: str = "dla_34",
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head_conv: int = None,
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) -> None:
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"""
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Initialize learner object.
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@ -209,7 +166,7 @@ class TrackingLearner(object):
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self.opt.load_model = model_path
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def fit(
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self, lr: float = 1e-4, lr_step: str = "20,27", num_epochs: int = 30
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self, lr: float = 1e-4, lr_step: str = "20,27", num_epochs: int = 30
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) -> None:
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"""
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The main training loop.
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@ -238,10 +195,12 @@ class TrackingLearner(object):
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# initialize dataloader
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train_loader = self.dataset.train_dl
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self.model = create_model(
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self.opt.arch, self.opt.heads, self.opt.head_conv
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)
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self.model = load_model(self.model, opt_fit.load_model)
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self.optimizer = torch.optim.Adam(self.model.parameters(), opt_fit.lr)
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start_epoch = 0
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self.model = create_model(self.opt.arch, self.opt.heads, self.opt.head_conv)
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self.model = load_model(self.model, opt_fit.load_model)
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Trainer = train_factory[opt_fit.task]
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trainer = Trainer(opt_fit.opt, self.model, self.optimizer)
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@ -252,7 +211,7 @@ class TrackingLearner(object):
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# training loop
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for epoch in range(
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start_epoch + 1, start_epoch + opt_fit.num_epochs + 1
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start_epoch + 1, start_epoch + opt_fit.num_epochs + 1
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):
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print(
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"=" * 5,
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@ -262,7 +221,10 @@ class TrackingLearner(object):
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self.epoch = epoch
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log_dict_train, _ = trainer.train(epoch, train_loader)
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for k, v in log_dict_train.items():
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print(f"{k}: {v}")
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if k == "time":
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print(f"{k}:{v} min")
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else:
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print(f"{k}: {v}")
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if epoch in opt_fit.lr_step:
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lr = opt_fit.lr * (0.1 ** (opt_fit.lr_step.index(epoch) + 1))
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for param_group in optimizer.param_groups:
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@ -309,7 +271,7 @@ class TrackingLearner(object):
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print(f"Model saved to {path}")
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def evaluate(
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self, results: Dict[int, List[TrackingBbox]], gt_root_path: str
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self, results: Dict[int, List[TrackingBbox]], gt_root_path: str
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) -> str:
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"""
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@ -324,14 +286,25 @@ class TrackingLearner(object):
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"""
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# Implementation inspired from code found here: https://github.com/ifzhang/FairMOT/blob/master/src/track.py
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result_path = savetxt_results(results, exp_name="single_vid")
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result_path = savetxt_results(
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results, "single_vid", gt_root_path, "results.txt"
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)
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# Save tracking results in tmp
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mot_accumulator = evaluate_mot(gt_root_path, "single_vid", result_path)
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strsummary = mot_summary([mot_accumulator], ("single_vid",))
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return strsummary
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def eval_mot(self, conf_thres: float, track_buffer: int, im_size: Tuple[int, int], data_root: str,
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seqs: list, result_root: str, exp_name: str, run_eval: bool = True) -> str:
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def eval_mot(
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self,
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conf_thres: float,
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track_buffer: int,
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im_size: Tuple[int, int],
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data_root: str,
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seqs: list,
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result_root: str,
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exp_name: str,
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run_eval: bool = True,
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) -> str:
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"""
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Call the prediction function, saves the tracking results to txt file and provides the evaluation results with motmetrics format.
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Args:
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@ -351,24 +324,26 @@ class TrackingLearner(object):
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os.makedirs(eval_path)
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accumulators = []
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for seq in seqs:
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im_path = osp.join(data_root, seq, 'img1')
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result_filename = '{}.txt'.format(seq)
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im_path = osp.join(data_root, seq, "img1")
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result_filename = "{}.txt".format(seq)
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result_path = osp.join(result_root, exp_name, result_filename)
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with open(osp.join(data_root, seq, 'seqinfo.ini')) as seqinfo_file:
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with open(osp.join(data_root, seq, "seqinfo.ini")) as seqinfo_file:
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meta_info = seqinfo_file.read()
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# frame_rate is set from seqinfo.ini by frameRate
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frame_rate = int(
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meta_info[meta_info.find('frameRate') + 10:meta_info.find('\nseqLength')])
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meta_info[
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meta_info.find("frameRate")
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+ 10 : meta_info.find("\nseqLength")
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]
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)
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if not osp.exists(result_path):
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# Run tracking.
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eval_results = self.predict(
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im_path,
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conf_thres,
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track_buffer,
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im_size,
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frame_rate)
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result_path = savetxt_results(eval_results, exp_name, result_root,
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result_filename)
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im_path, conf_thres, track_buffer, im_size, frame_rate
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)
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result_path = savetxt_results(
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eval_results, exp_name, result_root, result_filename
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)
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print(f"Saved tracking results to {result_path}")
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if run_eval:
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# eval
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@ -382,14 +357,14 @@ class TrackingLearner(object):
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return strsummary
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def predict(
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self,
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im_or_video_path: str,
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conf_thres: float = 0.6,
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det_thres: float = 0.3,
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nms_thres: float = 0.4,
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track_buffer: int = 30,
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min_box_area: float = 200,
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frame_rate: int = 30,
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self,
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im_or_video_path: str,
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conf_thres: float = 0.6,
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det_thres: float = 0.3,
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nms_thres: float = 0.4,
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track_buffer: int = 30,
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min_box_area: float = 200,
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frame_rate: int = 30,
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) -> Dict[int, List[TrackingBbox]]:
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"""
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Run inference on an image or video path.
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@ -440,7 +415,7 @@ class TrackingLearner(object):
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vertical = tlwh[2] / tlwh[3] > 1.6
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if tlwh[2] * tlwh[3] > opt_pred.min_box_area and not vertical:
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bb = TrackingBbox(
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tlbr[1], tlbr[0], tlbr[3], tlbr[2], frame_id, tid
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tlbr[0], tlbr[1], tlbr[2], tlbr[3], frame_id, tid
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)
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online_bboxes.append(bb)
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out[frame_id] = online_bboxes
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@ -470,28 +445,28 @@ class TrackingLearner(object):
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# if path is to a root directory of images
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if (
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osp.isdir(im_or_video_path)
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and len(
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list(
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filter(
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lambda x: osp.splitext(x)[1].lower() in im_format,
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sorted(glob.glob("%s/*.*" % im_or_video_path)),
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osp.isdir(im_or_video_path)
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and len(
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list(
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filter(
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lambda x: osp.splitext(x)[1].lower() in im_format,
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sorted(glob.glob("%s/*.*" % im_or_video_path)),
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)
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)
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)
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)
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> 0
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> 0
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):
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return LoadImages(im_or_video_path)
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# if path is to a single video file
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elif (
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osp.isfile(im_or_video_path)
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and osp.splitext(im_or_video_path)[1] in video_format
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osp.isfile(im_or_video_path)
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and osp.splitext(im_or_video_path)[1] in video_format
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):
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return LoadVideo(im_or_video_path)
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# if path is to a single image file
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elif (
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osp.isfile(im_or_video_path)
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and osp.splitext(im_or_video_path)[1] in im_format
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osp.isfile(im_or_video_path)
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and osp.splitext(im_or_video_path)[1] in im_format
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):
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return LoadImages(im_or_video_path)
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else:
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|
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|
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@ -1,12 +1,131 @@
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# Copyright (c) Microsoft Corporation. All rights reserved.
|
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# Licensed under the MIT License.
|
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|
||||
import os.path as osp
|
||||
from collections import OrderedDict
|
||||
from typing import Dict, List, Tuple
|
||||
|
||||
import cv2
|
||||
import decord
|
||||
import io
|
||||
import IPython.display
|
||||
import numpy as np
|
||||
from PIL import Image
|
||||
from time import sleep
|
||||
|
||||
from .bbox import TrackingBbox
|
||||
from .model import _get_frame
|
||||
|
||||
|
||||
def plot_single_frame(
|
||||
results: Dict[int, List[TrackingBbox]], input_video: str, frame_id: int
|
||||
) -> None:
|
||||
"""
|
||||
Plot the bounding box and id on a wanted frame. Display as image to front end.
|
||||
|
||||
Args:
|
||||
results: dictionary mapping frame id to a list of predicted TrackingBboxes
|
||||
input_video: path to the input video
|
||||
frame_id: frame_id for frame to show tracking result
|
||||
"""
|
||||
results = OrderedDict(sorted(results.items()))
|
||||
|
||||
# Assign bbox color per id
|
||||
unique_ids = list(
|
||||
set([bb.track_id for frame in results.values() for bb in frame])
|
||||
)
|
||||
color_map = assign_colors(unique_ids)
|
||||
|
||||
# Get frame from video
|
||||
im = _get_frame(input_video, frame_id)
|
||||
|
||||
# Extract tracking results for wanted frame, and draw bboxes+tracking id, display frame
|
||||
cur_tracks = results[frame_id]
|
||||
if len(cur_tracks) > 0:
|
||||
im = draw_boxes(im, cur_tracks, color_map)
|
||||
im = Image.fromarray(im)
|
||||
IPython.display.display(im)
|
||||
|
||||
|
||||
def play_video(
|
||||
results: Dict[int, List[TrackingBbox]], input_video: str
|
||||
) -> None:
|
||||
"""
|
||||
Plot the predicted tracks on the input video. Displays to front-end as sequence of images stringed together in a video.
|
||||
|
||||
Args:
|
||||
results: dictionary mapping frame id to a list of predicted TrackingBboxes
|
||||
input_video: path to the input video
|
||||
"""
|
||||
|
||||
results = OrderedDict(sorted(results.items()))
|
||||
|
||||
# assign bbox color per id
|
||||
unique_ids = list(
|
||||
set([bb.track_id for frame in results.values() for bb in frame])
|
||||
)
|
||||
color_map = assign_colors(unique_ids)
|
||||
|
||||
# read video and initialize new tracking video
|
||||
video_reader = decord.VideoReader(input_video)
|
||||
|
||||
# set up ipython jupyter display
|
||||
d_video = IPython.display.display("", display_id=1)
|
||||
|
||||
# Read each frame, add bbox+track id, display frame
|
||||
for frame_idx in range(len(results)):
|
||||
im = video_reader.next().asnumpy()
|
||||
cur_tracks = results[frame_idx]
|
||||
if len(cur_tracks) > 0:
|
||||
cur_image = draw_boxes(im, cur_tracks, color_map)
|
||||
|
||||
f = io.BytesIO()
|
||||
im = Image.fromarray(im)
|
||||
im.save(f, "jpeg")
|
||||
d_video.update(IPython.display.Image(data=f.getvalue()))
|
||||
sleep(0.000001)
|
||||
|
||||
|
||||
def write_video(
|
||||
results: Dict[int, List[TrackingBbox]], input_video: str, output_video: str
|
||||
) -> None:
|
||||
"""
|
||||
Plot the predicted tracks on the input video. Write the output to {output_path}.
|
||||
|
||||
Args:
|
||||
results: dictionary mapping frame id to a list of predicted TrackingBboxes
|
||||
input_video: path to the input video
|
||||
output_video: path to write out the output video
|
||||
"""
|
||||
results = OrderedDict(sorted(results.items()))
|
||||
# read video and initialize new tracking video
|
||||
video = cv2.VideoCapture()
|
||||
video.open(input_video)
|
||||
|
||||
im_width = int(video.get(cv2.CAP_PROP_FRAME_WIDTH))
|
||||
im_height = int(video.get(cv2.CAP_PROP_FRAME_HEIGHT))
|
||||
fourcc = cv2.VideoWriter_fourcc(*"MP4V")
|
||||
frame_rate = int(video.get(cv2.CAP_PROP_FPS))
|
||||
writer = cv2.VideoWriter(
|
||||
output_video, fourcc, frame_rate, (im_width, im_height)
|
||||
)
|
||||
|
||||
# assign bbox color per id
|
||||
unique_ids = list(
|
||||
set([bb.track_id for frame in results.values() for bb in frame])
|
||||
)
|
||||
color_map = assign_colors(unique_ids)
|
||||
|
||||
# create images and add to video writer, adapted from https://github.com/ZQPei/deep_sort_pytorch
|
||||
frame_idx = 0
|
||||
while video.grab():
|
||||
_, im = video.retrieve()
|
||||
cur_tracks = results[frame_idx]
|
||||
if len(cur_tracks) > 0:
|
||||
im = draw_boxes(im, cur_tracks, color_map)
|
||||
writer.write(im)
|
||||
frame_idx += 1
|
||||
|
||||
print(f"Output saved to {output_video}.")
|
||||
|
||||
|
||||
def draw_boxes(
|
||||
|
|
@ -65,7 +184,7 @@ def assign_colors(id_list: List[int],) -> Dict[int, Tuple[int, int, int]]:
|
|||
|
||||
# adapted from https://github.com/ZQPei/deep_sort_pytorch
|
||||
for i in id_list2:
|
||||
color = [int((p * ((i + 1) ** 5 - i + 1)) % 255) for p in palette]
|
||||
color = [int((p * ((i + 1) ** 4 - i + 1)) % 255) for p in palette]
|
||||
color_list.append(tuple(color))
|
||||
|
||||
color_map = dict(zip(id_list, color_list))
|
||||
|
|
|
|||
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