def main():
if CONFIG["CUDA"]:
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
else:
device = torch.device("cpu")
weight_name = CONFIG["model"]["pretrained_weight"]
model_dict = torch.load(weight_name)
source_net = PoseEstimationWithMobileNet()
target_net = PoseEstimationWithMobileNet()
load_state(source_net, model_dict)
load_state(target_net, model_dict)
discriminator = Discriminator()
criterion = nn.BCELoss()
source_net = source_net.cuda(CONFIG["GPU"]["source_net"])
target_net = target_net.cuda(CONFIG["GPU"]["target_net"])
discriminator = discriminator.to(device)
criterion = criterion.to(device)
optimizer_tg = torch.optim.Adam(target_net.parameters(),
lr=CONFIG["training_setting"]["t_lr"])
optimizer_d = torch.optim.Adam(discriminator.parameters(),
lr=CONFIG["training_setting"]["d_lr"])
dataset = ADDADataset()
dataloader = DataLoader(dataset, CONFIG["dataset"]["batch_size"], shuffle=True, num_workers=0)
trainer = Trainer(source_net, target_net, discriminator,
dataloader, optimizer_tg, optimizer_d, criterion, device)
trainer.train()
def __init__(self, checkpoint_path, device,
img_mean=np.array([128, 128, 128], dtype=np.float32),
img_scale=np.float32(1/255),
use_tensorrt=False):
from models.with_mobilenet import PoseEstimationWithMobileNet
from modules.load_state import load_state
self.img_mean = img_mean
self.img_scale = img_scale
self.device = 'cpu'
if device != 'CPU':
if torch.cuda.is_available():
self.device = torch.device('cuda:0')
else:
print('No CUDA device found, inferring on CPU')
net = PoseEstimationWithMobileNet()
checkpoint = torch.load(checkpoint_path, map_location='cpu')
if use_tensorrt:
from torch2trt import TRTModule
net = TRTModule()
net.load_state_dict(checkpoint)
else:
load_state(net, checkpoint)
net = net.to(self.device)
net.eval()
self.net = net
def main():
net = PoseEstimationWithMobileNet()
checkpoint = torch.load("models/checkpoint_iter_370000.pth",
map_location='cpu')
load_state(net, checkpoint)
net = net.cuda()
done = threading.Event()
with anki_vector.AsyncRobot() as robot:
robot.camera.init_camera_feed()
robot.camera.image_streaming_enabled()
# preparing robot pose ready
robot.behavior.set_head_angle(degrees(25.0))
robot.behavior.set_lift_height(0.0)
#events for detection and new camera feed
robot.events.subscribe(on_new_raw_camera_image,
events.Events.new_raw_camera_image, net)
robot.events.subscribe_by_name(on_robot_observed_touch,
event_name='touched')
print(
"------ waiting for camera events, press ctrl+c to exit early ------"
)
try:
if not done.wait(timeout=600):
print("------ Did not receive a new camera image! ------")
except KeyboardInterrupt:
pass
def __init__(self):
self.name = 'OpenPose'
net = PoseEstimationWithMobileNet()
checkpoint = torch.load('./checkpoint_iter_370000.pth',
map_location='cpu')
load_state(net, checkpoint)
self.net = net.eval()
if envars.USE_GPU():
self.net = self.net.cuda()
self.stride = 8
self.upsample_ratio = 4
self.height_size = 256
self.kpt_names = [
'nose', 'neck', 'r_sho', 'r_elb', 'r_wri', 'l_sho', 'l_elb',
'l_wri', 'r_hip', 'r_knee', 'r_ank', 'l_hip', 'l_knee', 'l_ank',
'r_eye', 'l_eye', 'r_ear', 'l_ear'
]
self.connections = [('nose', 'r_eye'), ('r_eye', 'r_ear'),
('nose', 'l_eye'), ('l_eye', 'l_ear'),
('nose', 'neck'), ('neck', 'r_sho'),
('r_sho', 'r_elb'), ('r_elb', 'r_wri'),
('neck', 'l_sho'), ('l_sho', 'l_elb'),
('l_elb', 'l_wri'), ('neck', 'r_hip'),
('r_hip', 'r_knee'), ('r_knee', 'r_ank'),
('neck', 'l_hip'), ('l_hip', 'l_knee'),
('l_knee', 'l_ank')]
def __init__(self, checkpoint_path, scale=256.):
super().__init__()
self.scale = scale
pose_model = PoseEstimationWithMobileNet()
state_dict = torch.load(checkpoint_path)
load_state(pose_model, state_dict)
self.pose_model = pose_model
def init_pose(checkpoint_path):
net = PoseEstimationWithMobileNet()
checkpoint = torch.load(checkpoint_path, map_location='cpu')
load_state(net, checkpoint)
net.eval()
net = net.cuda()
env = [net, []]
return None, env
def openpose_to_jit():
x = torch.randn(1,3,256,456)
net = PoseEstimationWithMobileNet().cpu()
checkpoint = torch.load(r'.\weights\checkpoint_iter_370000.pth', map_location='cpu')
load_state(net, checkpoint)
net.eval()
net(x)
script_model = torch.jit.trace(net, x)
script_model.save('test.jit')
def main1():
parser = argparse.ArgumentParser(
description='''Lightweight human pose estimation python demo.
This is just for quick results preview.
Please, consider c++ demo for the best performance.''')
parser.add_argument('--checkpoint-path',
type=str,
required=True,
help='path to the checkpoint')
parser.add_argument('--height-size',
type=int,
default=256,
help='network input layer height size')
parser.add_argument('--video',
type=str,
default='',
help='path to video file or camera id')
parser.add_argument('--images',
nargs='+',
default='',
help='path to input image(s)')
parser.add_argument('--images_dir',
default='',
help='folderpath to input image(s)')
parser.add_argument('--cpu',
action='store_true',
help='run network inference on cpu')
parser.add_argument('--track',
type=int,
default=1,
help='track pose id in video')
parser.add_argument('--smooth',
type=int,
default=1,
help='smooth pose keypoints')
args = parser.parse_args()
if args.video == '' and args.images == '' and args.images_dir == '':
raise ValueError('Either --video or --image has to be provided')
net = PoseEstimationWithMobileNet()
checkpoint = torch.load(args.checkpoint_path, map_location='cpu')
load_state(net, checkpoint)
frame_provider = ImageReader(args.images)
if not args.images_dir == '':
frame_provider = ImageReader(args.images_dir)
if args.video != '':
frame_provider = VideoReader(args.video)
else:
args.track = 0
run_demo(net, frame_provider, args.height_size, args.cpu, args.track,
args.smooth)
def init(cpu = False):
net = PoseEstimationWithMobileNet()
checkpoint_path = "checkpoint_iter_370000.pth"
checkpoint = torch.load(checkpoint_path, map_location='cpu') #load the existing model
load_state(net, checkpoint)
net = net.eval()
if not cpu:
net = net.cuda()
return net
def run_demo(args, image_provider, height_size, cpu, track, smooth):
net = PoseEstimationWithMobileNet()
checkpoint = torch.load(args.checkpoint_path, map_location='cpu')
load_state(net, checkpoint)
net = net.eval()
if not cpu:
net = net.cuda()
stride = 8
upsample_ratio = 4
num_keypoints = Pose.num_kpts
previous_poses = []
delay = 33
for d in image_provider:
img, image_name = d["image"], d["image_name"]
orig_img = img.copy()
heatmaps, pafs, scale, pad = infer_fast(net, img, height_size, stride,
upsample_ratio, cpu)
total_keypoints_num = 0
all_keypoints_by_type = []
for kpt_idx in range(num_keypoints): # 19th for bg
total_keypoints_num += extract_keypoints(heatmaps[:, :, kpt_idx],
all_keypoints_by_type,
total_keypoints_num)
pose_entries, all_keypoints = group_keypoints(all_keypoints_by_type,
pafs,
demo=True)
for kpt_id in range(all_keypoints.shape[0]):
all_keypoints[kpt_id, 0] = (all_keypoints[kpt_id, 0] * stride /
upsample_ratio - pad[1]) / scale
all_keypoints[kpt_id, 1] = (all_keypoints[kpt_id, 1] * stride /
upsample_ratio - pad[0]) / scale
keypoints_out = []
for n in range(len(pose_entries)):
if len(pose_entries[n]) == 0:
continue
pose_keypoints = np.ones((num_keypoints, 3), dtype=np.float32) * -1
for kpt_id in range(num_keypoints):
if pose_entries[n][kpt_id] != -1.0: # keypoint was found
pose_keypoints[kpt_id, 0] = int(
all_keypoints[int(pose_entries[n][kpt_id]), 0])
pose_keypoints[kpt_id, 1] = int(
all_keypoints[int(pose_entries[n][kpt_id]), 1])
pose_keypoints[kpt_id,
2] = 0.94 if pose_keypoints[kpt_id,
0] != -1 else 0
keypoints_out.append(pose_keypoints)
save_json(image_name, keypoints_out, args)
def __init__(self, model_path: str):
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.net = PoseEstimationWithMobileNet()
self.net.to(self.device)
checkpoint = torch.load(model_path)
load_state(self.net, checkpoint)
self.net.eval()
self.image = None
self.avg_heatmap = None
self.avg_paf = None
self.track = True
self.stride = 8
self.upsample_ratio = 4
self.height_size = 256
self.smooth = 1
self.num_keypoints = Pose.num_kpts
def _pose_dect_init(self, device):
"""Initialize the pose detection model.
Arguments:
device {torch.device}: device to implement the models on.
Returns:
PoseEstimationWithMobileNet: initialized OpenPose model.
"""
weight_path = self.__params.pose_weights
model = PoseEstimationWithMobileNet()
weight = torch.load(weight_path, map_location='cpu')
load_state(model, weight)
model = model.eval()
if device.type != 'cpu':
model = model.cuda()
return model
def loadEmotion():
print("-Loading pose estimation neural net...")
poseEstNet = PoseEstimationWithMobileNet()
poseEstNet = poseEstNet.cuda()
checkpoint = torch.load(
"../lightweight-human-pose-estimation.pytorch/checkpoint_iter_370000.pth",
map_location='cpu')
load_state(poseEstNet, checkpoint)
print("-Pose estimation neural net loaded")
print("-Opening body language decoders...")
bodymove = BLmovements()
bodydecode = BLdecode()
print("-Body language decoder loaded")
print("-Loading facial emotion neural net...")
facialEmotionNet, faceRecNet, image_size = ssd_infer.load()
print("-Facial emotion neural net loaded")
return poseEstNet, bodymove, bodydecode, facialEmotionNet, faceRecNet, image_size
def upload():
if request.method == 'POST':
file = request.files['file']
extension = os.path.splitext(file.filename)[1]
f_name = "lastphoto.jpg"
file.save(os.path.join('uploads', f_name))
image = cv2.imread("uploads/lastphoto.jpg", cv2.IMREAD_COLOR)
net = PoseEstimationWithMobileNet()
checkpoint = torch.load("checkpoint_iter_370000.pth.tar",
map_location='cpu')
load_state(net, checkpoint)
return json.dumps(
{
'filename': f_name,
'humans': run_demo(net, image, 256, True)
},
cls=NumpyEncoder)
from modules.load_state import load_state
def convert_to_onnx(net, output_name):
input = torch.zeros(1, 3, 256, 448)
input_names = ['data']
output_names = ['features', 'heatmaps', 'pafs']
model_trt = torch2trt(net, [input], fp16_mode=True)
torch.save(model_trt.state_dict(), output_name)
# torch.onnx.export(net, input, output_name, verbose=True, input_names=input_names, output_names=output_names)
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--checkpoint-path',
type=str,
default='models/human-pose-estimation-3d.pth',
help='path to the checkpoint')
parser.add_argument('--output-name',
type=str,
default='human-pose-estimation-3d-trt.pth',
help='name of output model in ONNX format')
args = parser.parse_args()
net = PoseEstimationWithMobileNet(is_convertible_by_mo=True)
checkpoint = torch.load(args.checkpoint_path)
load_state(net, checkpoint)
convert_to_onnx(net, args.output_name)
print('=====================done=====================')
default='',
help='path to input image(s)')
parser.add_argument('--cpu',
action='store_true',
help='run network inference on cpu')
parser.add_argument('--track',
type=int,
default=1,
help='track pose id in video')
parser.add_argument('--smooth',
type=int,
default=1,
help='smooth pose keypoints')
args = parser.parse_args()
if args.video == '' and args.images == '':
raise ValueError('Either --video or --image has to be provided')
net = PoseEstimationWithMobileNet(num_heatmaps=25, num_pafs=50)
checkpoint = torch.load(args.checkpoint_path, map_location='cpu')
load_state(net, checkpoint)
frame_provider = ImageReader(args.images)
if args.video != '':
frame_provider = VideoReader(args.video)
else:
args.track = 0
run_demo(net, frame_provider, args.height_size, args.cpu, args.track,
args.smooth)
def callback(self, data):
try:
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
## Rescale Image size
rescale_factor = 1
width = int(cv_image.shape[1] * rescale_factor)
height = int(cv_image.shape[0] * rescale_factor)
dim = (width, height)
resized_img = cv2.resize(cv_image, dim)
net = PoseEstimationWithMobileNet()
checkpoint = torch.load(
"/home/zheng/lightweight-human-pose-estimation.pytorch/checkpoint_iter_370000.pth",
map_location='cpu')
load_state(net, checkpoint)
height_size = 256
net = net.eval()
net = net.cuda()
net.eval()
stride = 8
upsample_ratio = 4
num_keypoints = Pose.num_kpts
previous_poses = []
delay = 33
# img = cv2.imread("/home/zheng/lightweight-human-pose-estimation.pytorch/data/image_1400.jpg")
img = asarray(cv_image)
orig_img = img
heatmaps, pafs, scale, pad = infer_fast(net,
img,
height_size,
stride,
upsample_ratio,
cpu="store_true")
total_keypoints_num = 0
all_keypoints_by_type = []
for kpt_idx in range(num_keypoints): # 19th for bg
total_keypoints_num += extract_keypoints(heatmaps[:, :, kpt_idx],
all_keypoints_by_type,
total_keypoints_num)
pose_entries, all_keypoints = group_keypoints(all_keypoints_by_type,
pafs,
demo=True)
for kpt_id in range(all_keypoints.shape[0]):
all_keypoints[kpt_id, 0] = (all_keypoints[kpt_id, 0] * stride /
upsample_ratio - pad[1]) / scale
all_keypoints[kpt_id, 1] = (all_keypoints[kpt_id, 1] * stride /
upsample_ratio - pad[0]) / scale
current_poses = []
## Collect all keypoint in numpy array to send it to Ros"
pose_keypoints_ros_data = np.zeros(16)
my_array_for_publishing = Float32MultiArray()
####
pose_keypoints = np.ones((num_keypoints, 2), dtype=np.int32) * -1
for kpt_id in range(8):
if pose_entries[0][kpt_id] != -1.0: # keypoint was found
pose_keypoints[kpt_id, 0] = int(
all_keypoints[int(pose_entries[0][kpt_id]), 0])
pose_keypoints[kpt_id, 1] = int(
all_keypoints[int(pose_entries[0][kpt_id]), 1])
pose = Pose(pose_keypoints, pose_entries[0][18])
current_poses.append(pose)
pose_keypoints_ros_data[2 * kpt_id] = pose.keypoints[kpt_id][0]
pose_keypoints_ros_data[2 * kpt_id + 1] = pose.keypoints[kpt_id][1]
for pose in current_poses:
pose.draw(img)
img = cv2.addWeighted(orig_img, 0.6, img, 0.4, 0)
my_array_for_publishing.data = [
pose_keypoints_ros_data[0],
pose_keypoints_ros_data[1],
pose_keypoints_ros_data[2],
pose_keypoints_ros_data[3],
pose_keypoints_ros_data[4],
pose_keypoints_ros_data[5],
pose_keypoints_ros_data[6],
pose_keypoints_ros_data[7],
pose_keypoints_ros_data[8],
pose_keypoints_ros_data[9],
pose_keypoints_ros_data[10],
pose_keypoints_ros_data[11],
pose_keypoints_ros_data[12],
pose_keypoints_ros_data[13],
pose_keypoints_ros_data[14],
pose_keypoints_ros_data[15],
]
# cv2.imshow('Lightweight Human Pose Estimation Python Demo', img)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(img, "bgr8"))
self.keypts_pub.publish(my_array_for_publishing)
# cv2.imwrite('/home/zheng/Bureau/image_1400_key.jpg',img)
cv2.waitKey(2)
import torch
from models.with_mobilenet import PoseEstimationWithMobileNet #my particular net architecture
from modules.load_state import load_state
from torch2trt import torch2trt #import library
import time
#HERE IT IS HOW COMPILE AND SAVE A MODEL
checkpoint_path = '/home/nvidia/Documents/poseFINAL/checkpoints/body.pth' #your trained weights path
net = PoseEstimationWithMobileNet() #my particular net istance
checkpoint = torch.load(checkpoint_path, map_location='cuda')
load_state(net, checkpoint) #load your trained weights path
net.cuda().eval()
data = torch.rand((
1, 3, 256,
344)).cuda() #initialize a random tensor with the shape of your input data
#model_trt = torch2trt(net, [data]) #IT CREATES THE COMPILED VERSION OF YOUR MODEL, IT TAKES A WHILE
#torch.save(model_trt.state_dict(), 'net_trt.pth') #TO SAVE THE WEIGHTS OF THE COMPILED MODEL WICH ARE DIFFERENT FROM THE PREVIOUS ONES
#HERE IT IS HOW TO UPLOAD THE MODEL ONCE YOU HAVE COMPILED IT LIKE IN MY CASE THAT I HAVE ALREADY COMPILED IT
from torch2trt import TRTModule #import a class
model_trt = TRTModule() #the compiled model istance
model_trt.load_state_dict(torch.load(
'net_trt.pth')) #load the compiled weights in the compiled model
def train(prepared_train_labels, train_images_folder, num_refinement_stages,
base_lr, batch_size, batches_per_iter, num_workers, checkpoint_path,
weights_only, from_mobilenet, checkpoints_folder, log_after,
val_labels, val_images_folder, val_output_name, checkpoint_after,
val_after):
net = PoseEstimationWithMobileNet(num_refinement_stages)
stride = 8
sigma = 7
path_thickness = 1
dataset = CocoTrainDataset(prepared_train_labels,
train_images_folder,
stride,
sigma,
path_thickness,
transform=transforms.Compose([
ConvertKeypoints(),
Scale(),
Rotate(pad=(128, 128, 128)),
CropPad(pad=(128, 128, 128)),
Flip()
]))
train_loader = DataLoader(dataset,
batch_size=batch_size,
shuffle=True,
num_workers=num_workers)
optimizer = optim.Adam([
{
'params': get_parameters_conv(net.model, 'weight')
},
{
'params': get_parameters_conv_depthwise(net.model, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.model, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.model, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv(net.cpm, 'weight'),
'lr': base_lr
},
{
'params': get_parameters_conv(net.cpm, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv_depthwise(net.cpm, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_conv(net.initial_stage, 'weight'),
'lr': base_lr
},
{
'params': get_parameters_conv(net.initial_stage, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv(net.refinement_stages, 'weight'),
'lr': base_lr * 4
},
{
'params': get_parameters_conv(net.refinement_stages, 'bias'),
'lr': base_lr * 8,
'weight_decay': 0
},
{
'params': get_parameters_bn(net.refinement_stages, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.refinement_stages, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
],
lr=base_lr,
weight_decay=5e-4)
num_iter = 0
current_epoch = 0
drop_after_epoch = [100, 200, 260]
scheduler = optim.lr_scheduler.MultiStepLR(optimizer,
milestones=drop_after_epoch,
gamma=0.333)
if checkpoint_path:
checkpoint = torch.load(checkpoint_path)
if from_mobilenet:
load_from_mobilenet(net, checkpoint)
else:
load_state(net, checkpoint)
if not weights_only:
optimizer.load_state_dict(checkpoint['optimizer'])
scheduler.load_state_dict(checkpoint['scheduler'])
num_iter = checkpoint['iter']
current_epoch = checkpoint['current_epoch']
net = DataParallel(net).cuda()
net.train()
for epochId in range(current_epoch, 280):
scheduler.step()
total_losses = [0, 0] * (num_refinement_stages + 1
) # heatmaps loss, paf loss per stage
batch_per_iter_idx = 0
for batch_data in train_loader:
if batch_per_iter_idx == 0:
optimizer.zero_grad()
# print("show imgs"
# , batch_data['keypoint_maps'].shape, batch_data['paf_maps'].shape
# , batch_data['keypoint_mask'].shape, batch_data['paf_mask'].shape
# , batch_data['mask'].shape, batch_data['image'].shape
# )
# print("seg", batch_data['label']['segmentations'])
print("batched images size", batch_data['image'].shape)
vis.images(batch_data['image'][:, [2, 1, 0], ...] + 0.5,
4,
2,
"1",
opts=dict(title="img"))
vis.images(batch_data['keypoint_mask'].permute(1, 0, 2, 3),
4,
2,
"2",
opts=dict(title="kp_mask"))
vis.images(batch_data['paf_mask'].permute(1, 0, 2, 3),
4,
2,
"3",
opts=dict(title="paf_mask"))
vis.images(batch_data['keypoint_maps'].permute(1, 0, 2, 3),
4,
2,
"4",
opts=dict(title="keypoint_maps"))
vis.images(batch_data['paf_maps'].permute(1, 0, 2, 3),
4,
2,
"5",
opts=dict(title="paf_maps"))
vis.images(batch_data['mask'].unsqueeze(0),
4,
2,
"6",
opts=dict(title="MASK"))
images = batch_data['image'].cuda()
keypoint_masks = batch_data['keypoint_mask'].cuda()
paf_masks = batch_data['paf_mask'].cuda()
keypoint_maps = batch_data['keypoint_maps'].cuda()
paf_maps = batch_data['paf_maps'].cuda()
pafs = batch_data['paf_maps'][0].permute(1, 2, 0).numpy()
scale = 4
img_p = np.zeros((pafs.shape[1] * 8, pafs.shape[0] * 8, 3),
dtype=np.uint8)
# pafs[pafs < 0.07] = 0
for idx in range(len(BODY_PARTS_PAF_IDS)):
# print(pp, pafs.shape)
pp = BODY_PARTS_PAF_IDS[idx]
k_idx = BODY_PARTS_KPT_IDS[idx]
cc = BODY_CONN_COLOR[idx]
vx = pafs[:, :, pp[0]]
vy = pafs[:, :, pp[1]]
for i in range(pafs.shape[1]):
for j in range(pafs.shape[0]):
a = (i * 2 * scale, j * 2 * scale)
b = (2 * int((i + vx[j, i] * 3) * scale), 2 * int(
(j + vy[j, i] * 3) * scale))
if a[0] == b[0] and a[1] == b[1]:
continue
cv2.line(img_p, a, b, cc, 1)
# break
cv2.imshow("paf", img_p)
key = cv2.waitKey(0)
if key == 27: # esc
exit(0)
stages_output = net(images)
losses = []
for loss_idx in range(len(total_losses) // 2):
losses.append(
l2_loss(stages_output[loss_idx * 2], keypoint_maps,
keypoint_masks, images.shape[0]))
losses.append(
l2_loss(stages_output[loss_idx * 2 + 1], paf_maps,
paf_masks, images.shape[0]))
total_losses[loss_idx *
2] += losses[-2].item() / batches_per_iter
total_losses[loss_idx * 2 +
1] += losses[-1].item() / batches_per_iter
loss = losses[0]
for loss_idx in range(1, len(losses)):
loss += losses[loss_idx]
loss /= batches_per_iter
loss.backward()
batch_per_iter_idx += 1
if batch_per_iter_idx == batches_per_iter:
optimizer.step()
batch_per_iter_idx = 0
num_iter += 1
else:
continue
if num_iter % log_after == 0:
print('Iter: {}'.format(num_iter))
for loss_idx in range(len(total_losses) // 2):
print('\n'.join([
'stage{}_pafs_loss: {}',
'stage{}_heatmaps_loss: {}'
]).format(loss_idx + 1,
total_losses[loss_idx * 2 + 1] / log_after,
loss_idx + 1,
total_losses[loss_idx * 2] / log_after))
for loss_idx in range(len(total_losses)):
total_losses[loss_idx] = 0
if num_iter % checkpoint_after == 0:
snapshot_name = '{}/checkpoint_iter_{}.pth'.format(
checkpoints_folder, num_iter)
torch.save(
{
'state_dict': net.module.state_dict(),
'optimizer': optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'iter': num_iter,
'current_epoch': epochId
}, snapshot_name)
if num_iter % val_after == 0:
print('Validation...')
evaluate(val_labels, val_output_name, val_images_folder, net)
net.train()
if __name__ == '__main__':
# parser = argparse.ArgumentParser(
# description='''Lightweight human pose estimation python demo.
# This is just for quick results preview.
# Please, consider c++ demo for the best performance.''')
# parser.add_argument('--checkpoint-path', type=str, required=True, help='path to the checkpoint')
# parser.add_argument('--video', type=str, default='', help='path to video file or camera id')
# args = parser.parse_args()
# if args.video == '':
# raise ValueError('--video has to be provided')
# net = PoseEstimationWithMobileNet(num_heatmaps=26, num_pafs=52)
# checkpoint = torch.load(args.checkpoint_path, map_location='cpu')
# load_state(net, checkpoint)
# frame_provider = VideoReader(args.video)
# run_demo(net, frame_provider, 256, False, True, True)
net = PoseEstimationWithMobileNet(num_heatmaps=26,
num_pafs=52,
num_refinement_stages=1)
checkpoint = torch.load('body25_checkpoints/checkpoint_iter_465000.pth',
map_location='cpu')
load_state(net, checkpoint)
frame_provider = VideoReader('D:/projects/MotioNet/video/beyonce.mp4')
run_demo(net, frame_provider, 256, False, True, True)
def __init__(self, model_path):
self.model = PoseEstimationWithMobileNet()
checkpoint = torch.load(model_path, map_location='cpu')
load_state(self.model, checkpoint)
self.model = self.model.eval()
self.model = self.model.cuda()
def convert_to_skelets(in_, out_, cpu=False, height_size=256):
# height_size - network input layer height size
# cpu - True if we would like to run in CPU
print('start convert to skelets')
# mask that shows - this is bed
mask = cv2.imread(os.path.join('mask', 'mask.jpg'), 0)
mask = cv2.normalize(mask,
None,
alpha=0,
beta=1,
norm_type=cv2.NORM_MINMAX,
dtype=cv2.CV_32F)
net = PoseEstimationWithMobileNet()
load_state(net, checkpoint)
net = net.eval()
if not cpu:
net = net.cuda()
stride = 8
upsample_ratio = 4
max_number = 963
num_img = 0
stream = cv2.VideoCapture("rtsp://*****:*****@62.140.233.76:554")
# for num in range(0, max_number + 1):
while (True):
# frame = 'frame' + str(num) + '.jpg'
# img = cv2.imread(os.path.join(in_, frame), cv2.IMREAD_COLOR)
r, img = stream.read()
# cv2.destroyAllWindows()
# find the place of the bed - and add border to it, so we can cut the unnecessary part
# apply object detection and find bed
# output is an image with black pixels of not bed, and white pixels of bed
heatmaps, pafs, scale, pad = infer_fast(net, img, height_size, stride,
upsample_ratio, cpu)
total_keypoints_num = 0
all_keypoints_by_type = []
for kpt_idx in range(18):
total_keypoints_num += extract_keypoints(heatmaps[:, :, kpt_idx],
all_keypoints_by_type,
total_keypoints_num)
pose_entries, all_keypoints = group_keypoints(all_keypoints_by_type,
pafs)
for kpt_id in range(all_keypoints.shape[0]):
all_keypoints[kpt_id, 0] = (all_keypoints[kpt_id, 0] * stride /
upsample_ratio - pad[1]) / scale
all_keypoints[kpt_id, 1] = (all_keypoints[kpt_id, 1] * stride /
upsample_ratio - pad[0]) / scale
# how many persons in image
num_persons = len(pose_entries)
# num_img more than time_period - we delete first second and add the last second
bones_detected = np.zeros(len(bones_to_detect))
bones_xa = np.zeros(len(bones_to_detect))
bones_ya = np.zeros(len(bones_to_detect))
bones_xb = np.zeros(len(bones_to_detect))
bones_yb = np.zeros(len(bones_to_detect))
bones_in_bed = np.zeros(len(bones_to_detect))
for n in range(num_persons):
count_person_not_in_bed = 1
for id_x in range(len(bones_to_detect)):
bones_detected[id_x] = 0
bones_xa[id_x] = 0
bones_ya[id_x] = 0
bones_xb[id_x] = 0
bones_yb[id_x] = 0
bones_in_bed[id_x] = 0
if len(pose_entries[n]) == 0:
continue
for id_, part_id in enumerate(bones_to_detect):
kpt_a_id = BODY_PARTS_KPT_IDS[part_id][0]
global_kpt_a_id = pose_entries[n][kpt_a_id]
kpt_b_id = BODY_PARTS_KPT_IDS[part_id][1]
global_kpt_b_id = pose_entries[n][kpt_b_id]
# if both points are detected
if global_kpt_a_id != -1 and global_kpt_b_id != -1:
bones_xa[id_], bones_ya[id_] = all_keypoints[
int(global_kpt_a_id), 0:2]
bones_xb[id_], bones_yb[id_] = all_keypoints[
int(global_kpt_b_id), 0:2]
if mask[int(bones_ya[id_])][int(
bones_xa[id_])] == 1 and mask[int(
bones_yb[id_])][int(bones_xb[id_])] == 1:
bones_in_bed[id_] = 1
bones_detected[id_] = 1
sum_bones = 0
for id_, val in enumerate(bones_in_bed):
sum_bones += val
if sum_bones == len(bones_in_bed):
# anomaly
# we take mean vector of 2 vectors of bones 6 and 9
bone_xa = (bones_xa[0] + bones_xa[2]) / 2
bone_ya = (bones_ya[0] + bones_ya[2]) / 2
bone_xb = (bones_xb[0] + bones_xb[2]) / 2
bone_yb = (bones_yb[0] + bones_yb[2]) / 2
x1 = bone_xb - bone_xa
y1 = bone_yb - bone_ya
x2 = 100
y2 = 0
global anomaly_checker
alfa = math.acos(
(x1 * x2 + y1 * y2) /
(math.sqrt(x1**2 + y1**2) * math.sqrt(x2**2 + y2**2)))
# if alfa is close to 90 degree - anomaly
if min(abs(alfa - rad_90), abs(alfa - rad_270)) <= threshold:
print('num_persons', num_persons)
if num_persons == 1:
anomaly_checker = np.delete(anomaly_checker, 0)
anomaly_checker = np.append(anomaly_checker, 1)
cv2.imwrite(os.path.join('out_out', frame), img)
if np.sum(anomaly_checker) >= SEC_WITHOUT_HELP:
print('ALARM!')
num_img += 1
if not os.path.exists(out_):
os.mkdir(out_)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
print('done convert to skelets')
def train(prepared_train_labels, train_images_folder, num_refinement_stages,
base_lr, batch_size, batches_per_iter, num_workers, checkpoint_path,
weights_only, from_mobilenet, checkpoints_folder, log_after,
val_labels, val_images_folder, val_output_name, checkpoint_after,
val_after):
net = PoseEstimationWithMobileNet(num_refinement_stages)
stride = 8
sigma = 7
path_thickness = 1
dataset = CocoTrainDataset(prepared_train_labels,
train_images_folder,
stride,
sigma,
path_thickness,
transform=transforms.Compose([
ConvertKeypoints(),
Scale(),
Rotate(pad=(128, 128, 128)),
CropPad(pad=(128, 128, 128)),
Flip()
]))
train_loader = DataLoader(dataset,
batch_size=batch_size,
shuffle=True,
num_workers=num_workers)
optimizer = optim.Adam([
{
'params': get_parameters_conv(net.model, 'weight')
},
{
'params': get_parameters_conv_depthwise(net.model, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.model, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.model, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv(net.cpm, 'weight'),
'lr': base_lr
},
{
'params': get_parameters_conv(net.cpm, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv_depthwise(net.cpm, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_conv(net.initial_stage, 'weight'),
'lr': base_lr
},
{
'params': get_parameters_conv(net.initial_stage, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv(net.refinement_stages, 'weight'),
'lr': base_lr * 4
},
{
'params': get_parameters_conv(net.refinement_stages, 'bias'),
'lr': base_lr * 8,
'weight_decay': 0
},
{
'params': get_parameters_bn(net.refinement_stages, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.refinement_stages, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
],
lr=base_lr,
weight_decay=5e-4)
num_iter = 0
current_epoch = 0
drop_after_epoch = [100, 200, 260]
scheduler = optim.lr_scheduler.MultiStepLR(optimizer,
milestones=drop_after_epoch,
gamma=0.333)
if checkpoint_path:
checkpoint = torch.load(checkpoint_path)
if from_mobilenet:
load_from_mobilenet(net, checkpoint)
else:
load_state(net, checkpoint)
if not weights_only:
optimizer.load_state_dict(checkpoint['optimizer'])
scheduler.load_state_dict(checkpoint['scheduler'])
num_iter = checkpoint['iter']
current_epoch = checkpoint['current_epoch']
net = DataParallel(net).cuda()
net.train()
for epochId in range(current_epoch, 280):
scheduler.step()
total_losses = [0, 0] * (num_refinement_stages + 1
) # heatmaps loss, paf loss per stage
batch_per_iter_idx = 0
for batch_data in train_loader:
if batch_per_iter_idx == 0:
optimizer.zero_grad()
images = batch_data['image'].cuda()
keypoint_masks = batch_data['keypoint_mask'].cuda()
paf_masks = batch_data['paf_mask'].cuda()
keypoint_maps = batch_data['keypoint_maps'].cuda()
paf_maps = batch_data['paf_maps'].cuda()
stages_output = net(images)
losses = []
for loss_idx in range(len(total_losses) // 2):
losses.append(
l2_loss(stages_output[loss_idx * 2], keypoint_maps,
keypoint_masks, images.shape[0]))
losses.append(
l2_loss(stages_output[loss_idx * 2 + 1], paf_maps,
paf_masks, images.shape[0]))
total_losses[loss_idx *
2] += losses[-2].item() / batches_per_iter
total_losses[loss_idx * 2 +
1] += losses[-1].item() / batches_per_iter
loss = losses[0]
for loss_idx in range(1, len(losses)):
loss += losses[loss_idx]
loss /= batches_per_iter
loss.backward()
batch_per_iter_idx += 1
if batch_per_iter_idx == batches_per_iter:
optimizer.step()
batch_per_iter_idx = 0
num_iter += 1
else:
continue
if num_iter % log_after == 0:
print('Iter: {}'.format(num_iter))
for loss_idx in range(len(total_losses) // 2):
print('\n'.join([
'stage{}_pafs_loss: {}',
'stage{}_heatmaps_loss: {}'
]).format(loss_idx + 1,
total_losses[loss_idx * 2 + 1] / log_after,
loss_idx + 1,
total_losses[loss_idx * 2] / log_after))
for loss_idx in range(len(total_losses)):
total_losses[loss_idx] = 0
if num_iter % checkpoint_after == 0:
snapshot_name = '{}/checkpoint_iter_{}.pth'.format(
checkpoints_folder, num_iter)
torch.save(
{
'state_dict': net.module.state_dict(),
'optimizer': optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'iter': num_iter,
'current_epoch': epochId
}, snapshot_name)
if num_iter % val_after == 0:
print('Validation...')
evaluate(val_labels, val_output_name, val_images_folder, net)
net.train()
def gen():
"""Video streaming generator function."""
HOST = ''
PORT = 8088
emptyPoses = []
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print('Socket created')
s.bind((HOST, PORT))
print('Socket bind complete')
s.listen(10)
print('Socket now listening')
net = PoseEstimationWithMobileNet()
checkpoint = torch.load('checkpoint_iter_370000.pth', map_location='cpu')
load_state(net, checkpoint)
conn, addr = s.accept()
print('ACCENPTED')
data = b'' ### CHANGED
payload_size = struct.calcsize("=L") ### CHANGED
stepA = False
stepB = False
global count
count = 0
sitAngle = 0
stdupAngle = 0
font = cv2.FONT_HERSHEY_SIMPLEX
bottomLeftCornerOfText = (50, 400)
topLeft = (150, 400)
fontScale = 3
fontColor = (255, 0, 0)
lineType = 2
emptyPoses = []
while True:
while len(data) < payload_size:
data += conn.recv(4096)
print('MESSAGESIZE')
print(payload_size)
packed_msg_size = data[:payload_size]
data = data[payload_size:]
msg_size = struct.unpack("=L", packed_msg_size)[0] ### CHANGED
print('unpack')
# Retrieve all data based on message size
while len(data) < msg_size:
data += conn.recv(4096)
print(len(data))
print(msg_size)
print('RECIEVED')
frame_data = data[:msg_size]
data = data[msg_size:]
# Extract frame
frame = pickle.loads(frame_data)
#read_return_code, frame = vc.read()
pose = run_demo(net, frame, 256, 0, 0, 1)
if pose is not None:
pose.draw(frame)
#cv2.imshow('test', frame)
if cv2.waitKey(1) == ord('q'):
break
A = np.array([pose.keypoints[8][0], pose.keypoints[8][1]])
B = np.array([pose.keypoints[9][0], pose.keypoints[9][1]])
C = np.array([pose.keypoints[10][0], pose.keypoints[10][1]])
BA = A - B
BC = C - B
cosine_angle = np.dot(
BA, BC) / (np.linalg.norm(BA) * np.linalg.norm(BC))
angle = np.arccos(cosine_angle)
angle = np.degrees(angle)
#print(angle)
if angle > 140:
stepA = True
if stdupAngle is 0:
stdupAngle = angle
if angle > stdupAngle:
stdupAngle = angle
if angle < 70:
stepB = True
if sitAngle is 0:
sitAngle = angle
if angle < sitAngle:
sitAngle = angle
if stepA and stepB is True:
if angle > 140:
stepA = False
stepB = False
count += 1
if sitAngle > 60:
cv2.putText(frame, "Bend your knee more", topLeft,
font, fontScale, fontColor, lineType)
stdupDiff = 140 - stdupAngle
sitDiff = 70 - sitAngle
stdupDiff = abs(stdupDiff)
sitDiff = abs(sitDiff)
correctness = 280 - (stdupDiff + sitDiff)
cv2.putText(frame, "correctness" + str(correctness),
bottomLeftCornerOfText, font, fontScale,
fontColor, lineType)
sitAngle = 0
stdupAngle = 0
if stepA is True and stepB is False:
if angle > 140:
stepA = False
stepB = False
sitAngle = 0
stdupAngle = 0
cv2.putText(frame, "count" + str(count), bottomLeftCornerOfText,
font, fontScale, fontColor, lineType)
#cv2.imshow("img", frame)
print(count)
encode_return_code, image_buffer = cv2.imencode('.jpg', frame)
io_buf = io.BytesIO(image_buffer)
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + io_buf.read() +
b'\r\n')
default='data/2.jpg',
help='path to input image(s)')
parser.add_argument('--cpu',
action='store_true',
help='run network inference on cpu')
parser.add_argument('--track',
type=int,
default=1,
help='track pose id in video')
parser.add_argument('--smooth',
type=int,
default=1,
help='smooth pose keypoints')
args = parser.parse_args()
if args.video == '' and args.images == '':
raise ValueError('Either --video or --image has to be provided')
net = PoseEstimationWithMobileNet()
checkpoint = torch.load(args.checkpoint_path, map_location='cpu')
load_state(net, checkpoint)
frame_provider = ImageReader(args.images)
if args.video != '':
frame_provider = VideoReader(args.video)
else:
args.track = 0
run_demo(net, frame_provider, args.height_size, args.cpu, args.track,
args.smooth)
def train(prepared_train_labels, train_images_folder, num_refinement_stages,
base_lr, batch_size, batches_per_iter, num_workers, checkpoint_path,
weights_only, from_mobilenet, checkpoints_folder, log_after,
val_labels, val_images_folder, val_output_name, checkpoint_after,
val_after):
net = PoseEstimationWithMobileNet(num_refinement_stages)
stride = 8
sigma = 7
path_thickness = 1
dataset = CocoTrainDataset(prepared_train_labels,
train_images_folder,
stride,
sigma,
path_thickness,
transform=transforms.Compose([
ConvertKeypoints(),
Scale(),
Rotate(pad=(128, 128, 128)),
CropPad(pad=(128, 128, 128)),
Flip()
]))
train_loader = DataLoader(dataset,
batch_size=batch_size,
shuffle=True,
num_workers=num_workers)
optimizer = optim.Adam([
{
'params': get_parameters_conv(net.model, 'weight')
},
{
'params': get_parameters_conv_depthwise(net.model, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.model, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.model, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv(net.cpm, 'weight'),
'lr': base_lr
},
{
'params': get_parameters_conv(net.cpm, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv_depthwise(net.cpm, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_conv(net.initial_stage, 'weight'),
'lr': base_lr
},
{
'params': get_parameters_conv(net.initial_stage, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
{
'params': get_parameters_conv(net.refinement_stages, 'weight'),
'lr': base_lr * 4
},
{
'params': get_parameters_conv(net.refinement_stages, 'bias'),
'lr': base_lr * 8,
'weight_decay': 0
},
{
'params': get_parameters_bn(net.refinement_stages, 'weight'),
'weight_decay': 0
},
{
'params': get_parameters_bn(net.refinement_stages, 'bias'),
'lr': base_lr * 2,
'weight_decay': 0
},
],
lr=base_lr,
weight_decay=5e-4)
num_iter = 0
current_epoch = 0
drop_after_epoch = [100, 200, 260]
scheduler = optim.lr_scheduler.MultiStepLR(optimizer,
milestones=drop_after_epoch,
gamma=0.333)
if checkpoint_path:
checkpoint = torch.load(checkpoint_path)
if from_mobilenet:
load_from_mobilenet(net, checkpoint)
else:
load_state(net, checkpoint)
if not weights_only:
optimizer.load_state_dict(checkpoint['optimizer'])
scheduler.load_state_dict(checkpoint['scheduler'])
num_iter = checkpoint['iter']
current_epoch = checkpoint['current_epoch']
print("optimizer LR")
for param_group in optimizer.param_groups:
print(param_group['lr'])
for state in optimizer.state.values():
for k, v in state.items():
if isinstance(v, torch.Tensor):
state[k] = v.cuda()
net = DataParallel(net).cuda()
net.train()
from DGPT.Visualize.Viz import Viz
viz = Viz(dict(env="refine"))
for epochId in range(current_epoch, 280):
# scheduler.step()
total_losses = [0, 0] * (num_refinement_stages + 1
) # heatmaps loss, paf loss per stage
batch_per_iter_idx = 0
for batch_data in train_loader:
if batch_per_iter_idx == 0:
optimizer.zero_grad()
images = batch_data['image'].cuda()
keypoint_masks = batch_data['keypoint_mask'].cuda()
paf_masks = batch_data['paf_mask'].cuda()
keypoint_maps = batch_data['keypoint_maps'].cuda()
paf_maps = batch_data['paf_maps'].cuda()
images = preprocess(images)
stages_output = net(images)
losses = []
for loss_idx in range(len(total_losses) // 2):
losses.append(
l2_loss(stages_output[loss_idx * 2], keypoint_maps,
keypoint_masks, images.shape[0]))
losses.append(
l2_loss(stages_output[loss_idx * 2 + 1], paf_maps,
paf_masks, images.shape[0]))
total_losses[loss_idx *
2] += losses[-2].item() / batches_per_iter
total_losses[loss_idx * 2 +
1] += losses[-1].item() / batches_per_iter
loss = losses[0]
for loss_idx in range(1, len(losses)):
loss += losses[loss_idx]
loss /= batches_per_iter
loss.backward()
viz.draw_line(num_iter, loss.item(), "Loss")
batch_per_iter_idx += 1
if batch_per_iter_idx == batches_per_iter:
optimizer.step()
batch_per_iter_idx = 0
num_iter += 1
scheduler.step()
else:
continue
if num_iter % log_after == 0:
print('Iter: {}'.format(num_iter))
for loss_idx in range(len(total_losses) // 2):
print('\n'.join([
'stage{}_pafs_loss: {}',
'stage{}_heatmaps_loss: {}'
]).format(loss_idx + 1,
total_losses[loss_idx * 2 + 1] / log_after,
loss_idx + 1,
total_losses[loss_idx * 2] / log_after))
for loss_idx in range(len(total_losses)):
total_losses[loss_idx] = 0
xx = images[:1, ...].detach() #.clone()
hh = keypoint_maps[:1, ...].detach() #.clone()
mm = keypoint_masks[:1, ...].detach() #.clone()
print(xx.shape, hh.shape, mm.shape)
hh = hh.squeeze(0).reshape(19, 1, hh.shape[2], hh.shape[3])
mm = mm.squeeze(0).reshape(19, 1, hh.shape[2], hh.shape[3])
viz.draw_images(xx, "input1")
viz.draw_images(hh, "input1_heatmap")
viz.draw_images(mm, "input1_mask")
oh = stages_output[-2].detach()[:1, :-1, ...]
oh = oh.reshape(oh.shape[1], 1, oh.shape[2], oh.shape[3])
viz.draw_images(oh, "output1_heatmap")
if num_iter % checkpoint_after == 0:
snapshot_name = '{}/checkpoint_iter_{}.pth'.format(
checkpoints_folder, num_iter)
torch.save(
{
'state_dict': net.module.state_dict(),
'optimizer': optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'iter': num_iter,
'current_epoch': epochId
}, snapshot_name)
if num_iter % val_after == 0:
print('Validation...')
evaluate(val_labels, val_output_name, val_images_folder, net)
net.train()
