def detect_and_track(self, frames):
boxes, names = self.get_boxes(frames[0])
if boxes is None:
return [], []
tracker = Sort(max_age=1, min_hits=1, iou_threshold=0.3)
# Initalize tracker
inital_detections = []
for i in range(len(boxes)):
inital_detections.append([boxes[i][0], boxes[i][1], boxes[i][2], boxes[i][3], 1])
inital_detections = np.asarray(inital_detections)
tracker.update(inital_detections)
# Apply tracking on future frames
detections = [inital_detections]
for i in range(1, len(frames)):
boxes, score = self.detect_model.detect(frames[i])
dets = []
if (boxes is not None):
for i in range(len(boxes)):
dets.append([boxes[i][0], boxes[i][1], boxes[i][2], boxes[i][3], score])
else:
dets = np.empty((0, 5))
dets = np.asarray(dets)
detections.append(tracker.update(dets))
return detections, names
def detectStart(self):
print(SystemInfo.detect_area, SystemInfo.detect_scale_label)
if SystemInfo.video_opened_url is None:
self.showMessage("提示", "还没选择视频")
return
dir_name, file_name = os.path.split(SystemInfo.video_opened_url)
info_dir = os.path.join(dir_name, os.path.splitext(file_name)[0])
if not os.path.exists(info_dir):
os.makedirs(info_dir)
self.getDetectSet()
SystemInfo.detect_step = SystemInfo.detect_set_step
config_file = os.path.join(info_dir, 'detect_config.ini')
config = configparser.ConfigParser()
if not os.path.exists(config_file):
open(config_file, 'w').close()
# os.mknod(config_file)
config.read(config_file)
section = str(SystemInfo.detect_set_start_time) + '-' + str(SystemInfo.detect_set_end_time) + '__' + \
str(SystemInfo.detect_step)
if section in config.sections():
self.showMessage('提示', '相同的设置已经检测')
return
info_file = os.path.join(info_dir, section + '.pkl')
total_step = (SystemInfo.detect_set_end_time * SystemInfo.video_fps -
SystemInfo.detect_set_start_time *
SystemInfo.video_fps) / SystemInfo.detect_set_step
self.ProgressBar = ProgressBar("self.FileIndex", "self.VideoNum",
SystemInfo.video_total_fps)
mul_trackers = Sort(max_age=SystemInfo.video_fps,
step=SystemInfo.detect_step,
area=np.int32(SystemInfo.detect_area))
for i in range(
int(SystemInfo.detect_set_start_time * SystemInfo.video_fps),
int(SystemInfo.detect_set_end_time * SystemInfo.video_fps) + 1,
int(SystemInfo.detect_set_step)):
SystemInfo.detect_info['detect_frame'].append(i)
SystemInfo.video.set(cv2.CAP_PROP_POS_FRAMES, i)
success, frame = SystemInfo.video.read()
# tag_list = []
# number, orientation, _, tag_center, _ = locate_code(frame, threshMode=0, bradleyFilterSize=15,
# bradleyThresh=3, tagList=tag_list)
# SystemInfo.detect_info['tag_label'].append(number)
# SystemInfo.detect_all_number.extend(number)
# SystemInfo.detect_info['orientation'].append(orientation)
# SystemInfo.detect_info['tag_center'].append(tag_center)
if success:
mul_trackers.update(frame)
self.ProgressBar.setTipLable("总帧数：{}帧,当前帧数：{},步长：{}".format(
int(SystemInfo.video_total_fps), i,
SystemInfo.detect_set_step))
self.ProgressBar.setValue(i) # 更新进度条的值
QApplication.processEvents() # 实时显示
with open(info_file, 'wb') as f:
pickle.dump(mul_trackers, f)
get_detect_info(info_file, SystemInfo)
SystemInfo.write(config, section, config_file)
self.ProgressBar.close() # 记得关闭进度条
self.showMessage("提示", "检测完成！")
SystemInfo.video_is_detect = True
self.projectWidget.addDetect()
def __init__(self, parent=None):
super(MainWIndow, self).__init__(parent)
self.timer_camera = QtCore.QTimer()
self.width = 720
self.height = 480
self.set_ui()
self.slot_init()
# openpose params
print(params)
# Starting OpenPose
self.opWrapper = opWrapper
self.opWrapper.start()
# Process Image
self.datum = op.Datum()
self.SEQ_LEN = 10
self.isStarted = False
self.UserFrames = {}
self.make_pause = False
self.saved_count = 0
self.backgorund_image = {}
self.users_complete = {}
self.tracker = Sort(20, 3)
self.currentExamination = 0
# initiate the video
self.cap = cv2.VideoCapture("/home/prince/Desktop/destination.mp4")
def __init__(self, max_age=30, min_hits=5, use_dlib=False):
self.tracker = Sort(max_age, min_hits, use_dlib)
if use_dlib:
print "TRACKER: Dlib Correlation tracker activated!"
else:
print "TRACKER: Kalman SORT tracker activated!"
def __init__(self, video_path, output_path="", score=0.1, nms_threshold=0.45):
self.score = score
self.nms_threshold = nms_threshold
# Generate colors for drawing bounding boxes.
hsv_tuples = [(x / 1000, 1., 1.)
for x in range(1000)]
self.colors = list(map(lambda x: colorsys.hsv_to_rgb(*x), hsv_tuples))
self.colors = list(
map(lambda x: (int(x[0] * 255), int(x[1] * 255), int(x[2] * 255)),
self.colors))
np.random.seed(10101) # Fixed seed for consistent colors across runs.
np.random.shuffle(self.colors) # Shuffle colors to decorrelate adjacent classes.
np.random.seed(None) # Reset seed to default.
self.vid = cv2.VideoCapture(video_path)
if not self.vid.isOpened():
raise IOError("Couldn't open webcam or video")
video_FourCC = int(self.vid.get(cv2.CAP_PROP_FOURCC))
video_fps = self.vid.get(cv2.CAP_PROP_FPS)
video_size = (int(self.vid.get(cv2.CAP_PROP_FRAME_WIDTH)),
int(self.vid.get(cv2.CAP_PROP_FRAME_HEIGHT)))
isOutput = True if output_path != "" else False
if isOutput:
print("!!! TYPE:", type(output_path), type(video_FourCC), type(video_fps), type(video_size))
self.out = cv2.VideoWriter(output_path, video_FourCC, video_fps, video_size)
else:
self.out = None
bbox_path ='.'.join(video_path.split('.')[:-1])+'.pkl.gz'
with gzip.open(bbox_path, "rb") as f:
self.bbox_history = pickle.load(f)
self.mot_tracker = Sort(max_age=12, min_hits=3)
def bounds(self, batteries, houses):
''' Upper- and lowerbounds for costs for given houses & batteries'''
# solution class + update house.priority_list
initial_solution = Solution(houses, batteries)
Sort.priority_value(Sort, houses, batteries)
# get furthest and closest battery for each house
lower = 0
upper = 0
for house in houses:
b_close = house.priority_list[0]
lower += initial_solution.distance_calc(house, b_close)
b_far = house.priority_list[4]
upper += initial_solution.distance_calc(house, b_far)
battery_costs = 0
for battery in batteries:
battery_costs += battery.cost
# calculate upper and lowerbound for total costs
lowerbound = lower * 9 + battery_costs
upperbound = upper * 9 + battery_costs
print("LOWERBOUND: " , lowerbound)
print("UPPERBOUND: " , upperbound)
print()
print()
def __init__(self):
self.tracker = Sort()
label_map = label_map_util.load_labelmap(PATH_TO_LABELS)
categories = label_map_util.convert_label_map_to_categories(
label_map, max_num_classes=NUM_CLASSES, use_display_name=True)
self.category_index = label_map_util.create_category_index(categories)
detection_graph = tf.Graph()
with detection_graph.as_default():
od_graph_def = tf.GraphDef()
with tf.gfile.GFile(PATH_TO_CKPT, 'rb') as fid:
serialized_graph = fid.read()
od_graph_def.ParseFromString(serialized_graph)
tf.import_graph_def(od_graph_def, name='')
with tf.Session(graph=detection_graph) as self.sess:
# Definite input and output Tensors for detection_graph
self.image_tensor = detection_graph.get_tensor_by_name(
'image_tensor:0')
# Each box represents a part of the image where a particular object was detected.
self.detection_boxes = detection_graph.get_tensor_by_name(
'detection_boxes:0')
# Each score represent how level of confidence for each of the objects.
# Score is shown on the result image, together with the class label.
self.detection_scores = detection_graph.get_tensor_by_name(
'detection_scores:0')
self.detection_classes = detection_graph.get_tensor_by_name(
'detection_classes:0')
self.num_detections = detection_graph.get_tensor_by_name(
'num_detections:0')
def main():
a01 = [9, 8, 7, 6, 1, 5, 10, 3]
a02 = [1, 2, 3, 4, 5, 6, 7, 8]
a03 = [10, 23, 643, 12, 34, 1, 60]
a04 = [-1, 5, 1, 654, 12, 4, 1]
a05 = [1, 1, 1, 1, 2, 2, 1, 2, 4, 6]
print("Before sorting: %s" % a01)
Sort.quick_sort(a01, 0, len(a01) - 1)
# Sort.quick_sort_with_hoare_partition(a, 0, len(a) - 1)
print("After sorting: %s" % a01)
print('--------------------------')
print("Before sorting: %s" % a02)
Sort.quick_sort(a02, 0, len(a02) - 1)
print("After sorting: %s" % a02)
print('--------------------------')
print("Before sorting: %s" % a03)
Sort.quick_sort(a03, 0, len(a03) - 1)
print("After sorting: %s" % a03)
print('--------------------------')
print("Before sorting: %s" % a04)
Sort.quick_sort(a04, 0, len(a04) - 1)
print("After sorting: %s" % a04)
print('--------------------------')
print("Before sorting: %s" % a05)
Sort.quick_sort(a05, 0, len(a05) - 1)
print("After sorting: %s" % a05)
print('--------------------------')
def __init__(self, max_age=100, min_hits=10, iou_threshold=0.3):
"""
ROS IoU Tracker
:param max_age: Maximum number of frames to keep alive a track without associated detections.
:param min_hits: Minimum number of associated detections before track is initialised.
:param iou_threshold: Minimum IOU for match.
"""
self.iou_threshold = iou_threshold
self.bridge = CvBridge()
self.tracked_img_pub = rospy.Publisher("/iou_tracker/detection_image",
Image,
queue_size=1)
self.new_bboxes = []
self.bboxes = []
self.bboxes_msg = BoundingBoxes()
self.traces = dict()
self.mot_tracker = Sort(
max_age=max_age, min_hits=min_hits,
iou_threshold=iou_threshold) # create instance of the SORT tracker
self.image = np.zeros(1)
self.raw_image_sub = rospy.Subscriber('/darknet_ros/detection_image',
Image,
self.__raw_image_callback,
queue_size=1)
#self.raw_image_sub = rospy.Subscriber('/r200/depth/image_raw', Image, self.__raw_image_callback, queue_size=1)
self.bbox_pub = rospy.Publisher("/iou_tracker/bounding_boxes",
BoundingBoxes,
queue_size=1)
self.bbox_nn_sub = rospy.Subscriber('/darknet_ros/bounding_boxes',
BoundingBoxes,
self.__bbox_nn_callback,
queue_size=1)
rospy.loginfo("iou_tracker has been initialized!")
def bg_move(self):
r_sort = Sort()
r_sort.ckfile()
result = r_sort.move()
if result:
return True
else:
return False
def Main():
# Load weights
model = Balloon.modellib.MaskRCNN(mode="inference", config=config1, model_dir=logpath)
print("Loading weights ", weights_path)
model.load_weights(weights_path, by_name=True)
mot_tracker = Sort(sort_max_age, sort_min_hit)
# evaluate
vcapture = cv2.VideoCapture(videopath)
width = int(vcapture.get(cv2.CAP_PROP_FRAME_WIDTH))
height = int(vcapture.get(cv2.CAP_PROP_FRAME_HEIGHT))
fps = vcapture.get(cv2.CAP_PROP_FPS)
# Define codec and create video writer
file_name = "splash_{:%Y%m%dT%H%M%S}.avi".format(Balloon.datetime.datetime.now())
vwriter = cv2.VideoWriter(file_name,
cv2.VideoWriter_fourcc(*'MJPG'),
fps, (width, height))
colours = np.random.rand(32, 3) * 255
count = 0
success = True
while success:
print("frame: ", count)
# Read next image
success, image = vcapture.read()
if success:
# Detect objects
r = model.detect([image], verbose=0)[0]
result = r['rois']
result = np.array(result) # 变成array矩阵
print('探测到的位置：','\n',result)
det = result[:, 0:5]
'''
#print(det)
det[:, 0] = det[:, 0] * width
det[:, 1] = det[:, 1] * height
det[:, 2] = det[:, 2] * width
det[:, 3] = det[:, 3] * height
print(det)
将图片位置交给sort处理，det格式为[[x1,y1,x2,y2,score],[x1,y1,x2,y2,score],...]
'''
trackers = mot_tracker.update(det)
print('Sort跟踪器位置','\n',trackers)
for d in trackers:
xmin = int(d[1])
ymin = int(d[0])
xmax = int(d[3])
ymax = int(d[2])
label = int(d[4])
cv2.rectangle(image, (xmin, ymin), (xmax, ymax),
(int(colours[label % 32, 0]), int(colours[label % 32, 1]), int(colours[label % 32, 2])),
2)
cv2.imshow("小猫追气球", image)
cv2.waitKey(50)
vwriter.write(image)
count += 1
vwriter.release()
print("Saved to ", file_name)
def __init__(self):
super().__init__()
self.initUI()
self.thread = Thread()
self.thread.sinout.connect(self.slotDisplayImage)
self.thread.start()
self.time = 0
self.timeCount = 0
self.frame = 0
self.mot_tracker = Sort(max_age=5)
class TestSort(unittest.TestCase):
def setUp(self):
self.s1 = Sort()
def testOpenFile(self):
self.assertTrue(self.s1.openFile())
def testMove(self):
self.s1.ckfile()
self.assertTrue(self.s1.move())
class TestSort(unittest.TestCase):
def setUp(self):
self.sorter = Sort()
def test_bubble(self):
a =[9,1,7,6,5,4,3,2]
self.assertListEqual(self.sorter.bubble(a), [1,2,3,4,5,6,7,9])
def test_qsort(self):
a=[6,5,7,9,8]
self.sorter.qsort(0, len(a) - 1, a)
self.assertListEqual(a, [5,6,7,8,9])
def make_trackvideo(configpath, weightpath, imagefolder, videofolder):
os.makedirs(videofolder, exist_ok=True)
imagenames = sorted(os.listdir(imagefolder))
# find video names
videonames = set()
for img_nm in imagenames:
video = img_nm.rsplit('_', 1)[0]
videonames.add(video)
print(f"video files: {videonames}\n")
detector = init_detector(configpath, weightpath)
# make video files
for vdo_id, vdo_nm in enumerate(videonames):
fourcc = cv2.VideoWriter_fourcc('M','J','P','G')
fps = 12
shape = (800, 800)
vdo_pth = os.path.join(videofolder, f"{vdo_nm}.avi")
result_video = cv2.VideoWriter(vdo_pth, fourcc, fps, shape)
image_paths = glob.glob(os.path.join(imagefolder, f"{vdo_nm}*"))
image_paths = sorted(image_paths, key=lambda x: int(os.path.splitext(x)[0].rsplit('_', 1)[1]))
tracker = Sort()
for img_id, img_pth in enumerate(image_paths):
image = cv2.imread(img_pth)
result, inf_time = inference_detector(detector, image)
detected_boxes = result[0]
tracked_boxes = tracker.update(detected_boxes)
# draw the result on image
bboxes, track_ids = tracked_boxes[:, :-1], tracked_boxes[:, -1]
for box, trk_id in zip(bboxes, track_ids):
x1, y1, x2, y2 = box.astype("int")
cv2.rectangle(image, (x1, y1), (x2, y2), (0, 0, 255), 2)
cx, cy = (x1+x2)//2, (y1+y2)//2
text = f"{trk_id.astype(int)}"
cv2.putText(image, text, (cx-10, cy-10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
cv2.circle(image, (cx, cy), 4, (0, 0, 255), -1)
image = cv2.resize(image, shape)
result_video.write(image)
print(f"video {vdo_id} frame {img_id} drawing done.")
result_video.release()
print(f"\n{vdo_nm}.avi created!!\n")
return None
def main():
a = [9, 8, 7, 6, 1, 5, 10, 3]
b = [9, 8, 7, 6, 1, 5, 10, 3]
print("Before sorting: %s" % a)
Sort.selection_sort(a)
print("After sorting: %s" % a)
print("--------------------------")
print("Before sorting: %s" % b)
Sort.selection_sort_recursive(b, 0)
print("After sorting: %s" % b)
def main():
a = [9, 8, 7, 6, 1, 5, 10, 3]
b = [9, 8, 7, 6, 1, 5, 10, 3]
print("Before sorting: %s" % a)
Sort.bubble_sort(a)
print("After sorting: %s" % a)
print("------------------------")
print("Before sorting: %s" % b)
Sort.bubble_sort(b)
print("After sorting: %s" % b)
def __init__(self, recognition_threshhold=0.35):
self.device = torch.device('cuda:0' if torch.cuda.is_available() else 'cpu')
self.detect_model = MTCNN(keep_all=True, device=self.device, post_process=False, min_face_size=20)
self.face_labels = {}
self.frames_per_track = {}
self.prev_dets = None
self.rec_model = InceptionResnetV1(pretrained='vggface2').eval().to(self.device)
self.rec_thresh = recognition_threshhold
self.stride = 0
self.track_embeddings = {}
self.tracker = Sort(max_age=1, min_hits=1, iou_threshold=0.3)
self.users_embeddings = []
self.unknown_idx = 0
def performActions(player, cardsToBeat, cardsToPlay):
# reset cardsToPlay from previous player
for card in cardsToPlay:
player.addCardToHand(card)
cardsToPlay[:] = []
Sort.qsort(player.hand, compareCard)
print "To start putting cards down, type 'choose' and 'complete' to finish your turn"
print "Or if you can't beat the current cards, just enter 'pass'\n"
printAllRelevantHands(player, cardsToPlay, cardsToBeat)
action = raw_input("Enter what you want to do (type 'options' for list of actions available): ")
# let user decide all the things to do this turn
while doAction(player, action, cardsToPlay, cardsToBeat):
action = raw_input("Enter what you want to do (type 'options' for list of actions available): ")
printAllRelevantHands(player, cardsToPlay, cardsToBeat)
validHand = isAValidHand(cardsToPlay)
# no cards currently on the table
if len(cardsToBeat) == 0:
# note that the player is participating in the round
player.passed = False
if len(cardsToPlay) == 0 or not validHand:
printPause("You are the current leader!")
printPause("You must play something valid!\n")
return performActions(player, cardsToBeat, cardsToPlay)
else:
# set current hand on table
return list(cardsToPlay)
else:
# have to pass or beat the leader
typeInPlay = typeOfPlay(cardsToBeat)
if len(cardsToPlay) == 0:
printPause("You are choosing to pass\n")
player.passed = True
return cardsToBeat
elif not validHand or not handCanBePlayed(cardsToPlay, typeInPlay, cardsToBeat):
printPause("The hand you want to play is not valid!")
print "You need to have a straight of", typeInPlay["straight"]
print "and a \"of a kind\" of", typeInPlay["ofAKind"]
print "to match the leader"
printPause("")
return performActions(player, cardsToBeat, cardsToPlay)
else:
# set current hand on table
player.passed = False
return list(cardsToPlay)
class Runner():
def __init__(self):
self.sort_collection = Sort()
def sort(self, runner, sort_history, top):
for i, (memo, history) in enumerate(sort_history(runner)):
print("{} {}".format(memo, i + 1), end=" : ")
for runner_info in history:
print("{}\t".format(runner_info[1]), end="\t")
print()
self._result_print(runner, top)
def run(self, sort_name, runner, top=3):
# start history print
runner_len = len(runner)
self._start_history(runner)
# sort setting
print("=========================================")
sort_history = self.sort_collection.get_sort(sort_name, runner_len)
print("{} sort start".format(sort_name))
if sort_name == "merge":
result = self.sort_collection._merge_sort(runner)
self._result_print(result, top)
return
elif sort_name == "quick":
self.sort_collection._quick_sort(runner, 0, runner_len - 1)
self._result_print(runner, top)
return
elif sort_name == None:
return
self.sort(runner, sort_history, top)
print("=========================================")
def _result_print(self, result, top):
for i in range(top):
print("{} 등 : {}번 {}".format(i + 1, result[i][0],
self._s_to_time(result[i][1])))
def _start_history(self, runner):
# sort history print
print("정렬 전", end=" : ")
for runner_info in runner:
print("{}".format(runner_info[1]), end="\t")
print()
def _s_to_time(self, second):
h = second // 3600
second -= h * 3600
m = second // 60
s = second % 60
return "{}시간 {}분 {}초".format(h, m, s)
def __init__(self, object_coord_file, model, load_model=True):
if object_coord_file is not None:
self.object_coord = pickle.load(open(object_coord_file, 'rb'))
if load_model:
self.e = TfPoseEstimator(get_graph_path(model),
target_size=(368, 368))
self.resize_out_ratio = 4
self.id_human = 0
#self._realsense = RealSense()
self.tracktype = None
self.tracker = Sort()
def main(args):
# Read video
frames, fps = read_video(args.video_path)
print(f"Read {len(frames)} frames (fps: {fps})")
# Read bboxes of each frame
json_files = sorted(os.listdir(args.bbox_path),
key=lambda x: int(x.split(".")[0]))
object_boxes_per_frame = []
for file in json_files:
with open(os.path.join(args.bbox_path, file)) as f:
data = json.load(f)
bboxes = data['children'].copy()
object_boxes_per_frame.append(bboxes)
print(f"Read {len(object_boxes_per_frame)} bbox files")
# Run object tracking
centroid_ids_per_frame = []
if args.method == "centroid":
ct = CentroidTracker(maxDisappeared=50)
for ind in range(len(frames)):
rects = [[obj['x1'], obj['y1'], obj['x2'], obj['y2']]
for obj in object_boxes_per_frame[ind]]
centroid_ids = ct.update(rects)
centroid_ids_per_frame.append(centroid_ids.copy())
elif args.method == "kalman":
tracker = Sort(max_age=50, min_hits=3)
for ind in range(len(frames)):
detections = np.array([[
obj['x1'], obj['y1'], obj['x2'], obj['y2'], obj['confidence']
] for obj in object_boxes_per_frame[ind]])
trackers = tracker.update(detections, None)
centroid_ids = [[((track[0] + track[2]) / 2,
(track[1] + track[3]) / 2),
int(track[4])] for track in trackers]
centroid_ids_per_frame.append(centroid_ids)
else:
raise NotImplementedError
print(f"Processed {len(centroid_ids_per_frame)} frames")
# Create output video
annotated_frames = annotate_frames(frames, object_boxes_per_frame,
centroid_ids_per_frame)
frames2video(annotated_frames, fps=28, filepath=args.save_path)
print("Created output video")
def demo_sort(array, sort):
print("=======", sort, "sort")
print("Before sorting:")
print(array)
if (sort == "selection"):
Sort.selection_sort(array)
elif (sort == "bubble"):
Sort.bubble_sort(array)
else:
print("Invalid argument")
print("After sorting:")
print(array)
print("\n")
def __init__(self,*,mode, model_path, model_dir, config,max_age,min_hits,draw_mode = 'all'):
MaskRCNN.__init__(self,mode=mode, model_dir=model_dir, config=config)
Sort.__init__(self,max_age=max_age, min_hits=min_hits)
self.num_classes = config.NUM_CLASSES
self.load_weights(model_path,by_name = True)
self.video_stream = None
self.writer = None
self.stream_is_open = True
self.mask = None
self.frame = None
self.mask_frame = None
self.frame_id = 0
self.data = {}
print('!!!!!!!!!!',type(self.data))
self.track_per_class = {'classes':{},'scores':{}}
def __init__(self):
self.tracker = Sort() #Create instance of the SORT tracker
self.__dict__.update(self._defaults) # set up default values
self.class_names = self._get_class()
self.anchors = self._get_anchors()
self.sess = K.get_session()
self.boxes, self.scores, self.classes = self.generate()
class SORTTracker():
def __init__(self, filter_class=None, model='yolox-s', ckpt='yolox_s.pth'):
self.detector = Predictor(model, ckpt)
self.filter_class = filter_class
self.sort = Sort()
def update(self, image, visual=True, logger_=True):
_, info = self.detector.inference(image, visual=True, logger_=logger_)
outputs = []
if info['box_nums'] > 0:
bbox_xywh = []
scores = []
objectids = []
#bbox_xywh = torch.zeros((info['box_nums'], 4))
for [x1, y1, x2,
y2], class_id, score in zip(info['boxes'], info['class_ids'],
info['scores']):
if self.filter_class and class_names[int(
class_id)] not in self.filter_class:
continue
# color = compute_color_for_labels(int(class_id))
bbox_xywh.append(
[int((x1 + x2) / 2),
int((y1 + y2) / 2), x2 - x1, y2 - y1])
objectids.append(info['class_ids'])
scores.append(score)
bbox_xywh = torch.Tensor(bbox_xywh)
outputs = self.sort.update(bbox_xywh)
if len(outputs) > 0:
if visual:
image = vis_track8(image, outputs)
return image, outputs
def sort_image(sort_class: Sort, out_boxes, out_scores, out_classes):
dets = []
for i in range(0, len(out_boxes)):
dets.append([
out_boxes[i][1], out_boxes[i][0], out_boxes[i][3], out_boxes[i][2],
out_scores[i], out_classes[i]
])
dets = np.array(dets)
# update
trackers = sort_class.update(dets)
out_boxes = []
out_scores = []
out_classes = []
object_id = []
# d [x1,y1,x2,y2,object_id,score,type]
for d in trackers:
out_boxes.append(list([d[1], d[0], d[3], d[2]]))
object_id.append(int(d[4]))
out_scores.append(float(d[5]))
out_classes.append(int(d[6]))
return np.array(out_boxes), np.array(out_scores), np.array(
out_classes), np.array(object_id)
class DeepSort():
"""
wrapper class for Sort using deep appearance above
"""
def __init__(self, max_age=30, min_hits=3):
self.deep_appearance = DeepAppearance()
self.sort = Sort(max_age, min_hits)
def update(self, frame, dets):
frame = np.flip(frame, axis=2)
H, W, C = frame.shape
images = []
for detection in dets:
x1 = max(int(detection[0]), 0)
y1 = max(int(detection[1]), 0)
x2 = min(int(detection[2]), W)
y2 = min(int(detection[3]), H)
image = frame[y1:y2, x1:x2, :]
image = Image.fromarray(image)
images.append(image)
if len(images) > 0:
embs = self.deep_appearance.predict_embeddings(images)
else:
embs = []
return self.sort.update(dets, embs)
def Search(key):
p = Pool(2)
results = []
for i in [search_jd, search_tb]:
result = p.apply_async(i, args=(key, ))
results.append(result)
p.close()
p.join()
jd_list, pic_url = results[0].get()
tb_list = results[1].get()
'''
jd_list,pic_url=search_jd(key)
tt_list=search_tt(key)
'''
data = [Sort(jd_list), Sort(tb_list)]
price_picurl = draw_picture(jd_list, tb_list, key)
return data, pic_url, price_picurl
def detect_video(yolo, video_path, output_path=""):
import cv2
vid = cv2.VideoCapture(video_path)
if not vid.isOpened():
raise IOError("Couldn't open webcam or video")
video_FourCC = int(vid.get(cv2.CAP_PROP_FOURCC))
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)))
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)
accum_time = 0
curr_fps = 0
fps = "FPS: ??"
avg_time = 0
prev_time = timer()
ppl_tracker = Sort()
while True:
return_value, frame = vid.read()
t1 = timer()
image = Image.fromarray(frame)
image, pred_time = yolo.detect_image(image, frame, ppl_tracker)
result = np.asarray(image)
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)
curr_fps = 0
cv2.putText(result,
text=fps,
org=(3, 15),
fontFace=cv2.FONT_HERSHEY_SIMPLEX,
fontScale=0.50,
color=(255, 0, 0),
thickness=2)
cv2.namedWindow("result", cv2.WINDOW_NORMAL)
cv2.imshow("result", result)
t2 = timer() - t1
print(t2)
if avg_time == 0:
avg_time = t2
else:
avg_time = (avg_time + t2) / 2
if isOutput:
out.write(result)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
yolo.close_session()
def main():
video_capture = cv2.VideoCapture(0)
mot_tracker = Sort(max_age=10) # create instance of the SORT tracker
while True:
# Grab a single frame of video
ret, frame = video_capture.read()
small_frame = cv2.resize(frame, (0, 0), fx=0.25, fy=0.25)
# Find all the faces and face encodings in the frame of video
face_locations = face_recognition.face_locations(small_frame)
if len(face_locations) != 0:
# top right bottom left => left top right bottom
dets_list = [[l, t, r, b, 1] for (t, r, b, l) in face_locations]
dets = np.array(dets_list)
trackers = mot_tracker.update(dets)
ids = trackers[:, 4].flatten()
for (top, right, bottom, left), id in zip(face_locations, ids):
top *= 4
right *= 4
bottom *= 4
left *= 4
# Draw a box around the face
cv2.rectangle(frame, (left, top), (right, bottom), (0, 0, 255), 2)
# Draw a label with a name below the face
cv2.rectangle(frame, (left, bottom - 35), (right, bottom), (0, 0, 255), cv2.FILLED)
font = cv2.FONT_HERSHEY_DUPLEX
cv2.putText(frame, str(id), (left + 6, bottom - 6), font, 1.0, (255, 255, 255), 1)
# Display the resulting image
cv2.imshow('Video', frame)
# Hit 'q' on the keyboard to quit!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# Release handle to the webcam
video_capture.release()
cv2.destroyAllWindows()
def trackAll(self, detection_frames):
"""
Tracks all detections in the given frames. Updates tracks_by_frame and
signals when the computation has finished.
"""
self.tracking = True
self.stop_tracking = False
self.state_changed_signal.emit()
self.init_signal.emit()
if self.detector.allCalculationAvailable():
self.detector.computeAll()
if self.detector.allCalculationAvailable():
LogObject().print("Stopped before tracking.")
self.abortComputing(True)
return
count = len(detection_frames)
self.tracks_by_frame = {}
self.mot_tracker = Sort(max_age=self.parameters.max_age,
min_hits=self.parameters.min_hits,
search_radius=self.parameters.search_radius)
KalmanBoxTracker.count = 0
ten_perc = 0.1 * count
print_limit = 0
for i, dets in enumerate(detection_frames):
if i > print_limit:
LogObject().print("Tracking:", int(float(i) / count * 100),
"%")
print_limit += ten_perc
if self.stop_tracking:
LogObject().print("Stopped tracking at", i)
self.abortComputing(False)
return
self.tracks_by_frame[i] = self.trackBase(dets, i)
LogObject().print("Tracking: 100 %")
self.tracking = False
self.applied_parameters = self.parameters.copy()
self.applied_detector_parameters = self.detector.parameters.copy()
self.state_changed_signal.emit()
self.all_computed_signal.emit()
def __init__(self, bag_file, tracklets):
self.timestamp_map = extract_bag_timestamps(bag_file)
self.frame_map = generate_frame_map(tracklets)
#TODO : detector should publish BBoxArray:
# below I just read bboxes from tracklet (see handle_img_msg function)
self.detect_pub = rospy.Publisher("bbox/detections", BboxArray, queue_size=1)
self.n_skip = 25 # to simulate delay by MV3D, skip detections (about 1 sec)
self.skip_count = 0 # keep count of skips
self.predict_pub = rospy.Publisher("bbox/predictions", BboxArray, queue_size=1)
self.detected_bboxes = None
self.latest_detection_time = None
self.mot_tracker = Sort(max_age=3,
min_hits=6,
iou_threshold=0.1,
max_time_elapsed=2)
self.min_detections = 7
self.track_count = {}
self.is_busy = False
#!/usr/bin/python
import timeit
import random
from sort import Sort
from maxPQ import MaxPQ
from minPQ import MinPQ
from exercise import CubeSum
if __name__ == '__main__':
sortExample = Sort(100)
sortExample.show()
sortExample.quick_3_way()
sortExample.show()
# test_input = map(lambda x: random.randint(0, 100), list(range(10)))
# print test_input
# myPQ = MaxPQ(0)
# myPQ.show()
# for item in test_input:
# myPQ.insert(item)
# myPQ.show()
# while not myPQ.is_empty():
# print myPQ.delete_max()
#length = raw_input('Type in the length of list>')
# sortExample = Sort(10)
# sortExample.show()
# #print '================='
# #sortExample.selection()
# #sortExample.shell()
# #sortExample.quick()
# sortExample.quick_2()
# boolVal = sortExample.is_sorted()
class Tracker:
def __init__(self, bag_file, tracklets):
self.timestamp_map = extract_bag_timestamps(bag_file)
self.frame_map = generate_frame_map(tracklets)
#TODO : detector should publish BBoxArray:
# below I just read bboxes from tracklet (see handle_img_msg function)
self.detect_pub = rospy.Publisher("bbox/detections", BboxArray, queue_size=1)
self.n_skip = 25 # to simulate delay by MV3D, skip detections (about 1 sec)
self.skip_count = 0 # keep count of skips
self.predict_pub = rospy.Publisher("bbox/predictions", BboxArray, queue_size=1)
self.detected_bboxes = None
self.latest_detection_time = None
self.mot_tracker = Sort(max_age=3,
min_hits=6,
iou_threshold=0.1,
max_time_elapsed=2)
self.min_detections = 7
self.track_count = {}
self.is_busy = False
def startlistening(self):
rospy.init_node('tracker', anonymous=True)
rospy.Subscriber('/image_raw', Image, self.handle_image_msg) #TODO : just for time keeping (to be removed)
rospy.Subscriber("bbox/detections", BboxArray, self.handle_bbox_msg)
print('tracker node initialzed')
rospy.Timer(rospy.Duration(0.1), self.publish_predictions)
rospy.spin()
def handle_bbox_msg(self, bbox_msg):
""" saves the latest bbox detections and latest detection time
"""
self.latest_detection_time = rospy.get_rostime()
print("Bboxes detected at", self.latest_detection_time.to_sec())
self.detected_bboxes = bbox_msg
def publish_predictions(self, event):
# wait until first detection
# print('enter here? ', time.time())
if (not self.latest_detection_time) or (not self.detected_bboxes):
return
# if no new detections since last call :
if self.latest_detection_time < event.last_real:
# predict tracks without update
for track in self.mot_tracker.trackers:
t = rospy.get_rostime().to_nsec()
track.predict(t, is_update=False)
tracks = self.mot_tracker.good_tracks()
# if new detections since last call :
else :
detections = self.detected_bboxes.bboxes
t = self.latest_detection_time.to_nsec()
d = []
for bbox in detections:
d.append([bbox.x, bbox.y, bbox.z, bbox.h, bbox.w, bbox.l])
tracks = self.mot_tracker.update(np.array(d),t)
# publish all tracks
print(tracks)
bboxArray = BboxArray()
bboxArray.header.stamp = rospy.get_rostime()
for track in tracks:
trk_id = int(track[5])
if trk_id not in self.track_count.keys():
self.track_count[trk_id] = 0
else :
self.track_count[trk_id] += 1
if self.track_count[trk_id] < self.min_detections:
continue
bbox = Bbox()
bbox.x, bbox.y, bbox.z = track[0:3]
bbox.h = track[4]
bbox.w = bbox.l = 2*track[3]
bbox.yaw = 0 # TODO : needs to be changed for cars
bboxArray.bboxes.append(bbox)
# rospy.logerr('here: ', bboxArray)
rospy.logerr('bboxArray={} '.format(bboxArray))
self.predict_pub.publish(bboxArray)
#------------------------------------------------------------
#TODO : used here for publishing bbox (to be removed)
#------------------------------------------------------------
def handle_image_msg(self, img_msg):
if self.is_busy:
return
self.is_busy = True
now = rospy.get_rostime()
bboxArray = BboxArray()
bboxArray.header.stamp = now
timestamp = img_msg.header.stamp.to_nsec()
self.frame_index = self.timestamp_map[timestamp]
for i, f in enumerate(self.frame_map[self.frame_index]):
bbox = Bbox()
bbox.x, bbox.y, bbox.z = f.trans
bbox.h, bbox.w, bbox.l = f.size
bbox.score=1.
bboxArray.bboxes.append(bbox)
time.sleep(0.3) #simulate MV3D delay
self.detect_pub.publish(bboxArray)
rospy.logerr('detect_pub bboxArray={} '.format(bboxArray))
self.is_busy=False
def typeOfPlay(cardsPlayed):
Sort.qsort(cardsPlayed, compareCard)
return {"straight" : numOfStraight(cardsPlayed), "ofAKind" : numOfAKind(cardsPlayed)}
tracklets = parse_xml(tracklet_file)
if 0:
bag = rosbag.Bag(bag_file)
print('Reading timestamps from bag ', bag_file)
n_stamps = bag.get_message_count(topic_filters=['/image_raw'])
timestamps= [t.to_sec() for _,_,t in bag.read_messages(topics=['/image_raw'])]
else:
timestamps = pickle.load(open('./timestamps'+'_'+bag_name,'rb'))
pickle.dump(timestamps,open('./timestamps'+'_'+bag_name,'wb'))
detections = [[] for i in range(len(timestamps))]
for track in tracklets:
detections[track.first_frame].append(
np.concatenate((track.trans[0],track.size))) # (x,y,z,h,w,l)
if config.cfg.OBJ_TYPE == 'ped':
mot_tracker = Sort(max_age=3, min_hits=5, iou_threshold=0.1, max_time_elapsed=2)
else:
mot_tracker = Sort(max_age=3, min_hits=5, iou_threshold=0.01, max_time_elapsed=2)
collection = TrackletCollection()
tracklets = {}
frame_count=0
fix_size = False
for t,d in zip(timestamps,detections):
#print("detections : ", d)
tracks = mot_tracker.update(np.array(d), t)
print(tracks)
for track in tracks :
trk_id = int(track[5])
if trk_id not in tracklets.keys() :
def sortHand(self, cmpfn): Sort.qsort(self.hand, compareCard)
def setUp(self):
self.sorter = Sort()
def sort(self, cmpfn): Sort.qsort(self.cards, cmpfn)