def get_prediction(self, orig_img, boxes, scores, single_height, output_l):
inp = im_to_torch(orig_img)
inps = torch.zeros(boxes.size(0), 3, args.inputResH, args.inputResW)
pt1 = torch.zeros(boxes.size(0), 2)
pt2 = torch.zeros(boxes.size(0), 2)
inps, pt1, pt2 = crop_from_dets(inp, boxes, inps, pt1, pt2)
inps = Variable(inps.cuda())
hm = self.pose_model(inps)
if boxes is None:
return False, hm
else:
preds_hm, preds_img, preds_scores = getPrediction(
hm.cpu(), pt1, pt2, args.inputResH, args.inputResW,
args.outputResH, args.outputResW)
# result(被姿态估计筛选后的) : bbox,bbox_score,roi,keypoints, kp_score (两个镜头的)
box, box_s, roi, kp, kp_s = pose_nms(boxes, scores, preds_img,
preds_scores, single_height,
orig_img, output_l)
return True, (box, box_s, roi, kp, kp_s)
dets[:, 1:5] /= scaling_factor
for j in range(dets.shape[0]):
dets[j, [1, 3]] = torch.clamp(dets[j, [1, 3]], 0.0,
im_dim_list[j, 0])
dets[j, [2, 4]] = torch.clamp(dets[j, [2, 4]], 0.0,
im_dim_list[j, 1])
boxes = dets[:, 1:5].cpu()
scores = dets[:, 5:6].cpu()
ckpt_time, detNMS_time = getTime(ckpt_time)
runtime_profile['dn'].append(detNMS_time)
# Pose Estimation
inps = torch.zeros(boxes.size(0), 3, opt.inputResH,
opt.inputResW)
pt1 = torch.zeros(boxes.size(0), 2)
pt2 = torch.zeros(boxes.size(0), 2)
inps, pt1, pt2 = crop_from_dets(inp, boxes, inps, pt1, pt2)
inps = Variable(inps.cuda())
hm = pose_model(inps)
ckpt_time, pose_time = getTime(ckpt_time)
runtime_profile['pt'].append(pose_time)
writer.save(boxes,
scores,
hm.cpu(),
pt1,
pt2,
orig_img,
im_name=str(i) + '.jpg')
ckpt_time, post_time = getTime(ckpt_time)
def detect_main(im_name, orig_img, det_model, pose_model, opt):
args = opt
mode = args.mode
inp_dim = int(opt.inp_dim)
dim = orig_img.shape[1], orig_img.shape[0]
img_ = (letterbox_image(orig_img, (inp_dim, inp_dim)))
img_ = img_[:, :, ::-1].transpose((2, 0, 1)).copy()
img = torch.from_numpy(img_).float().div(255.0).unsqueeze(0)
img = [img]
orig_img = [orig_img]
im_name = [im_name]
im_dim_list = [dim]
# img.append(img_k)
# orig_img.append(orig_img_k)
# im_name.append(im_name_k)
# im_dim_list.append(im_dim_list_k)
with torch.no_grad():
# Human Detection
img = torch.cat(img)
im_dim_list = torch.FloatTensor(im_dim_list).repeat(1, 2)
# im_dim_list_ = im_dim_list
# DetectionLoader
det_inp_dim = int(det_model.net_info['height'])
assert det_inp_dim % 32 == 0
assert det_inp_dim > 32
# res_n = 0
with torch.no_grad():
img = img.cuda()
prediction = det_model(img, CUDA=True) # a tensor
boxes_chair = get_box(prediction, det_inp_dim, im_dim_list,
opt.confidence, opt.num_classes, 56)
boxes_sofa = get_box(prediction, det_inp_dim, im_dim_list,
opt.confidence, opt.num_classes, 57)
boxes_bed = get_box(prediction, det_inp_dim, im_dim_list,
opt.confidence, opt.num_classes, 59)
dets = dynamic_write_results(prediction,
opt.confidence,
opt.num_classes,
0,
nms=True,
nms_conf=opt.nms_thesh)
if isinstance(dets, int) or dets.shape[0] == 0:
# cv2.imwrite('err_result/no_person/'+im_name[0][0:-4]+'_re.jpg', orig_img[0])
return []
dets = dets.cpu()
im_dim_list = torch.index_select(im_dim_list, 0, dets[:, 0].long())
scaling_factor = torch.min(det_inp_dim / im_dim_list, 1)[0].view(-1, 1)
# coordinate transfer
dets[:, [1, 3]] -= (det_inp_dim -
scaling_factor * im_dim_list[:, 0].view(-1, 1)) / 2
dets[:, [2, 4]] -= (det_inp_dim -
scaling_factor * im_dim_list[:, 1].view(-1, 1)) / 2
dets[:, 1:5] /= scaling_factor
for j in range(dets.shape[0]):
dets[j, [1, 3]] = torch.clamp(dets[j, [1, 3]], 0.0, im_dim_list[j,
0])
dets[j, [2, 4]] = torch.clamp(dets[j, [2, 4]], 0.0, im_dim_list[j,
1])
boxes = dets[:, 1:5]
scores = dets[:, 5:6]
boxes_k = boxes[dets[:, 0] == 0]
if isinstance(boxes_k, int) or boxes_k.shape[0] == 0:
boxes = None
scores = None
inps = None
pt1 = None
pt2 = None
else:
inps = torch.zeros(boxes_k.size(0), 3, opt.inputResH, opt.inputResW)
pt1 = torch.zeros(boxes_k.size(0), 2)
pt2 = torch.zeros(boxes_k.size(0), 2)
orig_img = orig_img[0]
im_name = im_name[0]
boxes = boxes_k
scores = scores[dets[:, 0] == 0]
# orig_img[k], im_name[k], boxes_k, scores[dets[:, 0] == k], inps, pt1, pt2
# DetectionProcess
with torch.no_grad():
if boxes is None or boxes.nelement() == 0:
pass
else:
inp = im_to_torch(cv2.cvtColor(orig_img, cv2.COLOR_BGR2RGB))
inps, pt1, pt2 = crop_from_dets(inp, boxes, inps, pt1, pt2)
# self.Q.put((inps, orig_img, im_name, boxes, scores, pt1, pt2))
batchSize = args.posebatch
# fall_res_all = []
for i in range(1):
with torch.no_grad():
if boxes is None or boxes.nelement() == 0:
# writer.save(None, None, None, None, None, orig_img, im_name.split('/')[-1])
# res_n = 0
continue
# Pose Estimation
datalen = inps.size(0)
leftover = 0
if (datalen) % batchSize:
leftover = 1
num_batches = datalen // batchSize + leftover
hm = []
for j in range(num_batches):
inps_j = inps[j * batchSize:min((j + 1) *
batchSize, datalen)].cuda()
hm_j = pose_model(inps_j)
hm.append(hm_j)
hm = torch.cat(hm)
hm = hm.cpu()
# writer.save(boxes, scores, hm, pt1, pt2, orig_img, im_name.split('/')[-1])
fall_res = []
keypoint_res = []
# fall_res.append(im_name.split('/')[-1])
if opt.matching:
preds = getMultiPeakPrediction(hm, pt1.numpy(), pt2.numpy(),
opt.inputResH, opt.inputResW,
opt.outputResH, opt.outputResW)
result = matching(boxes, scores.numpy(), preds)
else:
preds_hm, preds_img, preds_scores = getPrediction(
hm, pt1, pt2, opt.inputResH, opt.inputResW, opt.outputResH,
opt.outputResW)
result = pose_nms(boxes, scores, preds_img, preds_scores)
result = {'imgname': im_name, 'result': result}
# img = orig_img
img = vis_frame(orig_img, result)
for human in result['result']:
keypoint = human['keypoints']
kp_scores = human['kp_score']
keypoint = keypoint.numpy()
xmax = max(keypoint[:, 0])
xmin = min(keypoint[:, 0])
ymax = max(keypoint[:, 1])
ymin = min(keypoint[:, 1])
box_hm = [xmin, ymin, xmax, ymax]
kp_num = 0
for i in range(len(kp_scores)):
if kp_scores[i] > 0.05:
kp_num += 1
if kp_num < 10:
# cv2.rectangle(img, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
fall_res.append([False, xmin, ymin, xmax, ymax])
# print("kp_num:"+str(kp_num))
continue
overlap = []
for box in boxes_chair:
overlap.append(compute_overlap(box_hm, box))
for box in boxes_sofa:
overlap.append(compute_overlap(box_hm, box))
for box in boxes_bed:
overlap.append(compute_overlap(box_hm, box))
if len(overlap) > 0 and max(overlap) >= 0.6:
# res_n = 0
fall_res.append([False, xmin, ymin, xmax, ymax])
# cv2.rectangle(img, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
# print("overlap:"+str(overlap))
continue
w = xmax - xmin
h = ymax - ymin
ratio = w / h
# distance = abs((keypoint[15][1] + keypoint[16][1]) / 2 - (keypoint[11][1] + keypoint[12][1]) / 2)
xhead = (keypoint[1][0] + keypoint[2][0] + keypoint[2][0] +
keypoint[3][0] + keypoint[4][0]) / 4
yhead = (keypoint[1][1] + keypoint[2][1] + keypoint[2][1] +
keypoint[3][1] + keypoint[4][1]) / 4
xfeet = (keypoint[15][0] + keypoint[16][0]) / 2
yfeet = (keypoint[15][1] + keypoint[16][1]) / 2
d_ear = (abs(keypoint[3][0] - keypoint[4][0])**2 +
abs(keypoint[3][1] - keypoint[4][1])**2)**0.5
r = (w**2 + h**2)**0.5 / d_ear
if kp_scores[3] > 0.05 and kp_scores[4] > 0.05 and r < 4:
fall_res.append([False, xmin, ymin, xmax, ymax])
# cv2.rectangle(img, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
# print("r<4")
continue
# distance = abs((keypoint[15][1] + keypoint[16][1]) / 2 - (keypoint[11][1] + keypoint[12][1]) / 2)
# xhead_foot = abs(xfeet - xhead)
# yhead_foot = abs(yfeet - yhead)
# dhead_foot = (xhead_foot ** 2 + yhead_foot ** 2) ** 0.5
# ratio = yhead_foot / dhead_foot
if min(kp_scores[3], kp_scores[4], kp_scores[15],
kp_scores[16]) > 0.05 and yfeet < (keypoint[3][1] +
keypoint[4][1]) / 2:
# cv2.rectangle(img, (xmin, ymin), (xmax, ymax), (0, 255, 0), 2)
# font = cv2.FONT_HERSHEY_SIMPLEX
# cv2.putText(img, 'Warning!Fall!', (int(xmin + 10), int(ymax - 10)), font, 1, (0, 255, 0), 2)
fall_res.append([True, xmin, ymin, xmax, ymax])
keypoint_res.append(keypoint)
# res_n = 2
elif w / h >= 1.0:
# cv2.rectangle(img, (xmin, ymin), (xmax, ymax), (0, 0, 255), 2)
# font = cv2.FONT_HERSHEY_SIMPLEX
# cv2.putText(img, 'Warning!Fall', (int(xmin + 10), int(ymax - 10)), font, 1, (0, 0, 255), 2)
fall_res.append([True, xmin, ymin, xmax, ymax])
keypoint_res.append(keypoint)
# res_n = 1
else:
# cv2.rectangle(img, (xmin, ymin), (xmax, ymax), (255, 0, 0), 2)
# print("normal")
fall_res.append([False, xmin, ymin, xmax, ymax])
# res_n = 0
# cv2.imwrite(os.path.join(opt.outputpath, 'vis', im_name), img)
'''
for box in boxes_chair:
cv2.rectangle(img, (int(box[0]), int(box[1])), (int(box[2]), int(box[3])), (255, 255, 0), 2)
for box in boxes_sofa:
cv2.rectangle(img, (int(box[0]), int(box[1])), (int(box[2]), int(box[3])), (0, 255, 255), 2)
for box in boxes_bed:
cv2.rectangle(img, (int(box[0]), int(box[1])), (int(box[2]), int(box[3])), (255, 0, 255), 2)
cv2.imwrite('err_result/false/'+im_name[0:-4]+'_re.jpg', img)
'''
return keypoint_res
im_dim_list[:, 0].view(-1, 1)) / 2
dets[:, [2, 4]] -= (det_inp_dim - scaling_factor *
im_dim_list[:, 1].view(-1, 1)) / 2
dets[:, 1:5] /= scaling_factor
for j in range(dets.shape[0]):
dets[j, [1, 3]] = torch.clamp(dets[j, [1, 3]], 0.0,
im_dim_list[j, 0])
dets[j, [2, 4]] = torch.clamp(dets[j, [2, 4]], 0.0,
im_dim_list[j, 1])
boxes = dets[:, 1:5].cpu()
scores = dets[:, 5:6].cpu()
ckpt_time, detNMS_time = getTime(ckpt_time)
runtime_profile['dn'].append(detNMS_time)
# Pose Estimation
inps, pt1, pt2 = crop_from_dets(inp[0], boxes)
inps = Variable(inps.cuda())
hm = pose_model(inps)
ckpt_time, pose_time = getTime(ckpt_time)
runtime_profile['pt'].append(pose_time)
writer.save(boxes, scores,
hm.cpu().data, pt1, pt2,
np.array(orig_img[0], dtype=np.uint8),
im_name[0].split('/')[-1])
#writer.save(boxes, scores, hm.cpu().data, pt1, pt2, orig_img[0], im_name[0].split('/')[-1])
ckpt_time, post_time = getTime(ckpt_time)
runtime_profile['pn'].append(post_time)
# TQDM
im_names_desc.set_description(
