tracker.start_track(rgb, rect)
trackers.append(tracker)
# drawPred(classIds[i], confidences[i], left, top, left + width,
# top + height)
else:
for tracker in trackers:
tracker.update(rgb)
pos = tracker.get_position()
startX = int(pos.left())
startY = int(pos.top())
endX = int(pos.right())
endY = int(pos.bottom())
rects.append((startX, startY, endX, endY))
totalFrames += 1
objects = ct.update(rects)
print(active_obj)
if objects:
for (objectID, centroid), rect in zip(objects.items(), rects):
startX, startY, endX, endY = rect
roi = frame[startY:startY + endY, startX:startX + endX]
try:
roi = cv2.resize(roi, (128, 128))
except:
continue
dist = np.linalg.norm(roi - prev_roi)
dist = (dist - prev_dist) // 1000
print(dist, objectID)
if dist in range(-15, 15):
if objectID in active_obj:
def detect_video(yolo, video_path, output_path=""):
if video_path.isdigit():
video_path = int(video_path)
vid = cv2.VideoCapture(video_path)
if not vid.isOpened():
raise IOError("Couldn't open webcam or video")
video_FourCC = cv2.VideoWriter_fourcc(*"mp4v")
video_fps = vid.get(cv2.CAP_PROP_FPS)
video_size = (int(vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))
# print("input video size: {}".format(video_size))
isOutput = True if output_path != "" else False
if isOutput:
# print("!!! TYPE:", type(output_path), type(video_FourCC), type(video_fps), type(video_size))
out = cv2.VideoWriter(output_path, video_FourCC, video_fps, video_size)
# fgbg = cv2.createBackgroundSubtractorKNN()
fgbg = cv2.bgsegm.createBackgroundSubtractorGSOC()
ct = CentroidTracker(maxDisappeared=40, maxDistance=90)
trackableObjects = {}
del_ID = 0
count_a = 0
count_b = 0
flag = False
max_area = 0
min_area = video_size[0] * video_size[1]
area_time = 0
accum_time = 0
curr_fps = 0
max_fps = 0
fps = "FPS: ??"
n = 0
sum_fps = 0
prev_time = timer()
while True:
_, frame = vid.read()
if type(frame) == type(None): break
resize_img = cv2.resize(frame,
(frame.shape[1] // 3, frame.shape[0] // 3))
mask = fgbg.apply(resize_img)
# mask1 = mask
# thresh = cv2.threshold(mask, 3, 255, cv2.THRESH_BINARY)[1]
cv2.namedWindow('maskwindow', cv2.WINDOW_NORMAL)
cv2.imshow('maskwindow', mask)
if flag:
out_image = frame
contours, hierarchy = cv2.findContours(mask.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
for _, cnt in enumerate(contours):
area = cv2.contourArea(cnt)
if area > min_area and area < (max_area):
flag = False
break
else:
image = Image.fromarray(frame)
image, out_boxes, out_scores = yolo.detect_image(image)
out_boxes = get_area(mask, out_boxes, out_scores)
# if len(out_boxes) != 0:
# for i, box in enumerate(out_boxes):
# cv2.rectangle(frame, (box[1] // 3, box[0] // 3), (box[3] // 3, box[2] // 3), (127, 255, 0), thickness=1)
objects = ct.update(out_boxes)
color_list = get_color(frame, objects)
image, count_b, count_a = track_objects(image, objects, count_b,
count_a, trackableObjects,
color_list)
out_image = np.asarray(image)
if len(out_boxes) != 0:
for i, box in enumerate(out_boxes):
cv2.rectangle(out_image, (box[1], box[0]),
(box[3], box[2]), (127, 255, 0),
thickness=2)
if len(objects) != 0:
objects_ID = list(objects.keys())
trackable_ID = list(trackableObjects.keys())
non_IDs = list(set(trackable_ID) - set(objects_ID))
for non_ID in non_IDs:
del trackableObjects[non_ID]
if area_time < 150:
max_area, min_area = max_min_area(mask, out_boxes,
out_scores, max_area,
min_area)
area_time += 1
elif len(objects) == 0 and area_time >= 150:
flag = True
cv2.line(out_image,
(0, count_line(out_image.shape[1], out_image.shape[0], 0)),
(out_image.shape[1],
count_line(out_image.shape[1], out_image.shape[0],
out_image.shape[1])),
color=(127, 255, 0),
thickness=3)
curr_time = timer()
exec_time = curr_time - prev_time
prev_time = curr_time
accum_time = accum_time + exec_time
curr_fps = curr_fps + 1
if accum_time > 1:
accum_time = accum_time - 1
fps = "FPS: " + str(curr_fps)
if max_fps < curr_fps:
max_fps = curr_fps
sum_fps += curr_fps
n += 1
curr_fps = 0
print(fps)
cv2.putText(out_image,
text=fps,
org=(3, 15),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=0.50,
color=(127, 255, 0),
thickness=2)
info = [("count B", count_b), ("coutn A", count_a),
("min area", min_area), ("max area", max_area)]
for (i, (k, v)) in enumerate(info):
textInfo = "{}: {}".format(k, v)
cv2.putText(out_image,
text=textInfo,
org=(10, out_image.shape[0] - ((30 * i) + 20)),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=0.7,
color=(127, 255, 0),
thickness=1)
cv2.namedWindow("result", cv2.WINDOW_NORMAL)
cv2.imshow("result", out_image)
# cv2.namedWindow('maskwindow', cv2.WINDOW_NORMAL)
# cv2.imshow('maskwindow', mask1)
if isOutput:
out.write(out_image)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
print("Max area: {}, Min area: {}".format(max_area, min_area))
print("Max FPS: {}FPS".format(max_fps))
print("Ave FPS: {:.2f}FPS".format(sum_fps / n))
yolo.close_session()
class SpecificWorker(GenericWorker):
def __init__(self, proxy_map):
super(SpecificWorker, self).__init__(proxy_map)
self.timer.timeout.connect(self.compute)
self.Period = 20
self.timer.start(self.Period)
self.model = ''
self.prototxt = ''
self.embedding_model = ''
self.confidence = 0.5
self.ct = CentroidTracker()
self.net = None
self.embedder = None
self.recognizer = None
self.label_encoder = None
self.writting = False
self.name_dir = ''
self.faces = None # lo que se envia a humanPose
# interfaz
self.ui.name_lineEdit.textEdited.connect(self.name_changed)
self.ui.name_lineEdit.editingFinished.connect(self.name_finished)
self.ui.add_person_button.clicked.connect(self.add_person)
self.ui.train_button.clicked.connect(self.update_model)
def read_files(self):
print("[INFO] loading face detector...")
self.model = "/home/robocomp/robocomp/components/robocomp-viriato/components/faceTracking/files/res10_300x300_ssd_iter_140000.caffemodel"
self.prototxt = "/home/robocomp/robocomp/components/robocomp-viriato/components/faceTracking/files/deploy.prototxt"
self.net = cv2.dnn.readNetFromCaffe(self.prototxt, self.model)
print("[INFO] loading face recognizer...")
self.embedding_model = "/home/robocomp/robocomp/components/robocomp-viriato/components/faceTracking/files/openface_nn4.small2.v1.t7"
self.embedder = cv2.dnn.readNetFromTorch(self.embedding_model)
recog= "/home/robocomp/robocomp/components/robocomp-viriato/components/faceTracking/files/output/recognizer.pickle"
le = "/home/robocomp/robocomp/components/robocomp-viriato/components/faceTracking/files/output/le.pickle"
self.recognizer = pickle.loads(open(recog).read())
self.label_encoder = pickle.loads(open(le).read())
print (CURRENT_PATH)
def setParams(self, params):
self.read_files()
self.show()
return True
def name_changed(self,text):
self.name_dir = text
self.writting = True
def name_finished(self):
self.writting = False
def time_Lapse(self, dir):
QMessageBox().information(self.focusWidget(), 'Time Lapse', 'For a better recognition rotate the face in several directions. Push OK to start', QMessageBox.Ok)
for count in range(10):
color, _, _, _ = self.rgbd_proxy.getData()
frame = np.fromstring(color, dtype=np.uint8)
frame = np.reshape(frame, (480, 640, 3))
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# (h, w) = frame.shape[:2]
# blob = cv2.dnn.blobFromImage(cv2.resize(frame, (300, 300)), 1.0,
# (300, 300), (104.0, 177.0, 123.0))
#
# self.net.setInput(blob)
# detections = self.net.forward()
#
# for i in range(0, detections.shape[2]):
#
# confidence = detections[0, 0, i, 2]
# if confidence >self.confidence:
#
# box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
# (startX, startY, endX, endY) = box.astype("int")
# startX = startX -100
# startY = startY -100
# endX = endX + 100
# endY = endY + 100
#
# face = frame[startY:endY, startX:endX]
# pass the blob through the network and obtain the detections and
# predictions
print ("Saving frame%d.jpg" % count)
name_file = os.path.join(dir, "frame%d.jpg" % count)
cv2.imwrite(name_file, frame)
time.sleep(0.2)
def add_person(self):
self.writting = True
if (self.name_dir.strip() == "") :
print ("No name inserted")
return
dir = os.path.join(CURRENT_PATH,"../files/dataset", self.name_dir.strip().lower()) #se crea el directorio en minusculas y sin espacios
print (dir)
if os.path.isdir(dir):
reply = QMessageBox.question(self.focusWidget(), 'The directory already exists',
' Do you want to overwrite it?', QMessageBox.Yes, QMessageBox.No)
if reply == QtGui.QMessageBox.No:
self.ui.name_lineEdit.clear()
self.writting = False
return
else:
self.time_Lapse(dir)
else:
os.mkdir(dir)
self.time_Lapse(dir)
self.update_model()
self.ui.name_lineEdit.clear()
self.writting = False
def update_model(self):
reply2 = QMessageBox.question(self.focusWidget(), 'The model needs to be trained',
' Do you want to train the model? It may take a while', QMessageBox.Yes,
QMessageBox.No)
if reply2 == QtGui.QMessageBox.No:
return
else:
ExEm.extract_embeddings()
TM.train_model()
self.read_files()
print ("[INFO] Model updated ")
@QtCore.Slot()
def compute(self):
if self.writting is False:
color,_, _, _ = self.rgbd_proxy.getData()
frame = np.fromstring(color, dtype=np.uint8)
frame = np.reshape(frame,(480, 640, 3))
(h, w) = frame.shape[:2]
blob = cv2.dnn.blobFromImage(cv2.resize(frame, (300, 300)), 1.0,
(300, 300), (104.0, 177.0, 123.0))
# pass the blob through the network and obtain the detections and
# predictions
self.net.setInput(blob)
detections = self.net.forward()
rects = []
bounding_boxes = []
for i in range(0, detections.shape[2]):
confidence = detections[0, 0, i, 2]
if confidence >self.confidence:
box = detections[0, 0, i, 3:7] * np.array([w, h, w, h])
(startX, startY, endX, endY) = box.astype("int")
qr = QRect(QPoint(startX, endY), QPoint(endX,startY))
bounding_boxes.append(qr)
rects.append(box.astype("int"))
objects = self.ct.update(rects)
# loop over the tracked objects
faces_found = []
for (objectID, centroid) in objects.items():
faceT = TFace()
tracking = False
for qrects in bounding_boxes:
if qrects.contains(QPoint(centroid[0],centroid[1])):
faceT.tracking = True
bbox = Box()
(bbox.posx, bbox.posy, bbox.width,bbox.height) = qrects.getRect()
faceT.boundingbox = bbox
tracking = True
(startX, endY , endX, startY) = qrects.getCoords()
# extract the face ROI
face = frame[startY:endY, startX:endX]
(fH, fW) = face.shape[:2]
# ensure the face width and height are sufficiently large
if fW < 20 or fH < 20:
continue
faceBlob = cv2.dnn.blobFromImage(face, 1.0 / 255,
(96, 96), (0, 0, 0), swapRB=True, crop=False)
self.embedder.setInput(faceBlob)
vec = self.embedder.forward()
# perform classification to recognize the face
preds = self.recognizer.predict_proba(vec)[0]
j = np.argmax(preds)
proba = preds[j] *100
if (proba < 50):
name = "unknow"
else:
name = self.label_encoder.classes_[j]
# draw the bounding box of the face along with the
# associated probability
text = "{}: {:.2f}%".format(name, proba)
y = startY - 10 if startY - 10 > 10 else startY + 10
cv2.rectangle(frame, (startX, startY), (endX, endY),
(255, 10, 150), 2)
cv2.putText(frame, text, (startX, y),
cv2.FONT_HERSHEY_SIMPLEX, 0.45, (255, 10, 150), 2)
faceT.name = name
faceT.confidence = proba*100
break
if (tracking == False):
faceT.tracking = False
pnt = Point()
pnt.x = centroid[0]
pnt.y = centroid [1]
faceT.id = objectID
faceT.centroid = pnt
# draw both the ID of the object and the centroid of the
# object on the output frame
text = "ID {}".format(objectID)
cv2.putText(frame, text, (centroid[0] - 10, centroid[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 10, 150), 2)
cv2.circle(frame, (centroid[0], centroid[1]), 4, (255, 10, 150), -1)
faces_found.append(faceT)
self.faces = faces_found
height, width, channel = frame.shape
bytesPerLine = 3 * width
qImg = QImage(frame.data, width, height, bytesPerLine, QImage.Format_RGB888)
self.ui.image_label.setPixmap(QPixmap.fromImage(qImg))
return True
#
# getFaces
#
def getFaces(self):
return self.faces
def main():
default_model_dir = '../all_models'
default_model = '../all_models/mobilenet_ssd_v2_coco_quant_postprocess_edgetpu.tflite'
default_labels = '../all_models/coco_labels.txt'
parser = argparse.ArgumentParser()
parser.add_argument('--model',
help='.tflite model path',
default=os.path.join(default_model_dir, default_model))
parser.add_argument('--labels',
help='label file path',
default=os.path.join(default_model_dir,
default_labels))
parser.add_argument(
'--top_k',
type=int,
default=1,
help='number of categories with highest score to display')
parser.add_argument('--camera_idx',
type=str,
help='Index of which video source to use. ',
default=0)
parser.add_argument('--threshold',
type=float,
default=0.5,
help='classifier score threshold')
args = parser.parse_args()
#=================================================================
# initialize the frame dimensions (we'll set them as soon as we read
# the first frame from the video)
W = 640
H = 480
ct = CentroidTracker()
trackers = []
trackableObjects = {}
# initialize the total number of frames processed thus far, along
# with the total number of objects that have moved either up or down
totalFrames = 0
totalDown = 0
totalUp = 0
#===========================================================================
#print('Loading Handtracking model {} with {} labels.'.format(args.model, args.labels))
#engine = DetectionEngine(args.model)
#labels = load_labels(args.labels)
#=====================================================================
src_size = (W, H)
print('Loading Detection model {} with {} labels.'.format(
args.model, args.labels))
engine2 = DetectionEngine(args.model)
labels2 = load_labels(args.labels)
cap = cv2.VideoCapture(args.camera_idx)
while cap.isOpened():
#while cv2.waitKey(1)<0:
ret, frame = cap.read()
if not ret:
break
cv2_im = frame
cv2_im_rgb = cv2.cvtColor(cv2_im, cv2.COLOR_BGR2RGB)
pil_im = Image.fromarray(cv2_im_rgb)
#declare new window for show pose in 2d plane========================
h_cap, w_cap, _ = cv2_im.shape
cv2_sodidi = np.zeros((h_cap, w_cap, 3), np.uint8)
#================================================================
objs = engine2.detect_with_image(pil_im,
threshold=0.2,
keep_aspect_ratio=True,
relative_coord=True,
top_k=3)
cv2_im, rects = append_objs_to_img(cv2_im, objs, labels2)
#==================tracking=================================================
status = "Waiting"
cv2.line(cv2_im, (W // 2, 0), (W // 2, H), (0, 255, 255), 2)
objects = ct.update(rects)
print(objects)
for (objectID, centroid) in objects.items():
# check to see if a trackable object exists for the current
# object ID
to = trackableObjects.get(objectID, None)
# if there is no existing trackable object, create one
if to is None:
to = TrackableObject(objectID, centroid)
# otherwise, there is a trackable object so we can utilize it
# to determine direction
else:
# the difference between the y-coordinate of the *current*
# centroid and the mean of *previous* centroids will tell
# us in which direction the object is moving (negative for
# 'up' and positive for 'down')
y = [c[1] for c in to.centroids]
direction = centroid[1] - np.mean(y)
to.centroids.append(centroid)
# check to see if the object has been counted or not
if not to.counted:
# if the direction is negative (indicating the object
# is moving up) AND the centroid is above the center
# line, count the object
if direction < 0 and centroid[1] < H // 2:
totalUp += 1
to.counted = True
# if the direction is positive (indicating the object
# is moving down) AND the centroid is below the
# center line, count the object
elif direction > 0 and centroid[1] > H // 2:
totalDown += 1
to.counted = True
# store the trackable object in our dictionary
trackableObjects[objectID] = to
# draw both the ID of the object and the centroid of the
# object on the output frame
text = "ID {}".format(objectID)
cv2.putText(cv2_im, text, (centroid[0] - 10, centroid[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv2.circle(cv2_im, (centroid[0], centroid[1]), 4, (0, 255, 0), -1)
# construct a tuple of information we will be displaying on the
# frame
info = [
("Up", totalUp),
("Down", totalDown),
("Status", status),
]
# loop over the info tuples and draw them on our frame
for (i, (k, v)) in enumerate(info):
text = "{}: {}".format(k, v)
cv2.putText(cv2_im, text, (10, H - ((i * 20) + 20)),
cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2)
#======================================================================
cv2.imshow('frame', cv2_im)
cv2.imshow('1', cv2_sodidi)
#===========print mouse pos=====================
cv2.setMouseCallback('frame', onMouse)
posNp = np.array(posList)
print(posNp)
#============streamming to server==============
img = np.hstack((cv2_im, cv2_sodidi))
#thay frame = img
encoded, buffer = cv2.imencode('.jpg', img)
jpg_as_text = base64.b64encode(buffer)
footage_socket.send(jpg_as_text)
#=============================================
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()