def display_map(self, batch, tracks, idx):
opt = self.opt
for i in range(1):
debugger = Debugger(opt,
dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * opt.std + opt.mean) * 255.), 0,
255).astype(np.uint8)
debugger.add_img(img, img_id='track')
for i in range(len(tracks)):
dets = tracks[i].pred
bbox = dets[:4] * self.opt.down_ratio
w, h = bbox[2], bbox[3]
bbox = np.array([
bbox[0] - w / 2, bbox[1] - h / 2, bbox[0] + w / 2,
bbox[1] + h / 2
])
debugger.add_coco_bbox(bbox,
int(dets[-1]),
tracks[i].track_id,
img_id='track',
tracking=True)
debugger.save_all_imgs(opt.debug_dir, prefix=f'{idx}')
def debug(self, batch, output, iter_id):
opt = self.opt
reg = output['reg'] if opt.reg_offset else None
dets = ctdet_decode(output['hm'],
output['wh'],
reg=reg,
cat_spec_wh=opt.cat_spec_wh,
opt=opt)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= opt.down_ratio
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
dets_gt[:, :, :4] *= opt.down_ratio
for i in range(1):
debugger = Debugger(dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * opt.std + opt.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
if opt.edge_hm:
edge_hm = output['edge_hm'][i].detach().cpu().numpy()
edge_hm = edge_hm.reshape(4 * opt.num_edge_hm, -1,
edge_hm.shape[1], edge_hm.shape[2])
edge_hm = edge_hm.sum(axis=0)
edge_hm = debugger.gen_colormap(edge_hm)
debugger.add_blend_img(img, edge_hm, 'edge_hm')
gt_edge_hm = batch['edge_hm'][i].detach().cpu().numpy()
gt_edge_hm = gt_edge_hm.reshape(4 * opt.num_edge_hm, -1,
gt_edge_hm.shape[1],
gt_edge_hm.shape[2])
gt_edge_hm = gt_edge_hm.sum(axis=0)
gt_edge_hm = debugger.gen_colormap(gt_edge_hm)
debugger.add_blend_img(img, gt_edge_hm, 'gt_edge_hm')
for k in range(len(dets[i])):
if dets[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets[i, k, :4],
dets[i, k, -1],
dets[i, k, 4],
img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets_gt[i, k, :4],
dets_gt[i, k, -1],
dets_gt[i, k, 4],
img_id='out_gt')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def debug(self, batch, output, iter_id):
opt = self.opt
reg = output['reg'] if opt.reg_offset else None
dets = ctdet_decode(output['hm'],
output['wh'],
reg=reg,
cat_spec_wh=opt.cat_spec_wh,
K=opt.K)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= opt.down_ratio
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
dets_gt[:, :, :4] *= opt.down_ratio
if opt.task == 'ctdet_semseg':
seg_gt = batch['seg'][0][0].cpu().numpy()
seg_pred = output['seg'].max(1)[1].squeeze_(1).squeeze_(
0).cpu().numpy()
for i in range(1):
debugger = Debugger(opt,
dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * opt.std + opt.mean) * 255.), 0,
255).astype(np.uint8)
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets[i])):
if dets[i, k, 4] > opt.vis_thresh:
debugger.add_coco_bbox(dets[i, k, :4],
dets[i, k, -1],
dets[i, k, 4],
img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.vis_thresh:
debugger.add_coco_bbox(dets_gt[i, k, :4],
dets_gt[i, k, -1],
dets_gt[i, k, 4],
img_id='out_gt')
if opt.save_video: # only save the predicted and gt images
return debugger.imgs['out_pred'], debugger.imgs['out_gt']
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
if opt.task == 'ctdet_semseg':
debugger.visualize_masks(seg_gt, img_id='out_mask_gt')
debugger.visualize_masks(seg_pred, img_id='out_mask_pred')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir, prefix=iter_id)
def debug(self, batch, output, iter_id):
opt = self.opt
###是否进行坐标offset reg
reg = output['reg'] if opt.reg_offset else None
###将网络输出的hms经过decode得到detections: [bboxes, scores, clses]
dets = ctdet_decode(
output['hm'], output['wh'], reg=reg,
cat_spec_wh=opt.cat_spec_wh, K=opt.K)
####创建一个没有梯度的变量dets，shape为（1，batch*k，6）
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
####对预测坐标进行变换---->下采样, down_ratio默认值为4
dets[:, :, :4] *= opt.down_ratio
####把dets_gt的shape变为（1，batch*k, 6）
####dets_gt为gt_bbox的位置信息，shape为（1，batch*k，6）
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
####对gt坐标进行变换---->下采样, down_ratio默认值为4
dets_gt[:, :, :4] *= opt.down_ratio
for i in range(1):
debugger = Debugger(
dataset=opt.dataset, ipynb=(opt.debug==3), theme=opt.debugger_theme)
###将输入图片转化为cpu上的没有梯度的张量img
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
###对输入图像进行标准化处理：乘上标准差再加上均值
img = np.clip(((
img * opt.std + opt.mean) * 255.), 0, 255).astype(np.uint8)
####gen_colormap又是什么玩意？？？
####output----->pred, batch------>gt
pred = debugger.gen_colormap(output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
####add_blend_img是用来干嘛？？？
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
###此时len(dets[i]==dets[0])==batch*k,
for k in range(len(dets[i])):
###即某个score>thresh
if dets[i, k, 4] > opt.center_thresh:
####在图像上画出检测框，坐标，score和cls
debugger.add_coco_bbox(dets[i, k, :4], dets[i, k, -1],
dets[i, k, 4], img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
###len(dets_gt[i])为batch*k
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.center_thresh:
####画出gt_bbox
debugger.add_coco_bbox(dets_gt[i, k, :4], dets_gt[i, k, -1],
dets_gt[i, k, 4], img_id='out_gt')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir, prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def debug(self, batch, output, iter_id):
opt = self.opt
reg = output['reg'] if opt.reg_offset else None
hm_hp = output['hm_hp'] if opt.hm_hp else None
hp_offset = output['hp_offset'] if opt.reg_hp_offset else None
dets = multi_pose_decode(
output['hm'], output['wh'], output['hps'],
reg=reg, hm_hp=hm_hp, hp_offset=hp_offset, K=opt.K)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= opt.input_res / opt.output_res
dets[:, :, 5:39] *= opt.input_res / opt.output_res
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
dets_gt[:, :, :4] *= opt.input_res / opt.output_res
dets_gt[:, :, 5:39] *= opt.input_res / opt.output_res
for i in range(1):
debugger = Debugger(
dataset=opt.dataset, ipynb=(opt.debug==3), theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((
img * opt.std + opt.mean) * 255.), 0, 255).astype(np.uint8)
pred = debugger.gen_colormap(output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets[i])):
if dets[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets[i, k, :4], dets[i, k, -1],
dets[i, k, 4], img_id='out_pred')
debugger.add_coco_hp(dets[i, k, 5:39], img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets_gt[i, k, :4], dets_gt[i, k, -1],
dets_gt[i, k, 4], img_id='out_gt')
debugger.add_coco_hp(dets_gt[i, k, 5:39], img_id='out_gt')
if opt.hm_hp:
pred = debugger.gen_colormap_hp(output['hm_hp'][i].detach().cpu().numpy())
gt = debugger.gen_colormap_hp(batch['hm_hp'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hmhp')
debugger.add_blend_img(img, gt, 'gt_hmhp')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir, prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def debug(self, batch, output, iter_id):
cfg = self.cfg
reg = output[3] if cfg.LOSS.REG_OFFSET else None
hm_hp = output[4] if cfg.LOSS.HM_HP else None
hp_offset = output[5] if cfg.LOSS.REG_HP_OFFSET else None
dets = multi_pose_decode(
output[0], output[1], output[2],
reg=reg, hm_hp=hm_hp, hp_offset=hp_offset, K=cfg.TEST.TOPK)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= cfg.MODEL.INPUT_RES / cfg.MODEL.OUTPUT_RES
dets[:, :, 5:39] *= cfg.MODEL.INPUT_RES / cfg.MODEL.OUTPUT_RES
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
dets_gt[:, :, :4] *= cfg.MODEL.INPUT_RES / cfg.MODEL.OUTPUT_RES
dets_gt[:, :, 5:39] *= cfg.MODEL.INPUT_RES / cfg.MODEL.OUTPUT_RES
for i in range(1):
debugger = Debugger(
dataset=cfg.SAMPLE_METHOD, ipynb=(cfg.DEBUG==3), theme=cfg.DEBUG_THEME)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((
img * np.array(cfg.DATASET.STD).reshape(1,1,3).astype(np.float32) + cfg.DATASET.MEAN) * 255.), 0, 255).astype(np.uint8)
pred = debugger.gen_colormap(output[0][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets[i])):
if dets[i, k, 4] > cfg.MODEL.CENTER_THRESH:
debugger.add_coco_bbox(dets[i, k, :4], dets[i, k, -1],
dets[i, k, 4], img_id='out_pred')
debugger.add_coco_hp(dets[i, k, 5:39], img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > cfg.MODEL.CENTER_THRESH:
debugger.add_coco_bbox(dets_gt[i, k, :4], dets_gt[i, k, -1],
dets_gt[i, k, 4], img_id='out_gt')
debugger.add_coco_hp(dets_gt[i, k, 5:39], img_id='out_gt')
if cfg.LOSS.HM_HP:
pred = debugger.gen_colormap_hp(output[4][i].detach().cpu().numpy())
gt = debugger.gen_colormap_hp(batch['hm_hp'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hmhp')
debugger.add_blend_img(img, gt, 'gt_hmhp')
if cfg.DEBUG == 4:
debugger.save_all_imgs(cfg.LOG_DIR, prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def debug(self, batch, output, iter_id):
opt = self.opt
detections = self.decode(output['hm_t'], output['hm_l'],
output['hm_b'], output['hm_r'],
output['hm_c']).detach().cpu().numpy()
detections[:, :, :4] *= opt.input_res / opt.output_res
for i in range(1):
dataset = opt.dataset
if opt.dataset == 'yolo':
dataset = opt.names
debugger = Debugger(dataset=dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
pred_hm = np.zeros((opt.input_res, opt.input_res, 3),
dtype=np.uint8)
gt_hm = np.zeros((opt.input_res, opt.input_res, 3), dtype=np.uint8)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = ((img * self.opt.std + self.opt.mean) * 255.).astype(
np.uint8)
for p in self.parts:
tag = 'hm_{}'.format(p)
pred = debugger.gen_colormap(
output[tag][i].detach().cpu().numpy())
gt = debugger.gen_colormap(
batch[tag][i].detach().cpu().numpy())
if p != 'c':
pred_hm = np.maximum(pred_hm, pred)
gt_hm = np.maximum(gt_hm, gt)
if p == 'c' or opt.debug > 2:
debugger.add_blend_img(img, pred, 'pred_{}'.format(p))
debugger.add_blend_img(img, gt, 'gt_{}'.format(p))
debugger.add_blend_img(img, pred_hm, 'pred')
debugger.add_blend_img(img, gt_hm, 'gt')
debugger.add_img(img, img_id='out')
for k in range(len(detections[i])):
if detections[i, k, 4] > 0.1:
debugger.add_coco_bbox(detections[i, k, :4],
detections[i, k, -1],
detections[i, k, 4],
img_id='out')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def show_results(self, save_dir):
with open(os.path.join(save_dir, "results.json")) as f:
data = json.load(f)
debugger = Debugger(dataset=self.opt.dataset,
ipynb=(self.opt.debug == 3),
theme=self.opt.debugger_theme,
class_names=self.opt.class_names)
for i, img_details in enumerate(data):
if (data[i]['score'] > self.opt.vis_thresh):
img_path = os.path.join("../data/coco/test2019",
str(img_details["image_id"]) +
".jpg") # TODO
image = cv2.imread(img_path)
debugger.add_img(image, img_id='ctdet')
bbox = data[i]['bbox']
debugger.add_coco_bbox(bbox,
data[i]['category_id'] - 1,
data[i]['score'],
img_id='ctdet')
debugger.show_all_imgs(pause=True)
def debug(self, batch, output, iter_id):
opt = self.opt
reg = output['reg'] if opt.reg_offset else None
dets = ctdet_decode(output['hm'],
output['wh'],
reg=reg,
cat_spec_wh=opt.cat_spec_wh,
K=opt.K)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= opt.down_ratio
dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
dets_gt[:, :, :4] *= opt.down_ratio
for i in range(1):
debugger = Debugger(dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * opt.std + opt.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets[i])):
if dets[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets[i, k, :4],
dets[i, k, -1],
dets[i, k, 4],
img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets_gt[i, k, :4],
dets_gt[i, k, -1],
dets_gt[i, k, 4],
img_id='out_gt')
def debug(self, batch, output, iter_id, dataset):
opt = self.opt
if 'pre_hm' in batch:
output.update({'pre_hm': batch['pre_hm']})
dets = fusion_decode(output, K=opt.K, opt=opt)
for k in dets:
dets[k] = dets[k].detach().cpu().numpy()
dets_gt = batch['meta']['gt_det']
for i in range(1):
debugger = Debugger(opt=opt, dataset=dataset)
img = batch['image'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * dataset.std + dataset.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img,
pred,
'pred_hm',
trans=self.opt.hm_transparency)
debugger.add_blend_img(img,
gt,
'gt_hm',
trans=self.opt.hm_transparency)
debugger.add_img(img, img_id='img')
# show point clouds
if opt.pointcloud:
pc_2d = batch['pc_2d'][i].detach().cpu().numpy()
pc_3d = None
pc_N = batch['pc_N'][i].detach().cpu().numpy()
debugger.add_img(img, img_id='pc')
debugger.add_pointcloud(pc_2d, pc_N, img_id='pc')
if 'pc_hm' in opt.pc_feat_lvl:
channel = opt.pc_feat_channels['pc_hm']
pc_hm = debugger.gen_colormap(
batch['pc_hm'][i][channel].unsqueeze(
0).detach().cpu().numpy())
debugger.add_blend_img(img,
pc_hm,
'pc_hm',
trans=self.opt.hm_transparency)
if 'pc_dep' in opt.pc_feat_lvl:
channel = opt.pc_feat_channels['pc_dep']
pc_hm = batch['pc_hm'][i][channel].unsqueeze(
0).detach().cpu().numpy()
pc_dep = debugger.add_overlay_img(img, pc_hm, 'pc_dep')
if 'pre_img' in batch:
pre_img = batch['pre_img'][i].detach().cpu().numpy().transpose(
1, 2, 0)
pre_img = np.clip(
((pre_img * dataset.std + dataset.mean) * 255), 0,
255).astype(np.uint8)
debugger.add_img(pre_img, 'pre_img_pred')
debugger.add_img(pre_img, 'pre_img_gt')
if 'pre_hm' in batch:
pre_hm = debugger.gen_colormap(
batch['pre_hm'][i].detach().cpu().numpy())
debugger.add_blend_img(pre_img,
pre_hm,
'pre_hm',
trans=self.opt.hm_transparency)
debugger.add_img(img, img_id='out_pred')
if 'ltrb_amodal' in opt.heads:
debugger.add_img(img, img_id='out_pred_amodal')
debugger.add_img(img, img_id='out_gt_amodal')
# Predictions
for k in range(len(dets['scores'][i])):
if dets['scores'][i, k] > opt.vis_thresh:
debugger.add_coco_bbox(dets['bboxes'][i, k] *
opt.down_ratio,
dets['clses'][i, k],
dets['scores'][i, k],
img_id='out_pred')
if 'ltrb_amodal' in opt.heads:
debugger.add_coco_bbox(dets['bboxes_amodal'][i, k] *
opt.down_ratio,
dets['clses'][i, k],
dets['scores'][i, k],
img_id='out_pred_amodal')
if 'hps' in opt.heads and int(dets['clses'][i, k]) == 0:
debugger.add_coco_hp(dets['hps'][i, k] *
opt.down_ratio,
img_id='out_pred')
if 'tracking' in opt.heads:
debugger.add_arrow(dets['cts'][i][k] * opt.down_ratio,
dets['tracking'][i][k] *
opt.down_ratio,
img_id='out_pred')
debugger.add_arrow(dets['cts'][i][k] * opt.down_ratio,
dets['tracking'][i][k] *
opt.down_ratio,
img_id='pre_img_pred')
# Ground truth
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt['scores'][i])):
if dets_gt['scores'][i][k] > opt.vis_thresh:
if 'dep' in dets_gt.keys():
dist = dets_gt['dep'][i][k]
if len(dist) > 1:
dist = dist[0]
else:
dist = -1
debugger.add_coco_bbox(dets_gt['bboxes'][i][k] *
opt.down_ratio,
dets_gt['clses'][i][k],
dets_gt['scores'][i][k],
img_id='out_gt',
dist=dist)
if 'ltrb_amodal' in opt.heads:
debugger.add_coco_bbox(dets_gt['bboxes_amodal'][i, k] *
opt.down_ratio,
dets_gt['clses'][i, k],
dets_gt['scores'][i, k],
img_id='out_gt_amodal')
if 'hps' in opt.heads and \
(int(dets['clses'][i, k]) == 0):
debugger.add_coco_hp(dets_gt['hps'][i][k] *
opt.down_ratio,
img_id='out_gt')
if 'tracking' in opt.heads:
debugger.add_arrow(
dets_gt['cts'][i][k] * opt.down_ratio,
dets_gt['tracking'][i][k] * opt.down_ratio,
img_id='out_gt')
debugger.add_arrow(
dets_gt['cts'][i][k] * opt.down_ratio,
dets_gt['tracking'][i][k] * opt.down_ratio,
img_id='pre_img_gt')
if 'hm_hp' in opt.heads:
pred = debugger.gen_colormap_hp(
output['hm_hp'][i].detach().cpu().numpy())
gt = debugger.gen_colormap_hp(
batch['hm_hp'][i].detach().cpu().numpy())
debugger.add_blend_img(img,
pred,
'pred_hmhp',
trans=self.opt.hm_transparency)
debugger.add_blend_img(img,
gt,
'gt_hmhp',
trans=self.opt.hm_transparency)
if 'rot' in opt.heads and 'dim' in opt.heads and 'dep' in opt.heads:
dets_gt = {k: dets_gt[k].cpu().numpy() for k in dets_gt}
calib = batch['meta']['calib'].detach().numpy() \
if 'calib' in batch['meta'] else None
det_pred = generic_post_process(
opt, dets, batch['meta']['c'].cpu().numpy(),
batch['meta']['s'].cpu().numpy(), output['hm'].shape[2],
output['hm'].shape[3], self.opt.num_classes, calib)
det_gt = generic_post_process(opt,
dets_gt,
batch['meta']['c'].cpu().numpy(),
batch['meta']['s'].cpu().numpy(),
output['hm'].shape[2],
output['hm'].shape[3],
self.opt.num_classes,
calib,
is_gt=True)
debugger.add_3d_detection(batch['meta']['img_path'][i],
batch['meta']['flipped'][i],
det_pred[i],
calib[i],
vis_thresh=opt.vis_thresh,
img_id='add_pred')
debugger.add_3d_detection(batch['meta']['img_path'][i],
batch['meta']['flipped'][i],
det_gt[i],
calib[i],
vis_thresh=opt.vis_thresh,
img_id='add_gt')
pc_3d = None
if opt.pointcloud:
pc_3d = batch['pc_3d'].cpu().numpy()
debugger.add_bird_views(det_pred[i],
det_gt[i],
vis_thresh=opt.vis_thresh,
img_id='bird_pred_gt',
pc_3d=pc_3d,
show_velocity=opt.show_velocity)
debugger.add_bird_views([],
det_gt[i],
vis_thresh=opt.vis_thresh,
img_id='bird_gt',
pc_3d=pc_3d,
show_velocity=opt.show_velocity)
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def detect(opt):
os.environ['CUDA_VISIBLE_DEVICES'] = opt.gpus_str
split = 'val' if not opt.trainval else 'test'
dataset = YOLO(opt.data_dir, opt.flip, opt.vflip, opt.rotate, opt.scale, opt.shear, opt, split)
opt = opts().update_dataset_info_and_set_heads(opt, dataset)
print(opt)
# log = Logger(opt)
Detector = detector_factory[opt.task]
detector = Detector(opt)
debugger = Debugger(dataset=opt.names)
dir_path = os.path.join(opt.save_dir, 'detect')
if not os.path.exists(dir_path):
os.mkdir(dir_path)
images = []
if os.path.isfile(opt.image):
if os.path.splitext(opt.image)[1] == '.txt':
name = os.path.splitext(os.path.basename(opt.image))[0]
dir_path = os.path.join(dir_path, name)
if not os.path.exists(dir_path):
os.mkdir(dir_path)
with open(opt.image, 'r') as f:
images.extend([l.rstrip().replace('.txt', '.jpg') for l in f.readlines()])
elif os.path.splitext(opt.image)[1] in ['.jpg', '.png', '.bmp']:
images.append(opt.image)
else:
raise Exception('NOT SUPPORT FILE TYPE!!!')
else:
for file in os.listdir(opt.image):
if os.path.splitext(file)[1] in ['.jpg', '.png', '.bmp']:
images.append(os.path.join(opt.image, file))
num_iters = len(images)
bar = Bar('{}'.format(opt.exp_id), max=num_iters)
time_stats = ['tot', 'load', 'pre', 'net', 'dec', 'post', 'merge']
avg_time_stats = {t: AverageMeter() for t in time_stats}
for ind in range(num_iters):
img_id = images[ind]
ret = detector.run(img_id)
Bar.suffix = '[{0}/{1}]|Tot: {total:} |ETA: {eta:} '.format(
ind, num_iters, total=bar.elapsed_td, eta=bar.eta_td)
for t in avg_time_stats:
avg_time_stats[t].update(ret[t])
Bar.suffix = Bar.suffix + '|{} {tm.val:.3f}s ({tm.avg:.3f}s) '.format(
t, tm=avg_time_stats[t])
bar.next()
img_name = os.path.splitext(os.path.basename(img_id))[0]
img = cv2.imread(img_id)
h, w = img.shape[:2]
pred = debugger.gen_colormap(ret['output']['hm'][0].detach().cpu().numpy())
debugger.add_blend_img(img, pred, img_name+'pred_hm')
debugger.add_img(img, img_id=img_name)
gt = np.loadtxt(img_id.replace('.jpg', '.txt')).reshape(-1, 5)
if gt.size:
x1 = w * (gt[:, 1] - gt[:, 3] / 2)
y1 = h * (gt[:, 2] - gt[:, 4] / 2)
x2 = w * (gt[:, 1] + gt[:, 3] / 2)
y2 = h * (gt[:, 2] + gt[:, 4] / 2)
gt[:, 1] = x1
gt[:, 2] = y1
gt[:, 3] = x2
gt[:, 4] = y2
for g in gt:
debugger.add_gt_bbox(g, img_id=img_name)
path = os.path.join(dir_path, os.path.basename(img_id).replace('.jpg', '.txt'))
dets = np.zeros((0, 6), dtype=np.float32)
for cls, det in ret['results'].items():
cls_id = np.ones((len(det), 1), dtype=np.float32) * (cls - 1)
dets = np.append(dets, np.hstack((det, cls_id)), 0)
for d in det:
if d[-1] >= opt.vis_thresh:
debugger.add_coco_bbox(d[:4], cls-1, d[-1], img_id=img_name)
np.savetxt(path, dets)
bar.finish()
debugger.save_all_imgs(path=dir_path)
def debug(self, batch, output, iter_id, dataset):
opt = self.opt
if 'pre_hm' in batch:
output.update({'pre_hm': batch['pre_hm']})
dets = generic_decode(output, K=opt.K, opt=opt)
for k in dets:
dets[k] = dets[k].detach().cpu().numpy()
dets_gt = batch['meta']['gt_det']
for i in range(1):
debugger = Debugger(opt=opt, dataset=dataset)
img = batch['image'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * dataset.std + dataset.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
if 'pre_img' in batch:
pre_img = batch['pre_img'][i].detach().cpu().numpy().transpose(
1, 2, 0)
pre_img = np.clip(
((pre_img * dataset.std + dataset.mean) * 255), 0,
255).astype(np.uint8)
debugger.add_img(pre_img, 'pre_img_pred')
debugger.add_img(pre_img, 'pre_img_gt')
if 'pre_hm' in batch:
pre_hm = debugger.gen_colormap(
batch['pre_hm'][i].detach().cpu().numpy())
debugger.add_blend_img(pre_img, pre_hm, 'pre_hm')
debugger.add_img(img, img_id='out_pred')
if 'ltrb_amodal' in opt.heads:
debugger.add_img(img, img_id='out_pred_amodal')
debugger.add_img(img, img_id='out_gt_amodal')
# Predictions
for k in range(len(dets['scores'][i])):
if dets['scores'][i, k] > opt.vis_thresh:
debugger.add_coco_bbox(dets['bboxes'][i, k] *
opt.down_ratio,
dets['clses'][i, k],
dets['scores'][i, k],
img_id='out_pred')
if 'ltrb_amodal' in opt.heads:
debugger.add_coco_bbox(dets['bboxes_amodal'][i, k] *
opt.down_ratio,
dets['clses'][i, k],
dets['scores'][i, k],
img_id='out_pred_amodal')
if 'hps' in opt.heads and int(dets['clses'][i, k]) == 0:
debugger.add_coco_hp(dets['hps'][i, k] *
opt.down_ratio,
img_id='out_pred')
if 'tracking' in opt.heads:
debugger.add_arrow(dets['cts'][i][k] * opt.down_ratio,
dets['tracking'][i][k] *
opt.down_ratio,
img_id='out_pred')
debugger.add_arrow(dets['cts'][i][k] * opt.down_ratio,
dets['tracking'][i][k] *
opt.down_ratio,
img_id='pre_img_pred')
# Ground truth
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt['scores'][i])):
if dets_gt['scores'][i][k] > opt.vis_thresh:
debugger.add_coco_bbox(dets_gt['bboxes'][i][k] *
opt.down_ratio,
dets_gt['clses'][i][k],
dets_gt['scores'][i][k],
img_id='out_gt')
if 'ltrb_amodal' in opt.heads:
debugger.add_coco_bbox(dets_gt['bboxes_amodal'][i, k] *
opt.down_ratio,
dets_gt['clses'][i, k],
dets_gt['scores'][i, k],
img_id='out_gt_amodal')
if 'hps' in opt.heads and \
(int(dets['clses'][i, k]) == 0):
debugger.add_coco_hp(dets_gt['hps'][i][k] *
opt.down_ratio,
img_id='out_gt')
if 'tracking' in opt.heads:
debugger.add_arrow(
dets_gt['cts'][i][k] * opt.down_ratio,
dets_gt['tracking'][i][k] * opt.down_ratio,
img_id='out_gt')
debugger.add_arrow(
dets_gt['cts'][i][k] * opt.down_ratio,
dets_gt['tracking'][i][k] * opt.down_ratio,
img_id='pre_img_gt')
if 'hm_hp' in opt.heads:
pred = debugger.gen_colormap_hp(
output['hm_hp'][i].detach().cpu().numpy())
gt = debugger.gen_colormap_hp(
batch['hm_hp'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hmhp')
debugger.add_blend_img(img, gt, 'gt_hmhp')
if 'rot' in opt.heads and 'dim' in opt.heads and 'dep' in opt.heads:
dets_gt = {k: dets_gt[k].cpu().numpy() for k in dets_gt}
calib = batch['meta']['calib'].detach().numpy() \
if 'calib' in batch['meta'] else None
det_pred = generic_post_process(
opt, dets, batch['meta']['c'].cpu().numpy(),
batch['meta']['s'].cpu().numpy(), output['hm'].shape[2],
output['hm'].shape[3], self.opt.num_classes, calib)
det_gt = generic_post_process(opt, dets_gt,
batch['meta']['c'].cpu().numpy(),
batch['meta']['s'].cpu().numpy(),
output['hm'].shape[2],
output['hm'].shape[3],
self.opt.num_classes, calib)
debugger.add_3d_detection(batch['meta']['img_path'][i],
batch['meta']['flipped'][i],
det_pred[i],
calib[i],
vis_thresh=opt.vis_thresh,
img_id='add_pred')
debugger.add_3d_detection(batch['meta']['img_path'][i],
batch['meta']['flipped'][i],
det_gt[i],
calib[i],
vis_thresh=opt.vis_thresh,
img_id='add_gt')
debugger.add_bird_views(det_pred[i],
det_gt[i],
vis_thresh=opt.vis_thresh,
img_id='bird_pred_gt')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def test_loader(cfg):
debugger = Debugger((cfg.DEBUG == 3),
theme=cfg.DEBUG_THEME,
num_classes=cfg.MODEL.NUM_CLASSES,
dataset=cfg.SAMPLE_METHOD,
down_ratio=cfg.MODEL.DOWN_RATIO)
Dataset = get_dataset(cfg.SAMPLE_METHOD, cfg.TASK)
val_dataset = Dataset(cfg, 'val')
val_loader = torch.utils.data.DataLoader(val_dataset,
batch_size=1,
shuffle=False,
num_workers=1,
pin_memory=True)
for i, batch_data in enumerate(val_loader):
input_image = batch_data['input']
heat = batch_data['hm']
reg = batch_data['reg']
reg_mask = batch_data['reg_mask']
ind = batch_data['ind']
wh = batch_data['wh']
kps = batch_data['hps']
hps_mask = batch_data['hps_mask']
seg_feat = batch_data['seg']
hm_hp = batch_data['hm_hp']
hp_offset = batch_data['hp_offset']
hp_ind = batch_data['hp_ind']
hp_mask = batch_data['hp_mask']
meta = batch_data['meta']
for k, v in batch_data.items():
if type(v) == type(dict()):
for k1, v1 in v.items():
print(k1)
print(v1)
else:
print(k)
print(v.shape)
print(input_image.shape)
print(hm_hp.shape)
#handle image
input_image = input_image[0].numpy().transpose(1, 2, 0)
input_image = (input_image * STD) + MEAN
input_image = input_image * 255
input_image = input_image.astype(np.uint8)
heat = heat.sigmoid_()
hm_hp = hm_hp.sigmoid_()
num_joints = 17
K = cfg.TEST.TOPK
# perform nms on heatmaps
batch, cat, height, width = heat.size()
heat = _nms(heat)
scores, inds, clses, ys, xs = _topk(heat, K=K)
kps = kps.view(batch, K, num_joints * 2)
kps[..., ::2] += xs.view(batch, K, 1).expand(batch, K, num_joints)
kps[..., 1::2] += ys.view(batch, K, 1).expand(batch, K, num_joints)
xs = xs.view(batch, K, 1) + reg[:, :, 0:1]
ys = ys.view(batch, K, 1) + reg[:, :, 1:2]
wh = wh.view(batch, K, 2)
#weight = _transpose_and_gather_feat(seg, inds)
## you can write (if weight.size(1)!=seg_feat.size(1): 3x3conv else 1x1conv ) here to select seg conv.
## for 3x3
#weight = weight.view([weight.size(1), -1, 3, 3])
pred_seg = seg_feat
clses = clses.view(batch, K, 1).float()
scores = scores.view(batch, K, 1)
bboxes = torch.cat([
xs - wh[..., 0:1] / 2, ys - wh[..., 1:2] / 2,
xs + wh[..., 0:1] / 2, ys + wh[..., 1:2] / 2
],
dim=2)
if hm_hp is not None:
hm_hp = _nms(hm_hp)
thresh = 0.1
kps = kps.view(batch, K, num_joints,
2).permute(0, 2, 1, 3).contiguous() # b x J x K x 2
reg_kps = kps.unsqueeze(3).expand(batch, num_joints, K, K, 2)
hm_score, hm_inds, hm_ys, hm_xs = _topk_channel(hm_hp,
K=K) # b x J x K
hp_offset = hp_offset.view(batch, num_joints, K, 2)
hm_xs = hm_xs + hp_offset[:, :, :, 0]
hm_ys = hm_ys + hp_offset[:, :, :, 1]
mask = (hm_score > thresh).float()
hm_score = (1 - mask) * -1 + mask * hm_score
hm_ys = (1 - mask) * (-10000) + mask * hm_ys
hm_xs = (1 - mask) * (-10000) + mask * hm_xs
hm_kps = torch.stack([hm_xs, hm_ys], dim=-1).unsqueeze(2).expand(
batch, num_joints, K, K, 2)
dist = (((reg_kps - hm_kps)**2).sum(dim=4)**0.5)
min_dist, min_ind = dist.min(dim=3) # b x J x K
hm_score = hm_score.gather(2,
min_ind).unsqueeze(-1) # b x J x K x 1
min_dist = min_dist.unsqueeze(-1)
min_ind = min_ind.view(batch, num_joints, K, 1,
1).expand(batch, num_joints, K, 1, 2)
hm_kps = hm_kps.gather(3, min_ind)
hm_kps = hm_kps.view(batch, num_joints, K, 2)
l = bboxes[:, :, 0].view(batch, 1, K,
1).expand(batch, num_joints, K, 1)
t = bboxes[:, :, 1].view(batch, 1, K,
1).expand(batch, num_joints, K, 1)
r = bboxes[:, :, 2].view(batch, 1, K,
1).expand(batch, num_joints, K, 1)
b = bboxes[:, :, 3].view(batch, 1, K,
1).expand(batch, num_joints, K, 1)
mask = (hm_kps[..., 0:1] < l) + (hm_kps[..., 0:1] > r) + \
(hm_kps[..., 1:2] < t) + (hm_kps[..., 1:2] > b) + \
(hm_score < thresh) + (min_dist > (torch.max(b - t, r - l) * 0.3))
mask = (mask > 0).float().expand(batch, num_joints, K, 2)
kps = (1 - mask) * hm_kps + mask * kps
kps = kps.permute(0, 2, 1,
3).contiguous().view(batch, K, num_joints * 2)
dets = torch.cat([
bboxes, scores, kps,
torch.transpose(hm_score.squeeze(dim=3), 1, 2)
],
dim=2)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets, inds = whole_body_post_process(dets.copy(), [meta['c'].numpy()],
[meta['s'].numpy()], 128, 128, 1)
for j in range(1, cfg.MODEL.NUM_CLASSES + 1):
dets[0][j] = np.array(dets[0][j], dtype=np.float32).reshape(-1, 56)
dets[0][j][:, :4] /= 1.
dets[0][j][:, 5:39] /= 1.
print(pred_seg.shape)
seg = pred_seg[0]
trans = get_affine_transform(meta['c'],
meta['s'],
0,
(meta['out_width'], meta['out_height']),
inv=1)
debugger.add_img(image, img_id='multi_pose')
for j in range(1, self.num_classes + 1):
for b_id, detection in enumerate(results[j]):
bbox = detection[:4]
bbox_prob = detection[4]
keypoints = detection[5:39]
keypoints_prob = detection[39:]
if bbox_prob > self.cfg.TEST.VIS_THRESH:
debugger.add_coco_bbox(bbox,
0,
bbox_prob,
img_id='multi_pose')
segment = seg[b_id].detach().cpu().numpy()
segment = cv2.warpAffine(segment,
trans,
(image.shape[1], image.shape[0]),
flags=cv2.INTER_CUBIC)
w, h = bbox[2:4] - bbox[:2]
ct = np.array([(bbox[0] + bbox[2]) / 2,
(bbox[1] + bbox[3]) / 2],
dtype=np.float32)
segment_mask = np.zeros_like(segment)
pad_rate = 0.3
x, y = np.clip([ct[0] - (1 + pad_rate) * w / 2, ct[0] + (1 + pad_rate) * w / 2], 0,
segment.shape[1] - 1).astype(np.int), \
np.clip([ct[1] - (1 + pad_rate) * h / 2, ct[1] + (1 + pad_rate) * h / 2], 0,
segment.shape[0] - 1).astype(np.int)
segment_mask[y[0]:y[1], x[0]:x[1]] = 1
segment = segment_mask * segment
debugger.add_coco_seg(segment, img_id='multi_pose')
debugger.add_coco_hp(keypoints,
keypoints_prob,
img_id='multi_pose')
debugger.show_all_imgs(pause=self.pause)
save_path = os.path.join(SAVE_DIR, '{}.png'.format(i))
cv2.imwrite(save_path, input_image)
def demo(opt):
class_map = {1: 1, 2: 2} # color for boundingbox
os.environ['CUDA_VISIBLE_DEVICES'] = opt.gpus_str
# opt.debug = max(opt.debug, 1)
Detector = detector_factory[opt.task]
detector = Detector(opt)
assert os.path.isdir(opt.demo), 'Need path to videos directory.'
video_paths = [
os.path.join(opt.demo, video_name)
for video_name in os.listdir(opt.demo)
if video_name.split('.')[-1] == 'mp4'
]
# video_paths = [
# os.path.join(opt.demo, 'cam_2.mp4')
# ]
debugger = Debugger(dataset=opt.dataset, theme=opt.debugger_theme)
for video_path in sorted(video_paths):
print('video_name = ', video_path)
bboxes = []
video = cv2.VideoCapture(video_path)
width, height = int(video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(
video.get(cv2.CAP_PROP_FRAME_HEIGHT))
# pointer
pts = []
arr_name = os.path.basename(video_path).split('.')[0].split('_')
cam_name = arr_name[0] + '_' + arr_name[1]
print('cam_name = ', cam_name)
with open('../ROIs/{}.txt'.format(cam_name)) as f:
for line in f:
pts.append([int(x) for x in line.split(',')])
pts = np.array(pts)
# make mask
mask = np.zeros((height, width), np.uint8)
cv2.drawContours(mask, [pts], -1, (255, 255, 255), -1, cv2.LINE_AA)
bbox_video = cv2.VideoWriter(
filename='/home/leducthinh0409/centernet_visualize_{}/'.format(
opt.arch) + os.path.basename(video_path),
fourcc=cv2.VideoWriter_fourcc(*'mp4v'),
fps=float(30),
frameSize=(width, height),
isColor=True)
num_frames = int(video.get(cv2.CAP_PROP_FRAME_COUNT))
for i in tqdm(range(num_frames)):
_, img_pre = video.read()
## do bit-op
dst = cv2.bitwise_and(img_pre, img_pre, mask=mask)
## add the white background
bg = np.ones_like(img_pre, np.uint8) * 255
cv2.bitwise_not(bg, bg, mask=mask)
img = bg + dst
ret = detector.run(img)
bboxes.append(ret['results'])
debugger.add_img(img, img_id='default')
for class_id in class_map.keys():
for bbox in ret['results'][class_id]:
if bbox[4] > opt.vis_thresh:
debugger.add_coco_bbox(bbox[:4],
class_map[class_id],
bbox[4],
img_id='default')
bbox_img = debugger.imgs['default']
bbox_video.write(bbox_img)
with open(
'/home/leducthinh0409/bboxes_{}/'.format(opt.arch) +
os.path.basename(video_path) + '.pkl', 'wb') as f:
pickle.dump(bboxes, f)
def train(self, cfg):
# 设置gpu环境,考虑单卡多卡情况
gpus_str = ''
if isinstance(cfg.gpus, (list, tuple)):
cfg.gpus = [int(i) for i in cfg.gpus]
for s in cfg.gpus:
gpus_str += str(s) + ','
gpus_str = gpus_str[:-1]
else:
gpus_str = str(int(cfg.gpus))
cfg.gpus = [int(cfg.gpus)]
os.environ['CUDA_VISIBLE_DEVICES'] = gpus_str
cfg.gpus = [i for i in range(len(cfg.gpus))
] if cfg.gpus[0] >= 0 else [-1]
# 设置log
model_dir = os.path.join(cfg.save_dir, cfg.id)
debug_dir = os.path.join(model_dir, 'debug')
if not os.path.exists(model_dir):
os.makedirs(model_dir)
if not os.path.exists(debug_dir):
os.makedirs(debug_dir)
logger = setup_logger(cfg.id, os.path.join(model_dir, 'log'))
if USE_TENSORBOARD:
writer = tensorboardX.SummaryWriter(
log_dir=os.path.join(model_dir, 'log'))
logger.info(cfg)
gpus = cfg.gpus
device = torch.device('cpu' if gpus[0] < 0 else 'cuda')
lr = cfg.lr
lr_step = cfg.lr_step
num_epochs = cfg.num_epochs
val_step = cfg.val_step
sample_size = cfg.sample_size
# 设置数据集
dataset = YOLO(cfg.data_dir,
cfg.hflip,
cfg.vflip,
cfg.rotation,
cfg.scale,
cfg.shear,
opt=cfg,
split='train')
names = dataset.class_name
std = dataset.std
mean = dataset.mean
# 用数据集类别数设置预测网络
cfg.setup_head(dataset)
trainloader = DataLoader(dataset,
batch_size=cfg.batch_size,
shuffle=True,
num_workers=cfg.num_workers,
pin_memory=True,
drop_last=True)
# val_dataset = YOLO(cfg.data_dir, cfg.hflip, cfg.vflip, cfg.rotation, cfg.scale, cfg.shear, opt=cfg, split='val')
# valloader = DataLoader(val_dataset, batch_size=1, shuffle=True, num_workers=1, pin_memory=True)
valid_file = cfg.val_dir if not cfg.val_dir == '' else os.path.join(
cfg.data_dir, 'valid.txt')
with open(valid_file, 'r') as f:
val_list = [l.rstrip() for l in f.readlines()]
net = create_model(cfg.arch, cfg.heads, cfg.head_conv, cfg.down_ratio,
cfg.filters)
optimizer = optim.Adam(net.parameters(), lr=lr)
start_epoch = 0
if cfg.resume:
pretrain = os.path.join(model_dir, 'model_last.pth')
if os.path.exists(pretrain):
print('resume model from %s' % pretrain)
try:
net, optimizer, start_epoch = load_model(
net, pretrain, optimizer, True, lr, lr_step)
except:
print('\t... loading model error: ckpt may not compatible')
model = ModleWithLoss(net, CtdetLoss(cfg))
if len(gpus) > 1:
model = nn.DataParallel(model, device_ids=gpus).to(device)
else:
model = model.to(device)
step = 0
best = 1e10
log_loss_stats = ['loss', 'hm_loss', 'wh_loss']
if cfg.reg_offset:
log_loss_stats += ['off_loss']
if cfg.reg_obj:
log_loss_stats += ['obj_loss']
for epoch in range(start_epoch + 1, num_epochs + 1):
avg_loss_stats = {l: AverageMeter() for l in log_loss_stats}
model.train()
with tqdm(trainloader) as loader:
for _, batch in enumerate(loader):
for k in batch:
if k != 'meta':
batch[k] = batch[k].to(device=device,
non_blocking=True)
output, loss, loss_stats = model(batch)
loss = loss.mean()
optimizer.zero_grad()
loss.backward()
optimizer.step()
# 设置tqdm显示信息
lr = optimizer.param_groups[0]['lr']
poststr = ''
for l in avg_loss_stats:
avg_loss_stats[l].update(loss_stats[l].mean().item(),
batch['input'].size(0))
poststr += '{}: {:.4f}; '.format(
l, avg_loss_stats[l].avg)
loader.set_description('Epoch %d' % (epoch))
poststr += 'lr: {:.4f}'.format(lr)
loader.set_postfix_str(poststr)
step += 1
# self.lossSignal.emit(loss.item(), step)
del output, loss, loss_stats
# valid
if step % val_step == 0:
if len(cfg.gpus) > 1:
val_model = model.module
else:
val_model = model
val_model.eval()
torch.cuda.empty_cache()
# 随机采样
idx = np.arange(len(val_list))
idx = np.random.permutation(idx)[:sample_size]
for j, id in enumerate(idx):
image = cv2.imread(val_list[id])
image = self.preprocess(image, cfg.input_h,
cfg.input_w, mean, std)
image = image.to(device)
with torch.no_grad():
output = val_model.model(image)[-1]
# 画图并保存
debugger = Debugger(dataset=names,
down_ratio=cfg.down_ratio)
reg = output['reg'] if cfg.reg_offset else None
obj = output['obj'] if cfg.reg_obj else None
dets = ctdet_decode(output['hm'].sigmoid_(),
output['wh'],
reg=reg,
obj=obj,
cat_spec_wh=cfg.cat_spec_wh,
K=cfg.K)
dets = dets.detach().cpu().numpy().reshape(
-1, dets.shape[2])
dets[:, :4] *= cfg.down_ratio
image = image[0].detach().cpu().numpy().transpose(
1, 2, 0)
image = np.clip(((image * std + mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][0].detach().cpu().numpy())
debugger.add_blend_img(image, pred, 'pred_hm')
debugger.add_img(image, img_id='out_pred')
for k in range(len(dets)):
if dets[k, 4] > cfg.vis_thresh:
debugger.add_coco_bbox(dets[k, :4],
dets[k, -1],
dets[k, 4],
img_id='out_pred')
debugger.save_all_imgs(debug_dir,
prefix='{}.{}_'.format(
step, j))
del output, image, dets
# 保存模型参数
save_model(os.path.join(model_dir, 'model_best.pth'),
epoch, net)
model.train()
logstr = 'epoch {}'.format(epoch)
for k, v in avg_loss_stats.items():
logstr += ' {}: {:.4f};'.format(k, v.avg)
if USE_TENSORBOARD:
writer.add_scalar('train_{}'.format(k), v.avg, epoch)
logger.info(logstr)
# if epoch % val_step == 0:
# if len(cfg.gpus) > 1:
# val_model = model.module
# else:
# val_model = model
# val_model.eval()
# torch.cuda.empty_cache()
#
# val_loss_stats = {l: AverageMeter() for l in log_loss_stats}
#
# with tqdm(valloader) as loader:
# for j, batch in enumerate(loader):
# for k in batch:
# if k != 'meta':
# batch[k] = batch[k].to(device=device, non_blocking=True)
# with torch.no_grad():
# output, loss, loss_stats = val_model(batch)
#
# poststr = ''
# for l in val_loss_stats:
# val_loss_stats[l].update(
# loss_stats[l].mean().item(), batch['input'].size(0))
# poststr += '{}: {:.4f}; '.format(l, val_loss_stats[l].avg)
# loader.set_description('Epoch %d valid' % (epoch))
# poststr += 'lr: {:.4f}'.format(lr)
# loader.set_postfix_str(poststr)
#
# if j < sample_size:
# # 将预测结果画出来保存成jpg图片
# debugger = Debugger(dataset=names, down_ratio=cfg.down_ratio)
# reg = output['reg'] if cfg.reg_offset else None
# obj = output['obj'] if cfg.reg_obj else None
# dets = ctdet_decode(
# output['hm'], output['wh'], reg=reg, obj=obj,
# cat_spec_wh=cfg.cat_spec_wh, K=cfg.K)
# dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
# dets[:, :, :4] *= cfg.down_ratio
# dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
# dets_gt[:, :, :4] *= cfg.down_ratio
# for i in range(1):
# img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
# img = np.clip(((img * std + mean) * 255.), 0, 255).astype(np.uint8)
# pred = debugger.gen_colormap(output['hm'][i].detach().cpu().numpy())
# gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
# debugger.add_blend_img(img, pred, 'pred_hm')
# debugger.add_blend_img(img, gt, 'gt_hm')
# debugger.add_img(img, img_id='out_pred')
# for k in range(len(dets[i])):
# if dets[i, k, 4] > cfg.vis_thresh:
# debugger.add_coco_bbox(dets[i, k, :4], dets[i, k, -1],
# dets[i, k, 4], img_id='out_pred')
#
# debugger.add_img(img, img_id='out_gt')
# for k in range(len(dets_gt[i])):
# if dets_gt[i, k, 4] > cfg.vis_thresh:
# debugger.add_coco_bbox(dets_gt[i, k, :4], dets_gt[i, k, -1],
# dets_gt[i, k, 4], img_id='out_gt')
#
# debugger.save_all_imgs(debug_dir, prefix='{}.{}_'.format(epoch, j))
# del output, loss, loss_stats
# model.train()
# logstr = 'epoch {} valid'.format(epoch)
# for k, v in val_loss_stats.items():
# logstr += ' {}: {:.4f};'.format(k, v.avg)
# if USE_TENSORBOARD:
# writer.add_scalar('val_{}'.format(k), v.avg, epoch)
# logger.info(logstr)
# if val_loss_stats['loss'].avg < best:
# best = val_loss_stats['loss'].avg
# save_model(os.path.join(model_dir, 'model_best.pth'), epoch, net)
save_model(os.path.join(model_dir, 'model_last.pth'), epoch, net,
optimizer)
if epoch in cfg.lr_step:
save_model(
os.path.join(model_dir, 'model_{}.pth'.format(epoch)),
epoch, net, optimizer)
lr = cfg.lr * (0.1**(cfg.lr_step.index(epoch) + 1))
logger.info('Drop LR to {}'.format(lr))
for param_group in optimizer.param_groups:
param_group['lr'] = lr
import numpy as np
from opts import opts
from datasets.dataset.yolo import YOLO
from utils.debugger import Debugger
if __name__ == '__main__':
opt = opts().parse()
dataset = YOLO(opt.data_dir, opt.flip, opt.vflip, opt.rotate, opt.scale,
opt.shear, opt, 'train')
opt = opts().update_dataset_info_and_set_heads(opt, dataset)
for i in range(len(dataset)):
debugger = Debugger(dataset=opt.names)
data = dataset[i]
img = data['input'].transpose(1, 2, 0)
hm = data['hm']
dets_gt = data['meta']['gt_det']
dets_gt[:, :4] *= opt.down_ratio
img = np.clip(((img * dataset.std + dataset.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(hm)
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets_gt)):
debugger.add_coco_bbox(dets_gt[k, :4],
dets_gt[k, -1],
dets_gt[k, 4],
img_id='out_pred')
debugger.show_all_imgs(pause=True)
def demo(opt):
# creat folder save results
os.mkdir('../Detection/bboxes_{}'.format(opt.arch))
os.mkdir('../visualization/{}'.format(opt.arch))
###
class_map = {1: 1, 2: 2} # color for boundingbox
###
os.environ['CUDA_VISIBLE_DEVICES'] = opt.gpus_str
###
opt.debug = max(opt.debug, 1)
###
Detector = detector_factory[opt.task]
detector = Detector(opt)
assert os.path.isdir(opt.demo), 'Need path to videos directory.'
video_paths = [
os.path.join(opt.demo, video_name)
for video_name in os.listdir(opt.demo)
if video_name.split('.')[-1] == 'mp4'
]
# video_paths = [
# os.path.join(opt.demo, 'cam_2.mp4')
# ]
###
debugger = Debugger(dataset=opt.dataset, theme=opt.debugger_theme)
###
for video_path in sorted(video_paths):
bboxes = []
video = cv2.VideoCapture(video_path)
width, height = int(video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(
video.get(cv2.CAP_PROP_FRAME_HEIGHT))
###
bbox_video = cv2.VideoWriter(
filename='../visualization/{}/'.format(opt.arch) +
os.path.basename(video_path),
fourcc=cv2.VideoWriter_fourcc(*'mp4v'),
fps=float(30),
frameSize=(width, height),
isColor=True)
###
num_frames = int(video.get(cv2.CAP_PROP_FRAME_COUNT))
for i in tqdm(range(num_frames)):
# skip_frame
if opt.skip_frame > 0:
if i % opt.skip_frame == 0:
continue
_, img = video.read()
ret = detector.run(img)
bboxes.append(ret['results'])
###
debugger.add_img(img, img_id='default')
for class_id in class_map.keys():
for bbox in ret['results'][class_id]:
if bbox[4] > opt.vis_thresh:
debugger.add_coco_bbox(bbox[:4],
class_map[class_id],
bbox[4],
img_id='default')
bbox_img = debugger.imgs['default']
bbox_video.write(bbox_img)
###
with open(
'../Detection/bboxes_{}'.format(opt.arch) + '/' +
os.path.basename(video_path) + '.pkl', 'wb') as f:
pickle.dump(bboxes, f)
def debug(self, batch, output, iter_id, dataset):
opt = self.opt
if "pre_hm" in batch:
output.update({"pre_hm": batch["pre_hm"]})
dets = generic_decode(output, K=opt.K, opt=opt)
for k in dets:
dets[k] = dets[k].detach().cpu().numpy()
dets_gt = batch["meta"]["gt_det"]
for i in range(1):
debugger = Debugger(opt=opt, dataset=dataset)
img = batch["image"][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * dataset.std + dataset.mean) * 255.0), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output["hm"][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch["hm"][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, "pred_hm")
debugger.add_blend_img(img, gt, "gt_hm")
if "pre_img" in batch:
pre_img = batch["pre_img"][i].detach().cpu().numpy().transpose(
1, 2, 0)
pre_img = np.clip(
((pre_img * dataset.std + dataset.mean) * 255), 0,
255).astype(np.uint8)
debugger.add_img(pre_img, "pre_img_pred")
debugger.add_img(pre_img, "pre_img_gt")
if "pre_hm" in batch:
pre_hm = debugger.gen_colormap(
batch["pre_hm"][i].detach().cpu().numpy())
debugger.add_blend_img(pre_img, pre_hm, "pre_hm")
debugger.add_img(img, img_id="out_pred")
if "ltrb_amodal" in opt.heads:
debugger.add_img(img, img_id="out_pred_amodal")
debugger.add_img(img, img_id="out_gt_amodal")
# Predictions
for k in range(len(dets["scores"][i])):
if dets["scores"][i, k] > opt.vis_thresh:
debugger.add_coco_bbox(
dets["bboxes"][i, k] * opt.down_ratio,
dets["clses"][i, k],
dets["scores"][i, k],
img_id="out_pred",
)
if "ltrb_amodal" in opt.heads:
debugger.add_coco_bbox(
dets["bboxes_amodal"][i, k] * opt.down_ratio,
dets["clses"][i, k],
dets["scores"][i, k],
img_id="out_pred_amodal",
)
if "hps" in opt.heads and int(dets["clses"][i, k]) == 0:
debugger.add_coco_hp(dets["hps"][i, k] *
opt.down_ratio,
img_id="out_pred")
if "tracking" in opt.heads:
debugger.add_arrow(
dets["cts"][i][k] * opt.down_ratio,
dets["tracking"][i][k] * opt.down_ratio,
img_id="out_pred",
)
debugger.add_arrow(
dets["cts"][i][k] * opt.down_ratio,
dets["tracking"][i][k] * opt.down_ratio,
img_id="pre_img_pred",
)
# Ground truth
debugger.add_img(img, img_id="out_gt")
for k in range(len(dets_gt["scores"][i])):
if dets_gt["scores"][i][k] > opt.vis_thresh:
debugger.add_coco_bbox(
dets_gt["bboxes"][i][k] * opt.down_ratio,
dets_gt["clses"][i][k],
dets_gt["scores"][i][k],
img_id="out_gt",
)
if "ltrb_amodal" in opt.heads:
debugger.add_coco_bbox(
dets_gt["bboxes_amodal"][i, k] * opt.down_ratio,
dets_gt["clses"][i, k],
dets_gt["scores"][i, k],
img_id="out_gt_amodal",
)
if "hps" in opt.heads and (int(dets["clses"][i, k]) == 0):
debugger.add_coco_hp(dets_gt["hps"][i][k] *
opt.down_ratio,
img_id="out_gt")
if "tracking" in opt.heads:
debugger.add_arrow(
dets_gt["cts"][i][k] * opt.down_ratio,
dets_gt["tracking"][i][k] * opt.down_ratio,
img_id="out_gt",
)
debugger.add_arrow(
dets_gt["cts"][i][k] * opt.down_ratio,
dets_gt["tracking"][i][k] * opt.down_ratio,
img_id="pre_img_gt",
)
if "hm_hp" in opt.heads:
pred = debugger.gen_colormap_hp(
output["hm_hp"][i].detach().cpu().numpy())
gt = debugger.gen_colormap_hp(
batch["hm_hp"][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, "pred_hmhp")
debugger.add_blend_img(img, gt, "gt_hmhp")
if "rot" in opt.heads and "dim" in opt.heads and "dep" in opt.heads:
dets_gt = {k: dets_gt[k].cpu().numpy() for k in dets_gt}
calib = (batch["meta"]["calib"].detach().numpy()
if "calib" in batch["meta"] else None)
det_pred = generic_post_process(
opt,
dets,
batch["meta"]["c"].cpu().numpy(),
batch["meta"]["s"].cpu().numpy(),
output["hm"].shape[2],
output["hm"].shape[3],
self.opt.num_classes,
calib,
)
det_gt = generic_post_process(
opt,
dets_gt,
batch["meta"]["c"].cpu().numpy(),
batch["meta"]["s"].cpu().numpy(),
output["hm"].shape[2],
output["hm"].shape[3],
self.opt.num_classes,
calib,
)
debugger.add_3d_detection(
batch["meta"]["img_path"][i],
batch["meta"]["flipped"][i],
det_pred[i],
calib[i],
vis_thresh=opt.vis_thresh,
img_id="add_pred",
)
debugger.add_3d_detection(
batch["meta"]["img_path"][i],
batch["meta"]["flipped"][i],
det_gt[i],
calib[i],
vis_thresh=opt.vis_thresh,
img_id="add_gt",
)
debugger.add_bird_views(
det_pred[i],
det_gt[i],
vis_thresh=opt.vis_thresh,
img_id="bird_pred_gt",
)
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix="{}".format(iter_id))
else:
debugger.show_all_imgs(pause=True)
def run(self, image_or_path_or_tensor, meta=None):
load_time, pre_time, net_time, dec_time, post_time = 0, 0, 0, 0, 0
merge_time, tot_time = 0, 0
debugger = Debugger(dataset=self.opt.dataset,
ipynb=(self.opt.debug == 3),
theme=self.opt.debugger_theme)
start_time = time.time()
pre_processed = False
if isinstance(image_or_path_or_tensor, np.ndarray):
image = image_or_path_or_tensor
elif type(image_or_path_or_tensor) == type(''):
image = cv2.imread(image_or_path_or_tensor)
else:
image = image_or_path_or_tensor['image'][0].numpy()
pre_processed_images = image_or_path_or_tensor
pre_processed = True
loaded_time = time.time()
load_time += (loaded_time - start_time)
detections = []
for scale in self.scales:
scale_start_time = time.time()
if not pre_processed:
images, meta = self.pre_process(image, scale, meta)
else:
# import pdb; pdb.set_trace()
images = pre_processed_images['images'][scale][0]
meta = pre_processed_images['meta'][scale]
meta = {k: v.numpy()[0] for k, v in meta.items()}
images = images.to(self.opt.device)
torch.cuda.synchronize()
pre_process_time = time.time()
pre_time += pre_process_time - scale_start_time
output, dets, forward_time = self.process(images, return_time=True)
torch.cuda.synchronize()
net_time += forward_time - pre_process_time
decode_time = time.time()
dec_time += decode_time - forward_time
if self.opt.debug >= 2:
self.debug(debugger, images, dets, output, scale)
dets = self.post_process(dets, meta, scale)
torch.cuda.synchronize()
post_process_time = time.time()
post_time += post_process_time - decode_time
detections.append(dets)
results = self.merge_outputs(detections)
torch.cuda.synchronize()
end_time = time.time()
merge_time += end_time - post_process_time
tot_time += end_time - start_time
if self.opt.debug >= 1:
# print('--->>> base_detector run show_results')
# img_ = self.show_results(debugger, image, results)
debugger.add_img(image, img_id='multi_pose')
#---------------------------------------------------------------- NMS
nms_dets_ = []
for bbox in results[1]:
if bbox[4] > self.opt.vis_thresh:
nms_dets_.append(
(bbox[0], bbox[1], bbox[2], bbox[3], bbox[4]))
if len(nms_dets_) > 0:
keep_ = py_cpu_nms(np.array(nms_dets_), thresh=0.35)
# print('keep_ : ',nms_dets_,keep_)
#----------------------------------------------------------------
faces_boxes = []
person_boxes = []
idx = 0
for bbox in results[1]:
if bbox[4] > self.opt.vis_thresh:
idx += 1
if (idx - 1) not in keep_:
continue
# 绘制目标物体
# print('------------------>>>add_coco_bbox')
debugger.add_coco_bbox(bbox[:4],
0,
bbox[4],
img_id='multi_pose')
face_pts = debugger.add_coco_hp(bbox[5:39],
img_id='multi_pose')
# print('--------------------------------->>>>>>>>>>oou')
if len(face_pts) == 5:
# print('change box')
person_boxes.append([
int(bbox[0]),
int(bbox[1]),
int(bbox[2]),
int(bbox[3]), bbox[4]
])
x_min = min(
[face_pts[i][0] for i in range(len(face_pts))])
y_min = min(
[face_pts[i][1] for i in range(len(face_pts))])
x_max = max(
[face_pts[i][0] for i in range(len(face_pts))])
y_max = max(
[face_pts[i][1] for i in range(len(face_pts))])
edge = abs(x_max - x_min)
#
bbox_x1 = int(max(0, (x_min - edge * 0.05)))
bbox_x2 = int(
min(image.shape[1] - 1, (x_max + edge * 0.05)))
bbox_y1 = int(max(0, (y_min - edge * 0.32)))
bbox_y2 = int(
min(image.shape[0] - 1, (y_max + edge * 0.55)))
# print('ppppp',face_pts,x1)
# if ((bbox_x2-bbox_x1)*(bbox_y2-bbox_y1))>100:
faces_boxes.append(
[bbox_x1, bbox_y1, bbox_x2, bbox_y2, 1.])
# cv2.rectangle(image,(bbox_x1,bbox_y1),(bbox_x2,bbox_y2),(0,255,255),2)
# print('-------->>> show_results debugger')
img_ = debugger.show_all_imgs(pause=self.pause)
return img_, {
'results': results,
'tot': tot_time,
'load': load_time,
'pre': pre_time,
'net': net_time,
'dec': dec_time,
'post': post_time,
'merge': merge_time
}, faces_boxes, person_boxes
def run(self, image_or_path_or_tensor, meta=None):
load_time, pre_time, net_time, dec_time, post_time = 0, 0, 0, 0, 0
merge_time, tot_time = 0, 0
debugger = Debugger(dataset=self.opt.dataset, ipynb=(self.opt.debug==3),
theme=self.opt.debugger_theme)
start_time = time.time()
pre_processed = False
if isinstance(image_or_path_or_tensor, np.ndarray):
image = image_or_path_or_tensor
elif type(image_or_path_or_tensor) == type (''):
image = cv2.imread(image_or_path_or_tensor)
else:
image = image_or_path_or_tensor['image'][0].numpy()
pre_processed_images = image_or_path_or_tensor
pre_processed = True
loaded_time = time.time()
load_time += (loaded_time - start_time)
detections = []
for scale in self.scales:
scale_start_time = time.time()
if not pre_processed:
images, meta = self.pre_process(image, scale, meta)
else:
# import pdb; pdb.set_trace()
images = pre_processed_images['images'][scale][0]
meta = pre_processed_images['meta'][scale]
meta = {k: v.numpy()[0] for k, v in meta.items()}
images = images.to(self.opt.device)
torch.cuda.synchronize()
pre_process_time = time.time()
pre_time += pre_process_time - scale_start_time
output, dets, forward_time = self.process(images, return_time=True)
torch.cuda.synchronize()
net_time += forward_time - pre_process_time
decode_time = time.time()
dec_time += decode_time - forward_time
if self.opt.debug >= 2:
self.debug(debugger, images, dets, output, scale)
dets = self.post_process(dets, meta, scale)
torch.cuda.synchronize()
post_process_time = time.time()
post_time += post_process_time - decode_time
detections.append(dets)
results = self.merge_outputs(detections)
torch.cuda.synchronize()
end_time = time.time()
merge_time += end_time - post_process_time
tot_time += end_time - start_time
if self.opt.debug >= 1:
# print('--->>> base_detector run show_results')
# img_ = self.show_results(debugger, image, results)
debugger.add_img(image, img_id='multi_pose')
for bbox in results[1]:
if bbox[4] > self.opt.vis_thresh:
# 绘制目标物体
# print('------------------>>>add_coco_bbox')
debugger.add_coco_bbox(bbox[:4], 0, bbox[4], img_id='multi_pose')
debugger.add_coco_hp(bbox[5:39], img_id='multi_pose')
# print('-------->>> show_results debugger')
img_ = debugger.show_all_imgs(pause=self.pause)
return img_,{'results': results, 'tot': tot_time, 'load': load_time,
'pre': pre_time, 'net': net_time, 'dec': dec_time,
'post': post_time, 'merge': merge_time}
def debug(self, batch, output, iter_id):
opt = self.opt
# reg = output['reg'] if opt.reg_offset else None
reg = output['reg'][0:1] if opt.reg_offset else None
# dets = ctdet_decode(
# output['hm'], output['wh'], reg=reg,
# cat_spec_wh=opt.cat_spec_wh, K=opt.K)
dets = ctdet_decode(output['hm'][0:1],
output['wh'][0:1],
reg=reg,
cat_spec_wh=opt.cat_spec_wh,
K=opt.K)
dets = dets.detach().cpu().numpy().reshape(1, -1, dets.shape[2])
dets[:, :, :4] *= opt.down_ratio
# FIXME: change from tensor to list and then reshape
# dets_gt = batch['meta']['gt_det'].numpy().reshape(1, -1, dets.shape[2])
# batch['meta_gt_det'] = [128, 128, 6]
gt_det = batch['meta_gt_det'][0:1]
gt_det = np.array(gt_det, dtype=np.float32) if len(gt_det) > 0 else \
np.zeros((1, 6), dtype=np.float32)
dets_gt = gt_det.reshape(1, -1, dets.shape[2])
# print(batch['meta_img_id'][0:1])
dets_gt[:, :, :4] *= opt.down_ratio
for i in range(1):
debugger = Debugger(dataset=opt.dataset,
ipynb=(opt.debug == 3),
theme=opt.debugger_theme)
img = batch['input'][i].detach().cpu().numpy().transpose(1, 2, 0)
img = np.clip(((img * opt.std + opt.mean) * 255.), 0,
255).astype(np.uint8)
pred = debugger.gen_colormap(
output['hm'][i].detach().cpu().numpy())
gt = debugger.gen_colormap(batch['hm'][i].detach().cpu().numpy())
debugger.add_blend_img(img, pred, 'pred_hm')
debugger.add_blend_img(img, gt, 'gt_hm')
debugger.add_img(img, img_id='out_pred')
for k in range(len(dets[i])):
if dets[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets[i, k, :4],
dets[i, k, -1],
dets[i, k, 4],
img_id='out_pred')
debugger.add_img(img, img_id='out_gt')
for k in range(len(dets_gt[i])):
if dets_gt[i, k, 4] > opt.center_thresh:
debugger.add_coco_bbox(dets_gt[i, k, :4],
dets_gt[i, k, -1],
dets_gt[i, k, 4],
img_id='out_gt')
if opt.debug == 4:
debugger.save_all_imgs(opt.debug_dir,
prefix='{}'.format(iter_id))
elif opt.debug == 5:
debugger.show_all_imgs(pause=opt.pause,
logger=self.logger,
step=iter_id)
else:
debugger.show_all_imgs(pause=opt.pause, step=iter_id)