class CapsulePoseTest(object):
def __init__(self, configer):
self.configer = configer
self.pose_visualizer = PoseVisualizer(configer)
self.pose_parser = PoseParser(configer)
self.pose_model_manager = PoseModelManager(configer)
self.pose_data_loader = PoseDataLoader(configer)
self.module_utilizer = ModuleUtilizer(configer)
self.device = torch.device(
'cpu' if self.configer.get('gpu') is None else 'cuda')
self.pose_net = None
def init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = self.module_utilizer.load_net(self.pose_net)
self.pose_net.eval()
def __test_img(self, image_path, json_path, raw_path, vis_path):
Log.info('Image Path: {}'.format(image_path))
ori_img_rgb = ImageHelper.img2np(ImageHelper.pil_open_rgb(image_path))
cur_img_rgb = ImageHelper.resize(ori_img_rgb,
self.configer.get(
'data', 'input_size'),
interpolation=Image.CUBIC)
ori_img_bgr = ImageHelper.bgr2rgb(ori_img_rgb)
paf_avg, heatmap_avg, partmap_avg = self.__get_paf_and_heatmap(
cur_img_rgb)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(
cur_img_rgb, paf_avg, partmap_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k,
all_peaks)
json_dict = self.__get_info_tree(cur_img_rgb, subset, candidate)
for i in range(len(json_dict['objects'])):
for index in range(len(json_dict['objects'][i]['keypoints'])):
if json_dict['objects'][i]['keypoints'][index][2] == -1:
continue
json_dict['objects'][i]['keypoints'][index][0] *= (
ori_img_rgb.shape[1] / cur_img_rgb.shape[1])
json_dict['objects'][i]['keypoints'][index][1] *= (
ori_img_rgb.shape[0] / cur_img_rgb.shape[0])
image_canvas = self.pose_parser.draw_points(ori_img_bgr.copy(),
json_dict)
image_canvas = self.pose_parser.link_points(image_canvas, json_dict)
cv2.imwrite(vis_path, image_canvas)
cv2.imwrite(raw_path, ori_img_bgr)
Log.info('Json Save Path: {}'.format(json_path))
with open(json_path, 'w') as save_stream:
save_stream.write(json.dumps(json_dict))
def __get_info_tree(self, image_raw, subset, candidate):
json_dict = dict()
height, width, _ = image_raw.shape
json_dict['image_height'] = height
json_dict['image_width'] = width
object_list = list()
for n in range(len(subset)):
if subset[n][-1] <= 1:
continue
object_dict = dict()
object_dict['keypoints'] = np.zeros(
(self.configer.get('data', 'num_keypoints'), 3)).tolist()
for j in range(self.configer.get('data', 'num_keypoints')):
index = subset[n][j]
if index == -1:
object_dict['keypoints'][j][0] = -1
object_dict['keypoints'][j][1] = -1
object_dict['keypoints'][j][2] = -1
else:
object_dict['keypoints'][j][0] = candidate[index.astype(
int)][0]
object_dict['keypoints'][j][1] = candidate[index.astype(
int)][1]
object_dict['keypoints'][j][2] = 1
object_dict['score'] = subset[n][-2]
object_list.append(object_dict)
json_dict['objects'] = object_list
return json_dict
def __get_paf_and_heatmap(self, img_raw):
multiplier = [
scale * self.configer.get('data', 'input_size')[0] /
img_raw.shape[1]
for scale in self.configer.get('data', 'scale_search')
]
heatmap_avg = np.zeros((img_raw.shape[0], img_raw.shape[1],
self.configer.get('data', 'num_keypoints')))
paf_avg = np.zeros((img_raw.shape[0], img_raw.shape[1],
self.configer.get('network', 'paf_out')))
partmap_avg = np.zeros((img_raw.shape[0], img_raw.shape[1],
self.configer.get('network', 'heatmap_out')))
for i, scale in enumerate(multiplier):
img_test = cv2.resize(img_raw, (0, 0),
fx=scale,
fy=scale,
interpolation=cv2.INTER_CUBIC)
img_test_pad, pad = PadImage(self.configer.get(
'network', 'stride'))(img_test)
pad_right = pad[2]
pad_down = pad[3]
img_test_pad = ToTensor()(img_test_pad)
img_test_pad = Normalize(
mean=self.configer.get('trans_params', 'mean'),
std=self.configer.get('trans_params', 'std'))(img_test_pad)
with torch.no_grad():
img_test_pad = img_test_pad.unsqueeze(0).to(self.device)
paf_out_list, partmap_out_list = self.pose_net(img_test_pad)
paf_out = paf_out_list[-1]
partmap_out = partmap_out_list[-1]
partmap = partmap_out.data.squeeze().cpu().numpy().transpose(
1, 2, 0)
paf = paf_out.data.squeeze().cpu().numpy().transpose(1, 2, 0)
# self.pose_visualizer.vis_tensor(heatmap_out)
heatmap = np.zeros((partmap.shape[0], partmap.shape[1],
self.configer.get('data', 'num_keypoints')))
part_num = np.zeros((self.configer.get('data', 'num_keypoints'), ))
for index in range(len(self.configer.get('details', 'limb_seq'))):
a = self.configer.get('details', 'limb_seq')[index][0] - 1
b = self.configer.get('details', 'limb_seq')[index][1] - 1
heatmap_a = partmap[:, :, index * 4:index * 4 + 2]**2
heatmap_a = np.sqrt(np.sum(heatmap_a, axis=2).squeeze())
heatmap[:, :, a] = (heatmap[:, :, a] * part_num[a] +
heatmap_a) / (part_num[a] + 1)
part_num[a] += 1
heatmap_b = partmap[:, :, index * 4 + 2:index * 4 + 4]**2
heatmap_b = np.sqrt(np.sum(heatmap_b, axis=2).squeeze())
heatmap[:, :, b] = (heatmap[:, :, b] * part_num[b] +
heatmap_b) / (part_num[b] + 1)
part_num[b] += 1
heatmap = cv2.resize(heatmap, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
heatmap = heatmap[:img_test_pad.size(2) -
pad_down, :img_test_pad.size(3) - pad_right, :]
heatmap = cv2.resize(heatmap, (img_raw.shape[1], img_raw.shape[0]),
interpolation=cv2.INTER_CUBIC)
partmap = cv2.resize(partmap, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
partmap = partmap[:img_test_pad.size(2) -
pad_down, :img_test_pad.size(3) - pad_right, :]
partmap = cv2.resize(partmap, (img_raw.shape[1], img_raw.shape[0]),
interpolation=cv2.INTER_CUBIC)
paf = cv2.resize(paf, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
paf = paf[:img_test_pad.size(2) - pad_down, :img_test_pad.size(3) -
pad_right, :]
paf = cv2.resize(paf, (img_raw.shape[1], img_raw.shape[0]),
interpolation=cv2.INTER_CUBIC)
partmap_avg = partmap_avg + partmap / len(multiplier)
heatmap_avg = heatmap_avg + heatmap / len(multiplier)
paf_avg = paf_avg + paf / len(multiplier)
return paf_avg, heatmap_avg, partmap_avg
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
peak_counter = 0
for part in range(self.configer.get('data', 'num_keypoints')):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down,
map_gau > self.configer.get('vis', 'part_threshold')))
peaks = zip(
np.nonzero(peaks_binary)[1],
np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
peaks_with_score = [x + (map_ori[x[1], x[0]], ) for x in peaks]
ids = range(peak_counter, peak_counter + len(peaks))
peaks_with_score_and_id = [
peaks_with_score[i] + (ids[i], ) for i in range(len(ids))
]
all_peaks.append(peaks_with_score_and_id)
peak_counter += len(peaks)
return all_peaks
def __extract_paf_info(self, img_raw, paf_avg, partmap_avg, all_peaks):
connection_all = []
special_k = []
mid_num = self.configer.get('vis', 'mid_point_num')
for k in range(len(self.configer.get('details', 'limb_seq'))):
score_mid = paf_avg[:, :, [k * 2, k * 2 + 1]]
# self.pose_visualizer.vis_paf(score_mid, img_raw, name='pa{}'.format(k))
candA = all_peaks[self.configer.get('details', 'limb_seq')[k][0] -
1]
candB = all_peaks[self.configer.get('details', 'limb_seq')[k][1] -
1]
nA = len(candA)
nB = len(candB)
if nA != 0 and nB != 0:
connection_candidate = []
for i in range(nA):
for j in range(nB):
vec_a = partmap_avg[candA[i][1], candA[i][0],
k * 4:k * 4 + 2]
vec_b = -partmap_avg[candB[j][1], candB[j][0],
k * 4 + 2:k * 4 + 4]
norm_a = math.sqrt(vec_a[0] * vec_a[0] +
vec_a[1] * vec_a[1]) + 1e-9
vec_a = np.divide(vec_a, norm_a)
norm_b = math.sqrt(vec_b[0] * vec_b[0] +
vec_b[1] * vec_b[1]) + 1e-9
vec_b = np.divide(vec_b, norm_b)
vec = np.subtract(candB[j][:2], candA[i][:2])
sim_length = np.sum(vec_a * vec + vec_b * vec) / 2.0
norm = math.sqrt(vec[0] * vec[0] +
vec[1] * vec[1]) + 1e-9
vec = np.divide(vec, norm)
startend = zip(
np.linspace(candA[i][0], candB[j][0], num=mid_num),
np.linspace(candA[i][1], candB[j][1], num=mid_num))
startend = list(startend)
vec_x = np.array([
score_mid[int(round(startend[I][1])),
int(round(startend[I][0])), 0]
for I in range(len(startend))
])
vec_y = np.array([
score_mid[int(round(startend[I][1])),
int(round(startend[I][0])), 1]
for I in range(len(startend))
])
score_midpts = np.multiply(
vec_x, vec[0]) + np.multiply(vec_y, vec[1])
score_with_dist_prior = sum(score_midpts) / len(
score_midpts)
score_with_dist_prior += min(
0.5 * img_raw.shape[0] / norm - 1, 0)
num_positive = len(
np.nonzero(score_midpts > self.configer.get(
'vis', 'limb_threshold'))[0])
criterion1 = num_positive > int(
self.configer.get('vis', 'limb_pos_ratio') *
len(score_midpts))
criterion2 = score_with_dist_prior > 0
if criterion1 and criterion2 and sim_length > self.configer.get(
'vis', 'sim_length'):
connection_candidate.append([
i, j, score_with_dist_prior,
score_with_dist_prior + candA[i][2] +
candB[j][2]
])
connection_candidate = sorted(connection_candidate,
key=lambda x: x[2],
reverse=True)
connection = np.zeros((0, 5))
for c in range(len(connection_candidate)):
i, j, s = connection_candidate[c][0:3]
if i not in connection[:, 3] and j not in connection[:, 4]:
connection = np.vstack(
[connection, [candA[i][3], candB[j][3], s, i, j]])
if len(connection) >= min(nA, nB):
break
connection_all.append(connection)
else:
special_k.append(k)
connection_all.append([])
return special_k, connection_all
def __get_subsets(self, connection_all, special_k, all_peaks):
# last number in each row is the total parts number of that person
# the second last number in each row is the score of the overall configuration
subset = -1 * np.ones(
(0, self.configer.get('data', 'num_keypoints') + 2))
candidate = np.array(
[item for sublist in all_peaks for item in sublist])
for k in self.configer.get('details', 'mini_tree'):
if k not in special_k:
partAs = connection_all[k][:, 0]
partBs = connection_all[k][:, 1]
indexA, indexB = np.array(
self.configer.get('details', 'limb_seq')[k]) - 1
for i in range(len(connection_all[k])): # = 1:size(temp,1)
found = 0
subset_idx = [-1, -1]
for j in range(len(subset)): # 1:size(subset,1):
if subset[j][indexA] == partAs[i] or subset[j][
indexB] == partBs[i]:
subset_idx[found] = j
found += 1
if found == 1:
j = subset_idx[0]
if (subset[j][indexB] != partBs[i]):
subset[j][indexB] = partBs[i]
subset[j][-1] += 1
subset[j][-2] += candidate[
partBs[i].astype(int),
2] + connection_all[k][i][2]
elif found == 2: # if found 2 and disjoint, merge them
j1, j2 = subset_idx
membership = ((subset[j1] >= 0).astype(int) +
(subset[j2] >= 0).astype(int))[:-2]
if len(np.nonzero(membership == 2)[0]) == 0: # merge
subset[j1][:-2] += (subset[j2][:-2] + 1)
subset[j1][-2:] += subset[j2][-2:]
subset[j1][-2] += connection_all[k][i][2]
subset = np.delete(subset, j2, 0)
else: # as like found == 1
subset[j1][indexB] = partBs[i]
subset[j1][-1] += 1
subset[j1][-2] += candidate[
partBs[i].astype(int),
2] + connection_all[k][i][2]
# if find no partA in the subset, create a new subset
elif not found:
row = -1 * np.ones(
self.configer.get('data', 'num_keypoints') + 2)
row[indexA] = partAs[i]
row[indexB] = partBs[i]
row[-1] = 2
row[-2] = sum(
candidate[connection_all[k][i, :2].astype(int),
2]) + connection_all[k][i][2]
subset = np.vstack([subset, row])
return subset, candidate
def test(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'val/results/pose',
self.configer.get('dataset'))
test_img = self.configer.get('test_img')
test_dir = self.configer.get('test_dir')
if test_img is None and test_dir is None:
Log.error('test_img & test_dir not exists.')
exit(1)
if test_img is not None and test_dir is not None:
Log.error('Either test_img or test_dir.')
exit(1)
if test_img is not None:
base_dir = os.path.join(base_dir, 'test_img')
filename = test_img.rstrip().split('/')[-1]
json_path = os.path.join(
base_dir, 'json',
'{}.json'.format('.'.join(filename.split('.')[:-1])))
raw_path = os.path.join(base_dir, 'raw', filename)
vis_path = os.path.join(
base_dir, 'vis',
'{}_vis.png'.format('.'.join(filename.split('.')[:-1])))
if not os.path.exists(os.path.dirname(json_path)):
os.makedirs(os.path.dirname(json_path))
if not os.path.exists(os.path.dirname(raw_path)):
os.makedirs(os.path.dirname(raw_path))
if not os.path.exists(os.path.dirname(vis_path)):
os.makedirs(os.path.dirname(vis_path))
self.__test_img(test_img, json_path, raw_path, vis_path)
else:
base_dir = os.path.join(base_dir, 'test_dir',
test_dir.rstrip('/').split('/')[-1])
if not os.path.exists(base_dir):
os.makedirs(base_dir)
for filename in self.__list_dir(test_dir):
image_path = os.path.join(test_dir, filename)
json_path = os.path.join(
base_dir, 'json',
'{}.json'.format('.'.join(filename.split('.')[:-1])))
raw_path = os.path.join(base_dir, 'raw', filename)
vis_path = os.path.join(
base_dir, 'vis',
'{}_vis.png'.format('.'.join(filename.split('.')[:-1])))
if not os.path.exists(os.path.dirname(json_path)):
os.makedirs(os.path.dirname(json_path))
if not os.path.exists(os.path.dirname(raw_path)):
os.makedirs(os.path.dirname(raw_path))
if not os.path.exists(os.path.dirname(vis_path)):
os.makedirs(os.path.dirname(vis_path))
self.__test_img(image_path, json_path, raw_path, vis_path)
def debug(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'vis/results/pose',
self.configer.get('dataset'), 'debug')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
val_data_loader = self.pose_data_loader.get_valloader()
count = 0
for i, (inputs, partmap, maskmap,
vecmap) in enumerate(val_data_loader):
for j in range(inputs.size(0)):
count = count + 1
if count > 2:
exit(1)
Log.info(partmap.size())
ori_img = DeNormalize(
mean=self.configer.get('trans_params', 'mean'),
std=self.configer.get('trans_params', 'std'))(inputs[j])
ori_img = ori_img.numpy().transpose(1, 2, 0).astype(np.uint8)
image_bgr = cv2.cvtColor(ori_img, cv2.COLOR_RGB2BGR)
partmap_avg = partmap[j].numpy().transpose(1, 2, 0)
heatmap_avg = np.zeros(
(partmap_avg.shape[0], partmap_avg.shape[1],
self.configer.get('data', 'num_keypoints')))
part_num = np.zeros((self.configer.get('data',
'num_keypoints'), ))
for index in range(
len(self.configer.get('details', 'limb_seq'))):
a = self.configer.get('details', 'limb_seq')[index][0] - 1
b = self.configer.get('details', 'limb_seq')[index][1] - 1
heatmap_a = partmap_avg[:, :, index * 4:index * 4 + 2]**2
heatmap_a = np.sqrt(np.sum(heatmap_a, axis=2).squeeze())
heatmap_avg[:, :,
a] = (heatmap_avg[:, :, a] * part_num[a] +
heatmap_a) / (part_num[a] + 1)
part_num[a] += 1
heatmap_b = partmap_avg[:, :,
index * 4 + 2:index * 4 + 4]**2
heatmap_b = np.sqrt(np.sum(heatmap_b, axis=2).squeeze())
heatmap_avg[:, :,
b] = (heatmap_avg[:, :, b] * part_num[b] +
heatmap_b) / (part_num[b] + 1)
part_num[b] += 1
partmap_avg = cv2.resize(
partmap_avg, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
heatmap_avg = cv2.resize(
heatmap_avg, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
paf_avg = vecmap[j].numpy().transpose(1, 2, 0)
paf_avg = cv2.resize(paf_avg, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
self.pose_visualizer.vis_peaks(heatmap_avg, image_bgr)
self.pose_visualizer.vis_paf(paf_avg, image_bgr)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(
image_bgr, paf_avg, partmap_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all,
special_k, all_peaks)
json_dict = self.__get_info_tree(image_bgr, subset, candidate)
image_canvas = self.pose_parser.draw_points(
image_bgr, json_dict)
image_canvas = self.pose_parser.link_points(
image_canvas, json_dict)
cv2.imwrite(
os.path.join(base_dir, '{}_{}_vis.png'.format(i, j)),
image_canvas)
cv2.imshow('main', image_canvas)
cv2.waitKey()
def __list_dir(self, dir_name):
filename_list = list()
for item in os.listdir(dir_name):
if os.path.isdir(os.path.join(dir_name, item)):
for filename in os.listdir(os.path.join(dir_name, item)):
filename_list.append('{}/{}'.format(item, filename))
else:
filename_list.append(item)
return filename_list
class RPNPose(object):
"""
The class for Pose Estimation. Include train, val, test & predict.
"""
def __init__(self, configer):
self.configer = configer
self.batch_time = AverageMeter()
self.data_time = AverageMeter()
self.train_losses = AverageMeter()
self.val_losses = AverageMeter()
self.val_loss_heatmap = AverageMeter()
self.val_loss_associate = AverageMeter()
self.pose_visualizer = PoseVisualizer(configer)
self.pose_loss_manager = PoseLossManager(configer)
self.pose_model_manager = PoseModelManager(configer)
self.pose_data_loader = PoseDataLoader(configer)
self.module_utilizer = ModuleUtilizer(configer)
self.optim_scheduler = OptimScheduler(configer)
self.pose_net = None
self.train_loader = None
self.val_loader = None
self.optimizer = None
self.scheduler = None
def init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = self.module_utilizer.load_net(self.pose_net)
self.optimizer, self.scheduler = self.optim_scheduler.init_optimizer(
self._get_parameters())
self.train_loader = self.pose_data_loader.get_trainloader()
self.val_loader = self.pose_data_loader.get_valloader()
self.mse_loss = self.pose_loss_manager.get_pose_loss('mse_loss')
self.embeding_loss = self.pose_loss_manager.get_pose_loss(
'embedding_loss')
def _get_parameters(self):
return self.pose_net.parameters()
def __train(self):
"""
Train function of every epoch during train phase.
"""
self.pose_net.train()
start_time = time.time()
# Adjust the learning rate after every epoch.
self.configer.plus_one('epoch')
self.scheduler.step(self.configer.get('epoch'))
# data_tuple: (inputs, heatmap, maskmap, vecmap)
for i, (inputs, label, heatmap, maskmap, vecmap, tagmap,
num_objects) in enumerate(self.train_loader):
self.data_time.update(time.time() - start_time)
# Change the data type.
inputs, label, heatmap, maskmap, vecmap, tagmap = self.module_utilizer.to_device(
inputs, label, heatmap, maskmap, vecmap, tagmap)
# Forward pass.
paf_out, heatmap_out, embed_out = self.pose_net(inputs)
# Compute the loss of the train batch & backward.
loss_label = self.mse_loss(embed_out.sum(1).squeeze(), label)
loss_heatmap = self.mse_loss(heatmap_out, heatmap, maskmap)
loss_paf = self.mse_loss(paf_out, vecmap, maskmap)
loss_associate = self.embeding_loss(embed_out, tagmap, num_objects)
loss = loss_label + loss_heatmap + loss_paf + loss_associate
self.train_losses.update(loss.item(), inputs.size(0))
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# Update the vars of the train phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.configer.plus_one('iters')
# Print the log info & reset the states.
if self.configer.get('iters') % self.configer.get(
'solver', 'display_iter') == 0:
Log.info(
'Train Epoch: {0}\tTrain Iteration: {1}\t'
'Time {batch_time.sum:.3f}s / {2}iters, ({batch_time.avg:.3f})\t'
'Data load {data_time.sum:.3f}s / {2}iters, ({data_time.avg:3f})\n'
'Learning rate = {3}\tLoss = {loss.val:.8f} (ave = {loss.avg:.8f})\n'
.format(self.configer.get('epoch'),
self.configer.get('iters'),
self.configer.get('solver', 'display_iter'),
self.scheduler.get_lr(),
batch_time=self.batch_time,
data_time=self.data_time,
loss=self.train_losses))
self.batch_time.reset()
self.data_time.reset()
self.train_losses.reset()
# Check to val the current model.
if self.val_loader is not None and \
self.configer.get('iters') % self.configer.get('solver', 'test_interval') == 0:
self.__val()
def __val(self):
"""
Validation function during the train phase.
"""
self.pose_net.eval()
start_time = time.time()
with torch.no_grad():
for j, (inputs, label, heatmap, maskmap, vecmap, tagmap,
num_objects) in enumerate(self.val_loader):
# Change the data type.
inputs, label, heatmap, maskmap, vecmap, tagmap = self.module_utilizer.to_device(
inputs, label, heatmap, maskmap, vecmap, tagmap)
# Forward pass.
paf_out, heatmap_out, embed_out = self.pose_net(inputs)
# Compute the loss of the val batch.
loss_label = self.mse_loss(embed_out, label)
loss_heatmap = self.mse_loss(heatmap_out, heatmap, maskmap)
loss_paf = self.mse_loss(paf_out, vecmap, maskmap)
loss_associate = self.embeding_loss(embed_out, tagmap,
num_objects)
loss = loss_label + loss_heatmap + loss_paf + loss_associate
self.val_losses.update(loss.item(), inputs.size(0))
self.val_loss_heatmap.update(loss_heatmap.item(),
inputs.size(0))
self.val_loss_associate.update(loss_associate.item(),
inputs.size(0))
# Update the vars of the val phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.module_utilizer.save_net(self.pose_net, metric='iters')
Log.info('Loss Heatmap:{}, Loss Asso: {}'.format(
self.val_loss_heatmap.avg, self.val_loss_associate.avg))
# Print the log info & reset the states.
Log.info(
'Test Time {batch_time.sum:.3f}s, ({batch_time.avg:.3f})\t'
'Loss {loss.avg:.8f}\n'.format(batch_time=self.batch_time,
loss=self.val_losses))
self.batch_time.reset()
self.val_losses.reset()
self.pose_net.train()
def train(self):
cudnn.benchmark = True
while self.configer.get('epoch') < self.configer.get(
'solver', 'max_epoch'):
self.__train()
if self.configer.get('epoch') == self.configer.get(
'solver', 'max_epoch'):
break
class OpenPose(object):
"""
The class for Pose Estimation. Include train, val, test & predict.
"""
def __init__(self, configer):
self.configer = configer
self.batch_time = AverageMeter()
self.data_time = AverageMeter()
self.train_losses = AverageMeter()
self.train_loss_heatmap = AverageMeter()
self.train_loss_associate = AverageMeter()
self.val_losses = AverageMeter()
self.val_loss_heatmap = AverageMeter()
self.val_loss_associate = AverageMeter()
self.pose_visualizer = PoseVisualizer(configer)
self.pose_loss_manager = PoseLossManager(configer)
self.pose_model_manager = PoseModelManager(configer)
self.pose_data_loader = PoseDataLoader(configer)
self.module_utilizer = ModuleUtilizer(configer)
self.optim_scheduler = OptimScheduler(configer)
self.heatmap_generator = HeatmapGenerator(configer)
self.paf_generator = PafGenerator(configer)
self.data_transformer = DataTransformer(configer)
self.pose_net = None
self.train_loader = None
self.val_loader = None
self.optimizer = None
self.scheduler = None
self._init_model()
def _init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = self.module_utilizer.load_net(self.pose_net)
self.optimizer, self.scheduler = self.optim_scheduler.init_optimizer(
self._get_parameters())
self.train_loader = self.pose_data_loader.get_trainloader()
self.val_loader = self.pose_data_loader.get_valloader()
self.weights = self.configer.get('network', 'loss_weights')
self.mse_loss = self.pose_loss_manager.get_pose_loss('mse_loss')
def _get_parameters(self):
lr_1 = []
lr_2 = []
lr_4 = []
lr_8 = []
params_dict = dict(self.pose_net.named_parameters())
for key, value in params_dict.items():
if ('model1_' not in key) and ('model0.'
not in key) and ('backbone.'
not in key):
if key[-4:] == 'bias':
lr_8.append(value)
else:
lr_4.append(value)
elif key[-4:] == 'bias':
lr_2.append(value)
else:
lr_1.append(value)
params = [{
'params': lr_1,
'lr': self.configer.get('lr', 'base_lr')
}, {
'params': lr_2,
'lr': self.configer.get('lr', 'base_lr') * 2.,
'weight_decay': 0.0
}, {
'params': lr_4,
'lr': self.configer.get('lr', 'base_lr') * 4.
}, {
'params': lr_8,
'lr': self.configer.get('lr', 'base_lr') * 8.,
'weight_decay': 0.0
}]
return params
def __train(self):
"""
Train function of every epoch during train phase.
"""
self.pose_net.train()
start_time = time.time()
# Adjust the learning rate after every epoch.
self.configer.plus_one('epoch')
self.scheduler.step(self.configer.get('epoch'))
# data_tuple: (inputs, heatmap, maskmap, vecmap)
for i, data_dict in enumerate(self.train_loader):
inputs = data_dict['img']
maskmap = data_dict['maskmap']
input_size = [inputs.size(3), inputs.size(2)]
heatmap = self.heatmap_generator(data_dict['kpts'],
input_size,
maskmap=maskmap)
vecmap = self.paf_generator(data_dict['kpts'],
input_size,
maskmap=maskmap)
self.data_time.update(time.time() - start_time)
# Change the data type.
inputs, heatmap, maskmap, vecmap = self.module_utilizer.to_device(
inputs, heatmap, maskmap, vecmap)
# Forward pass.
paf_out, heatmap_out = self.pose_net(inputs)
# Compute the loss of the train batch & backward.
loss_heatmap = self.mse_loss(heatmap_out,
heatmap,
mask=maskmap,
weights=self.weights)
loss_associate = self.mse_loss(paf_out,
vecmap,
mask=maskmap,
weights=self.weights)
loss = loss_heatmap + loss_associate
self.train_losses.update(loss.item(), inputs.size(0))
self.train_loss_heatmap.update(loss_heatmap.item(), inputs.size(0))
self.train_loss_associate.update(loss_associate.item(),
inputs.size(0))
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# Update the vars of the train phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.configer.plus_one('iters')
# Print the log info & reset the states.
if self.configer.get('iters') % self.configer.get(
'solver', 'display_iter') == 0:
Log.info('Loss Heatmap:{}, Loss Asso: {}'.format(
self.train_loss_heatmap.avg,
self.train_loss_associate.avg))
Log.info(
'Train Epoch: {0}\tTrain Iteration: {1}\t'
'Time {batch_time.sum:.3f}s / {2}iters, ({batch_time.avg:.3f})\t'
'Data load {data_time.sum:.3f}s / {2}iters, ({data_time.avg:3f})\n'
'Learning rate = {3}\tLoss = {loss.val:.8f} (ave = {loss.avg:.8f})\n'
.format(self.configer.get('epoch'),
self.configer.get('iters'),
self.configer.get('solver', 'display_iter'),
self.scheduler.get_lr(),
batch_time=self.batch_time,
data_time=self.data_time,
loss=self.train_losses))
self.batch_time.reset()
self.data_time.reset()
self.train_losses.reset()
self.train_loss_heatmap.reset()
self.train_loss_associate.reset()
# Check to val the current model.
if self.val_loader is not None and \
self.configer.get('iters') % self.configer.get('solver', 'test_interval') == 0:
self.__val()
def __val(self):
"""
Validation function during the train phase.
"""
self.pose_net.eval()
start_time = time.time()
with torch.no_grad():
for i, data_dict in enumerate(self.val_loader):
inputs = data_dict['img']
maskmap = data_dict['maskmap']
input_size = [inputs.size(3), inputs.size(2)]
heatmap = self.heatmap_generator(data_dict['kpts'],
input_size,
maskmap=maskmap)
vecmap = self.paf_generator(data_dict['kpts'],
input_size,
maskmap=maskmap)
# Change the data type.
inputs, heatmap, maskmap, vecmap = self.module_utilizer.to_device(
inputs, heatmap, maskmap, vecmap)
# Forward pass.
paf_out, heatmap_out = self.pose_net(inputs)
# Compute the loss of the val batch.
loss_heatmap = self.mse_loss(heatmap_out[-1], heatmap, maskmap)
loss_associate = self.mse_loss(paf_out[-1], vecmap, maskmap)
loss = loss_heatmap + loss_associate
self.val_losses.update(loss.item(), inputs.size(0))
self.val_loss_heatmap.update(loss_heatmap.item(),
inputs.size(0))
self.val_loss_associate.update(loss_associate.item(),
inputs.size(0))
# Update the vars of the val phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.module_utilizer.save_net(self.pose_net, save_mode='iters')
Log.info('Loss Heatmap:{}, Loss Asso: {}'.format(
self.val_loss_heatmap.avg, self.val_loss_associate.avg))
# Print the log info & reset the states.
Log.info(
'Test Time {batch_time.sum:.3f}s, ({batch_time.avg:.3f})\t'
'Loss {loss.avg:.8f}\n'.format(batch_time=self.batch_time,
loss=self.val_losses))
self.batch_time.reset()
self.val_losses.reset()
self.val_loss_heatmap.reset()
self.val_loss_associate.reset()
self.pose_net.train()
def train(self):
cudnn.benchmark = True
if self.configer.get('network',
'resume') is not None and self.configer.get(
'network', 'resume_val'):
self.__val()
while self.configer.get('epoch') < self.configer.get(
'solver', 'max_epoch'):
self.__train()
if self.configer.get('epoch') == self.configer.get(
'solver', 'max_epoch'):
break
class OpenPoseTest(object):
def __init__(self, configer):
self.configer = configer
self.blob_helper = BlobHelper(configer)
self.pose_visualizer = PoseVisualizer(configer)
self.pose_parser = PoseParser(configer)
self.pose_model_manager = PoseModelManager(configer)
self.pose_data_loader = DataLoader(configer)
self.heatmap_generator = HeatmapGenerator(configer)
self.paf_generator = PafGenerator(configer)
self.device = torch.device('cpu' if self.configer.get('gpu') is None else 'cuda')
self.pose_net = None
self._init_model()
def _init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = RunnerHelper.load_net(self, self.pose_net)
self.pose_net.eval()
def _get_blob(self, ori_image, scale=None):
assert scale is not None
image = self.blob_helper.make_input(image=ori_image, scale=scale)
b, c, h, w = image.size()
border_hw = [h, w]
if self.configer.exists('test', 'fit_stride'):
stride = self.configer.get('test', 'fit_stride')
pad_w = 0 if (w % stride == 0) else stride - (w % stride) # right
pad_h = 0 if (h % stride == 0) else stride - (h % stride) # down
expand_image = torch.zeros((b, c, h + pad_h, w + pad_w)).to(image.device)
expand_image[:, :, 0:h, 0:w] = image
image = expand_image
return image, border_hw
def __test_img(self, image_path, json_path, raw_path, vis_path):
Log.info('Image Path: {}'.format(image_path))
ori_image = ImageHelper.read_image(image_path,
tool=self.configer.get('data', 'image_tool'),
mode=self.configer.get('data', 'input_mode'))
ori_width, ori_height = ImageHelper.get_size(ori_image)
ori_img_bgr = ImageHelper.get_cv2_bgr(ori_image, mode=self.configer.get('data', 'input_mode'))
heatmap_avg = np.zeros((ori_height, ori_width, self.configer.get('network', 'heatmap_out')))
paf_avg = np.zeros((ori_height, ori_width, self.configer.get('network', 'paf_out')))
multiplier = [scale * self.configer.get('test', 'input_size')[1] / ori_height
for scale in self.configer.get('test', 'scale_search')]
stride = self.configer.get('network', 'stride')
for i, scale in enumerate(multiplier):
image, border_hw = self._get_blob(ori_image, scale=scale)
with torch.no_grad():
paf_out_list, heatmap_out_list = self.pose_net(image)
paf_out = paf_out_list[-1]
heatmap_out = heatmap_out_list[-1]
# extract outputs, resize, and remove padding
heatmap = heatmap_out.squeeze(0).cpu().numpy().transpose(1, 2, 0)
heatmap = cv2.resize(heatmap, None, fx=stride, fy=stride, interpolation=cv2.INTER_CUBIC)
heatmap = cv2.resize(heatmap[:border_hw[0], :border_hw[1]],
(ori_width, ori_height), interpolation=cv2.INTER_CUBIC)
paf = paf_out.squeeze(0).cpu().numpy().transpose(1, 2, 0)
paf = cv2.resize(paf, None, fx=stride, fy=stride, interpolation=cv2.INTER_CUBIC)
paf = cv2.resize(paf[:border_hw[0], :border_hw[1]],
(ori_width, ori_height), interpolation=cv2.INTER_CUBIC)
heatmap_avg = heatmap_avg + heatmap / len(multiplier)
paf_avg = paf_avg + paf / len(multiplier)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(ori_img_bgr, paf_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k, all_peaks)
json_dict = self.__get_info_tree(ori_img_bgr, subset, candidate)
image_canvas = self.pose_parser.draw_points(ori_img_bgr.copy(), json_dict)
image_canvas = self.pose_parser.link_points(image_canvas, json_dict)
ImageHelper.save(image_canvas, vis_path)
ImageHelper.save(ori_img_bgr, raw_path)
Log.info('Json Save Path: {}'.format(json_path))
JsonHelper.save_file(json_dict, json_path)
def __get_info_tree(self, image_raw, subset, candidate):
json_dict = dict()
height, width, _ = image_raw.shape
json_dict['image_height'] = height
json_dict['image_width'] = width
object_list = list()
for n in range(len(subset)):
if subset[n][-1] < self.configer.get('res', 'num_threshold'):
continue
if subset[n][-2] / subset[n][-1] < self.configer.get('res', 'avg_threshold'):
continue
object_dict = dict()
object_dict['kpts'] = np.zeros((self.configer.get('data', 'num_kpts'), 3)).tolist()
for j in range(self.configer.get('data', 'num_kpts')):
index = subset[n][j]
if index == -1:
object_dict['kpts'][j][0] = -1
object_dict['kpts'][j][1] = -1
object_dict['kpts'][j][2] = -1
else:
object_dict['kpts'][j][0] = candidate[index.astype(int)][0]
object_dict['kpts'][j][1] = candidate[index.astype(int)][1]
object_dict['kpts'][j][2] = 1
object_dict['score'] = subset[n][-2]
object_list.append(object_dict)
json_dict['objects'] = object_list
return json_dict
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
peak_counter = 0
for part in range(self.configer.get('data', 'num_kpts')):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down, map_gau > self.configer.get('res', 'part_threshold')))
peaks = zip(np.nonzero(peaks_binary)[1], np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
'''
del_flag = [0 for i in range(len(peaks))]
for i in range(len(peaks)):
if del_flag[i] == 0:
for j in range(i+1, len(peaks)):
if max(abs(peaks[i][0] - peaks[j][0]), abs(peaks[i][1] - peaks[j][1])) <= 6:
del_flag[j] = 1
new_peaks = list()
for i in range(len(peaks)):
if del_flag[i] == 0:
new_peaks.append(peaks[i])
peaks = new_peaks
'''
peaks_with_score = [x + (map_ori[x[1], x[0]],) for x in peaks]
ids = range(peak_counter, peak_counter + len(peaks))
peaks_with_score_and_id = [peaks_with_score[i] + (ids[i],) for i in range(len(ids))]
all_peaks.append(peaks_with_score_and_id)
peak_counter += len(peaks)
return all_peaks
def __extract_paf_info(self, img_raw, paf_avg, all_peaks):
connection_all = []
special_k = []
mid_num = self.configer.get('res', 'mid_point_num')
for k in range(len(self.configer.get('details', 'limb_seq'))):
score_mid = paf_avg[:, :, [k*2, k*2+1]]
candA = all_peaks[self.configer.get('details', 'limb_seq')[k][0] - 1]
candB = all_peaks[self.configer.get('details', 'limb_seq')[k][1] - 1]
nA = len(candA)
nB = len(candB)
if nA != 0 and nB != 0:
connection_candidate = []
for i in range(nA):
for j in range(nB):
vec = np.subtract(candB[j][:2], candA[i][:2])
norm = math.sqrt(vec[0] * vec[0] + vec[1] * vec[1]) + 1e-9
vec = np.divide(vec, norm)
startend = zip(np.linspace(candA[i][0], candB[j][0], num=mid_num),
np.linspace(candA[i][1], candB[j][1], num=mid_num))
startend = list(startend)
vec_x = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 0]
for I in range(len(startend))])
vec_y = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 1]
for I in range(len(startend))])
score_midpts = np.multiply(vec_x, vec[0]) + np.multiply(vec_y, vec[1])
score_with_dist_prior = sum(score_midpts) / len(score_midpts)
score_with_dist_prior += min(0.5 * img_raw.shape[0] / norm - 1, 0)
num_positive = len(np.nonzero(score_midpts > self.configer.get('res', 'limb_threshold'))[0])
criterion1 = num_positive > int(self.configer.get('res', 'limb_pos_ratio') * len(score_midpts))
criterion2 = score_with_dist_prior > 0
if criterion1 and criterion2:
connection_candidate.append(
[i, j, score_with_dist_prior, score_with_dist_prior + candA[i][2] + candB[j][2]])
connection_candidate = sorted(connection_candidate, key=lambda x: x[2], reverse=True)
connection = np.zeros((0, 5))
for c in range(len(connection_candidate)):
i, j, s = connection_candidate[c][0:3]
if i not in connection[:, 3] and j not in connection[:, 4]:
connection = np.vstack([connection, [candA[i][3], candB[j][3], s, i, j]])
if len(connection) >= min(nA, nB):
break
connection_all.append(connection)
else:
special_k.append(k)
connection_all.append([])
return special_k, connection_all
def __get_subsets(self, connection_all, special_k, all_peaks):
# last number in each row is the total parts number of that person
# the second last number in each row is the score of the overall configuration
subset = -1 * np.ones((0, self.configer.get('data', 'num_kpts') + 2))
candidate = np.array([item for sublist in all_peaks for item in sublist])
for k in self.configer.get('details', 'mini_tree'):
if k not in special_k:
partAs = connection_all[k][:, 0]
partBs = connection_all[k][:, 1]
indexA, indexB = np.array(self.configer.get('details', 'limb_seq')[k]) - 1
for i in range(len(connection_all[k])): # = 1:size(temp,1)
found = 0
subset_idx = [-1, -1]
for j in range(len(subset)): # 1:size(subset,1):
if subset[j][indexA] == partAs[i] or subset[j][indexB] == partBs[i]:
subset_idx[found] = j
found += 1
if found == 1:
j = subset_idx[0]
if (subset[j][indexB] != partBs[i]):
subset[j][indexB] = partBs[i]
subset[j][-1] += 1
subset[j][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
elif found == 2: # if found 2 and disjoint, merge them
j1, j2 = subset_idx
membership = ((subset[j1] >= 0).astype(int) + (subset[j2] >= 0).astype(int))[:-2]
if len(np.nonzero(membership == 2)[0]) == 0: # merge
subset[j1][:-2] += (subset[j2][:-2] + 1)
subset[j1][-2:] += subset[j2][-2:]
subset[j1][-2] += connection_all[k][i][2]
subset = np.delete(subset, j2, 0)
else: # as like found == 1
subset[j1][indexB] = partBs[i]
subset[j1][-1] += 1
subset[j1][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
# if find no partA in the subset, create a new subset
elif not found:
row = -1 * np.ones(self.configer.get('data', 'num_kpts') + 2)
row[indexA] = partAs[i]
row[indexB] = partBs[i]
row[-1] = 2
row[-2] = sum(candidate[connection_all[k][i, :2].astype(int), 2]) + connection_all[k][i][2]
subset = np.vstack([subset, row])
return subset, candidate
def debug(self, vis_dir):
for i, data_dict in enumerate(self.pose_data_loader.get_trainloader()):
inputs = data_dict['img']
maskmap = data_dict['maskmap']
heatmap = data_dict['heatmap']
vecmap = data_dict['vecmap']
for j in range(inputs.size(0)):
count = count + 1
if count > 10:
exit(1)
Log.info(heatmap.size())
image_bgr = self.blob_helper.tensor2bgr(inputs[j])
mask_canvas = maskmap[j].repeat(3, 1, 1).numpy().transpose(1, 2, 0)
mask_canvas = (mask_canvas * 255).astype(np.uint8)
mask_canvas = cv2.resize(mask_canvas, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
image_bgr = cv2.addWeighted(image_bgr, 0.6, mask_canvas, 0.4, 0)
heatmap_avg = heatmap[j].numpy().transpose(1, 2, 0)
heatmap_avg = cv2.resize(heatmap_avg, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
paf_avg = vecmap[j].numpy().transpose(1, 2, 0)
paf_avg = cv2.resize(paf_avg, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
self.pose_visualizer.vis_peaks(heatmap_avg, image_bgr)
self.pose_visualizer.vis_paf(paf_avg, image_bgr)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(image_bgr, paf_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k, all_peaks)
json_dict = self.__get_info_tree(image_bgr, subset, candidate)
image_canvas = self.pose_parser.draw_points(image_bgr, json_dict)
image_canvas = self.pose_parser.link_points(image_canvas, json_dict)
cv2.imwrite(os.path.join(vis_dir, '{}_{}_vis.png'.format(i, j)), image_canvas)
cv2.imshow('main', image_canvas)
cv2.waitKey()
class RPNPoseTest(object):
def __init__(self, configer):
self.configer = configer
self.pose_visualizer = PoseVisualizer(configer)
self.pose_model_manager = PoseModelManager(configer)
self.module_utilizer = ModuleUtilizer(configer)
self.device = torch.device(
'cpu' if self.configer.get('gpu') is None else 'cuda')
self.pose_net = None
def init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = self.module_utilizer.load_net(self.pose_net)
self.pose_net.eval()
def __test_img(self, image_path, save_path):
Log.info('Image Path: {}'.format(image_path))
image_raw = ImageHelper.cv2_open_bgr(image_path)
inputs = ImageHelper.bgr2rgb(image_raw)
paf_avg, heatmap_avg = self.__get_paf_and_heatmap(inputs)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(
image_raw, paf_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k,
all_peaks)
subset, img_canvas = self.__draw_key_point(subset, all_peaks,
image_raw)
img_canvas = self.__link_key_point(img_canvas, candidate, subset)
cv2.imwrite(save_path, img_canvas)
def __get_paf_and_heatmap(self, img_raw):
multiplier = [
scale * self.configer.get('data', 'input_size')[0] /
img_raw.shape[1]
for scale in self.configer.get('data', 'scale_search')
]
heatmap_avg = np.zeros((img_raw.shape[0], img_raw.shape[1],
self.configer.get('network', 'heatmap_out')))
paf_avg = np.zeros((img_raw.shape[0], img_raw.shape[1],
self.configer.get('network', 'paf_out')))
for i, scale in enumerate(multiplier):
img_test = cv2.resize(img_raw, (0, 0),
fx=scale,
fy=scale,
interpolation=cv2.INTER_CUBIC)
img_test_pad, pad = PadImage(self.configer.get(
'network', 'stride'))(img_test)
img_test_pad = ToTensor()(img_test_pad)
img_test_pad = Normalize(
mean=self.configer.get('trans_params', 'mean'),
std=self.configer.get('trans_params', 'std'))(img_test_pad)
with torch.no_grad():
img_test_pad = img_test_pad.unsqueeze(0).to(self.device)
paf_out, heatmap_out = self.pose_net(img_test_pad)
# extract outputs, resize, and remove padding
heatmap = heatmap_out.data.squeeze().cpu().numpy().transpose(
1, 2, 0)
heatmap = cv2.resize(heatmap, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
heatmap = heatmap[:img_test_pad.size(2) -
pad[3], :img_test_pad.size(3) - pad[2], :]
heatmap = cv2.resize(heatmap, (img_raw.shape[1], img_raw.shape[0]),
interpolation=cv2.INTER_CUBIC)
paf = paf_out.data.squeeze().cpu().numpy().transpose(1, 2, 0)
paf = cv2.resize(paf, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
paf = paf[:img_test_pad.size(2) - pad[3], :img_test_pad.size(3) -
pad[2], :]
paf = cv2.resize(paf, (img_raw.shape[1], img_raw.shape[0]),
interpolation=cv2.INTER_CUBIC)
heatmap_avg = heatmap_avg + heatmap / len(multiplier)
paf_avg = paf_avg + paf / len(multiplier)
return paf_avg, heatmap_avg
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
peak_counter = 0
for part in range(self.configer.get('data', 'num_keypoints')):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down,
map_gau > self.configer.get('vis', 'part_threshold')))
peaks = zip(
np.nonzero(peaks_binary)[1],
np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
peaks_with_score = [x + (map_ori[x[1], x[0]], ) for x in peaks]
ids = range(peak_counter, peak_counter + len(peaks))
peaks_with_score_and_id = [
peaks_with_score[i] + (ids[i], ) for i in range(len(ids))
]
all_peaks.append(peaks_with_score_and_id)
peak_counter += len(peaks)
return all_peaks
def __extract_paf_info(self, img_raw, paf_avg, all_peaks):
connection_all = []
special_k = []
mid_num = 10
for k in range(len(self.configer.get('details', 'limb_seq'))):
score_mid = paf_avg[:, :, [k * 2, k * 2 + 1]]
# self.pose_visualizer.vis_paf(score_mid, img_raw, name='pa{}'.format(k))
candA = all_peaks[self.configer.get('details', 'limb_seq')[k][0] -
1]
candB = all_peaks[self.configer.get('details', 'limb_seq')[k][1] -
1]
nA = len(candA)
nB = len(candB)
if nA != 0 and nB != 0:
connection_candidate = []
for i in range(nA):
for j in range(nB):
vec = np.subtract(candB[j][:2], candA[i][:2])
norm = math.sqrt(vec[0] * vec[0] +
vec[1] * vec[1]) + 1e-9
vec = np.divide(vec, norm)
startend = zip(
np.linspace(candA[i][0], candB[j][0], num=mid_num),
np.linspace(candA[i][1], candB[j][1], num=mid_num))
startend = list(startend)
vec_x = np.array([
score_mid[int(round(startend[I][1])),
int(round(startend[I][0])), 0]
for I in range(len(startend))
])
vec_y = np.array([
score_mid[int(round(startend[I][1])),
int(round(startend[I][0])), 1]
for I in range(len(startend))
])
score_midpts = np.multiply(
vec_x, vec[0]) + np.multiply(vec_y, vec[1])
score_with_dist_prior = sum(score_midpts) / len(
score_midpts)
score_with_dist_prior += min(
0.5 * img_raw.shape[0] / norm - 1, 0)
num_positive = len(
np.nonzero(score_midpts > self.configer.get(
'vis', 'limb_threshold'))[0])
criterion1 = num_positive > int(
0.8 * len(score_midpts))
criterion2 = score_with_dist_prior > 0
if criterion1 and criterion2:
connection_candidate.append([
i, j, score_with_dist_prior,
score_with_dist_prior + candA[i][2] +
candB[j][2]
])
connection_candidate = sorted(connection_candidate,
key=lambda x: x[2],
reverse=True)
connection = np.zeros((0, 5))
for c in range(len(connection_candidate)):
i, j, s = connection_candidate[c][0:3]
if i not in connection[:, 3] and j not in connection[:, 4]:
connection = np.vstack(
[connection, [candA[i][3], candB[j][3], s, i, j]])
if len(connection) >= min(nA, nB):
break
connection_all.append(connection)
else:
special_k.append(k)
connection_all.append([])
return special_k, connection_all
def __get_subsets(self, connection_all, special_k, all_peaks):
# last number in each row is the total parts number of that person
# the second last number in each row is the score of the overall configuration
subset = -1 * np.ones((0, 20))
candidate = np.array(
[item for sublist in all_peaks for item in sublist])
for k in range(len(self.configer.get('details', 'limb_seq'))):
if k not in special_k:
partAs = connection_all[k][:, 0]
partBs = connection_all[k][:, 1]
indexA, indexB = np.array(
self.configer.get('details', 'limb_seq')[k]) - 1
for i in range(len(connection_all[k])): # = 1:size(temp,1)
found = 0
subset_idx = [-1, -1]
for j in range(len(subset)): # 1:size(subset,1):
if subset[j][indexA] == partAs[i] or subset[j][
indexB] == partBs[i]:
subset_idx[found] = j
found += 1
if found == 1:
j = subset_idx[0]
if (subset[j][indexB] != partBs[i]):
subset[j][indexB] = partBs[i]
subset[j][-1] += 1
subset[j][-2] += candidate[
partBs[i].astype(int),
2] + connection_all[k][i][2]
elif found == 2: # if found 2 and disjoint, merge them
j1, j2 = subset_idx
membership = ((subset[j1] >= 0).astype(int) +
(subset[j2] >= 0).astype(int))[:-2]
if len(np.nonzero(membership == 2)[0]) == 0: # merge
subset[j1][:-2] += (subset[j2][:-2] + 1)
subset[j1][-2:] += subset[j2][-2:]
subset[j1][-2] += connection_all[k][i][2]
subset = np.delete(subset, j2, 0)
else: # as like found == 1
subset[j1][indexB] = partBs[i]
subset[j1][-1] += 1
subset[j1][-2] += candidate[
partBs[i].astype(int),
2] + connection_all[k][i][2]
# if find no partA in the subset, create a new subset
elif not found and k < 17:
row = -1 * np.ones(20)
row[indexA] = partAs[i]
row[indexB] = partBs[i]
row[-1] = 2
row[-2] = sum(
candidate[connection_all[k][i, :2].astype(int),
2]) + connection_all[k][i][2]
subset = np.vstack([subset, row])
return subset, candidate
def __draw_key_point(self, subset, all_peaks, img_raw):
del_ids = []
for i in range(len(subset)):
if subset[i][-1] < 4 or subset[i][-2] / subset[i][-1] < 0.4:
#del_ids.append(i)
pass
subset = np.delete(subset, del_ids, axis=0)
img_canvas = img_raw.copy() # B,G,R order
for i in range(self.configer.get('data', 'num_keypoints')):
for j in range(len(all_peaks[i])):
cv2.circle(img_canvas,
all_peaks[i][j][0:2],
self.configer.get('vis', 'circle_radius'),
self.configer.get('details', 'color_list')[i],
thickness=-1)
return subset, img_canvas
def __link_key_point(self, img_canvas, candidate, subset):
for i in range(self.configer.get('data', 'num_keypoints') - 1):
for n in range(len(subset)):
index = subset[n][
np.array(self.configer.get('details', 'limb_seq')[i]) - 1]
if -1 in index:
continue
cur_canvas = img_canvas.copy()
Y = candidate[index.astype(int), 0]
X = candidate[index.astype(int), 1]
mX = np.mean(X)
mY = np.mean(Y)
length = ((X[0] - X[1])**2 + (Y[0] - Y[1])**2)**0.5
angle = math.degrees(math.atan2(X[0] - X[1], Y[0] - Y[1]))
polygon = cv2.ellipse2Poly(
(int(mY), int(mX)),
(int(length / 2), self.configer.get('vis', 'stick_width')),
int(angle), 0, 360, 1)
cv2.fillConvexPoly(
cur_canvas, polygon,
self.configer.get('details', 'color_list')[i])
img_canvas = cv2.addWeighted(img_canvas, 0.4, cur_canvas, 0.6,
0)
return img_canvas
def test(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'val/results/pose',
self.configer.get('dataset'))
test_img = self.configer.get('test_img')
test_dir = self.configer.get('test_dir')
if test_img is None and test_dir is None:
Log.error('test_img & test_dir not exists.')
exit(1)
if test_img is not None and test_dir is not None:
Log.error('Either test_img or test_dir.')
exit(1)
if test_img is not None:
base_dir = os.path.join(base_dir, 'test_img')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
filename = test_img.rstrip().split('/')[-1]
save_path = os.path.join(base_dir, filename)
self.__test_img(test_img, save_path)
else:
base_dir = os.path.join(base_dir, 'test_dir',
test_dir.rstrip('/').split('/')[-1])
if not os.path.exists(base_dir):
os.makedirs(base_dir)
for filename in self.__list_dir(test_dir):
image_path = os.path.join(test_dir, filename)
save_path = os.path.join(base_dir, filename)
if not os.path.exists(os.path.dirname(save_path)):
os.makedirs(os.path.dirname(save_path))
self.__test_img(image_path, save_path)
def __create_coco_submission(self, test_dir=None, base_dir=None):
out_file = os.path.join(base_dir,
'person_keypoints_val2017_donny_results.json')
out_list = list()
coco = COCO(os.path.join(test_dir, 'person_keypoints_val2017.json'))
for i, img_id in enumerate(list(coco.imgs.keys())):
filename = coco.imgs[img_id]['file_name']
image_raw = cv2.imread(os.path.join(test_dir, 'val2017', filename))
print(i)
paf_avg, heatmap_avg = self.__get_paf_and_heatmap(image_raw)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(
image_raw, paf_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k,
all_peaks)
subset, img_canvas = self.__draw_key_point(subset, all_peaks,
image_raw)
img_canvas = self.__link_key_point(img_canvas, candidate, subset)
cv2.imwrite(os.path.join(base_dir, filename), img_canvas)
for n in range(len(subset)):
dict_temp = dict()
dict_temp['image_id'] = img_id
dict_temp['category_id'] = 1
dict_temp['score'] = subset[n][-2]
pose_list = list()
for i in range(self.configer.get('data', 'num_keypoints') - 1):
index = subset[n][self.configer.get(
'details', 'coco_to_ours')[i]]
if index == -1:
pose_list.append(0)
pose_list.append(0)
else:
pose_list.append(candidate[index.astype(int)][0])
pose_list.append(candidate[index.astype(int)][1])
pose_list.append(1)
dict_temp['keypoints'] = pose_list
out_list.append(dict_temp)
fw = open(out_file, 'w')
fw.write(json.dumps(out_list))
fw.close()
def create_submission(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'val/results/pose',
self.configer.get('dataset'), 'submission')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
test_dir = self.configer.get('test_dir')
if self.configer.get('dataset') == 'coco':
self.__create_coco_submission(test_dir, base_dir)
else:
Log.error('Dataset: {} is not valid.'.format(
self.configer.get('dataset')))
exit(1)
def __list_dir(self, dir_name):
filename_list = list()
for item in os.listdir(dir_name):
if os.path.isdir(os.path.join(dir_name, item)):
for filename in os.listdir(os.path.join(dir_name, item)):
filename_list.append('{}/{}'.format(item, filename))
else:
filename_list.append(item)
return filename_list
class ConvPoseMachineTest(object):
def __init__(self, configer):
self.configer = configer
self.blob_helper = BlobHelper(configer)
self.pose_vis = PoseVisualizer(configer)
self.pose_model_manager = PoseModelManager(configer)
self.pose_data_loader = PoseDataLoader(configer)
self.module_utilizer = ModuleUtilizer(configer)
self.data_transformer = DataTransformer(configer)
self.heatmap_generator = HeatmapGenerator(configer)
self.device = torch.device('cpu' if self.configer.get('gpu') is None else 'cuda')
self.pose_net = None
self._init_model()
def _init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = self.module_utilizer.load_net(self.pose_net)
self.pose_net.eval()
def __test_img(self, image_path, save_path):
Log.info('Image Path: {}'.format(image_path))
ori_image = ImageHelper.read_image(image_path,
tool=self.configer.get('data', 'image_tool'),
mode=self.configer.get('data', 'input_mode'))
ori_width, ori_height = ImageHelper.get_size(ori_image)
ori_img_bgr = ImageHelper.get_cv2_bgr(ori_image, mode=self.configer.get('data', 'input_mode'))
heatmap_avg = np.zeros((ori_height, ori_width, self.configer.get('network', 'heatmap_out')))
for i, scale in enumerate(self.configer.get('test', 'scale_search')):
image = self.blob_helper.make_input(ori_image,
input_size=self.configer.get('test', 'input_size'),
scale=scale)
with torch.no_grad():
heatmap_out_list = self.pose_net(image)
heatmap_out = heatmap_out_list[-1]
# extract outputs, resize, and remove padding
heatmap = heatmap_out.squeeze(0).cpu().numpy().transpose(1, 2, 0)
heatmap = cv2.resize(heatmap, (ori_width, ori_height), interpolation=cv2.INTER_CUBIC)
heatmap_avg = heatmap_avg + heatmap / len(self.configer.get('test', 'scale_search'))
all_peaks = self.__extract_heatmap_info(heatmap_avg)
image_canvas = self.__draw_key_point(all_peaks, ori_img_bgr)
ImageHelper.save(image_canvas, save_path)
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
for part in range(self.configer.get('network', 'heatmap_out') - 1):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down, map_gau > self.configer.get('vis', 'part_threshold')))
peaks = zip(np.nonzero(peaks_binary)[1], np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
peaks_with_score = [x + (map_ori[x[1], x[0]],) for x in peaks]
all_peaks.append(peaks_with_score)
return all_peaks
def __draw_key_point(self, all_peaks, img_raw):
img_canvas = img_raw.copy() # B,G,R order
for i in range(self.configer.get('network', 'heatmap_out') - 1):
for j in range(len(all_peaks[i])):
cv2.circle(img_canvas, all_peaks[i][j][0:2], self.configer.get('vis', 'stick_width'),
self.configer.get('details', 'color_list')[i], thickness=-1)
return img_canvas
def debug(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'vis/results/pose', self.configer.get('dataset'), 'debug')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
for i, data_dict in enumerate(self.pose_data_loader.get_trainloader()):
inputs = data_dict['img']
input_size = [inputs.size(3), inputs.size(2)]
heatmap = self.heatmap_generator(data_dict['kpts'], input_size)
for j in range(inputs.size(0)):
image_bgr = self.blob_helper.tensor2bgr(inputs[j])
heatmap_avg = heatmap[j].numpy().transpose(1, 2, 0)
heatmap_avg = cv2.resize(heatmap_avg, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
image_save = self.__draw_key_point(all_peaks, image_bgr)
cv2.imwrite(os.path.join(base_dir, '{}_{}_result.jpg'.format(i, j)), image_save)
def test(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'val/results/pose', self.configer.get('dataset'))
test_img = self.configer.get('test_img')
test_dir = self.configer.get('test_dir')
if test_img is None and test_dir is None:
Log.error('test_img & test_dir not exists.')
exit(1)
if test_img is not None and test_dir is not None:
Log.error('Either test_img or test_dir.')
exit(1)
if test_img is not None:
base_dir = os.path.join(base_dir, 'test_img')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
filename = test_img.rstrip().split('/')[-1]
save_path = os.path.join(base_dir, filename)
self.__test_img(test_img, save_path)
else:
base_dir = os.path.join(base_dir, 'test_dir', test_dir.rstrip('/').split('/')[-1])
if not os.path.exists(base_dir):
os.makedirs(base_dir)
for filename in FileHelper.list_dir(test_dir):
image_path = os.path.join(test_dir, filename)
save_path = os.path.join(base_dir, filename)
if not os.path.exists(os.path.dirname(save_path)):
os.makedirs(os.path.dirname(save_path))
self.__test_img(image_path, save_path)
class ConvPoseMachineTest(object):
def __init__(self, configer):
self.configer = configer
self.pose_vis = PoseVisualizer(configer)
self.pose_model_manager = PoseModelManager(configer)
self.pose_data_loader = PoseDataLoader(configer)
self.module_utilizer = ModuleUtilizer(configer)
self.device = torch.device(
'cpu' if self.configer.get('gpu') is None else 'cuda')
self.pose_net = None
def init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = self.module_utilizer.load_net(self.pose_net)
self.pose_net.eval()
def __test_img(self, image_path, save_path):
image_raw = ImageHelper.cv2_open_bgr(image_path)
inputs = ImageHelper.bgr2rgb(image_raw)
heatmap_avg = self.__get_heatmap(inputs)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
image_save = self.__draw_key_point(all_peaks, image_raw)
cv2.imwrite(save_path, image_save)
def __get_heatmap(self, img_raw):
multiplier = [
scale * self.configer.get('data', 'input_size')[0] /
img_raw.shape[1]
for scale in self.configer.get('data', 'scale_search')
]
heatmap_avg = np.zeros((img_raw.shape[0], img_raw.shape[1],
self.configer.get('network', 'heatmap_out')))
for i, scale in enumerate(multiplier):
img_test = cv2.resize(img_raw, (0, 0),
fx=scale,
fy=scale,
interpolation=cv2.INTER_CUBIC)
img_test_pad, pad = PadImage(self.configer.get(
'network', 'stride'))(img_test)
img_test_pad = ToTensor()(img_test_pad)
img_test_pad = Normalize(
mean=self.configer.get('trans_params', 'mean'),
std=self.configer.get('trans_params', 'std'))(img_test_pad)
with torch.no_grad():
img_test_pad = img_test_pad.unsqueeze(0).to(self.device)
heatmap_out_list = self.pose_net(img_test_pad)
heatmap_out = heatmap_out_list[-1]
# extract outputs, resize, and remove padding
heatmap = heatmap_out.data.squeeze().cpu().numpy().transpose(
1, 2, 0)
heatmap = cv2.resize(heatmap, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
heatmap = heatmap[:img_test_pad.size(2) -
pad[3], :img_test_pad.size(3) - pad[2], :]
heatmap = cv2.resize(heatmap, (img_raw.shape[1], img_raw.shape[0]),
interpolation=cv2.INTER_CUBIC)
heatmap_avg = heatmap_avg + heatmap / len(multiplier)
return heatmap_avg
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
for part in range(self.configer.get('network', 'heatmap_out') - 1):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down,
map_gau > self.configer.get('vis', 'part_threshold')))
peaks = zip(
np.nonzero(peaks_binary)[1],
np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
peaks_with_score = [x + (map_ori[x[1], x[0]], ) for x in peaks]
all_peaks.append(peaks_with_score)
return all_peaks
def __draw_key_point(self, all_peaks, img_raw):
img_canvas = img_raw.copy() # B,G,R order
for i in range(self.configer.get('network', 'heatmap_out') - 1):
for j in range(len(all_peaks[i])):
cv2.circle(img_canvas,
all_peaks[i][j][0:2],
self.configer.get('vis', 'stick_width'),
self.configer.get('details', 'color_list')[i],
thickness=-1)
return img_canvas
def debug(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'vis/results/pose',
self.configer.get('dataset'), 'debug')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
val_data_loader = self.pose_data_loader.get_valloader()
for i, (inputs, heatmap) in enumerate(val_data_loader):
for j in range(inputs.size(0)):
ori_img = DeNormalize(
mean=self.configer.get('trans_params', 'mean'),
std=self.configer.get('trans_params', 'std'))(inputs[j])
image_raw = ori_img.numpy().transpose(1, 2, 0)
image_raw = cv2.cvtColor(image_raw, cv2.COLOR_RGB2BGR)
heatmap_avg = heatmap[j].numpy().transpose(1, 2, 0)
heatmap_avg = cv2.resize(
heatmap_avg, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
image_save = self.__draw_key_point(all_peaks, image_raw)
cv2.imwrite(
os.path.join(base_dir, '{}_{}_result.jpg'.format(i, j)),
image_save)
def test(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'val/results/pose',
self.configer.get('dataset'))
test_img = self.configer.get('test_img')
test_dir = self.configer.get('test_dir')
if test_img is None and test_dir is None:
Log.error('test_img & test_dir not exists.')
exit(1)
if test_img is not None and test_dir is not None:
Log.error('Either test_img or test_dir.')
exit(1)
if test_img is not None:
base_dir = os.path.join(base_dir, 'test_img')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
filename = test_img.rstrip().split('/')[-1]
save_path = os.path.join(base_dir, filename)
self.__test_img(test_img, save_path)
else:
base_dir = os.path.join(base_dir, 'test_dir',
test_dir.rstrip('/').split('/')[-1])
if not os.path.exists(base_dir):
os.makedirs(base_dir)
for filename in FileHelper.list_dir(test_dir):
image_path = os.path.join(test_dir, filename)
save_path = os.path.join(base_dir, filename)
if not os.path.exists(os.path.dirname(save_path)):
os.makedirs(os.path.dirname(save_path))
self.__test_img(image_path, save_path)
def __create_coco_submission(self, test_dir=None, base_dir=None):
pass
def create_submission(self):
base_dir = os.path.join(self.configer.get('project_dir'),
'val/results/pose',
self.configer.get('dataset'), 'submission')
if not os.path.exists(base_dir):
os.makedirs(base_dir)
test_dir = self.configer.get('test_dir')
if self.configer.get('dataset') == 'coco':
self.__create_coco_submission(test_dir)
else:
Log.error('Dataset: {} is not valid.'.format(
self.configer.get('dataset')))
exit(1)
class OpenPose(object):
"""
The class for Pose Estimation. Include train, val, test & predict.
"""
def __init__(self, configer):
self.configer = configer
self.batch_time = AverageMeter()
self.data_time = AverageMeter()
self.train_schedule_loss = AverageMeter()
self.train_losses = AverageMeter()
self.train_loss_heatmap = AverageMeter()
self.train_loss_associate = AverageMeter()
self.val_losses = AverageMeter()
self.val_loss_heatmap = AverageMeter()
self.val_loss_associate = AverageMeter()
self.pose_visualizer = PoseVisualizer(configer)
self.pose_loss_manager = LossManager(configer)
self.pose_model_manager = PoseModelManager(configer)
self.pose_data_loader = DataLoader(configer)
self.heatmap_generator = HeatmapGenerator(configer)
self.paf_generator = PafGenerator(configer)
self.pose_net = None
self.train_loader = None
self.val_loader = None
self.optimizer = None
self.scheduler = None
self.runner_state = dict()
self._init_model()
def _init_model(self):
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = RunnerHelper.load_net(self, self.pose_net)
self.optimizer, self.scheduler = Trainer.init(self,
self._get_parameters())
self.train_loader = self.pose_data_loader.get_trainloader()
self.val_loader = self.pose_data_loader.get_valloader()
self.weights = self.configer.get('network', 'loss_weights')
self.mse_loss = self.pose_loss_manager.get_pose_loss()
def _get_parameters(self):
lr_1 = []
lr_2 = []
params_dict = dict(self.pose_net.named_parameters())
for key, value in params_dict.items():
if 'backbone' not in key:
lr_2.append(value)
else:
lr_1.append(value)
params = [
{
'params': lr_1,
'lr': self.configer.get('lr', 'base_lr'),
'weight_decay': 0.0
},
{
'params': lr_2,
'lr': self.configer.get('lr', 'base_lr'),
'weight_decay': 0.0
},
]
return params
def train(self):
"""
Train function of every epoch during train phase.
"""
self.pose_net.train()
start_time = time.time()
# Adjust the learning rate after every epoch.
self.runner_state['epoch'] += 1
self.scheduler.step(self.train_schedule_loss.avg,
epoch=self.configer.get('epoch'))
self.train_schedule_loss.reset()
# data_tuple: (inputs, heatmap, maskmap, vecmap)
for i, data_dict in enumerate(self.train_loader):
inputs = data_dict['img']
maskmap = data_dict['maskmap']
heatmap = data_dict['heatmap']
vecmap = data_dict['vecmap']
self.data_time.update(time.time() - start_time)
# Change the data type.
inputs, heatmap, maskmap, vecmap = RunnerHelper.to_device(
self, inputs, heatmap, maskmap, vecmap)
# Forward pass.
paf_out, heatmap_out = self.pose_net(inputs)
# Compute the loss of the train batch & backward.
loss_heatmap = self.mse_loss(heatmap_out,
heatmap,
mask=maskmap,
weights=self.weights)
loss_associate = self.mse_loss(paf_out,
vecmap,
mask=maskmap,
weights=self.weights)
loss = 2.0 * loss_heatmap + loss_associate
self.train_losses.update(loss.item(), inputs.size(0))
self.train_schedule_loss.update(loss.item(), inputs.size(0))
self.train_loss_heatmap.update(loss_heatmap.item(), inputs.size(0))
self.train_loss_associate.update(loss_associate.item(),
inputs.size(0))
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# Update the vars of the train phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.runner_state['iters'] += 1
# Print the log info & reset the states.
if self.runner_state['iters'] % self.configer.get(
'solver', 'display_iter') == 0:
Log.info('Loss Heatmap:{}, Loss Asso: {}'.format(
self.train_loss_heatmap.avg,
self.train_loss_associate.avg))
Log.info(
'Train Epoch: {0}\tTrain Iteration: {1}\t'
'Time {batch_time.sum:.3f}s / {2}iters, ({batch_time.avg:.3f})\t'
'Data load {data_time.sum:.3f}s / {2}iters, ({data_time.avg:3f})\n'
'Learning rate = {3}\tLoss = {loss.val:.8f} (ave = {loss.avg:.8f})\n'
.format(self.runner_state['epoch'],
self.runner_state['iters'],
self.configer.get('solver', 'display_iter'),
RunnerHelper.get_lr(self.optimizer),
batch_time=self.batch_time,
data_time=self.data_time,
loss=self.train_losses))
self.batch_time.reset()
self.data_time.reset()
self.train_losses.reset()
self.train_loss_heatmap.reset()
self.train_loss_associate.reset()
if self.configer.get('lr', 'metric') == 'iters' \
and self.runner_state['iters'] == self.configer.get('solver', 'max_iters'):
break
# Check to val the current model.
if self.runner_state['iters'] % self.configer.get(
'solver', 'test_interval') == 0:
self.val()
def val(self):
"""
Validation function during the train phase.
"""
self.pose_net.eval()
start_time = time.time()
with torch.no_grad():
for i, data_dict in enumerate(self.val_loader):
inputs = data_dict['img']
maskmap = data_dict['maskmap']
heatmap = data_dict['heatmap']
vecmap = data_dict['vecmap']
# Change the data type.
inputs, heatmap, maskmap, vecmap = RunnerHelper.to_device(
self, inputs, heatmap, maskmap, vecmap)
# Forward pass.
paf_out, heatmap_out = self.pose_net(inputs)
# Compute the loss of the val batch.
loss_heatmap = self.mse_loss(heatmap_out[-1], heatmap, maskmap)
loss_associate = self.mse_loss(paf_out[-1], vecmap, maskmap)
loss = 2.0 * loss_heatmap + loss_associate
self.val_losses.update(loss.item(), inputs.size(0))
self.val_loss_heatmap.update(loss_heatmap.item(),
inputs.size(0))
self.val_loss_associate.update(loss_associate.item(),
inputs.size(0))
# Update the vars of the val phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.runner_state['val_loss'] = self.val_losses.avg
RunnerHelper.save_net(self,
self.pose_net,
val_loss=self.val_losses.avg)
Log.info('Loss Heatmap:{}, Loss Asso: {}'.format(
self.val_loss_heatmap.avg, self.val_loss_associate.avg))
# Print the log info & reset the states.
Log.info(
'Test Time {batch_time.sum:.3f}s, ({batch_time.avg:.3f})\t'
'Loss {loss.avg:.8f}\n'.format(batch_time=self.batch_time,
loss=self.val_losses))
self.batch_time.reset()
self.val_losses.reset()
self.val_loss_heatmap.reset()
self.val_loss_associate.reset()
self.pose_net.train()
class OpenPoseDeploy(object):
def __init__(self, model_path=None, gpu_list=list()):
self.pose_net = None
self.configer = None
self._init_model(model_path=model_path, gpu_list=gpu_list)
def _init_model(self, model_path, gpu_list):
self.device = torch.device('cpu' if len(gpu_list) == 0 else 'cuda')
model_dict = None
if model_path is not None:
model_dict = torch.load(model_path)
else:
Log.error('Model Path is not existed.')
exit(1)
self.configer = Configer(config_dict=model_dict['config_dict'])
if len(gpu_list) > 0:
os.environ["CUDA_VISIBLE_DEVICES"] = ','.join(str(gpu_id) for gpu_id in gpu_list)
self.pose_model_manager = PoseModelManager(self.configer)
self.pose_net = self.pose_model_manager.multi_pose_detector()
self.pose_net = nn.DataParallel(self.pose_net).to(self.device)
self.pose_net.load_state_dict(model_dict['state_dict'])
self.pose_net.eval()
def inference(self, image_rgb):
image_bgr = ImageHelper.rgb2bgr(image_rgb)
paf_avg, heatmap_avg = self.__get_paf_and_heatmap(image_rgb)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(image_rgb, paf_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k, all_peaks)
json_dict = self.__get_info_tree(image_bgr, subset, candidate)
return json_dict
def __get_info_tree(self, image_raw, subset, candidate):
json_dict = dict()
height, width, _ = image_raw.shape
json_dict['image_height'] = height
json_dict['image_width'] = width
object_list = list()
for n in range(len(subset)):
if subset[n][-1] <= 1:
continue
object_dict = dict()
object_dict['keypoints'] = np.zeros((self.configer.get('data', 'num_keypoints'), 3)).tolist()
for j in range(self.configer.get('data', 'num_keypoints')):
index = subset[n][j]
if index == -1:
object_dict['keypoints'][j][0] = -1
object_dict['keypoints'][j][1] = -1
object_dict['keypoints'][j][2] = -1
else:
object_dict['keypoints'][j][0] = candidate[index.astype(int)][0]
object_dict['keypoints'][j][1] = candidate[index.astype(int)][1]
object_dict['keypoints'][j][2] = 1
object_dict['score'] = subset[n][-2]
object_list.append(object_dict)
json_dict['objects'] = object_list
return json_dict
def __get_paf_and_heatmap(self, img_raw):
multiplier = [scale * self.configer.get('data', 'input_size')[0] / img_raw.shape[1]
for scale in self.configer.get('data', 'scale_search')]
heatmap_avg = np.zeros((img_raw.shape[0], img_raw.shape[1], self.configer.get('network', 'heatmap_out')))
paf_avg = np.zeros((img_raw.shape[0], img_raw.shape[1], self.configer.get('network', 'paf_out')))
for i, scale in enumerate(multiplier):
img_test = cv2.resize(img_raw, (0, 0), fx=scale, fy=scale, interpolation=cv2.INTER_CUBIC)
img_test_pad, pad = PadImage(self.configer.get('network', 'stride'))(img_test)
pad_right = pad[2]
pad_down = pad[3]
img_test_pad = ToTensor()(img_test_pad)
img_test_pad = Normalize(mean=self.configer.get('trans_params', 'mean'),
std=self.configer.get('trans_params', 'std'))(img_test_pad)
with torch.no_grad():
img_test_pad = img_test_pad.unsqueeze(0).to(self.device)
paf_out_list, heatmap_out_list = self.pose_net(img_test_pad)
paf_out = paf_out_list[-1]
heatmap_out = heatmap_out_list[-1]
# extract outputs, resize, and remove padding
heatmap = heatmap_out.data.squeeze().cpu().numpy().transpose(1, 2, 0)
heatmap = cv2.resize(heatmap, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
heatmap = heatmap[:img_test_pad.size(2) - pad_down, :img_test_pad.size(3) - pad_right, :]
heatmap = cv2.resize(heatmap, (img_raw.shape[1], img_raw.shape[0]), interpolation=cv2.INTER_CUBIC)
paf = paf_out.data.squeeze().cpu().numpy().transpose(1, 2, 0)
paf = cv2.resize(paf, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
paf = paf[:img_test_pad.size(2) - pad_down, :img_test_pad.size(3) - pad_right, :]
paf = cv2.resize(paf, (img_raw.shape[1], img_raw.shape[0]), interpolation=cv2.INTER_CUBIC)
heatmap_avg = heatmap_avg + heatmap / len(multiplier)
paf_avg = paf_avg + paf / len(multiplier)
return paf_avg, heatmap_avg
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
peak_counter = 0
for part in range(self.configer.get('data', 'num_keypoints')):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down, map_gau > self.configer.get('vis', 'part_threshold')))
peaks = zip(np.nonzero(peaks_binary)[1], np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
peaks_with_score = [x + (map_ori[x[1], x[0]],) for x in peaks]
ids = range(peak_counter, peak_counter + len(peaks))
peaks_with_score_and_id = [peaks_with_score[i] + (ids[i],) for i in range(len(ids))]
all_peaks.append(peaks_with_score_and_id)
peak_counter += len(peaks)
return all_peaks
def __extract_paf_info(self, img_raw, paf_avg, all_peaks):
connection_all = []
special_k = []
mid_num = 10
for k in range(len(self.configer.get('details', 'limb_seq'))):
score_mid = paf_avg[:, :, [k*2, k*2+1]]
# self.pose_visualizer.vis_paf(score_mid, img_raw, name='pa{}'.format(k))
candA = all_peaks[self.configer.get('details', 'limb_seq')[k][0] - 1]
candB = all_peaks[self.configer.get('details', 'limb_seq')[k][1] - 1]
nA = len(candA)
nB = len(candB)
if nA != 0 and nB != 0:
connection_candidate = []
for i in range(nA):
for j in range(nB):
vec = np.subtract(candB[j][:2], candA[i][:2])
norm = math.sqrt(vec[0] * vec[0] + vec[1] * vec[1]) + 1e-9
vec = np.divide(vec, norm)
startend = zip(np.linspace(candA[i][0], candB[j][0], num=mid_num),
np.linspace(candA[i][1], candB[j][1], num=mid_num))
startend = list(startend)
vec_x = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 0]
for I in range(len(startend))])
vec_y = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 1]
for I in range(len(startend))])
score_midpts = np.multiply(vec_x, vec[0]) + np.multiply(vec_y, vec[1])
score_with_dist_prior = sum(score_midpts) / len(score_midpts)
score_with_dist_prior += min(0.5 * img_raw.shape[0] / norm - 1, 0)
num_positive = len(np.nonzero(score_midpts > self.configer.get('vis', 'limb_threshold'))[0])
criterion1 = num_positive > int(0.8 * len(score_midpts))
criterion2 = score_with_dist_prior > 0
if criterion1 and criterion2:
connection_candidate.append(
[i, j, score_with_dist_prior, score_with_dist_prior + candA[i][2] + candB[j][2]])
connection_candidate = sorted(connection_candidate, key=lambda x: x[2], reverse=True)
connection = np.zeros((0, 5))
for c in range(len(connection_candidate)):
i, j, s = connection_candidate[c][0:3]
if i not in connection[:, 3] and j not in connection[:, 4]:
connection = np.vstack([connection, [candA[i][3], candB[j][3], s, i, j]])
if len(connection) >= min(nA, nB):
break
connection_all.append(connection)
else:
special_k.append(k)
connection_all.append([])
return special_k, connection_all
def __get_subsets(self, connection_all, special_k, all_peaks):
# last number in each row is the total parts number of that person
# the second last number in each row is the score of the overall configuration
subset = -1 * np.ones((0, self.configer.get('data', 'num_keypoints') + 2))
candidate = np.array([item for sublist in all_peaks for item in sublist])
for k in self.configer.get('details', 'mini_tree'):
if k not in special_k:
partAs = connection_all[k][:, 0]
partBs = connection_all[k][:, 1]
indexA, indexB = np.array(self.configer.get('details', 'limb_seq')[k]) - 1
for i in range(len(connection_all[k])): # = 1:size(temp,1)
found = 0
subset_idx = [-1, -1]
for j in range(len(subset)): # 1:size(subset,1):
if subset[j][indexA] == partAs[i] or subset[j][indexB] == partBs[i]:
subset_idx[found] = j
found += 1
if found == 1:
j = subset_idx[0]
if (subset[j][indexB] != partBs[i]):
subset[j][indexB] = partBs[i]
subset[j][-1] += 1
subset[j][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
elif found == 2: # if found 2 and disjoint, merge them
j1, j2 = subset_idx
membership = ((subset[j1] >= 0).astype(int) + (subset[j2] >= 0).astype(int))[:-2]
if len(np.nonzero(membership == 2)[0]) == 0: # merge
subset[j1][:-2] += (subset[j2][:-2] + 1)
subset[j1][-2:] += subset[j2][-2:]
subset[j1][-2] += connection_all[k][i][2]
subset = np.delete(subset, j2, 0)
else: # as like found == 1
subset[j1][indexB] = partBs[i]
subset[j1][-1] += 1
subset[j1][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
# if find no partA in the subset, create a new subset
elif not found:
row = -1 * np.ones(self.configer.get('data', 'num_keypoints') + 2)
row[indexA] = partAs[i]
row[indexB] = partBs[i]
row[-1] = 2
row[-2] = sum(candidate[connection_all[k][i, :2].astype(int), 2]) + connection_all[k][i][2]
subset = np.vstack([subset, row])
return subset, candidate