PaddleDetection-release-2.6/deploy/pptracking/python/mot/mtmct/zone.py

# Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
#
# 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.
"""
This code is based on https://github.com/LCFractal/AIC21-MTMC/tree/main/reid/reid-matching/tools

Note: The following codes are strongly related to zone of the AIC21 test-set S06,
    so they can only be used in S06, and can not be used for other MTMCT datasets.
"""

import os
import cv2
import numpy as np
try:
    from sklearn.cluster import AgglomerativeClustering
except:
    print(
        'Warning: Unable to use MTMCT in PP-Tracking, please install sklearn, for example: `pip install sklearn`'
    )
    pass

BBOX_B = 10 / 15


class Zone(object):
    def __init__(self, zone_path='datasets/zone'):
        # 0: b 1: g 3: r 123:w
        # w r not high speed
        # b g high speed
        assert zone_path != '', "Error: zone_path is not empty!"
        zones = {}
        for img_name in os.listdir(zone_path):
            camnum = int(img_name.split('.')[0][-3:])
            zone_img = cv2.imread(os.path.join(zone_path, img_name))
            zones[camnum] = zone_img
        self.zones = zones
        self.current_cam = 0

    def set_cam(self, cam):
        self.current_cam = cam

    def get_zone(self, bbox):
        cx = int((bbox[0] + bbox[2]) / 2)
        cy = int((bbox[1] + bbox[3]) / 2)
        pix = self.zones[self.current_cam][max(cy - 1, 0), max(cx - 1, 0), :]
        zone_num = 0
        if pix[0] > 50 and pix[1] > 50 and pix[2] > 50:  # w
            zone_num = 1
        if pix[0] < 50 and pix[1] < 50 and pix[2] > 50:  # r
            zone_num = 2
        if pix[0] < 50 and pix[1] > 50 and pix[2] < 50:  # g
            zone_num = 3
        if pix[0] > 50 and pix[1] < 50 and pix[2] < 50:  # b
            zone_num = 4
        return zone_num

    def is_ignore(self, zone_list, frame_list, cid):
        # 0 not in any corssroad, 1 white 2 red 3 green 4 bule
        zs, ze = zone_list[0], zone_list[-1]
        fs, fe = frame_list[0], frame_list[-1]
        if zs == ze:
            # if always on one section, excluding
            if ze in [1, 2]:
                return 2
            if zs != 0 and 0 in zone_list:
                return 0
            if fe - fs > 1500:
                return 2
            if fs < 2:
                if cid in [45]:
                    if ze in [3, 4]:
                        return 1
                    else:
                        return 2
            if fe > 1999:
                if cid in [41]:
                    if ze not in [3]:
                        return 2
                    else:
                        return 0
            if fs < 2 or fe > 1999:
                if ze in [3, 4]:
                    return 0
            if ze in [3, 4]:
                return 1
            return 2
        else:
            # if camera section change
            if cid in [41, 42, 43, 44, 45, 46]:
                # come from road extension, exclusing
                if zs == 1 and ze == 2:
                    return 2
                if zs == 2 and ze == 1:
                    return 2
            if cid in [41]:
                # On 41 camera, no vehicle come into 42 camera
                if (zs in [1, 2]) and ze == 4:
                    return 2
                if zs == 4 and (ze in [1, 2]):
                    return 2
            if cid in [46]:
                # On 46 camera，no vehicle come into 45
                if (zs in [1, 2]) and ze == 3:
                    return 2
                if zs == 3 and (ze in [1, 2]):
                    return 2
            return 0

    def filter_mot(self, mot_list, cid):
        new_mot_list = dict()
        sub_mot_list = dict()
        for tracklet in mot_list:
            tracklet_dict = mot_list[tracklet]
            frame_list = list(tracklet_dict.keys())
            frame_list.sort()
            zone_list = []
            for f in frame_list:
                zone_list.append(tracklet_dict[f]['zone'])
            if self.is_ignore(zone_list, frame_list, cid) == 0:
                new_mot_list[tracklet] = tracklet_dict
            if self.is_ignore(zone_list, frame_list, cid) == 1:
                sub_mot_list[tracklet] = tracklet_dict
        return new_mot_list

    def filter_bbox(self, mot_list, cid):
        new_mot_list = dict()
        yh = self.zones[cid].shape[0]
        for tracklet in mot_list:
            tracklet_dict = mot_list[tracklet]
            frame_list = list(tracklet_dict.keys())
            frame_list.sort()
            bbox_list = []
            for f in frame_list:
                bbox_list.append(tracklet_dict[f]['bbox'])
            bbox_x = [b[0] for b in bbox_list]
            bbox_y = [b[1] for b in bbox_list]
            bbox_w = [b[2] - b[0] for b in bbox_list]
            bbox_h = [b[3] - b[1] for b in bbox_list]
            new_frame_list = list()
            if 0 in bbox_x or 0 in bbox_y:
                b0 = [
                    i for i, f in enumerate(frame_list)
                    if bbox_x[i] < 5 or bbox_y[i] + bbox_h[i] > yh - 5
                ]
                if len(b0) == len(frame_list):
                    if cid in [41, 42, 44, 45, 46]:
                        continue
                    max_w = max(bbox_w)
                    max_h = max(bbox_h)
                    for i, f in enumerate(frame_list):
                        if bbox_w[i] > max_w * BBOX_B and bbox_h[
                                i] > max_h * BBOX_B:
                            new_frame_list.append(f)
                else:
                    l_i, r_i = 0, len(frame_list) - 1
                    if len(b0) == 0:
                        continue
                    if b0[0] == 0:
                        for i in range(len(b0) - 1):
                            if b0[i] + 1 == b0[i + 1]:
                                l_i = b0[i + 1]
                            else:
                                break
                    if b0[-1] == len(frame_list) - 1:
                        for i in range(len(b0) - 1):
                            i = len(b0) - 1 - i
                            if b0[i] - 1 == b0[i - 1]:
                                r_i = b0[i - 1]
                            else:
                                break

                    max_lw, max_lh = bbox_w[l_i], bbox_h[l_i]
                    max_rw, max_rh = bbox_w[r_i], bbox_h[r_i]
                    for i, f in enumerate(frame_list):
                        if i < l_i:
                            if bbox_w[i] > max_lw * BBOX_B and bbox_h[
                                    i] > max_lh * BBOX_B:
                                new_frame_list.append(f)
                        elif i > r_i:
                            if bbox_w[i] > max_rw * BBOX_B and bbox_h[
                                    i] > max_rh * BBOX_B:
                                new_frame_list.append(f)
                        else:
                            new_frame_list.append(f)
                new_tracklet_dict = dict()
                for f in new_frame_list:
                    new_tracklet_dict[f] = tracklet_dict[f]
                new_mot_list[tracklet] = new_tracklet_dict
            else:
                new_mot_list[tracklet] = tracklet_dict
        return new_mot_list

    def break_mot(self, mot_list, cid):
        new_mot_list = dict()
        new_num_tracklets = max(mot_list) + 1
        for tracklet in mot_list:
            tracklet_dict = mot_list[tracklet]
            frame_list = list(tracklet_dict.keys())
            frame_list.sort()
            zone_list = []
            back_tracklet = False
            new_zone_f = 0
            pre_frame = frame_list[0]
            time_break = False
            for f in frame_list:
                if f - pre_frame > 100:
                    if cid in [44, 45]:
                        time_break = True
                        break
                if not cid in [41, 44, 45, 46]:
                    break
                pre_frame = f
                new_zone = tracklet_dict[f]['zone']
                if len(zone_list) > 0 and zone_list[-1] == new_zone:
                    continue
                if new_zone_f > 1:
                    if len(zone_list) > 1 and new_zone in zone_list:
                        back_tracklet = True
                    zone_list.append(new_zone)
                    new_zone_f = 0
                else:
                    new_zone_f += 1
            if back_tracklet:
                new_tracklet_dict = dict()
                pre_bbox = -1
                pre_arrow = 0
                have_break = False
                for f in frame_list:
                    now_bbox = tracklet_dict[f]['bbox']
                    if type(pre_bbox) == int:
                        if pre_bbox == -1:
                            pre_bbox = now_bbox
                    now_arrow = now_bbox[0] - pre_bbox[0]
                    if pre_arrow * now_arrow < 0 and len(
                            new_tracklet_dict) > 15 and not have_break:
                        new_mot_list[tracklet] = new_tracklet_dict
                        new_tracklet_dict = dict()
                        have_break = True
                    if have_break:
                        tracklet_dict[f]['id'] = new_num_tracklets
                    new_tracklet_dict[f] = tracklet_dict[f]
                    pre_bbox, pre_arrow = now_bbox, now_arrow

                if have_break:
                    new_mot_list[new_num_tracklets] = new_tracklet_dict
                    new_num_tracklets += 1
                else:
                    new_mot_list[tracklet] = new_tracklet_dict
            elif time_break:
                new_tracklet_dict = dict()
                have_break = False
                pre_frame = frame_list[0]
                for f in frame_list:
                    if f - pre_frame > 100:
                        new_mot_list[tracklet] = new_tracklet_dict
                        new_tracklet_dict = dict()
                        have_break = True
                    new_tracklet_dict[f] = tracklet_dict[f]
                    pre_frame = f
                if have_break:
                    new_mot_list[new_num_tracklets] = new_tracklet_dict
                    new_num_tracklets += 1
                else:
                    new_mot_list[tracklet] = new_tracklet_dict
            else:
                new_mot_list[tracklet] = tracklet_dict
        return new_mot_list

    def intra_matching(self, mot_list, sub_mot_list):
        sub_zone_dict = dict()
        new_mot_list = dict()
        new_mot_list, new_sub_mot_list = self.do_intra_matching2(mot_list,
                                                                 sub_mot_list)
        return new_mot_list

    def do_intra_matching2(self, mot_list, sub_list):
        new_zone_dict = dict()

        def get_trac_info(tracklet1):
            t1_f = list(tracklet1)
            t1_f.sort()
            t1_fs = t1_f[0]
            t1_fe = t1_f[-1]
            t1_zs = tracklet1[t1_fs]['zone']
            t1_ze = tracklet1[t1_fe]['zone']
            t1_boxs = tracklet1[t1_fs]['bbox']
            t1_boxe = tracklet1[t1_fe]['bbox']
            t1_boxs = [(t1_boxs[2] + t1_boxs[0]) / 2,
                       (t1_boxs[3] + t1_boxs[1]) / 2]
            t1_boxe = [(t1_boxe[2] + t1_boxe[0]) / 2,
                       (t1_boxe[3] + t1_boxe[1]) / 2]
            return t1_fs, t1_fe, t1_zs, t1_ze, t1_boxs, t1_boxe

        for t1id in sub_list:
            tracklet1 = sub_list[t1id]
            if tracklet1 == -1:
                continue
            t1_fs, t1_fe, t1_zs, t1_ze, t1_boxs, t1_boxe = get_trac_info(
                tracklet1)
            sim_dict = dict()
            for t2id in mot_list:
                tracklet2 = mot_list[t2id]
                t2_fs, t2_fe, t2_zs, t2_ze, t2_boxs, t2_boxe = get_trac_info(
                    tracklet2)
                if t1_ze == t2_zs:
                    if abs(t2_fs - t1_fe) < 5 and abs(t2_boxe[0] - t1_boxs[
                            0]) < 50 and abs(t2_boxe[1] - t1_boxs[1]) < 50:
                        t1_feat = tracklet1[t1_fe]['feat']
                        t2_feat = tracklet2[t2_fs]['feat']
                        sim_dict[t2id] = np.matmul(t1_feat, t2_feat)
                if t1_zs == t2_ze:
                    if abs(t2_fe - t1_fs) < 5 and abs(t2_boxs[0] - t1_boxe[
                            0]) < 50 and abs(t2_boxs[1] - t1_boxe[1]) < 50:
                        t1_feat = tracklet1[t1_fs]['feat']
                        t2_feat = tracklet2[t2_fe]['feat']
                        sim_dict[t2id] = np.matmul(t1_feat, t2_feat)
            if len(sim_dict) > 0:
                max_sim = 0
                max_id = 0
                for t2id in sim_dict:
                    if sim_dict[t2id] > max_sim:
                        sim_dict[t2id] = max_sim
                        max_id = t2id
                if max_sim > 0.5:
                    t2 = mot_list[max_id]
                    for t1f in tracklet1:
                        if t1f not in t2:
                            tracklet1[t1f]['id'] = max_id
                            t2[t1f] = tracklet1[t1f]
                    mot_list[max_id] = t2
                    sub_list[t1id] = -1
        return mot_list, sub_list

    def do_intra_matching(self, sub_zone_dict, sub_zone):
        new_zone_dict = dict()
        id_list = list(sub_zone_dict)
        id2index = dict()
        for index, id in enumerate(id_list):
            id2index[id] = index

        def get_trac_info(tracklet1):
            t1_f = list(tracklet1)
            t1_f.sort()
            t1_fs = t1_f[0]
            t1_fe = t1_f[-1]
            t1_zs = tracklet1[t1_fs]['zone']
            t1_ze = tracklet1[t1_fe]['zone']
            t1_boxs = tracklet1[t1_fs]['bbox']
            t1_boxe = tracklet1[t1_fe]['bbox']
            t1_boxs = [(t1_boxs[2] + t1_boxs[0]) / 2,
                       (t1_boxs[3] + t1_boxs[1]) / 2]
            t1_boxe = [(t1_boxe[2] + t1_boxe[0]) / 2,
                       (t1_boxe[3] + t1_boxe[1]) / 2]
            return t1_fs, t1_fe, t1_zs, t1_ze, t1_boxs, t1_boxe

        sim_matrix = np.zeros([len(id_list), len(id_list)])

        for t1id in sub_zone_dict:
            tracklet1 = sub_zone_dict[t1id]
            t1_fs, t1_fe, t1_zs, t1_ze, t1_boxs, t1_boxe = get_trac_info(
                tracklet1)
            t1_feat = tracklet1[t1_fe]['feat']
            for t2id in sub_zone_dict:
                if t1id == t2id:
                    continue
                tracklet2 = sub_zone_dict[t2id]
                t2_fs, t2_fe, t2_zs, t2_ze, t2_boxs, t2_boxe = get_trac_info(
                    tracklet2)
                if t1_zs != t1_ze and t2_ze != t2_zs or t1_fe > t2_fs:
                    continue
                if abs(t1_boxe[0] - t2_boxs[0]) > 50 or abs(t1_boxe[1] -
                                                            t2_boxs[1]) > 50:
                    continue
                if t2_fs - t1_fe > 5:
                    continue
                t2_feat = tracklet2[t2_fs]['feat']
                sim_matrix[id2index[t1id], id2index[t2id]] = np.matmul(t1_feat,
                                                                       t2_feat)
                sim_matrix[id2index[t2id], id2index[t1id]] = np.matmul(t1_feat,
                                                                       t2_feat)
        sim_matrix = 1 - sim_matrix
        cluster_labels = AgglomerativeClustering(
            n_clusters=None,
            distance_threshold=0.7,
            affinity='precomputed',
            linkage='complete').fit_predict(sim_matrix)
        new_zone_dict = dict()
        label2id = dict()
        for index, label in enumerate(cluster_labels):
            tracklet = sub_zone_dict[id_list[index]]
            if label not in label2id:
                new_id = tracklet[list(tracklet)[0]]
                new_tracklet = dict()
            else:
                new_id = label2id[label]
                new_tracklet = new_zone_dict[label2id[label]]
            for tf in tracklet:
                tracklet[tf]['id'] = new_id
                new_tracklet[tf] = tracklet[tf]
            new_zone_dict[label] = new_tracklet

        return new_zone_dict