def detect(category_index, func_defs):
# Prepare TF config options
tf_config = make_tf_config()
# Prepare directories
ck_utils.prepare_dir(params["RESULTS_OUT_DIR"])
ck_utils.prepare_dir(params["ANNOTATIONS_OUT_DIR"])
ck_utils.prepare_dir(params["IMAGES_OUT_DIR"])
ck_utils.prepare_dir(params["DETECTIONS_OUT_DIR"])
# Load processing image filenames
image_files = ck_utils.load_image_list(
params["IMAGES_DIR"], params["BATCH_COUNT"] * params["BATCH_SIZE"],
params["SKIP_IMAGES"])
with tf.compat.v1.Graph().as_default(), tf.compat.v1.Session(
config=tf_config) as sess:
setup_time_begin = time.time()
# Make TF graph def from frozen graph file
begin_time = time.time()
# FIRST HOOK: load graph
func_defs["load_graph"](params)
graph_load_time = time.time() - begin_time
print('Graph loaded in {:.4f}s'.format(graph_load_time))
# print('custom model is: ',CUSTOM_MODEL)
#SECOND HOOK: get tensors
tensor_dict, input_tensor = func_defs["get_tensor"]()
setup_time = time.time() - setup_time_begin
print("setup time is", setup_time)
###### END SETUP PHASE
# Process images
test_time_begin = time.time()
image_index = 0
load_time_total = 0
detect_time_total = 0
images_processed = 0
processed_image_ids = []
loop_limit = len(image_files) if (
params["ENABLE_BATCH"]
) == 0 else params[
"BATCH_COUNT"] #defines loop boundary, that is different if batch or non batch processing are involved. the structure of the loop is however the same.
for iter_num in range(loop_limit):
load_time_begin = time.time()
# THIRD HOOK: preprocess
image_data, processed_image_ids, image_size, original_image = func_defs[
"preprocess"](image_files, iter_num, processed_image_ids,
params)
load_time = time.time() - load_time_begin
load_time_total += load_time
# Detect image: common
detect_time_begin = time.time()
feed_dict = {input_tensor: image_data}
output_dict = sess.run(tensor_dict, feed_dict)
#FOURTH HOOK: convert from tensorRT to normal dict
output_dict = func_defs["out_conv"](output_dict)
detect_time = time.time() - detect_time_begin
# Exclude first image from averaging
if iter_num > 0 or params["BATCH_COUNT"] == 1:
detect_time_total += detect_time
images_processed += 1 ## may be revision needed
# FIFTH hook: process results
func_defs["postprocess"](image_files, iter_num, image_size,
original_image, image_data, output_dict,
category_index, params)
if params["FULL_REPORT"]:
print('Detected in {:.4f}s'.format(detect_time))
# Save processed images ids list to be able to run
# evaluation without repeating detections (CK_SKIP_DETECTION=YES)
with open(params["IMAGE_LIST_FILE"], 'w') as f:
f.write(json.dumps(processed_image_ids))
test_time = time.time() - test_time_begin
detect_avg_time = detect_time_total / images_processed
load_avg_time = load_time_total / len(processed_image_ids)
OPENME = {}
OPENME['setup_time_s'] = setup_time
OPENME['test_time_s'] = test_time
OPENME['graph_load_time_s'] = graph_load_time
OPENME['images_load_time_total_s'] = load_time_total
OPENME['images_load_time_avg_s'] = load_avg_time
OPENME['detection_time_total_s'] = detect_time_total
OPENME['detection_time_avg_s'] = detect_avg_time
OPENME['avg_time_ms'] = detect_avg_time * 1000
OPENME['avg_fps'] = 1.0 / detect_avg_time if detect_avg_time > 0 else 0
with open(params["TIMER_JSON"], 'w') as o:
json.dump(OPENME, o, indent=2, sort_keys=True)
return processed_image_ids
def detect(category_index, func_defs):
# Prepare TF config options
tf_config = make_tf_config()
# Prepare directories
ck_utils.prepare_dir(params["RESULTS_OUT_DIR"])
ck_utils.prepare_dir(params["ANNOTATIONS_OUT_DIR"])
ck_utils.prepare_dir(params["IMAGES_OUT_DIR"])
ck_utils.prepare_dir(params["DETECTIONS_OUT_DIR"])
# Load processing image filenames
print(params["IMAGES_DIR"], params["BATCH_COUNT"] * params["BATCH_SIZE"],
params["SKIP_IMAGES"])
image_files = ck_utils.load_image_list(
params["IMAGES_DIR"], params["BATCH_COUNT"] * params["BATCH_SIZE"],
params["SKIP_IMAGES"])
# with tf.compat.v1.Graph().as_default(), tf.compat.v1.Session(config=tf_config) as sess:
sessions = []
begin_time = time.time()
#sessions.append(func_defs[0]["load_graph"](params["FROZEN_GRAPH"]))
# session_1 = func_defs[0]["load_graph"](params["FROZEN_GRAPH"])
# session_2 = func_defs[1]["load_graph"]("/home/emanuele/CK-TOOLS/tensorflowmodel-object-detection-faster-rcnn-resnet101-kitti/frozen_inference_graph.pb")
setup_time_begin = time.time()
# print (session_1.graph.get_operations())
# print ('*************************************************************************')
# print (session_2.graph.get_operations())
# Make TF graph def from frozen graph file
# FIRST HOOK: load graph
#func_defs["load_graph"](params)
graph_load_time = time.time() - begin_time
print('Graph loaded in {:.4f}s'.format(graph_load_time))
# print('custom model is: ',CUSTOM_MODEL)
#SECOND HOOK: get tensors
names = [params["FROZEN_GRAPH"], params["FROZEN_GRAPH_2"]]
tensor_dict = []
input_tensor = []
for i in range(2):
print(i)
sess, td, it = func_defs[i]["load_graph"](names[i])
sessions.append(sess)
tensor_dict.append(td)
input_tensor.append(it)
setup_time = time.time() - setup_time_begin
print("setup time is", setup_time)
###### END SETUP PHASE
# Process images
test_time_begin = time.time()
image_index = 0
load_time_total = 0
detect_time_total = 0
images_processed = 0
processed_image_ids = []
loop_limit = len(
image_files
) # if (params["ENABLE_BATCH"]) == 0 else params["BATCH_COUNT"] #defines loop boundary, that is different if batch or non batch processing are involved. the structure of the loop is however the same.i
current_session = 1 ##initialize as high precision network
last_high = 0 ##counter from last frame at high precision
for iter_num in range(loop_limit):
# current_session = iter_num%2
load_time_begin = time.time()
# THIRD HOOK: preprocess
image_data, processed_image_ids, image_size, original_image = func_defs[
current_session]["preprocess"](image_files, iter_num,
processed_image_ids, params)
load_time = time.time() - load_time_begin
load_time_total += load_time
# Detect image: common
detect_time_begin = time.time()
feed_dict = {input_tensor[current_session]: image_data}
td = tensor_dict[current_session]
sess = sessions[current_session]
with sess.graph.as_default():
output_dict = sess.run(td, feed_dict)
## output_dict = sessions[current_session].run(tensor_dict[current_session], feed_dict)
#FOURTH HOOK: convert from tensorRT to normal dict
output_dict = func_defs[current_session]["out_conv"](output_dict)
detect_time = time.time() - detect_time_begin
# Exclude first image from averaging
if iter_num > 0 or params["BATCH_COUNT"] == 1:
detect_time_total += detect_time
images_processed += 1 ## may be revision needed
# FIFTH hook: process results
out_classes = func_defs[current_session]["postprocess"](
image_files, iter_num, image_size, original_image, image_data,
output_dict, category_index, params)
if last_high > 2 or 2 in out_classes:
current_session = 1
last_high = 0
else:
current_session = 0
last_high = last_high + 1
if params["FULL_REPORT"]:
print('Detected in {:.4f}s'.format(detect_time))
# Save processed images ids list to be able to run
# evaluation without repeating detections (CK_SKIP_DETECTION=YES)
with open(params["IMAGE_LIST_FILE"], 'w') as f:
f.write(json.dumps(processed_image_ids))
test_time = time.time() - test_time_begin
detect_avg_time = detect_time_total / images_processed
load_avg_time = load_time_total / len(processed_image_ids)
OPENME = {}
OPENME['setup_time_s'] = setup_time
OPENME['test_time_s'] = test_time
OPENME['graph_load_time_s'] = graph_load_time
OPENME['images_load_time_total_s'] = load_time_total
OPENME['images_load_time_avg_s'] = load_avg_time
OPENME['detection_time_total_s'] = detect_time_total
OPENME['detection_time_avg_s'] = detect_avg_time
OPENME['avg_time_ms'] = detect_avg_time * 1000
OPENME['avg_fps'] = 1.0 / detect_avg_time if detect_avg_time > 0 else 0
with open(params["TIMER_JSON"], 'w') as o:
json.dump(OPENME, o, indent=2, sort_keys=True)
return processed_image_ids
def detect(category_index):
# Prepare TF config options
tf_config = make_tf_config()
# Prepare directories
ck_utils.prepare_dir(RESULTS_OUT_DIR)
ck_utils.prepare_dir(ANNOTATIONS_OUT_DIR)
ck_utils.prepare_dir(IMAGES_OUT_DIR)
ck_utils.prepare_dir(DETECTIONS_OUT_DIR)
# Load processing image filenames
image_files = ck_utils.load_image_list(IMAGES_DIR, IMAGE_COUNT,
SKIP_IMAGES)
with tf.Graph().as_default(), tf.Session(config=tf_config) as sess:
setup_time_begin = time.time()
# Make TF graph def from frozen graph file
begin_time = time.time()
graph_def = tf.GraphDef()
with tf.gfile.GFile(FROZEN_GRAPH, 'rb') as f:
graph_def.ParseFromString(f.read())
tf.import_graph_def(graph_def, name='')
graph_load_time = time.time() - begin_time
print('Graph loaded in {:.4f}s'.format(graph_load_time))
# NOTE: Load checkpoint here when they are needed
# Get handles to input and output tensors
tensor_dict, input_tensor = get_handles_to_tensors()
setup_time = time.time() - setup_time_begin
# Process images
# TODO: implement batched mode
test_time_begin = time.time()
image_index = 0
load_time_total = 0
detect_time_total = 0
images_processed = 0
processed_image_ids = []
for file_counter, image_file in enumerate(image_files):
if FULL_REPORT or (file_counter + 1) % 10 == 0:
print('\nDetect image: {} ({} of {})'.format(
image_file, file_counter + 1, len(image_files)))
# Load image
load_time_begin = time.time()
image = PIL.Image.open(os.path.join(IMAGES_DIR, image_file))
image_id = ck_utils.filename_to_id(image_file, DATASET_TYPE)
processed_image_ids.append(image_id)
# The array based representation of the image will be used later
# in order to prepare the result image with boxes and labels on it.
image_data = load_pil_image_into_numpy_array(image)
load_time = time.time() - load_time_begin
load_time_total += load_time
# Detect image
detect_time_begin = time.time()
feed_dict = {input_tensor: image_data}
output_dict = sess.run(tensor_dict, feed_dict)
detect_time = time.time() - detect_time_begin
# Exclude first image from averaging
if file_counter > 0 or IMAGE_COUNT == 1:
detect_time_total += detect_time
images_processed += 1
# Process results
# All outputs are float32 numpy arrays, so convert types as appropriate
# TODO: implement batched mode (0 here is the image index in the batch)
output_dict['num_detections'] = int(
output_dict['num_detections'][0])
output_dict['detection_classes'] = output_dict[
'detection_classes'][0].astype(np.uint8)
output_dict['detection_boxes'] = output_dict['detection_boxes'][0]
output_dict['detection_scores'] = output_dict['detection_scores'][
0]
save_detection_txt(image_file, image.size, output_dict,
category_index)
save_detection_img(image_file, image_data[0], output_dict,
category_index)
if FULL_REPORT:
print('Detected in {:.4f}s'.format(detect_time))
# Save processed images ids list to be able to run
# evaluation without repeating detections (CK_SKIP_DETECTION=YES)
with open(IMAGE_LIST_FILE, 'w') as f:
f.write(json.dumps(processed_image_ids))
test_time = time.time() - test_time_begin
detect_avg_time = detect_time_total / images_processed
load_avg_time = load_time_total / len(processed_image_ids)
OPENME['setup_time_s'] = setup_time
OPENME['test_time_s'] = test_time
OPENME['graph_load_time_s'] = graph_load_time
OPENME['images_load_time_s'] = load_time_total
OPENME['images_load_time_avg_s'] = load_avg_time
OPENME['detection_time_total_s'] = detect_time_total
OPENME['detection_time_avg_s'] = detect_avg_time
OPENME['avg_time_ms'] = detect_avg_time * 1000
OPENME['avg_fps'] = 1.0 / detect_avg_time if detect_avg_time > 0 else 0
with open(TIMER_JSON, 'w') as o:
json.dump(OPENME, o, indent=2, sort_keys=True)
return processed_image_ids
def ck_postprocess(i):
def my_env(var):
return i['env'].get(var)
def dep_env(dep, var):
return i['deps'][dep]['dict']['env'].get(var)
def set_in_my_env(var):
return my_env(var) and my_env(var).lower() in [
'yes', 'true', 'on', '1'
]
def set_in_dep_env(dep, var):
return dep_env(dep, var) and dep_env(
dep, var).lower() in ['yes', 'true', 'on', '1']
def has_dep_env(dep, var):
return var in i['deps'][dep]['dict']['env']
def has_dep(dep):
return dep in i['deps']
import os
import json
import sys
import inspect
# gain access to other scripts in the same directory as the postprocess.py :
#
SCRIPT_DIR = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
sys.path.append(SCRIPT_DIR)
# gain access to the some python dependencies :
PYTHONPATH = ''
for dep_name in ['tool-coco', 'lib-python-matplotlib']:
PYTHONPATH = dep_env(dep_name, 'PYTHONPATH') + ':' + PYTHONPATH
split_path = set()
for p in PYTHONPATH.split(":"):
if p in ["${PYTHONPATH}", "$PYTHONPATH", ""]:
continue
split_path.add(p)
sys.path.extend(list(
split_path)) # allow THIS SCRIPT to be able to use numpy, pillow, etc.
# get some parameters directly from the deps' environment:
#
MODEL_ROOT = dep_env('weights', "CK_ENV_TENSORFLOW_MODEL_ROOT")
if MODEL_ROOT:
LABELMAP_FILE = os.path.join(
MODEL_ROOT,
dep_env('weights', 'CK_ENV_TENSORFLOW_MODEL_LABELMAP_FILE') or "")
MODEL_DATASET_TYPE = dep_env('weights',
"CK_ENV_TENSORFLOW_MODEL_DATASET_TYPE")
else:
MODEL_ROOT = dep_env('weights', "CK_ENV_ONNX_MODEL_ROOT")
LABELMAP_FILE = os.path.join(
MODEL_ROOT,
dep_env('weights', 'CK_ENV_ONNX_MODEL_CLASSES_LABELS') or "")
MODEL_DATASET_TYPE = dep_env('weights',
"CK_ENV_ONNX_MODEL_DATASET_TYPE")
# Annotations can be a directory or a single file, depending on dataset type:
ANNOTATIONS_PATH = dep_env('dataset', "CK_ENV_DATASET_ANNOTATIONS")
TIMER_JSON = my_env('CK_TIMER_FILE')
PREPROCESSED_FILES = dep_env(
'dataset', 'CK_ENV_DATASET_OBJ_DETECTION_PREPROCESSED_SUBSET_FOF'
) or my_env('CK_PREPROCESSED_FOF_WITH_ORIGINAL_DIMENSIONS')
DETECTIONS_OUT_DIR = my_env('CK_DETECTIONS_OUT_DIR')
RESULTS_OUT_DIR = my_env('CK_RESULTS_OUT_DIR')
ANNOTATIONS_OUT_DIR = my_env('CK_ANNOTATIONS_OUT_DIR')
DATASET_TYPE = dep_env('dataset', "CK_ENV_DATASET_TYPE")
METRIC_TYPE = (my_env("CK_METRIC_TYPE") or DATASET_TYPE).lower()
FULL_REPORT = not set_in_my_env("CK_SILENT_MODE")
import ck_utils
import converter_annotations
import converter_results
ck_utils.prepare_dir(RESULTS_OUT_DIR)
ck_utils.prepare_dir(ANNOTATIONS_OUT_DIR)
if METRIC_TYPE != ck_utils.COCO:
import calc_metrics_coco_tf
import calc_metrics_kitti
import calc_metrics_oid
from object_detection.utils import label_map_util
else:
import calc_metrics_coco_pycocotools
def evaluate(processed_image_ids, categories_list):
# Convert annotations from original format of the dataset
# to a format specific for a tool that will calculate metrics
if DATASET_TYPE != METRIC_TYPE:
print('\nConvert annotations from {} to {} ...'.format(
DATASET_TYPE, METRIC_TYPE))
annotations = converter_annotations.convert(
ANNOTATIONS_PATH, ANNOTATIONS_OUT_DIR, DATASET_TYPE,
METRIC_TYPE)
else:
annotations = ANNOTATIONS_PATH
# Convert detection results from our universal text format
# to a format specific for a tool that will calculate metrics
print('\nConvert results to {} ...'.format(METRIC_TYPE))
results = converter_results.convert(DETECTIONS_OUT_DIR,
RESULTS_OUT_DIR, DATASET_TYPE,
MODEL_DATASET_TYPE, METRIC_TYPE)
# Run evaluation tool
print('\nEvaluate metrics as {} ...'.format(METRIC_TYPE))
if METRIC_TYPE == ck_utils.COCO:
mAP, recall, all_metrics = calc_metrics_coco_pycocotools.evaluate(
processed_image_ids, results, annotations)
elif METRIC_TYPE == ck_utils.COCO_TF:
mAP, recall, all_metrics = calc_metrics_coco_tf.evaluate(
categories_list, results, annotations, FULL_REPORT)
elif METRIC_TYPE == ck_utils.OID:
mAP, _, all_metrics = calc_metrics_oid.evaluate(
results, annotations, LABELMAP_FILE, FULL_REPORT)
recall = 'N/A'
else:
raise ValueError(
'Metrics type is not supported: {}'.format(METRIC_TYPE))
OPENME['mAP'] = mAP
OPENME['recall'] = recall
OPENME['metrics'] = all_metrics
return
OPENME = {}
with open(PREPROCESSED_FILES, 'r') as f:
processed_image_filenames = [x.split(';')[0] for x in f.readlines()]
processed_image_ids = [
ck_utils.filename_to_id(image_filename, DATASET_TYPE)
for image_filename in processed_image_filenames
]
if os.path.isfile(TIMER_JSON):
with open(TIMER_JSON, 'r') as f:
OPENME = json.load(f)
# Run evaluation
ck_utils.print_header('Process results')
if METRIC_TYPE != ck_utils.COCO:
category_index = label_map_util.create_category_index_from_labelmap(
LABELMAP_FILE, use_display_name=True)
categories_list = category_index.values()
else:
categories_list = []
evaluate(processed_image_ids, categories_list)
OPENME[
'frame_predictions'] = converter_results.convert_to_frame_predictions(
DETECTIONS_OUT_DIR)
OPENME['execution_time'] = OPENME['run_time_state'].get(
'test_time_s', 0) + OPENME['run_time_state'].get('setup_time_s', 0)
# Store benchmark results
with open(TIMER_JSON, 'w') as o:
json.dump(OPENME, o, indent=2, sort_keys=True)
# Print metrics
print('\nSummary:')
print('-------------------------------')
print('All images loaded in {:.6f}s'.format(OPENME['run_time_state'].get(
'load_images_time_total_s', 0)))
print('Average image load time: {:.6f}s'.format(
OPENME['run_time_state'].get('load_images_time_avg_s', 0)))
print('All images detected in {:.6f}s'.format(OPENME['run_time_state'].get(
'prediction_time_total_s', 0)))
print('Average detection time: {:.6f}s'.format(
OPENME['run_time_state'].get('prediction_time_avg_s', 0)))
print('mAP: {}'.format(OPENME['mAP']))
print('Recall: {}'.format(OPENME['recall']))
print('--------------------------------\n')
return {'return': 0}
