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#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import cv2
import time
import numpy as np
from .visualization import plot_tracking_dict, plot_tracking
__all__ = [
'MOTTimer',
'Detection',
'write_mot_results',
'save_vis_results',
'load_det_results',
'preprocess_reid',
'get_crops',
'clip_box',
'scale_coords',
]
class MOTTimer(object):
"""
This class used to compute and print the current FPS while evaling.
"""
def __init__(self):
self.total_time = 0.
self.calls = 0
self.start_time = 0.
self.diff = 0.
self.average_time = 0.
self.duration = 0.
def tic(self):
# using time.time instead of time.clock because time time.clock
# does not normalize for multithreading
self.start_time = time.time()
def toc(self, average=True):
self.diff = time.time() - self.start_time
self.total_time += self.diff
self.calls += 1
self.average_time = self.total_time / self.calls
if average:
self.duration = self.average_time
else:
self.duration = self.diff
return self.duration
def clear(self):
self.total_time = 0.
self.calls = 0
self.start_time = 0.
self.diff = 0.
self.average_time = 0.
self.duration = 0.
class Detection(object):
"""
This class represents a bounding box detection in a single image.
Args:
tlwh (Tensor): Bounding box in format `(top left x, top left y,
width, height)`.
score (Tensor): Bounding box confidence score.
feature (Tensor): A feature vector that describes the object
contained in this image.
cls_id (Tensor): Bounding box category id.
"""
def __init__(self, tlwh, score, feature, cls_id):
self.tlwh = np.asarray(tlwh, dtype=np.float32)
self.score = float(score)
self.feature = np.asarray(feature, dtype=np.float32)
self.cls_id = int(cls_id)
def to_tlbr(self):
"""
Convert bounding box to format `(min x, min y, max x, max y)`, i.e.,
`(top left, bottom right)`.
"""
ret = self.tlwh.copy()
ret[2:] += ret[:2]
return ret
def to_xyah(self):
"""
Convert bounding box to format `(center x, center y, aspect ratio,
height)`, where the aspect ratio is `width / height`.
"""
ret = self.tlwh.copy()
ret[:2] += ret[2:] / 2
ret[2] /= ret[3]
return ret
def write_mot_results(filename, results, data_type='mot', num_classes=1):
# support single and multi classes
if data_type in ['mot', 'mcmot']:
save_format = '{frame},{id},{x1},{y1},{w},{h},{score},{cls_id},-1,-1\n'
elif data_type == 'kitti':
save_format = '{frame} {id} car 0 0 -10 {x1} {y1} {x2} {y2} -10 -10 -10 -1000 -1000 -1000 -10\n'
else:
raise ValueError(data_type)
f = open(filename, 'w')
for cls_id in range(num_classes):
for frame_id, tlwhs, tscores, track_ids in results[cls_id]:
if data_type == 'kitti':
frame_id -= 1
for tlwh, score, track_id in zip(tlwhs, tscores, track_ids):
if track_id < 0: continue
if data_type == 'mot':
cls_id = -1
x1, y1, w, h = tlwh
x2, y2 = x1 + w, y1 + h
line = save_format.format(
frame=frame_id,
id=track_id,
x1=x1,
y1=y1,
x2=x2,
y2=y2,
w=w,
h=h,
score=score,
cls_id=cls_id)
f.write(line)
print('MOT results save in {}'.format(filename))
def save_vis_results(data,
frame_id,
online_ids,
online_tlwhs,
online_scores,
average_time,
show_image,
save_dir,
num_classes=1,
ids2names=[]):
if show_image or save_dir is not None:
assert 'ori_image' in data
img0 = data['ori_image'].numpy()[0]
if online_ids is None:
online_im = img0
else:
if isinstance(online_tlwhs, dict):
online_im = plot_tracking_dict(
img0,
num_classes,
online_tlwhs,
online_ids,
online_scores,
frame_id=frame_id,
fps=1. / average_time,
ids2names=ids2names)
else:
online_im = plot_tracking(
img0,
online_tlwhs,
online_ids,
online_scores,
frame_id=frame_id,
fps=1. / average_time,
ids2names=ids2names)
if show_image:
cv2.imshow('online_im', online_im)
if save_dir is not None:
cv2.imwrite(
os.path.join(save_dir, '{:05d}.jpg'.format(frame_id)), online_im)
def load_det_results(det_file, num_frames):
assert os.path.exists(det_file) and os.path.isfile(det_file), \
'{} is not exist or not a file.'.format(det_file)
labels = np.loadtxt(det_file, dtype='float32', delimiter=',')
assert labels.shape[1] == 7, \
"Each line of {} should have 7 items: '[frame_id],[x0],[y0],[w],[h],[score],[class_id]'.".format(det_file)
results_list = []
for frame_i in range(num_frames):
results = {'bbox': [], 'score': [], 'cls_id': []}
lables_with_frame = labels[labels[:, 0] == frame_i + 1]
# each line of lables_with_frame:
# [frame_id],[x0],[y0],[w],[h],[score],[class_id]
for l in lables_with_frame:
results['bbox'].append(l[1:5])
results['score'].append(l[5:6])
results['cls_id'].append(l[6:7])
results_list.append(results)
return results_list
def scale_coords(coords, input_shape, im_shape, scale_factor):
# Note: ratio has only one value, scale_factor[0] == scale_factor[1]
#
# This function only used for JDE YOLOv3 or other detectors with
# LetterBoxResize and JDEBBoxPostProcess, coords output from detector had
# not scaled back to the origin image.
ratio = scale_factor[0]
pad_w = (input_shape[1] - int(im_shape[1])) / 2
pad_h = (input_shape[0] - int(im_shape[0])) / 2
coords[:, 0::2] -= pad_w
coords[:, 1::2] -= pad_h
coords[:, 0:4] /= ratio
coords[:, :4] = np.clip(coords[:, :4], a_min=0, a_max=coords[:, :4].max())
return coords.round()
def clip_box(xyxy, ori_image_shape):
H, W = ori_image_shape
xyxy[:, 0::2] = np.clip(xyxy[:, 0::2], a_min=0, a_max=W)
xyxy[:, 1::2] = np.clip(xyxy[:, 1::2], a_min=0, a_max=H)
w = xyxy[:, 2:3] - xyxy[:, 0:1]
h = xyxy[:, 3:4] - xyxy[:, 1:2]
mask = np.logical_and(h > 0, w > 0)
keep_idx = np.nonzero(mask)
return xyxy[keep_idx[0]], keep_idx
def get_crops(xyxy, ori_img, w, h):
crops = []
xyxy = xyxy.astype(np.int64)
ori_img = ori_img.numpy()
ori_img = np.squeeze(ori_img, axis=0).transpose(1, 0, 2) # [h,w,3]->[w,h,3]
for i, bbox in enumerate(xyxy):
crop = ori_img[bbox[0]:bbox[2], bbox[1]:bbox[3], :]
crops.append(crop)
crops = preprocess_reid(crops, w, h)
return crops
def preprocess_reid(imgs,
w=64,
h=192,
mean=[0.485, 0.456, 0.406],
std=[0.229, 0.224, 0.225]):
im_batch = []
for img in imgs:
img = cv2.resize(img, (w, h))
img = img[:, :, ::-1].astype('float32').transpose((2, 0, 1)) / 255
img_mean = np.array(mean).reshape((3, 1, 1))
img_std = np.array(std).reshape((3, 1, 1))
img -= img_mean
img /= img_std
img = np.expand_dims(img, axis=0)
im_batch.append(img)
im_batch = np.concatenate(im_batch, 0)
return im_batch
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