def main():
print("[INFO] sampling frames...")
detector = dlib.get_frontal_face_detector()
predictor = dlib.shape_predictor(
'model/shape_predictor_5_face_landmarks.dat')
time.sleep(2.0)
stream = WebcamVideoStream(args['src']).start()
fps = FPS().start()
start = time.time()
mot_tracker = Sort()
grabbed, frame = stream.read()
while grabbed:
frame = cv2.resize(frame, (1280, 720))
if fps._numFrames % 3 == 0:
rects = detector(frame, 0)
dets = np.array([get_pos_from_rect(rect) for rect in rects])
ages = np.empty((len(dets)))
genders = np.empty((len(dets)))
if len(rects) > 0:
shapes = dlib.full_object_detections()
for rect in rects:
shapes.append(predictor(frame, rect))
faces = dlib.get_face_chips(frame, shapes, size=96, padding=0.4)
faces = np.array(faces)
faces = model.prep_image(faces)
result = get_result(faces)
genders, ages = model.decode_prediction(result)
mot_tracker.update(dets, genders, ages)
for tracker in mot_tracker.trackers:
(left, top, right, bottom) = convert_x_to_bbox(
tracker.kf.x[:4, :]).astype('int').flatten()
cv2.rectangle(frame, (left, top), (right, bottom), (0, 255, 0), 2)
age = tracker.smooth_age()
gender = 'M' if tracker.smooth_gender() == 1 else 'F'
cv2.putText(frame, "id: {} {} {}".format(tracker.id, gender, age),
(left - 10, top - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 255, 0), 2)
cv2.putText(frame, "{:.1f} FPS".format(fps.fps()), (1100, 50),
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2)
cv2.namedWindow("Frame", cv2.WINDOW_NORMAL)
cv2.imshow("Frame", frame)
key = cv2.waitKey(1) & 0xFF
fps.update()
grabbed, frame = stream.read()
fps.stop()
stream.release()
cv2.destroyAllWindows()
def kalman_filter_tracking(det_bb, video_n_frames, model_type):
"""
This function assigns a track value to an object by using kalman filters.
It also adjust bounding box coordinates based on tracking information.
"""
bb_id_updated = []
tracker = Sort(model_type=model_type)
for frame_num in range(1, video_n_frames + 1):
#Get only bb of current frame
dets_all_info = list(filter(lambda x: x[0] == frame_num, det_bb))
dets = np.array([[bb[3], bb[4], bb[5], bb[6]]
for bb in dets_all_info]) #[[x1,y1,x2,y2]]
#Apply kalman filtering
trackers = tracker.update(dets)
#Obtain id and bb in correct format
for bb_dets, bb_update in zip(dets_all_info, trackers):
bb_id_updated.append([
bb_dets[0], bb_dets[1],
int(bb_update[4]), bb_update[0], bb_update[1], bb_update[2],
bb_update[3], bb_dets[7]
])
# bb_id_updated.append([bb_dets[0], bb_dets[1], int(bb_update[4]), bb_dets[3],bb_dets[4], bb_dets[5], bb_dets[6], bb_dets[7]])
return bb_id_updated
class Ui_MainWindow(QtWidgets.QWidget):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent)
self.tracker = Sort(settings.sort_max_age, settings.sort_min_hit)
self.timer_camera = QtCore.QTimer()
# self.cap = cv2.VideoCapture()
# self.cap = cv2.VideoCapture()
self.CAM_NUM = 0
self.set_ui()
self.slot_init()
self.__flag_mode = 0
self.fps = 0.00
self.data = {}
self.memory = {}
self.joints = []
self.current = []
self.previous = []
self.fourcc = cv2.VideoWriter_fourcc(
*'mp4v') # Be sure to use lower case
self.out = cv2.VideoWriter('x.mp4', self.fourcc, 1,
(settings.winWidth, settings.winHeight))
def set_ui(self):
self.__layout_main = QtWidgets.QHBoxLayout()
self.__layout_fun_button = QtWidgets.QVBoxLayout()
self.__layout_data_show = QtWidgets.QVBoxLayout()
self.button_open_camera = QtWidgets.QPushButton(u'Camera OFF')
self.button_mode_1 = QtWidgets.QPushButton(u'Attitude Estimation OFF')
self.button_mode_2 = QtWidgets.QPushButton(u'Multiplayer tracking OFF')
self.button_mode_3 = QtWidgets.QPushButton(u'Behavior recognition OFF')
self.button_video = QtWidgets.QPushButton("Load Video")
self.button_close = QtWidgets.QPushButton(u'Exit')
self.button_open_camera.setMinimumHeight(50)
self.button_mode_1.setMinimumHeight(50)
self.button_mode_2.setMinimumHeight(50)
self.button_mode_3.setMinimumHeight(50)
self.button_video.setMinimumHeight(50)
self.button_close.setMinimumHeight(50)
self.button_close.move(10, 100)
self.infoBox = QtWidgets.QTextBrowser(self)
self.infoBox.setGeometry(QtCore.QRect(10, 300, 200, 180))
# 信息显示
self.label_show_camera = QtWidgets.QLabel()
self.label_move = QtWidgets.QLabel()
self.label_move.setFixedSize(200, 200)
self.label_show_camera.setFixedSize(settings.winWidth + 1,
settings.winHeight + 1)
self.label_show_camera.setAutoFillBackground(True)
self.__layout_fun_button.addWidget(self.button_open_camera)
self.__layout_fun_button.addWidget(self.button_mode_1)
self.__layout_fun_button.addWidget(self.button_mode_2)
self.__layout_fun_button.addWidget(self.button_mode_3)
self.__layout_fun_button.addWidget(self.button_video)
self.__layout_fun_button.addWidget(self.button_close)
self.__layout_fun_button.addWidget(self.label_move)
self.__layout_main.addLayout(self.__layout_fun_button)
self.__layout_main.addWidget(self.label_show_camera)
self.setLayout(self.__layout_main)
self.label_move.raise_()
self.setWindowTitle(
u'Real-time multi-person attitude estimation and behavior recognition system'
)
def slot_init(self):
self.button_open_camera.clicked.connect(self.switch_to_camera)
self.timer_camera.timeout.connect(self.show_camera)
self.button_mode_1.clicked.connect(self.button_event2)
self.button_mode_2.clicked.connect(self.button_event2)
self.button_mode_3.clicked.connect(self.button_event2)
self.button_video.clicked.connect(self.getfile)
self.button_close.clicked.connect(self.close)
def button_event2(self):
sender = self.sender()
if sender == self.button_mode_1 and self.timer_camera.isActive():
if self.__flag_mode != 1:
self.__flag_mode = 1
self.button_mode_1.setText(u'Attitude Estimation ON')
self.button_mode_2.setText(u'Multiplayer Tracking OFF')
self.button_mode_3.setText(u'Behavior Recognition OFF')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'Attitude Estimation OFF')
self.infoBox.setText(u'Camera is on')
elif sender == self.button_mode_2 and self.timer_camera.isActive():
if self.__flag_mode != 2:
self.__flag_mode = 2
self.button_mode_1.setText(u'Attitude Estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking ON')
self.button_mode_3.setText(u'Behavior recognition OFF')
else:
self.__flag_mode = 0
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.infoBox.setText(u'camera已打开')
elif sender == self.button_mode_3 and self.timer_camera.isActive():
if self.__flag_mode != 3:
self.__flag_mode = 3
self.button_mode_1.setText(u'Attitude Estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition ON')
else:
self.__flag_mode = 0
self.button_mode_3.setText(u'Behavior recognition OFF')
self.infoBox.setText(u'camera已打开')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'Attitude Estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition OFF')
def show_camera(self):
start = time.time()
ret, frame = self.cap.read()
# if not ret:
# print('this should save the video')
# self.timer_camera.stop()
# self.out.release()
if ret:
show_s = cv2.resize(frame, (settings.winWidth, settings.winHeight))
show = cv2.cvtColor(show_s, cv2.COLOR_BGR2RGB)
if self.__flag_mode == 1:
self.infoBox.setText(u'当前为人体Attitude Estimation模式')
humans = poseEstimator.inference(show)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
elif self.__flag_mode == 2:
self.infoBox.setText(u'当前为Multiplayer tracking模式')
humans = poseEstimator.inference(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(
show, humans, imgcopy=False)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
# This is the part to get the kt points
elif self.__flag_mode == 3:
self.infoBox.setText(u'当前为人体Behavior recognition模式')
humans = poseEstimator.inference(show)
ori = np.copy(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(
show, humans, imgcopy=False)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
self.current = [i[-1] for i in trackers]
if len(self.previous) > 0:
for item in self.previous:
if item not in self.current and item in self.data:
del self.data[item]
if item not in self.current and item in self.memory:
del self.memory[item]
self.previous = self.current
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
try:
j = np.argmin(
np.array([
abs(i - (xmax + xmin) / 2.)
for i in xcenter
]))
except:
j = 0
if joint_filter(joints[j]):
joints[j] = joint_completion(
joint_completion(joints[j]))
if label not in self.data:
self.data[label] = [joints[j]]
self.memory[label] = 0
else:
self.data[label].append(joints[j])
if len(self.data[label]) == settings.L:
pred = actionPredictor().move_status(
self.data[label])
if pred == 0:
pred = self.memory[label]
else:
self.memory[label] = pred
self.data[label].pop(0)
location = self.data[label][-1][1]
if location[0] <= 30:
location = (51, location[1])
if location[1] <= 10:
location = (location[0], 31)
cv2.putText(
show, settings.move_status[pred],
(location[0] - 30, location[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0),
2)
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
self.out.write(show_s) # Write out frame to video
end = time.time()
self.fps = 1. / (end - start)
cv2.putText(show, 'FPS: %.2f' % self.fps, (30, 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0],
QtGui.QImage.Format_RGB888)
self.label_show_camera.setPixmap(
QtGui.QPixmap.fromImage(showImage))
else:
print('this should save the video')
self.timer_camera.stop()
self.out.release()
def closeEvent(self, event):
# self.out.release()
ok = QtWidgets.QPushButton()
cancel = QtWidgets.QPushButton()
msg = QtWidgets.QMessageBox(QtWidgets.QMessageBox.Warning,
u"shut down",
u"Are you sure you want to quit?")
msg.addButton(ok, QtWidgets.QMessageBox.ActionRole)
msg.addButton(cancel, QtWidgets.QMessageBox.RejectRole)
ok.setText(u'Yes')
cancel.setText(u'Cancel')
if msg.exec_() == QtWidgets.QMessageBox.RejectRole:
event.ignore()
else:
if self.cap.isOpened():
self.cap.release()
if self.timer_camera.isActive():
self.timer_camera.stop()
event.accept()
print("System exited.")
def getfile(self):
dlg = QFileDialog()
dlg.setFileMode(QFileDialog.AnyFile)
fname = dlg.getOpenFileName(self, 'Open file', 'c:\\')
# self.le.setPixmap(QPixmap(fname))
if fname:
self.load_video(fname[0])
# def getfiles(self):
# dlg = QFileDialog()
# dlg.setFileMode(QFileDialog.AnyFile)
# dlg.setFilter("Text files (*.txt)")
# filenames = QStringList()
# if dlg.exec_():
# filenames = dlg.selectedFiles()
# f = open(filenames[0], 'r')
# with f:
# data = f.read()
# self.contents.setText(data)
def load_video(self, name):
print(name)
self.cap = cv2.VideoCapture(name)
# self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, settings.winWidth)
# self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, settings.winHeight)
self.timer_camera.stop()
self.timer_camera.start(1)
def switch_to_camera(self):
indicators['camera'] = not indicators['camera']
[self.stop_camera, self.start_camera][int(indicators['camera'])]()
self.button_open_camera.setText(['Camera OFF', 'Camera ON'
][int(indicators['camera'])])
def stop_camera(self):
self.out.release()
self.cap.release()
self.timer_camera.stop()
def start_camera(self):
self.cap = cv2.VideoCapture(0)
self.timer_camera.stop()
self.timer_camera.start(1)
class Ui_MainWindow(QtWidgets.QWidget):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent)
self.tracker = Sort(settings.sort_max_age, settings.sort_min_hit)
self.timer_camera = QtCore.QTimer()
self.cap = cv2.VideoCapture()
self.CAM_NUM = 0
self.set_ui()
self.slot_init()
self.__flag_mode = 0
self.fps = 0.00
self.data = {}
self.memory = {}
self.joints = []
self.current = []
self.previous = []
def set_ui(self):
self.__layout_main = QtWidgets.QHBoxLayout()
self.__layout_fun_button = QtWidgets.QVBoxLayout()
self.__layout_data_show = QtWidgets.QVBoxLayout()
self.button_open_camera = QtWidgets.QPushButton(u'camera OFF')
self.button_mode_1 = QtWidgets.QPushButton(u'Attitude estimation OFF')
self.button_mode_2 = QtWidgets.QPushButton(u'Multiplayer tracking OFF')
self.button_mode_3 = QtWidgets.QPushButton(u'Behavior recognition OFF')
self.button_close = QtWidgets.QPushButton(u'Exit')
self.button_open_camera.setMinimumHeight(50)
self.button_mode_1.setMinimumHeight(50)
self.button_mode_2.setMinimumHeight(50)
self.button_mode_3.setMinimumHeight(50)
self.button_close.setMinimumHeight(50)
self.button_close.move(10, 100)
self.infoBox = QtWidgets.QTextBrowser(self)
self.infoBox.setGeometry(QtCore.QRect(10, 300, 200, 180))
# 信息显示
self.label_show_camera = QtWidgets.QLabel()
self.label_move = QtWidgets.QLabel()
self.label_move.setFixedSize(200, 200)
self.label_show_camera.setFixedSize(settings.winWidth + 1, settings.winHeight + 1)
self.label_show_camera.setAutoFillBackground(True)
self.__layout_fun_button.addWidget(self.button_open_camera)
self.__layout_fun_button.addWidget(self.button_mode_1)
self.__layout_fun_button.addWidget(self.button_mode_2)
self.__layout_fun_button.addWidget(self.button_mode_3)
self.__layout_fun_button.addWidget(self.button_close)
self.__layout_fun_button.addWidget(self.label_move)
self.__layout_main.addLayout(self.__layout_fun_button)
self.__layout_main.addWidget(self.label_show_camera)
self.setLayout(self.__layout_main)
self.label_move.raise_()
self.setWindowTitle(u'Real-time multi-person attitude estimation and behavior recognition system')
def slot_init(self):
self.button_open_camera.clicked.connect(self.button_event)
self.timer_camera.timeout.connect(self.show_camera)
self.button_mode_1.clicked.connect(self.button_event)
self.button_mode_2.clicked.connect(self.button_event)
self.button_mode_3.clicked.connect(self.button_event)
self.button_close.clicked.connect(self.close)
def button_event(self):
sender = self.sender()
if sender == self.button_mode_1 and self.timer_camera.isActive():
if self.__flag_mode != 1:
self.__flag_mode = 1
self.button_mode_1.setText(u'Attitude estimation ON')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition OFF')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'Attitude estimation OFF')
self.infoBox.setText(u'Camera is on')
elif sender == self.button_mode_2 and self.timer_camera.isActive():
if self.__flag_mode != 2:
self.__flag_mode = 2
self.button_mode_1.setText(u'Attitude estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking ON')
self.button_mode_3.setText(u'Behavior recognition OFF')
else:
self.__flag_mode = 0
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.infoBox.setText(u'Camera is on')
elif sender == self.button_mode_3 and self.timer_camera.isActive():
if self.__flag_mode != 3:
self.__flag_mode = 3
self.button_mode_1.setText(u'Attitude estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognitionON')
else:
self.__flag_mode = 0
self.button_mode_3.setText(u'Behavior recognition OFF')
self.infoBox.setText(u'Camera is on')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'Attitude estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition OFF')
if self.timer_camera.isActive() == False:
flag = self.cap.open(self.CAM_NUM)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, settings.winWidth)
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, settings.winHeight)
if flag == False:
msg = QtWidgets.QMessageBox.warning(self, u"Warning", u"Please check if the camera and computer are connected correctly",
buttons=QtWidgets.QMessageBox.Ok,
defaultButton=QtWidgets.QMessageBox.Ok)
else:
self.timer_camera.start(1)
self.button_open_camera.setText(u'camera ON')
self.infoBox.setText(u'Camera is on')
else:
self.timer_camera.stop()
self.cap.release()
self.label_show_camera.clear()
self.button_open_camera.setText(u'camera OFF')
self.infoBox.setText(u'Camera is off')
def show_camera(self):
start = time.time()
ret, frame = self.cap.read()
show = cv2.resize(frame, (settings.winWidth, settings.winHeight))
show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
if ret:
if self.__flag_mode == 1:
self.infoBox.setText(u'Current pose estimation model')
humans = poseEstimator.inference(show)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
elif self.__flag_mode == 2:
self.infoBox.setText(u'Currently multiplayer tracking mode')
humans = poseEstimator.inference(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
elif self.__flag_mode == 3:
self.infoBox.setText(u'Current human behavior recognition model')
humans = poseEstimator.inference(show)
ori = np.copy(show)
show, joints, bboxes, xcenter, sk= TfPoseEstimator.get_skeleton(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
self.current = [i[-1] for i in trackers]
if len(self.previous) > 0:
for item in self.previous:
if item not in self.current and item in self.data:
del self.data[item]
if item not in self.current and item in self.memory:
del self.memory[item]
self.previous = self.current
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
try:
j = np.argmin(np.array([abs(i - (xmax + xmin) / 2.) for i in xcenter]))
except:
j = 0
if joint_filter(joints[j]):
joints[j] = joint_completion(joint_completion(joints[j]))
if label not in self.data:
self.data[label] = [joints[j]]
self.memory[label] = 0
else:
self.data[label].append(joints[j])
if len(self.data[label]) == settings.L:
pred = actionPredictor().move_status(self.data[label])
if pred == 0:
pred = self.memory[label]
else:
self.memory[label] = pred
self.data[label].pop(0)
location = self.data[label][-1][1]
if location[0] <= 30:
location = (51, location[1])
if location[1] <= 10:
location = (location[0], 31)
cv2.putText(show, settings.move_status[pred], (location[0] - 30, location[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.8,
(0, 255, 0), 2)
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
end = time.time()
self.fps = 1. / (end - start)
cv2.putText(show, 'FPS: %.2f' % self.fps, (30, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], QtGui.QImage.Format_RGB888)
self.label_show_camera.setPixmap(QtGui.QPixmap.fromImage(showImage))
def closeEvent(self, event):
ok = QtWidgets.QPushButton()
cancel = QtWidgets.QPushButton()
msg = QtWidgets.QMessageBox(QtWidgets.QMessageBox.Warning, u"Close", u"yes")
msg.addButton(ok, QtWidgets.QMessageBox.ActionRole)
msg.addButton(cancel, QtWidgets.QMessageBox.RejectRole)
ok.setText(u'determine')
cancel.setText(u'No')
if msg.exec_() == QtWidgets.QMessageBox.RejectRole:
event.ignore()
else:
if self.cap.isOpened():
self.cap.release()
if self.timer_camera.isActive():
self.timer_camera.stop()
event.accept()
print("System exited.")
def main():
# Ground truth file path:
if INPUT == 'gt_txt':
gt_file = os.path.join(ROOT_DIR, 'data', 'AICity_data', 'train', 'S03',
'c010', 'gt', 'gt.txt')
# Get BBox detection from list
df = ut.get_bboxes_from_MOTChallenge(gt_file)
elif INPUT == 'yolo3':
gt_file = os.path.join(ROOT_DIR, 'data', 'AICity_data', 'train', 'S03',
'c010', 'det', 'det_yolo3.txt')
# Get BBox detection from list
df = ut.get_bboxes_from_MOTChallenge(gt_file)
elif INPUT == 'gt_xml':
gt_file = os.path.join(ROOT_DIR, 'data', 'AICity_data', 'train', 'S03',
'c010', 'gt', 'm6-full_annotation_crop.xml')
# Get BBox detection from list
df = ut_xml.get_bboxes_from_aicity_file(gt_file)
# Adapt GT to final metric calculation (add bbox and track_id columns):
df.loc[:, 'track_id'] = df['id'].values.tolist()
df.loc[:, 'img_id'] = df['frame'].values.tolist()
boxes = []
for index, row in df.iterrows():
#boxes.append([row['ytl'], row['xtl'], row['ybr'], row['xbr']])
boxes.append([row['xtl'], row['ytl'], row['xbr'], row['ybr']])
df['boxes'] = boxes
elif INPUT == 'cnn_out':
#gt_file = os.path.join(ROOT_DIR,
# 'data', 'AICity_data', 'train', 'S03',
# 'c010', 'det', 'results_cnn.csv')
gt_file = os.path.join(ROOT_DIR, 'data', 'AICity_data', 'train', 'S03',
'c010', 'det', 'results_for_map.csv')
# Get BBox detection from list
df = pd.read_csv(gt_file)
# Adapt GT to final metric calculation (add bbox and track_id columns):
boxes = []
for index, row in df.iterrows():
#boxes.append([row['ytl'], row['xtl'], row['ybr'], row['xbr']])
#boxes.append([row['xtl'], row['ytl'], row['xbr'], row['ybr']]) # Total output from Cnn GOOD ONE!
boxes.append([row['xbr'], row['ybr'], row['xtl'],
row['ytl']]) # Total output from Cnn TEST
df['boxes'] = boxes
# Display data:
colours = np.random.rand(32, 3) # Used only for display
# Sort and group bbox by frame:
df.sort_values(by=['frame'])
df_grouped = df.groupby('frame')
total_time = 0.0
total_frames = 0
out = []
if display:
plt.ion() # for iterative display
fig, ax = plt.subplots(1, 2, figsize=(20, 20))
# Create instance of the SORT tracker
mot_tracker = Sort()
for f, df_group in df_grouped:
frame = int(df_group['frame'].values[0])
print(frame)
if frame > 220:
break
if INPUT == 'gt_txt' or INPUT == 'yolo3':
df_gt = df_group[['ymin', 'xmin', 'ymax', 'xmax']].values.tolist()
elif INPUT == 'gt_xml':
df_gt = df_group[['ytl', 'xtl', 'ybr', 'xbr']].values.tolist()
elif INPUT == 'cnn_out':
#ToDo: When we correct the order of CNN output CHANGE this order to the same as gt_xml!!
#df_gt = df_group[['ybr', 'xtl', 'ytl', 'xbr']].values.tolist()
df_gt = df_group[['ybr', 'xbr', 'ytl', 'xtl']].values.tolist()
# Reshape GT format for Kalman tracking algorithm:
# [x1,y1,x2,y2] format for the tracker input:
df_gt = np.asarray(df_gt)
dets = np.stack([df_gt[:, 1], df_gt[:, 0], df_gt[:, 3], df_gt[:, 2]],
axis=1)
dets = np.reshape(dets, (len(dets), -1))
dets = np.asarray(dets, dtype=np.float64, order='C')
if (display):
fn = frames_dir + '/frame_%03d.jpg' % (frame) # read the frame
im = io.imread(fn)
ax[0].imshow(im)
ax[0].axis('off')
ax[0].set_title('Original R-CNN detections (untracked)')
for j in range(np.shape(dets)[0]):
color = 'r'
coords = (dets[j, 0].astype(np.float),
dets[j, 1].astype(np.float)), dets[j, 2].astype(
np.float) - dets[j, 0].astype(
np.float), dets[j, 3].astype(
np.float) - dets[j, 1].astype(np.float)
ax[0].add_patch(
plt.Rectangle(*coords, fill=False, edgecolor=color, lw=3))
total_frames += 1
if (display):
ax[1].imshow(im)
ax[1].axis('off')
ax[1].set_title('Tracked Targets')
start_time = time.time()
trackers = mot_tracker.update(dets)
cycle_time = time.time() - start_time
total_time += cycle_time
out.append([frame, trackers])
for d in trackers:
if (display):
d = d.astype(np.uint32)
ax[1].add_patch(
patches.Rectangle((d[0], d[1]),
d[2] - d[0],
d[3] - d[1],
fill=False,
lw=3,
ec=colours[d[4] % 32, :]))
ax[1].set_adjustable('box-forced')
if (save):
plt.savefig(
os.path.join(results_dir,
'video_kalman_' + str(frame) + '.png'))
if (display):
dp.clear_output(wait=True)
dp.display(plt.gcf())
time.sleep(0.000001)
ax[0].cla()
ax[1].cla()
plt.show()
print("Total Tracking took: %.3f for %d frames or %.1f FPS" %
(total_time, total_frames, total_frames / total_time))
############################################################################################################
# Result of Kalman tracking (pandas format):
df_kalman = ut.kalman_out_to_pandas_for_map(out)
if INPUT == 'gt_txt' or INPUT == 'yolo3':
df_gt = ut.get_bboxes_from_MOTChallenge_for_map(gt_file)
elif INPUT == 'gt_xml':
df_gt = df
elif INPUT == 'cnn_out':
df_gt = None
# If ground truth was used, save ground truth adapted to map_metric.py:
if df_gt is not None:
ut.save_pkl(df_gt, os.path.join(results_dir, INPUT + '_gt_panda.pkl'))
df_gt_corr = ut.panda_to_json_gt(df_gt)
ut.save_json(
df_gt_corr,
os.path.join(results_dir, INPUT + '_gt_ground_truth_boxes.json'))
# Save kalman filter output:
ut.save_pkl(df_kalman,
os.path.join(results_dir, INPUT + '_kalman_predictions.pkl'))
df_pred_corr = ut.panda_to_json_predicted(df_kalman)
ut.save_json(df_pred_corr,
os.path.join(results_dir, INPUT + '_predicted_boxes.json'))
def main():
for CAM in cameras:
# Set useful directories
frames_dir = os.path.join(ROOT_DIR, 'train', SEQ, CAM, 'frames')
results_dir = os.path.join(OUTPUT_DIR, WEEK, TASK)
# Create folders if they don't exist
if not os.path.isdir(results_dir):
os.mkdir(results_dir)
tstamp_path = os.path.join(ROOT_DIR, 'cam_timestamp', SEQ + '.txt')
time_offset, fps = ut.obtain_timeoff_fps(tstamp_path, CAM)
# Ground truth file path:
gt_det = os.path.join(ROOT_DIR, 'train', SEQ, CAM, 'det',
INPUT + '.txt')
# Save gt file as pkl:
if CREATE_GT_PKL == True:
gt_txt = os.path.join(ROOT_DIR, 'train', SEQ, CAM, 'gt', 'gt.txt')
save_gt_pkl = os.path.join(ROOT_DIR, 'train', SEQ, CAM, 'gt',
'gt.pkl')
code_ut.getBBox_from_gt(gt_txt, save_in=save_gt_pkl)
# Get BBox detection from list
df = ut.get_bboxes_from_MOTChallenge(gt_det)
df.loc[:, 'time_stamp'] = df['frame'].values.tolist()
# Display data:
colours = np.random.rand(32, 3) # Used only for display
# Sort and group bbox by frame:
df.sort_values(by=['frame'])
df_grouped = df.groupby('frame')
total_time = 0.0
total_frames = 0
out = []
if display:
plt.ion() # for iterative display
fig, ax = plt.subplots(1, 2, figsize=(20, 20))
# Create instance of the SORT tracker
mot_tracker = Sort()
for f, df_group in df_grouped:
frame = int(df_group['frame'].values[0])
time_stamp = ut.timestamp_calc(frame, time_offset, fps)
df_gt = df_group[['ymin', 'xmin', 'ymax', 'xmax']].values.tolist()
# Reshape GT format for Kalman tracking algorithm:
# [x1,y1,x2,y2] format for the tracker input:
df_gt = np.asarray(df_gt)
dets = np.stack(
[df_gt[:, 1], df_gt[:, 0], df_gt[:, 3], df_gt[:, 2]], axis=1)
dets = np.reshape(dets, (len(dets), -1))
dets = np.asarray(dets, dtype=np.float64, order='C')
if (display):
fn = frames_dir + '/frame_%04d.jpg' % (frame) # read the frame
im = io.imread(fn)
ax[0].imshow(im)
ax[0].axis('off')
ax[0].set_title('Original R-CNN detections (untracked)')
for j in range(np.shape(dets)[0]):
color = 'r'
coords = (dets[j, 0].astype(np.float), dets[j, 1].astype(
np.float)), dets[j, 2].astype(
np.float) - dets[j, 0].astype(
np.float), dets[j, 3].astype(
np.float) - dets[j, 1].astype(np.float)
ax[0].add_patch(
plt.Rectangle(*coords,
fill=False,
edgecolor=color,
lw=3))
total_frames += 1
if (display):
ax[1].imshow(im)
ax[1].axis('off')
ax[1].set_title('Tracked Targets')
start_time = time.time()
trackers = mot_tracker.update(dets)
cycle_time = time.time() - start_time
total_time += cycle_time
out.append([frame, trackers, time_stamp])
for d in trackers:
if (display):
d = d.astype(np.uint32)
ax[1].add_patch(
patches.Rectangle((d[0], d[1]),
d[2] - d[0],
d[3] - d[1],
fill=False,
lw=3,
ec=colours[d[4] % 32, :]))
ax[1].set_adjustable('box-forced')
if (save):
plt.savefig(
os.path.join(results_dir,
'video_kalman_' + str(frame) + '.png'))
if (display):
dp.clear_output(wait=True)
dp.display(plt.gcf())
time.sleep(0.000001)
ax[0].cla()
ax[1].cla()
plt.show()
print("Total Tracking took: %.3f for %d frames or %.1f FPS" %
(total_time, total_frames, total_frames / total_time))
############################################################################################################
# Result of Kalman tracking (pandas format):
df_kalman = ut.kalman_out_to_pandas_for_map(out)
# Save kalman filter output:
ut.save_pkl(
df_kalman,
os.path.join(results_dir,
INPUT + SEQ + CAM + '_kalman_predictions.pkl'))
class Ui_MainWindow(QtWidgets.QWidget):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent)
self.tracker = Sort(settings.sort_max_age, settings.sort_min_hit)
self.timer_camera = QtCore.QTimer()
self.cap = cv2.VideoCapture()
self.CAM_NUM = 0
self.set_ui()
self.slot_init()
self.__flag_mode = 0
self.fps = 0.00
self.data = {}
self.memory = {}
self.joints = []
self.current = []
self.previous = []
self.frames_count = 0 #用于计数每一次预测前摄入的帧数
self.pred_num_frames = 16 #设置多少帧预测一次
self.pred_data = {} #用于存储每一次预测用的数据
self.one_frame = []
def set_ui(self):
self.__layout_main = QtWidgets.QHBoxLayout()
self.__layout_fun_button = QtWidgets.QVBoxLayout()
self.__layout_data_show = QtWidgets.QVBoxLayout()
self.button_open_camera = QtWidgets.QPushButton(u'相机 OFF')
self.button_mode_1 = QtWidgets.QPushButton(u'姿态估计 OFF')
self.button_mode_2 = QtWidgets.QPushButton(u'多人跟踪 OFF')
self.button_mode_3 = QtWidgets.QPushButton(u'行为识别 OFF')
self.button_close = QtWidgets.QPushButton(u'退出')
self.button_open_camera.setMinimumHeight(50)
self.button_mode_1.setMinimumHeight(50)
self.button_mode_2.setMinimumHeight(50)
self.button_mode_3.setMinimumHeight(50)
self.button_close.setMinimumHeight(50)
self.button_close.move(10, 100)
self.infoBox = QtWidgets.QTextBrowser(self)
self.infoBox.setGeometry(QtCore.QRect(10, 300, 200, 180))
# 信息显示
self.label_show_camera = QtWidgets.QLabel()
self.label_move = QtWidgets.QLabel()
self.label_move.setFixedSize(200, 200)
self.label_show_camera.setFixedSize(settings.winWidth + 1,
settings.winHeight + 1)
self.label_show_camera.setAutoFillBackground(True)
self.__layout_fun_button.addWidget(self.button_open_camera)
self.__layout_fun_button.addWidget(self.button_mode_1)
self.__layout_fun_button.addWidget(self.button_mode_2)
self.__layout_fun_button.addWidget(self.button_mode_3)
self.__layout_fun_button.addWidget(self.button_close)
self.__layout_fun_button.addWidget(self.label_move)
self.__layout_main.addLayout(self.__layout_fun_button)
self.__layout_main.addWidget(self.label_show_camera)
self.setLayout(self.__layout_main)
self.label_move.raise_()
self.setWindowTitle(u'实时多人姿态估计与行为识别系统')
def slot_init(self):
self.button_open_camera.clicked.connect(self.button_event)
self.timer_camera.timeout.connect(self.show_camera)
self.button_mode_1.clicked.connect(self.button_event)
self.button_mode_2.clicked.connect(self.button_event)
self.button_mode_3.clicked.connect(self.button_event)
self.button_close.clicked.connect(self.close)
def button_event(self):
sender = self.sender()
if sender == self.button_mode_1 and self.timer_camera.isActive():
if self.__flag_mode != 1:
self.__flag_mode = 1
self.button_mode_1.setText(u'姿态估计 ON')
self.button_mode_2.setText(u'多人跟踪 OFF')
self.button_mode_3.setText(u'行为识别 OFF')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'姿态估计 OFF')
self.infoBox.setText(u'相机已打开')
elif sender == self.button_mode_2 and self.timer_camera.isActive():
if self.__flag_mode != 2:
self.__flag_mode = 2
self.button_mode_1.setText(u'姿态估计 OFF')
self.button_mode_2.setText(u'多人跟踪 ON')
self.button_mode_3.setText(u'行为识别 OFF')
else:
self.__flag_mode = 0
self.button_mode_2.setText(u'多人跟踪 OFF')
self.infoBox.setText(u'相机已打开')
elif sender == self.button_mode_3 and self.timer_camera.isActive():
if self.__flag_mode != 3:
self.__flag_mode = 3
self.button_mode_1.setText(u'姿态估计 OFF')
self.button_mode_2.setText(u'多人跟踪 OFF')
self.button_mode_3.setText(u'行为识别 ON')
else:
self.__flag_mode = 0
self.button_mode_3.setText(u'行为识别 OFF')
self.infoBox.setText(u'相机已打开')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'姿态估计 OFF')
self.button_mode_2.setText(u'多人跟踪 OFF')
self.button_mode_3.setText(u'行为识别 OFF')
if self.timer_camera.isActive() == False:
flag = self.cap.open(self.CAM_NUM)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, settings.winWidth)
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, settings.winHeight)
if flag == False:
msg = QtWidgets.QMessageBox.warning(
self,
u"Warning",
u"请检测相机与电脑是否连接正确",
buttons=QtWidgets.QMessageBox.Ok,
defaultButton=QtWidgets.QMessageBox.Ok)
else:
self.timer_camera.start(1)
self.button_open_camera.setText(u'相机 ON')
self.infoBox.setText(u'相机已打开')
else:
self.timer_camera.stop()
self.cap.release()
self.label_show_camera.clear()
self.button_open_camera.setText(u'相机 OFF')
self.infoBox.setText(u'相机已关闭')
def show_camera(self):
start = time.time()
ret, frame = self.cap.read()
show = cv2.resize(frame, (settings.winWidth, settings.winHeight))
show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
if ret:
if self.__flag_mode == 1:
self.infoBox.setText(u'当前为人体姿态估计模式')
humans = poseEstimator.inference(show)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
elif self.__flag_mode == 2:
self.infoBox.setText(u'当前为多人跟踪模式')
humans = poseEstimator.inference(show)
show, joints, bboxes, xcenter = TfPoseEstimator.get_skeleton(
show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
elif self.__flag_mode == 3:
self.infoBox.setText(u'当前为人体行为识别模式')
humans = poseEstimator.inference(show)
ori = np.copy(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(
show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det) #有几个框就生成几个追踪器
self.current = [i[-1] for i in trackers]
if len(self.previous) > 0:
for item in self.previous:
if item not in self.current and item in self.data:
del self.data[item]
if item not in self.current and item in self.memory:
del self.memory[item]
self.previous = self.current
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
try:
j = np.argmin(
np.array([
abs(i - (xmax + xmin) / 2.)
for i in xcenter
]))
except:
j = 0
if joint_filter(joints[j]):
pred = 0
joints[j] = joint_completion(
joint_completion(joints[j]))
if len(joints[j]) == 18:
if label not in self.data:
self.data[label] = [
joints[j]
] #self.data[label]:[{0:(xj1,yj1),1:(xj2,yj2),...,n:(xjn,yjn)},{},{}]
self.memory[label] = 0
else:
self.data[label].append(joints[j])
#print('len(self.data[label]):{0}'.format(len(self.data[label])))
if len(
self.data[label]
) == settings.L: #self.data[label]:[16,{18,key:(x,y)}]
for i in range(settings.L):
keys = self.data[label][i].keys()
keys = sorted(keys)
for key in keys:
self.one_frame.append(
np.array(self.data[label][i][key]))
if label not in self.pred_data:
self.pred_data[label] = [
np.array(self.one_frame)
]
else:
self.pred_data[label].append(
np.array(self.one_frame)
) #[[[x0 y0],..[x17 y17]],..[]]
self.one_frame = []
self.pred_data[label] = np.array(
self.pred_data[label])
pred = sk_cnn_actionPredicter.predict(
self.pred_data[label])
#print('预测动作下标:{0}'.format(pred))
self.pred_data[label] = []
self.data[label].pop(0)
location = self.data[label][-1][1]
if location[0] <= 30:
location = (51, location[1])
if location[1] <= 10:
location = (location[0], 31)
#print('预测动作类别:{0}'.format(settings.move_status[pred]))
cv2.putText(show, settings.move_status[pred],
(location[0] - 30, location[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.8,
(0, 255, 0), 2)
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
end = time.time()
self.fps = 1. / (end - start)
cv2.putText(show, 'FPS: %.2f' % self.fps, (30, 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0],
QtGui.QImage.Format_RGB888)
self.label_show_camera.setPixmap(
QtGui.QPixmap.fromImage(showImage))
def closeEvent(self, event):
ok = QtWidgets.QPushButton()
cancel = QtWidgets.QPushButton()
msg = QtWidgets.QMessageBox(QtWidgets.QMessageBox.Warning, u"关闭",
u"是否关闭！")
msg.addButton(ok, QtWidgets.QMessageBox.ActionRole)
msg.addButton(cancel, QtWidgets.QMessageBox.RejectRole)
ok.setText(u'确定')
cancel.setText(u'取消')
if msg.exec_() == QtWidgets.QMessageBox.RejectRole:
event.ignore()
else:
if self.cap.isOpened():
self.cap.release()
if self.timer_camera.isActive():
self.timer_camera.stop()
event.accept()
print("System exited.")
def main(cap_queue):
yolo = YOLO(res="1024")
sort = Sort(iou_threshold=0.05)
whitelist = [
"person",
"bicycle",
"car",
"motorbike",
"aeroplane",
"bus",
"truck",
"boat",
"fire hydrant",
"stop sign",
"parking meter",
"bird",
"cat",
"dog",
"backpack",
"umbrella",
"handbag",
"suitcase",
]
frames = 0
while True:
frame, original_dim = cap_queue.get(block=True)
frames += 1
outputs = yolo.get_results(frame)
detections = []
labels = []
for output in outputs:
label = yolo.classes[int(output[-1])]
if not label in whitelist:
del label
continue
tl = tuple(output[1:3].int())
br = tuple(output[3:5].int())
detections.append(
np.array(
[tl[0].item(), tl[1].item(), br[0].item(), br[1].item()]))
labels.append(label)
del tl, br, label
del outputs
detections = np.array(detections)
should_write = False
if detections.shape[0] > 0:
try:
alive, _ = sort.update(detections, labels)
except IndexError:
del frame, detections, labels
continue
should_write = False
for trk in alive:
t = trk.get_state()[0]
try:
bbox = [int(t[0]), int(t[1]), int(t[2]), int(t[3])]
except ValueError:
continue
cv2.rectangle(
frame,
(int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])),
trk.color,
2,
)
cv2.putText(
frame,
"{}:id {}".format(trk.get_label(), str(trk.id)),
(int(bbox[0]), int(bbox[1]) - 12),
cv2.FONT_HERSHEY_SIMPLEX,
0.0005 * frame.shape[0],
trk.color,
2,
)
for location in trk.locations:
x1, y1, x2, y2 = location[1]
cv2.circle(frame, (((int(x1) + int(x2)) // 2), int(y2)), 3,
trk.color, -1)
del x1, y1, x2, y2
pred_x, pred_y = predict_location(trk, amount_to_predict=10)
center_x = (int(bbox[0]) + int(bbox[2])) // 2
center_y = (int(bbox[1]) + int(bbox[3])) // 2
cv2.line(
frame,
(int(pred_x), int(pred_y)),
(center_x, center_y),
trk.color,
8,
)
# text = "{}".format(
# distance_from_xy((center_x, center_y), (int(pred_x), int(pred_y)))
# )
# midpoint = ((center_x + pred_x) // 2, (center_y + pred_y) // 2)
# cv2.putText(frame, text, (int(midpoint[0]), int(midpoint[1])), cv2.FONT_HERSHEY_SIMPLEX, 1, trk.color)
if len(alive) > 1:
for trk2 in alive:
if trk.id == trk2.id:
continue
ttc = time_til_collision(trk, trk2)
ttc_thresh = 5
if ttc > 0 and ttc < ttc_thresh:
print(
"Potential accident between ID {} and {}.\nTTC:{}s"
.format(trk.id, trk2.id, ttc))
cv2.putText(
frame,
"ID {} and {} have TTC {}".format(
trk.id, trk2.id, ttc),
(0, 20),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(0, 0, 255),
)
should_write = True
del ttc_thresh, ttc
del t, bbox, pred_x, pred_y, center_x, center_y
# write_queue.put(frame[0 : original_dim[0], 0 : original_dim[1]])
cv2.imshow("Object Tracking", frame[0:original_dim[0],
0:original_dim[1]])
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
raise KeyboardInterrupt
del should_write
class Ui_MainWindow(QtWidgets.QWidget):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent)
self.tracker = Sort(settings.sort_max_age, settings.sort_min_hit)
self.timer_camera = QtCore.QTimer()
self.cap = cv2.VideoCapture()
self.CAM_NUM = 0
self.set_ui()
self.slot_init()
self.__flag_mode = 0
self.fps = 0.00
self.data = {}
self.memory = {}
self.joints = []
self.current = []
self.previous = []
def set_ui(self):
self.__layout_main = QtWidgets.QHBoxLayout()
self.__layout_fun_button = QtWidgets.QVBoxLayout()
self.__layout_data_show = QtWidgets.QVBoxLayout()
self.__layout_time_input_from = QtWidgets.QHBoxLayout()
self.__layout_time_input_to = QtWidgets.QHBoxLayout()
self.button_open_camera = QtWidgets.QPushButton(u'Realtime (Camera) OFF')
self.button_mode_1 = QtWidgets.QPushButton(u'Attitude estimation OFF')
self.button_mode_2 = QtWidgets.QPushButton(u'Multiplayer tracking OFF')
self.button_mode_3 = QtWidgets.QPushButton(u'Behavior recognition OFF')
self.textbox_from = QLineEdit(self)
self.textbox_to = QLineEdit(self)
self.nameLabel_from = QLabel(self)
self.nameLabel_to = QLabel(self)
# self.nameLabel_uploadInfo = QLabel(self)
self.button_mode_4 = QtWidgets.QPushButton(u'Upload prerecorded file')
self.button_mode_5 = QtWidgets.QPushButton(u'Face recognition OFF')
self.button_close = QtWidgets.QPushButton(u'Exit')
self.button_open_camera.setMinimumHeight(50)
self.button_mode_1.setMinimumHeight(50)
self.button_mode_2.setMinimumHeight(50)
self.button_mode_3.setMinimumHeight(50)
self.button_mode_4.setMinimumHeight(50)
self.button_mode_5.setMinimumHeight(50)
self.textbox_from.setMinimumHeight(35)
self.textbox_to.setMinimumHeight(35)
self.nameLabel_from.setText('FROM: ')
self.nameLabel_to.setText('To: ')
# self.nameLabel_uploadInfo.setText('For Scanning a prerecorded footage ( insert time period (from and to) to narrow down search):')
self.button_close.setMinimumHeight(50)
self.button_close.move(10, 100)
# self.infoBox = QtWidgets.QTextBrowser(self)
# self.infoBox.setGeometry(QtCore.QRect(10, 300, 200, 180))
self.label_show_camera = QtWidgets.QLabel()
self.label_move = QtWidgets.QLabel()
self.label_move.setFixedSize(200,200)
self.label_show_camera.setFixedSize(settings.winWidth + 1, settings.winHeight + 1)
self.label_show_camera.setAutoFillBackground(True)
self.__layout_time_input_from.addWidget(self.nameLabel_from)
self.__layout_time_input_from.addWidget(self.textbox_from)
self.__layout_time_input_to.addWidget(self.nameLabel_to)
self.__layout_time_input_to.addWidget(self.textbox_to)
self.__layout_fun_button.addWidget(self.button_open_camera)
self.__layout_fun_button.addWidget(self.button_mode_1)
self.__layout_fun_button.addWidget(self.button_mode_2)
self.__layout_fun_button.addWidget(self.button_mode_3)
self.__layout_fun_button.addWidget(self.button_mode_5)
#self.__layout_fun_button.addWidget(self.nameLabel_uploadInfo)
self.__layout_fun_button.addLayout(self.__layout_time_input_from)
self.__layout_fun_button.addLayout(self.__layout_time_input_to)
self.__layout_fun_button.addWidget(self.button_mode_4)
self.__layout_fun_button.addWidget(self.button_close)
self.__layout_fun_button.addWidget(self.label_move)
self.__layout_main.addLayout(self.__layout_fun_button)
self.__layout_main.addWidget(self.label_show_camera)
self.setLayout(self.__layout_main)
self.label_move.raise_()
self.setWindowTitle(u'Anomaly Detection using Action Recognition')
def slot_init(self):
self.button_open_camera.clicked.connect(self.button_event)
self.timer_camera.timeout.connect(self.show_camera)
self.button_mode_1.clicked.connect(self.button_event)
self.button_mode_2.clicked.connect(self.button_event)
self.button_mode_3.clicked.connect(self.button_event)
self.button_mode_5.clicked.connect(self.button_event)
self.button_mode_4.clicked.connect(self.timestamp) # Upload button
self.button_close.clicked.connect(self.close)
def button_event(self):
sender = self.sender()
if sender == self.button_mode_1 and self.timer_camera.isActive():
if self.__flag_mode != 1:
self.__flag_mode = 1
self.button_mode_1.setText(u'Attitude estimation ON')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition OFF')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'Attitude estimation OFF')
# self.infoBox.setText(u'Camera is on')
elif sender == self.button_mode_2 and self.timer_camera.isActive():
if self.__flag_mode != 2:
self.__flag_mode = 2
self.button_mode_1.setText(u'Attitude estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking ON')
self.button_mode_3.setText(u'Behavior recognition OFF')
else:
self.__flag_mode = 0
self.button_mode_2.setText(u'Multiplayer tracking OFF')
# self.infoBox.setText(u'Camera is on')
elif sender == self.button_mode_5 and self.timer_camera.isActive():
if self.__flag_mode != 5:
self.__flag_mode = 5
self.button_mode_1.setText(u'Attitude estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition OFF')
self.button_mode_5.setText(u'Face recognition ON')
else:
self.__flag_mode = 0
self.button_mode_5.setText(u'Face recognition OFF')
# self.infoBox.setText(u'Camera is on')
elif sender == self.button_mode_3 and self.timer_camera.isActive():
if self.__flag_mode != 3:
self.__flag_mode = 3
self.button_mode_1.setText(u'Attitude estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition ON')
else:
self.__flag_mode = 0
self.button_mode_3.setText(u'Behavior recognition OFF')
# self.infoBox.setText(u'Camera is on')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'Attitude estimation OFF')
self.button_mode_2.setText(u'Multiplayer tracking OFF')
self.button_mode_3.setText(u'Behavior recognition OFF')
self.button_mode_5.setText(u'Face recognition OFF')
if self.timer_camera.isActive() == False:
flag = self.cap.open(self.CAM_NUM)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, settings.winWidth)
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, settings.winHeight)
if flag == False:
msg = QtWidgets.QMessageBox.warning(self, u"Warning", u"Please check if the camera and computer are connected correctly",
buttons=QtWidgets.QMessageBox.Ok,
defaultButton=QtWidgets.QMessageBox.Ok)
else:
self.timer_camera.start(1)
self.button_open_camera.setText(u'Realtime (Camera) ON')
# self.infoBox.setText(u'Camera is on')
else:
self.timer_camera.stop()
self.cap.release()
self.label_show_camera.clear()
self.button_open_camera.setText(u'Realtime (Camera) OFF')
# self.infoBox.setText(u'Camera is off')
def timestamp(self):
filePath = QFileDialog.getOpenFileName(self,'Single File',"~/",'*.*')
print(filePath[0])
prototxt = './weights/deploy.prototxt'
# The path to the pretrained Caffe model.
model = './weights/weights.caffemodel'
# for counting how many images detected in video
counter = 0
confidence_thr = 0.5
cap = cv2.VideoCapture(filePath[0])
net = cv2.dnn.readNetFromCaffe(prototxt, model)
ip_time = time.strptime(self.textbox_from.text(), "%H.%M.%S")
stop_time = time.strptime(self.textbox_to.text(), "%H.%M.%S")
seconds = (ip_time.tm_hour*60*60*1000 + ip_time.tm_min*60*1000 + ip_time.tm_sec*1000)/1000
stop_seconds = (stop_time.tm_hour*60*60*1000 + stop_time.tm_min*60*1000 + stop_time.tm_sec*1000)/1000
cap.set(0,seconds*1000)
#print('playing from ' + str(int(seconds)) + ' seconds')
#print('till ' + str(int(stop_seconds)) + ' seconds')
#print('press q to abort')
timestamp = 0
faces = []; #list containing the times at which faces occur in the stream
st_time = time.time()
while(timestamp<=stop_seconds):
ret, frame = cap.read()
timestamp = seconds + time.time() - st_time
frame = cv2.putText(frame, "{0:.0f}".format(timestamp), (30,30),cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0,0,0), 2)
if str(type(frame)) == "<class 'NoneType'>":
break
#kernel = np.array([[0,-1,0], [-1,8,-1], [0,-1,0]])
#frame = cv2.filter2D(frame, -1, kernel)
(h, w) = frame.shape[:2]
blob = cv2.dnn.blobFromImage(cv2.resize(frame, (300, 300)), 1.0,(300, 300), (104.0, 177.0, 123.0))
net.setInput(blob)
detections = net.forward()
for i in range(0, detections.shape[2]):
confidence = detections[0, 0, i, 2]
if confidence < 0.5:
continue
faces.append(int(timestamp))
box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
coordinate = (startX, startY, endX, endY) = box.astype("int")
detected_face = frame[startY:endY, startX:endX]
name_for_face = './Cropped_Faces/face_at_'+str(int(timestamp))+'.jpg'
counter += 1
cv2.imwrite(name_for_face, detected_face)
text = "{:.2f}%".format(confidence * 100)
y = startY - 10 if startY - 10 > 10 else startY + 10
cv2.rectangle(frame, (startX, startY), (endX, endY),(0, 255, 0), 2)
cv2.putText(frame, text, (startX, y),cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 0, 255), 2)
cv2.imshow("Feed", frame)
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
cap.release()
cv2.destroyAllWindows()
faces_unique = []; #list containing the unique times (in seconds) at which faces occured
for i in range(1,len(faces)):
if(faces[i] != faces[i-1]):
faces_unique.append(faces[i])
def show_camera(self):
start = time.time()
ret, frame = self.cap.read()
show = cv2.resize(frame, (settings.winWidth, settings.winHeight))
show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
if ret:
if self.__flag_mode == 1:
# self.infoBox.setText(u'Current human body Attitude estimation Mode')
humans = poseEstimator.inference(show)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
elif self.__flag_mode == 2:
# self.infoBox.setText(u'Currently Multiplayer tracking Mode')
humans = poseEstimator.inference(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
elif self.__flag_mode == 3:
# self.infoBox.setText(u'Current human body Behavior recognition Mode')
humans = poseEstimator.inference(show)
ori = np.copy(show)
show, joints, bboxes, xcenter, sk= TfPoseEstimator.get_skeleton(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
self.current = [i[-1] for i in trackers]
if len(self.previous) > 0:
for item in self.previous:
if item not in self.current and item in self.data:
del self.data[item]
if item not in self.current and item in self.memory:
del self.memory[item]
self.previous = self.current
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
try:
j = np.argmin(np.array([abs(i - (xmax + xmin) / 2.) for i in xcenter]))
except:
j = 0
if joint_filter(joints[j]):
joints[j] = joint_completion(joint_completion(joints[j]))
if label not in self.data:
self.data[label] = [joints[j]]
self.memory[label] = 0
else:
self.data[label].append(joints[j])
if len(self.data[label]) == settings.L:
pred = actionPredictor().move_status(self.data[label])
if pred == 0:
pred = self.memory[label]
else:
self.memory[label] = pred
self.data[label].pop(0)
location = self.data[label][-1][1]
if location[0] <= 30:
location = (51, location[1])
if location[1] <= 10:
location = (location[0], 31)
cv2.putText(show, settings.move_status[pred], (location[0] - 30, location[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.8,
(0, 255, 0), 2)
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
end = time.time()
self.fps = 1. / (end - start)
cv2.putText(show, 'FPS: %.2f' % self.fps, (30, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], QtGui.QImage.Format_RGB888)
self.label_show_camera.setPixmap(QtGui.QPixmap.fromImage(showImage))
def closeEvent(self, event):
ok = QtWidgets.QPushButton()
cancel = QtWidgets.QPushButton()
msg = QtWidgets.QMessageBox(QtWidgets.QMessageBox.Warning, u"Shut down", u"Confirm Shut down！")
msg.addButton(ok, QtWidgets.QMessageBox.ActionRole)
msg.addButton(cancel, QtWidgets.QMessageBox.RejectRole)
ok.setText(u'Yes')
cancel.setText(u'No')
if msg.exec_() == QtWidgets.QMessageBox.RejectRole:
event.ignore()
else:
if self.cap.isOpened():
self.cap.release()
if self.timer_camera.isActive():
self.timer_camera.stop()
event.accept()
print("System exited.")
class Ui_MainWindow(object):
def __init__(self, parent=None):
#super(Ui_MainWindow, self).__init__(parent)
self.tracker = Sort(settings.sort_max_age, settings.sort_min_hit)
# self.timer_camera = QtCore.QTimer()
#self.cap = cv2.VideoCapture()
self.cap = cv2.VideoCapture('movie.mp4')
self.CAM_NUM = 0
#self.set_ui()
#self.slot_init()
self.__flag_mode = 3
self.fps = 0.00
self.data = {}
self.memory = {}
self.joints = []
self.current = []
self.previous = []
self.fourcc = cv2.VideoWriter_fourcc(
*'mp4v') # Be sure to use lower case
self.out = cv2.VideoWriter('x.mp4', self.fourcc, 1, (432, 368))
# Define the codec and create VideoWriter object
def show_camera(self, frame):
start = time.time()
# ret, frame = self.cap.read()
show = cv2.resize(frame, (settings.winWidth, settings.winHeight))
show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
if ret:
if self.__flag_mode == 1:
humans = poseEstimator.inference(show)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
elif self.__flag_mode == 2:
humans = poseEstimator.inference(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(
show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
# This is the part to get the kt points
elif self.__flag_mode == 3:
humans = poseEstimator.inference(show)
ori = np.copy(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(
show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
self.current = [i[-1] for i in trackers]
if len(self.previous) > 0:
for item in self.previous:
if item not in self.current and item in self.data:
del self.data[item]
if item not in self.current and item in self.memory:
del self.memory[item]
self.previous = self.current
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
try:
j = np.argmin(
np.array([
abs(i - (xmax + xmin) / 2.)
for i in xcenter
]))
except:
j = 0
if joint_filter(joints[j]):
joints[j] = joint_completion(
joint_completion(joints[j]))
if label not in self.data:
self.data[label] = [joints[j]]
self.memory[label] = 0
else:
self.data[label].append(joints[j])
if len(self.data[label]) == settings.L:
pred = actionPredictor().move_status(
self.data[label])
if pred == 0:
pred = self.memory[label]
else:
self.memory[label] = pred
self.data[label].pop(0)
location = self.data[label][-1][1]
if location[0] <= 30:
location = (51, location[1])
if location[1] <= 10:
location = (location[0], 31)
cv2.putText(
show, settings.move_status[pred],
(location[0] - 30, location[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0),
2)
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
cv2.imshow('window', cv2.resize(show, (432, 368)))
self.out.write(show) # Write out frame to video
end = time.time()
def release(self):
self.out.release()
class actions(object):
def __init__(self, arguments):
self.arguments = arguments
# Frame window dim
self.winWidth = 640
self.winHeight = 480
actionPredictor_params.__init__(self)
self.fps_time = 0
#self.step = 15
self.mode = {
'Pose Estimation': 'estimation',
'Tracking': 'tracking',
'Action Recognition': 'recognition'
}
w, h = model_wh(self.arguments.resize)
if w > 0 and h > 0:
self.estimator = TfPoseEstimator(get_graph_path(
self.arguments.model),
target_size=(w, h))
else:
self.estimator = TfPoseEstimator(get_graph_path(
self.arguments.model),
target_size=(432, 368))
self.cam = cv2.VideoCapture(self.arguments.camera)
# Tracker based on Sort
self.sort_max_age = 20
self.sort_min_hit = 3
self.tracker = Sort(self.sort_max_age, self.sort_min_hit)
def proceed(self):
self._read_frame_()
if self.ret_val and self.arguments.mode == self.mode['Pose Estimation']:
self._perform_estimation_()
elif self.ret_val and self.arguments.mode == self.mode['Tracking']:
self._perform_tracking_()
elif self.ret_val and self.arguments.mode == self.mode[
'Action Recognition']:
self._perform_recognition_()
else:
sys.exit(
'Abort...please choose correct action mode from "estimation" "tracking" "recognition"'
)
self._output_()
def _joint_filter_(self, joint):
if 1 not in joint:
return False
# Check exist of hip
if 8 not in joint and 11 not in joint:
return False
# Check exist of knee
if 9 not in joint and 12 not in joint:
return False
return True
def _joint_complete_(self, joint):
if 8 in joint and 11 not in joint:
joint[11] = joint[8]
elif 8 not in joint and 11 in joint:
joint[8] = joint[11]
if 9 in joint and 12 not in joint:
joint[12] = joint[9]
elif 9 not in joint and 12 in joint:
joint[9] = joint[12]
return joint
def _perform_estimation_(self):
self.humans = self.estimator.inference(self.image)
self.image = TfPoseEstimator.draw_humans(self.image,
self.humans,
imgcopy=False)
def _perform_tracking_(self):
self.humans = self.estimator.inference(self.image)
self.image, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(
self.image, self.humans, imgcopy=False)
height = self.image.shape[0]
width = self.image.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
cv2.rectangle(
self.image, (xmin, ymin), (xmax, ymax),
(int(self.c[label % 32, 0]), int(
self.c[label % 32, 1]), int(self.c[label % 32, 2])), 4)
def _perform_recognition_(self):
self.predictor = actionPredictor()
self.humans = self.estimator.inference(self.image)
self.image, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(
self.image, self.humans, imgcopy=False)
height = self.image.shape[0]
width = self.image.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
self.current = [i[-1] for i in trackers]
if len(self.previous) > 0:
for item in self.previous:
if item not in self.current and item in self.data:
del self.data[item]
if item not in self.current and item in self.memory:
del self.memory[item]
self.previous = self.current
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
#logger.debug('label is: %d' % (label))
# Locate the current person object in current frame
# Iterated thru xcenter for finding minimum distance between object center coord
try:
j = np.argmin(
np.array(
[abs(i - (xmax + xmin) / 2.) for i in xcenter]))
except:
j = 0
# Check if major skeleton points are existing
if self._joint_filter_(joints[j]):
joints[j] = self._joint_complete_(
self._joint_complete_(joints[j]))
if label not in self.data:
#logger.debug('label is: %d' % (label))
self.data[label] = [joints[j]]
self.memory[label] = 0
else:
self.data[label].append(joints[j])
if len(self.data[label]) == self.step:
pred = self.predictor.move_status(self.data[label])
#logger.debug(len(self.data[label]))
if pred == 0:
pred = self.memory[label]
else:
self.memory[label] = pred
self.data[label].pop(0)
location = self.data[label][-1][1]
#location = functools.reduce(lambda x, y: x + y, self.data[label][:][1]) / len(self.data[label][:][1])
#location = sum(self.data[label][:][1]) / float(len(self.data[label][:][1]))
if location[0] <= 30:
location = (51, location[1])
if location[1] <= 10:
location = (location[0], 31)
cv2.putText(self.image, self.move_status[pred],
(location[0] - 30, location[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.8,
(255, 255, 255), 2)
cv2.rectangle(
self.image, (xmin, ymin), (xmax, ymax),
(int(self.c[label % 32, 0]), int(
self.c[label % 32, 1]), int(self.c[label % 32, 2])), 4)
def _read_frame_(self):
self.ret_val, self.image = self.cam.read()
self.image = cv2.resize(self.image, (self.winWidth, self.winHeight))
def _output_(self):
# Calculate frame averaging step
FPS = float(1.0 / (time.time() - self.fps_time))
#logger.debug('FPS: %f' % FPS)
#self.step = int(0.7 * FPS)
#logger.debug('step: %d' % self.step)
cv2.putText(self.image,
"FPS: %f" % (1.0 / (time.time() - self.fps_time)),
(10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255),
2)
cv2.imshow('tf-pose-estimation result', self.image)
self.fps_time = time.time()
class Ui_MainWindow(QtWidgets.QWidget):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent)
self.tracker = Sort(settings.sort_max_age, settings.sort_min_hit)
self.timer_camera = QtCore.QTimer()
self.cap = cv2.VideoCapture()
self.CAM_NUM = 0
self.set_ui()
self.slot_init()
self.__flag_mode = 0
self.fps = 0.00
self.data = {}
self.memory = {}
self.joints = []
self.current = []
self.previous = []
self.font = ImageFont.truetype(settings.fontpath, settings.fontsize)
def set_ui(self):
self.__layout_main = QtWidgets.QHBoxLayout()
self.__layout_fun_button = QtWidgets.QVBoxLayout()
self.__layout_data_show = QtWidgets.QVBoxLayout()
self.button_open_camera = QtWidgets.QPushButton(u'相机 OFF')
self.button_mode_1 = QtWidgets.QPushButton(u'姿态估计 OFF')
self.button_mode_2 = QtWidgets.QPushButton(u'多人跟踪 OFF')
self.button_mode_3 = QtWidgets.QPushButton(u'行为识别 OFF')
self.button_close = QtWidgets.QPushButton(u'退出')
self.button_open_camera.setMinimumHeight(50)
self.button_mode_1.setMinimumHeight(50)
self.button_mode_2.setMinimumHeight(50)
self.button_mode_3.setMinimumHeight(50)
self.button_close.setMinimumHeight(50)
self.button_close.move(10, 100)
self.infoBox = QtWidgets.QTextBrowser(self)
self.infoBox.setGeometry(QtCore.QRect(10, 300, 200, 180))
# 信息显示
self.label_show_camera = QtWidgets.QLabel()
self.label_move = QtWidgets.QLabel()
self.label_move.setFixedSize(200, 200)
self.label_show_camera.setFixedSize(settings.winWidth + 1, settings.winHeight + 1)
self.label_show_camera.setAutoFillBackground(True)
self.__layout_fun_button.addWidget(self.button_open_camera)
self.__layout_fun_button.addWidget(self.button_mode_1)
self.__layout_fun_button.addWidget(self.button_mode_2)
self.__layout_fun_button.addWidget(self.button_mode_3)
self.__layout_fun_button.addWidget(self.button_close)
self.__layout_fun_button.addWidget(self.label_move)
self.__layout_main.addLayout(self.__layout_fun_button)
self.__layout_main.addWidget(self.label_show_camera)
self.setLayout(self.__layout_main)
self.label_move.raise_()
self.setWindowTitle(u'实时多人姿态估计与行为识别系统')
def slot_init(self):
self.button_open_camera.clicked.connect(self.button_event)
self.timer_camera.timeout.connect(self.show_camera)
self.button_mode_1.clicked.connect(self.button_event)
self.button_mode_2.clicked.connect(self.button_event)
self.button_mode_3.clicked.connect(self.button_event)
self.button_close.clicked.connect(self.close)
def button_event(self):
sender = self.sender()
if sender == self.button_mode_1 and self.timer_camera.isActive():
if self.__flag_mode != 1:
self.__flag_mode = 1
self.button_mode_1.setText(u'姿态估计 ON')
self.button_mode_2.setText(u'多人跟踪 OFF')
self.button_mode_3.setText(u'行为识别 OFF')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'姿态估计 OFF')
self.infoBox.setText(u'相机已打开')
elif sender == self.button_mode_2 and self.timer_camera.isActive():
if self.__flag_mode != 2:
self.__flag_mode = 2
self.button_mode_1.setText(u'姿态估计 OFF')
self.button_mode_2.setText(u'多人跟踪 ON')
self.button_mode_3.setText(u'行为识别 OFF')
else:
self.__flag_mode = 0
self.button_mode_2.setText(u'多人跟踪 OFF')
self.infoBox.setText(u'相机已打开')
elif sender == self.button_mode_3 and self.timer_camera.isActive():
if self.__flag_mode != 3:
self.__flag_mode = 3
self.button_mode_1.setText(u'姿态估计 OFF')
self.button_mode_2.setText(u'多人跟踪 OFF')
self.button_mode_3.setText(u'行为识别 ON')
else:
self.__flag_mode = 0
self.button_mode_3.setText(u'行为识别 OFF')
self.infoBox.setText(u'相机已打开')
else:
self.__flag_mode = 0
self.button_mode_1.setText(u'姿态估计 OFF')
self.button_mode_2.setText(u'多人跟踪 OFF')
self.button_mode_3.setText(u'行为识别 OFF')
if self.timer_camera.isActive() == False:
flag = self.cap.open(self.CAM_NUM)
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, settings.winWidth)
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, settings.winHeight)
if flag == False:
msg = QtWidgets.QMessageBox.warning(self, u"Warning", u"请检测相机与电脑是否连接正确",
buttons=QtWidgets.QMessageBox.Ok,
defaultButton=QtWidgets.QMessageBox.Ok)
else:
self.timer_camera.start(1)
self.button_open_camera.setText(u'相机 ON')
self.infoBox.setText(u'相机已打开')
else:
self.timer_camera.stop()
self.cap.release()
self.label_show_camera.clear()
self.button_open_camera.setText(u'相机 OFF')
self.infoBox.setText(u'相机已关闭')
def show_camera(self):
start = time.time()
ret, frame = self.cap.read()
show = cv2.resize(frame, (settings.winWidth, settings.winHeight))
show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
if ret:
if self.__flag_mode == 1:
self.infoBox.setText(u'当前为人体姿态估计模式')
humans = poseEstimator.inference(show)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
elif self.__flag_mode == 2:
self.infoBox.setText(u'当前为多人跟踪模式')
humans = poseEstimator.inference(show)
show, joints, bboxes, xcenter, sk = TfPoseEstimator.get_skeleton(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
(int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2])), 4)
elif self.__flag_mode == 3:
self.infoBox.setText(u'当前为人体行为识别模式')
humans = poseEstimator.inference(show)
show = TfPoseEstimator.draw_humans(show, humans, imgcopy=False)
ori = np.copy(show)
show, joints, bboxes, xcenter, sk= TfPoseEstimator.get_skeleton(show, humans, imgcopy=False)
height = show.shape[0]
width = show.shape[1]
if bboxes:
result = np.array(bboxes)
det = result[:, 0:5]
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
trackers = self.tracker.update(det)
self.current = [i[-1] for i in trackers]
if len(self.previous) > 0:
for item in self.previous:
if item not in self.current and item in self.data:
del self.data[item]
if item not in self.current and item in self.memory:
del self.memory[item]
self.previous = self.current
for d in trackers:
xmin = int(d[0])
ymin = int(d[1])
xmax = int(d[2])
ymax = int(d[3])
label = int(d[4])
try:
j = np.argmin(np.array([abs(i - (xmax + xmin) / 2.) for i in xcenter]))
except:
j = 0
alert = False
if joint_filter(joints[j]):
joints[j] = joint_completion(joint_completion(joints[j]))
if label not in self.data:
self.data[label] = [joints[j]]
self.memory[label] = 0
else:
self.data[label].append(joints[j])
if len(self.data[label]) == settings.L:
pred = actionPredictor().move_status(self.data[label])
if pred == 0:
pred = self.memory[label]
else:
self.memory[label] = pred
self.data[label].pop(0)
location = self.data[label][-1][1]
if location[0] <= 30:
location = (51, location[1])
if location[1] <= 10:
location = (location[0], 31)
## Use simsum.ttc to write Chinese.
b, g, r, a = 0, 255, 0, 0
img_pil = Image.fromarray(show)
draw = ImageDraw.Draw(img_pil)
# print('pred', pred)
if pred == 8:
draw.text((location[0] - 30, location[1] - 10), settings.move_status[pred], font=self.font, fill=(255, 0, 0, a))
alert = True
else:
draw.text((location[0] - 30, location[1] - 10), settings.move_status[pred], font=self.font, fill=(b, g, r, a))
show = np.array(img_pil)
# cv2.putText(show, settings.move_status[pred], (location[0] - 30, location[1] - 10),
# cv2.FONT_HERSHEY_SIMPLEX, 0.8,
# (0, 255, 0), 2)
if alert:
colors = (255, 0, 0)
else:
colors = (int(settings.c[label % 32, 0]),
int(settings.c[label % 32, 1]),
int(settings.c[label % 32, 2]))
cv2.rectangle(show, (xmin, ymin), (xmax, ymax),
colors, 4)
if alert:
cv2.imwrite('files/alerts/fall_' + str(int(time.time())) + '.png', show)
end = time.time()
self.fps = 1. / (end - start)
cv2.putText(show, 'FPS: %.2f' % self.fps, (30, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0], QtGui.QImage.Format_RGB888)
self.label_show_camera.setPixmap(QtGui.QPixmap.fromImage(showImage))
def closeEvent(self, event):
ok = QtWidgets.QPushButton()
cancel = QtWidgets.QPushButton()
msg = QtWidgets.QMessageBox(QtWidgets.QMessageBox.Warning, u"关闭", u"是否关闭！")
msg.addButton(ok, QtWidgets.QMessageBox.ActionRole)
msg.addButton(cancel, QtWidgets.QMessageBox.RejectRole)
ok.setText(u'确定')
cancel.setText(u'取消')
if msg.exec_() == QtWidgets.QMessageBox.RejectRole:
event.ignore()
else:
if self.cap.isOpened():
self.cap.release()
if self.timer_camera.isActive():
self.timer_camera.stop()
event.accept()
print("System exited.")
def main(cap_queue):
yolo = YOLO()
sort = Sort(iou_threshold=0.05)
whitelist = [
"person",
"bicycle",
"car",
"motorbike",
"aeroplane",
"bus",
"truck",
"boat",
"fire hydrant",
"stop sign",
"parking meter",
"bird",
"cat",
"dog",
"backpack",
"umbrella",
"handbag",
"suitcase",
]
tally = 0
while tally < 1332:
frame = cap_queue.get(block=True)
if type(frame) == int and frame == -1:
return
outputs = yolo.get_results(frame)
detections = []
labels = []
for output in outputs:
label = yolo.classes[int(output[-1])]
if not label in whitelist:
del label
continue
tl = tuple(output[1:3].int())
br = tuple(output[3:5].int())
detections.append(
np.array(
[tl[0].item(), tl[1].item(), br[0].item(), br[1].item()]))
labels.append(label)
del tl, br, label
del outputs
detections = np.array(detections)
if detections.shape[0] > 0:
try:
alive, _ = sort.update(detections, labels)
except IndexError:
del frame, detections, labels
continue
for trk in alive:
t = trk.get_state()[0]
try:
bbox = [int(t[0]), int(t[1]), int(t[2]), int(t[3])]
except ValueError:
continue
cv2.rectangle(
frame,
(int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])),
trk.color,
2,
)
cv2.putText(
frame,
"{}:id {}".format(trk.get_label(), str(trk.id)),
(int(bbox[0]), int(bbox[1]) - 12),
cv2.FONT_HERSHEY_SIMPLEX,
0.0005 * frame.shape[0],
trk.color,
2,
)
for location in trk.locations:
x1, y1, x2, y2 = location[1]
cv2.circle(frame, (((int(x1) + int(x2)) // 2), int(y2)), 3,
trk.color, -1)
del x1, y1, x2, y2
if len(alive) > 1:
for trk2 in alive:
if trk == trk2:
continue
t2 = trk2.get_state()[0]
try:
bbox2 = [
int(t2[0]),
int(t2[1]),
int(t2[2]),
int(t2[3])
]
except ValueError:
continue
d = distance(bbox, bbox2)
color = (255, 255, 255) if d > 50 else (0, 255, 255)
cv2.line(
frame,
((bbox[0] + bbox[2]) // 2, int(bbox[3])),
((bbox2[0] + bbox2[2]) // 2, int(bbox2[3])),
color,
2,
)
cv2.putText(
frame,
str(d),
midpoint(bbox, bbox2),
cv2.FONT_HERSHEY_SIMPLEX,
0.0005 * frame.shape[0],
color,
2,
)
del d
del t, bbox
cv2.imshow("Object Tracking", frame)
cv2.imwrite("./tracked/{}.png".format(tally), frame)
tally += 1
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
raise KeyboardInterrupt
if confidence > args["confidence"]:
rect = []
# compute the (x, y)-coordinates of the bounding box for
# the face and extract the face ROI
box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
(startX, startY, endX, endY) = box.astype("int")
rect.append(int(detections[0, 0, i, 3] * w))
rect.append(int(detections[0, 0, i, 4] * h))
rect.append(int(detections[0, 0, i, 5] * w))
rect.append(int(detections[0, 0, i, 6] * h))
rect.append(detections[0, 0, i, 2])
rect.append(detections[0, 0, i, 1])
rect.append(detections[0, 0, i, 0])
boxes.append(rect)
objects = ct.update(torch.FloatTensor(boxes))
if objects is not None:
for x1, y1, x2, y2, obj_id, cls_pred in objects:
text = "ID {}".format(obj_id)
cv2.putText(frame, text, (int(x1) + 5, int(y1) + 20),
cv2.FONT_HERSHEY_COMPLEX, 0.5, (0, 0, 0), 2)
# extract the face ROI and then preproces it in the exact
# same manner as our training data
face = frame[int(y1):int(y2), int(x1):int(x2)]
gray_face = cv2.cvtColor(face, cv2.COLOR_BGR2GRAY)
face = cv2.resize(face, (32, 32))
face = face.astype("float") / 255.0
face = img_to_array(face)
face = np.expand_dims(face, axis=0)