def find_peaks(heatmap_avg, params):
all_peaks = []
peak_counter = 0
heatmap_avg = heatmap_avg.astype(np.float32)
filter_map = heatmap_avg[:, :, :18].copy().transpose((2, 0, 1))[None, ...]
filter_map = torch.from_numpy(filter_map).cuda()
# # ####################### Add Gaussian smooth will be bad #######################
# smoothing = util.GaussianSmoothing(18, 5, 3)
# filter_map = F.pad(filter_map, (2, 2, 2, 2), mode='reflect')
# filter_map = smoothing(filter_map)
# # ######################################################################
filter_map = util.keypoint_heatmap_nms(filter_map, kernel=3, thre=params['thre1'])
filter_map = filter_map.cpu().numpy().squeeze().transpose((1, 2, 0))
for part in range(18):
map_ori = heatmap_avg[:, :, part]
# heatmap_avg = gaussian_filter(heatmap_avg, sigma=3) # TODO: fintune the sigma
# 在某些情况下，需要对一个像素的周围的像素给予更多的重视。因此，可通过分配权重来重新计算这些周围点的值。
# 这可通过高斯函数（钟形函数，即喇叭形数）的权重方案来解决。
peaks_binary = filter_map[:, :, part]
peaks = list(zip(np.nonzero(peaks_binary)[1], np.nonzero(peaks_binary)[0])) # note reverse
refined_peaks_with_score = [util.refine_centroid(map_ori, anchor, params['offset_radius']) for anchor in peaks]
# peaks_with_score = [x + (map_ori[x[1], x[0]],) for x in refined_peaks]
id = range(peak_counter, peak_counter + len(refined_peaks_with_score))
peaks_with_score_and_id = [refined_peaks_with_score[i] + (id[i],) for i in range(len(id))]
all_peaks.append(peaks_with_score_and_id)
peak_counter += len(peaks)
return all_peaks
def find_peaks(heatmap_avg, test_cfg):
all_peaks = []
peak_counter = 0
# > `heatmap_avg`: (imgH, imgW, 20)
heatmap_avg = heatmap_avg.astype(np.float32)
# > (imgH, imgW, 20) -> (imgH, imgW, 18) -> (18, imgH, imgW) -> (1, 18, imgH, imgW)
filter_map = heatmap_avg[:, :, :NUM_KEYPOINTS].copy().transpose(
(2, 0, 1))[None, ...]
filter_map = torch.from_numpy(filter_map).cuda()
# > (1, 18, imgH, imgW), `thre1`: 0.1
filter_map = util.keypoint_heatmap_nms(filter_map,
kernel=3,
thre=test_cfg['thre1'])
filter_map = filter_map.cpu().numpy().squeeze().transpose(
(1, 2, 0)) # > (imgH, imgW, 18)
# > `heatmap_avg`: (imgH, imgW, 20)
for part in range(NUM_KEYPOINTS): # > `#kp`: 沒有對背景（序號19）取非極大值抑制NMS
map_orig = heatmap_avg[:, :, part] # > (imgH, imgW)
# NOTE: 在某些情况下，需要对一个像素的周围的像素给予更多的重视。因此，可通过分配权重来重新计算这些周围点的值。
# 这可通过高斯函数（钟形函数，即喇叭形数）的权重方案来解决。
peaks_binary = filter_map[:, :, part] # > (imgH, imgW)
peak_y, peak_x = np.nonzero(peaks_binary)
peaks = list(zip(peak_x, peak_y)) # > (#peaks, (x,y))
# > `offset_radius`: 2, `refined_peaks_with_score`: (x,y,score)
refined_peaks_with_score = [
util.refine_centroid(map_orig, anchor, test_cfg['offset_radius'])
for anchor in peaks
]
# > `id`: [0, #peaks), `refined_peaks_with_score`: (#peaks, (x,y,score))
id = range(peak_counter, peak_counter +
len(refined_peaks_with_score)) # `id`: len(x) = #peaks
# > [(x,y,score) + (id,) = (x,y,score,id)] of `certain type` of keypoint.
# 为每一个相应peak (parts)都依次编了一个号
peaks_with_score_and_id = [
refined_peaks_with_score[i] + (id[i], ) for i in range(len(id))
]
all_peaks.append(peaks_with_score_and_id)
peak_counter += len(peaks) # refined_peaks
return all_peaks # > (#kp_types, (x,y,score,kp_id))
def process(input_image, params, model_params, heat_layers, paf_layers):
oriImg = cv2.imread(
input_image) # B,G,R order. 训练数据的读入也是用opencv，因此也是B, G, R顺序
# oriImg = cv2.resize(oriImg, (768, 768))
# oriImg = cv2.flip(oriImg, 1) 因为训练时作了flip，所以用这种方式提升并没有作用
multiplier = [
x * model_params['boxsize'] / oriImg.shape[0]
for x in params['scale_search']
] # 按照图片高度进行缩放
# multipier = [0.21749408983451538, 0.43498817966903075, 0.6524822695035462, 0.8699763593380615],
# 首先把输入图像高度变成368,然后再做缩放
heatmap_avg = np.zeros(
(oriImg.shape[0], oriImg.shape[1],
heat_layers)) # fixme if you change the number of keypoints
paf_avg = np.zeros((oriImg.shape[0], oriImg.shape[1], paf_layers))
for m in range(len(multiplier)):
scale = multiplier[m]
if scale * oriImg.shape[0] > 2300 or scale * oriImg.shape[1] > 3200:
scale = min(2300 / oriImg.shape[0], 3200 / oriImg.shape[1])
print("Input image is too big, shrink it !")
imageToTest = cv2.resize(
oriImg, (0, 0), fx=scale, fy=scale,
interpolation=cv2.INTER_CUBIC) # cv2.INTER_CUBIC
imageToTest_padded, pad = util.padRightDownCorner(
imageToTest, model_params['max_downsample'],
model_params['padValue'])
# ################################# Important! ###########################################
# ############################# We use OpenCV to read image (BGR) all the time #######################
# Input Tensor: a batch of images within [0,1], required shape in this project : (1, height, width, channels)
input_img = np.float32(imageToTest_padded / 255)
# input_img -= np.array(config.img_mean[::-1]) # Notice: OpenCV uses BGR format, reverse the last axises
# input_img /= np.array(config.img_std[::-1])
# ################################## add flip image ################################
swap_image = input_img[:, ::-1, :].copy()
# plt.imshow(swap_image[:, :, [2, 1, 0]]) # Opencv image format: BGR
# plt.show()
input_img = np.concatenate(
(input_img[None, ...], swap_image[None, ...]),
axis=0) # (2, height, width, channels)
input_img = torch.from_numpy(input_img).cuda()
# ###################################################################################
# output tensor dtype: float 16
output_tuple = posenet(input_img)
# ############ different scales can be shown #############
output = output_tuple[-1][0].cpu().numpy()
output_blob = output[0].transpose((1, 2, 0))
output_blob0 = output_blob[:, :, :config.paf_layers]
output_blob1 = output_blob[:, :, config.paf_layers:config.num_layers]
output_blob_flip = output[1].transpose((1, 2, 0))
output_blob0_flip = output_blob_flip[:, :, :
config.paf_layers] # paf layers
output_blob1_flip = output_blob_flip[:, :, config.paf_layers:config.
num_layers] # keypoint layers
# ################################## flip ensemble ################################
output_blob0_avg = (
output_blob0 +
output_blob0_flip[:, ::-1, :][:, :, flip_paf_ord]) / 2
output_blob1_avg = (
output_blob1 +
output_blob1_flip[:, ::-1, :][:, :, flip_heat_ord]) / 2
# extract outputs, resize, and remove padding
heatmap = cv2.resize(output_blob1_avg, (0, 0),
fx=model_params['stride'],
fy=model_params['stride'],
interpolation=cv2.INTER_CUBIC)
heatmap = heatmap[:imageToTest_padded.shape[0] -
pad[2], :imageToTest_padded.shape[1] - pad[3], :]
heatmap = cv2.resize(heatmap, (oriImg.shape[1], oriImg.shape[0]),
interpolation=cv2.INTER_CUBIC)
# output_blob0 is PAFs
paf = cv2.resize(output_blob0_avg, (0, 0),
fx=model_params['stride'],
fy=model_params['stride'],
interpolation=cv2.INTER_CUBIC)
paf = paf[:imageToTest_padded.shape[0] -
pad[2], :imageToTest_padded.shape[1] - pad[3], :]
paf = cv2.resize(paf, (oriImg.shape[1], oriImg.shape[0]),
interpolation=cv2.INTER_CUBIC)
# ############################## 为了让平均heatmap不那么模糊？ ################################3
# heatmap[heatmap < params['thre1']] = 0
# paf[paf < params['thre2']] = 0
# ####################################################################################### #
heatmap_avg = heatmap_avg + heatmap / len(multiplier)
paf_avg = paf_avg + paf / len(multiplier)
heatmap_avg[np.isnan(heatmap_avg)] = 0
paf_avg[np.isnan(paf_avg)] = 0
# heatmap_avg = np.maximum(heatmap_avg, heatmap)
# paf_avg = np.maximum(paf_avg, paf) # 如果换成取最大，效果会变差，有很多误检
all_peaks = []
peak_counter = 0
# --------------------------------------------------------------------------------------- #
# ------------------------ show the limb and foreground channel -----------------------#
# --------------------------------------------------------------------------------------- #
show_color_vector(oriImg, paf_avg, heatmap_avg)
# --------------------------------------------------------------------------------------- #
# ####################################################################################### #
# ------------------------- find keypoints ---------------------------------------------#
# ####################################################################################### #
# --------------------------------------------------------------------------------------- #
# smoothing = util.GaussianSmoothing(18, 5, 1)
# heatmap_avg_cuda = torch.from_numpy(heatmap_avg.transpose((2, 0, 1))).cuda()[None, ...]
heatmap_avg = heatmap_avg.astype(np.float32)
filter_map = heatmap_avg[:, :, :18].copy().transpose((2, 0, 1))[None, ...]
filter_map = torch.from_numpy(filter_map).cuda()
# # ####################### Add Gaussian smooth #######################
# smoothing = util.GaussianSmoothing(18, 7, 1)
# filter_map = F.pad(filter_map, (3, 3, 3, 3), mode='reflect')
# filter_map = smoothing(filter_map)
# # ######################################################################
filter_map = util.keypoint_heatmap_nms(filter_map,
kernel=3,
thre=params['thre1'])
filter_map = filter_map.cpu().numpy().squeeze().transpose((1, 2, 0))
for part in range(18): # 没有对背景（序号19）取非极大值抑制NMS
map_ori = heatmap_avg[:, :, part]
# map = gaussian_filter(map_ori, sigma=3) # 没有高斯滤波貌似效果更好？
# map = map_ori
# map up 是值
peaks_binary = filter_map[:, :, part]
peaks = list(
zip(np.nonzero(peaks_binary)[1],
np.nonzero(peaks_binary)[0]))
# note reverse. xy坐标系和图像坐标系
# np.nonzero: Return the indices of the elements that are non-zero
# 添加加权坐标计算，根据不同类型关键点弥散程度不同选择加权的范围
refined_peaks_with_score = [
util.refine_centroid(map_ori, anchor, params['offset_radius'])
for anchor in peaks
]
# peaks_with_score = [x + (map_ori[x[1], x[0]],) for x in peaks] # 列表解析式，生产的是list # refined_peaks
# [(205, 484, 0.9319216758012772),
# # (595, 484, 0.777797631919384),
id = range(peak_counter, peak_counter + len(refined_peaks_with_score))
peaks_with_score_and_id = [
refined_peaks_with_score[i] + (id[i], ) for i in range(len(id))
]
# 为每一个相应peak (parts)都依次编了一个号
all_peaks.append(peaks_with_score_and_id)
# all_peaks.append 如果此种关节类型没有元素，append一个空的list []，例如all_peaks[19]:
# [(205, 484, 0.9319216758012772, 25),
# (595, 484, 0.777797631919384, 26),
# (343, 490, 0.8145177364349365, 27), ....
peak_counter += len(peaks) # refined_peaks
# --------------------------------------------------------------------------------------- #
# ####################################################################################### #
# ----------------------------- find connections -----------------------------------------#
# ####################################################################################### #
# --------------------------------------------------------------------------------------- #
connection_all = []
special_k = []
# 有多少个limb,就有多少个connection,相对应地就有多少个paf channel
for k in range(len(limbSeq)): # 最外层的循环是某一个limbSeq
score_mid = paf_avg[:, :,
k] # 某一个channel上limb的响应热图, 它的长宽与原始输入图片大小一致，前面经过resize了
# score_mid = gaussian_filter(orginal_score_mid, sigma=3) fixme: use gaussisan blure?
candA = all_peaks[limbSeq[k][
0]] # all_peaks是list,每一行也是一个list,保存了检测到的特定的parts(joints)
# 注意具体处理时标号从0还是1开始。从收集的peaks中取出某类关键点（part)集合
candB = all_peaks[limbSeq[k][1]]
nA = len(candA)
nB = len(candB)
indexA, indexB = limbSeq[k]
if (nA != 0 and nB != 0):
connection_candidate = []
for i in range(nA):
for j in range(nB):
vec = np.subtract(candB[j][:2], candA[i][:2])
norm = math.sqrt(vec[0] * vec[0] + vec[1] * vec[1])
mid_num = min(int(round(norm + 1)), params['mid_num'])
# failure case when 2 body parts overlaps
if norm == 0: # 为了跳过出现不同节点相互覆盖出现在同一个位置，也有说norm加一个接近0的项避免分母为0,详见：
# https://github.com/ZheC/Realtime_Multi-Person_Pose_Estimation/issues/54
continue
startend = list(
zip(np.linspace(candA[i][0], candB[j][0], num=mid_num),
np.linspace(candA[i][1], candB[j][1],
num=mid_num)))
limb_response = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0]))] \
for I in range(len(startend))])
score_midpts = limb_response
score_with_dist_prior = sum(
score_midpts) / len(score_midpts) + min(
0.5 * oriImg.shape[0] / norm - 1, 0)
# 这一项是为了惩罚过长的connection, 只有当长度大于图像高度的一半时才会惩罚 todo
# The term of sum(score_midpts)/len(score_midpts), see the link below.
# https://github.com/michalfaber/keras_Realtime_Multi-Person_Pose_Estimation/issues/48
criterion1 = len(
np.nonzero(score_midpts > params['thre2'])
[0]) > params['connect_ration'] * len(
score_midpts) # fixme: tune 手动调整, 本来是 > 0.8*len
# 我认为这个判别标准是保证paf朝向的一致性 param['thre2']
# parm['thre2'] = 0.05
criterion2 = score_with_dist_prior > 0
if criterion1 and criterion2:
connection_candidate.append([
i, j, score_with_dist_prior, norm,
0.5 * score_with_dist_prior + 0.25 * candA[i][2] +
0.25 * candB[j][2]
])
# todo:直接把两种类型概率相加不合理
# connection_candidate排序的依据是dist prior概率和两个端点heat map预测的概率值
# How to undersatand the criterion?
connection_candidate = sorted(connection_candidate,
key=lambda x: x[4],
reverse=True)
# sorted 函数对可迭代对象，按照key参数指定的对象进行排序，revers=True是按照逆序排序，sort之后可以把最可能是limb的留下，而把和最可能是limb的端点竞争的端点删除
connection = np.zeros((0, 6))
for c in range(
len(connection_candidate)): # 根据confidence的顺序选择connections
i, j, s, limb_len = connection_candidate[c][0:4]
if (i not in connection[:, 3] and j not in connection[:, 4]):
# 进行判断确保不会出现两个端点集合A,B中，出现一个集合中的点与另外一个集合中两个点同时相连
connection = np.vstack([
connection,
[candA[i][3], candB[j][3], s, i, j, limb_len]
]) # 后面会被使用
# candA[i][3], candB[j][3]是part的id编号
if (len(connection) >= min(nA, nB)): # 会出现关节点不够连的情况
break
connection_all.append(connection)
else:
special_k.append(k)
connection_all.append([])
# 一个空的[]也能加入到list中，这一句是必须的！因为connection_all的数据结构是每一行代表一类limb connection
# --------------------------------------------------------------------------------------- #
# ####################################################################################### #
# --------------------------------- find people ------------------------------------------#
# ####################################################################################### #
# --------------------------------------------------------------------------------------- #
# last number in each row is the total parts number of that person
# the second last number in each row is the score of the overall configuration
subset = -1 * np.ones((0, 20, 2))
candidate = np.array([item for sublist in all_peaks for item in sublist])
# candidate[:, 2] *= 0.5 # FIXME: change it? part confidence * 0.5
# candidate.shape = (94, 4). 列表解析式，两层循环，先从all peaks取，再从sublist中取。 all peaks是两层list
for k in range(len(limbSeq)):
# ---------------------------------------------------------
# 外层循环limb 对应论文中，每一个limb就是一个子集，分limb处理,贪心策略?
# special_K ,表示没有找到关节点对匹配的肢体
if k not in special_k: # 即 有与之相连的，这个paf(limb)是存在的
partAs = connection_all[
k][:, 0] # limb端点part的序号，也就是保存在candidate中的 id号
partBs = connection_all[
k][:, 1] # limb端点part的序号，也就是保存在candidate中的 id号
# connection_all 每一行是一个类型的limb,每一行格式: N * [idA, idB, score, i, j]
indexA, indexB = np.array(
limbSeq[k]) # 此时处理limb k,limbSeq的两个端点parts，是parts的类别号.
# 根据limbSeq列表的顺序依次考察某种类型的limb，从一个关节点到下一个关节点
for i in range(
len(connection_all[k])
): # 该层循环是分配k类型的limb connection (partAs[i],partBs[i])到某个人 subset[]
# ------------------------------------------------
# 每一行的list保存的是一类limb(connection),遍历所有此类limb,一般的有多少个特定的limb就有多少个人
found = 0
subset_idx = [-1, -1] # 每次循环只解决两个part，所以标记只需要两个flag
for j in range(len(subset)):
# ----------------------------------------------
# 这一层循环是遍历所有的人
# 1:size(subset,1), 若subset.shape=(5,20), 则len(subset)=5，表示有5个人
# subset每一行对应的是一个人的18个关键点和number以及score的结果
if subset[j][indexA][0].astype(int) == (partAs[i]).astype(
int) or subset[j][indexB][0].astype(
int) == partBs[i].astype(int):
# 看看这次考察的limb两个端点之一是否有一个已经在上一轮中出现过了,即是否已经分配给某人了
# 每一个最外层循环都只考虑一个limb，因此处理的时候就只会有两种part,即表示为partAs,partBs
subset_idx[found] = j # 标记一下，这个端点应该是第j个人的
found += 1
if found == 1:
j = subset_idx[0]
if subset[j][indexB][0].astype(int) == -1 and \
params['len_rate'] * subset[j][-1][1] > connection_all[k][i][-1]:
# 如果新加入的limb比之前已经组装的limb长很多，也舍弃
# 如果这个人的当前点还没有被找到时，把这个点分配给这个人
# 这一个判断非常重要，因为第18和19个limb分别是 2->16, 5->17,这几个点已经在之前的limb中检测到了，
# 所以如果两次结果一致，不更改此时的part分配，否则又分配了一次，编号是覆盖了，但是继续运行下面代码，part数目
# 会加１，结果造成一个人的part之和>18。不过如果两侧预测limb端点结果不同，还是会出现number of part>18，造成多检
# FIXME: 没有利用好冗余的connection信息，最后两个limb的端点与之前循环过程中重复了，但没有利用聚合，
# 只是直接覆盖，其实直接覆盖是为了弥补漏检
subset[j][indexB][0] = partBs[
i] # partBs[i]是limb其中一个端点的id号码
subset[j][indexB][1] = connection_all[k][i][
2] # 保存这个点被留下来的置信度
subset[j][-1][
0] += 1 # last number in each row is the total parts number of that person
# # subset[j][-2][1]用来记录不包括当前新加入的类型节点时的总体初始置信度，引入它是为了避免下次迭代出现同类型关键点，覆盖时重复相加了置信度
# subset[j][-2][1] = subset[j][-2][0] # 因为是不包括此类节点的初始值，所以只会赋值一次 !!
subset[j][-2][0] += candidate[
partBs[i].astype(int), 2] + connection_all[k][i][2]
# candidate的格式为： (343, 490, 0.8145177364349365, 27), ....
subset[j][-1][1] = max(connection_all[k][i][-1],
subset[j][-1][1])
# the second last number in each row is the score of the overall configuration
elif subset[j][indexB][0].astype(int) != partBs[i].astype(
int):
if subset[j][indexB][1] >= connection_all[k][i][2]:
# 如果考察的这个limb连接没有已经存在的可信，则跳过
pass
else:
# 否则用当前的limb端点覆盖已经存在的点，并且在这之前，减去已存在关节点的置信度和连接它的limb置信度
if params['len_rate'] * subset[j][-1][
1] <= connection_all[k][i][-1]:
continue
# 减去之前的节点置信度和limb置信度
subset[j][-2][0] -= candidate[
subset[j][indexB][0].astype(int),
2] + subset[j][indexB][1]
# 添加当前节点
subset[j][indexB][0] = partBs[i]
subset[j][indexB][1] = connection_all[k][i][
2] # 保存这个点被留下来的置信度
subset[j][-2][0] += candidate[
partBs[i].astype(int),
2] + connection_all[k][i][2]
subset[j][-1][1] = max(connection_all[k][i][-1],
subset[j][-1][1])
# overlap the reassigned keypoint
# 如果是添加冗余连接的重复的点，用新的更加高的冗余连接概率取代原来连接的相同的关节点的概率
# 这一个改动没啥影响
elif subset[j][indexB][0].astype(int) == partBs[i].astype(int) and subset[j][indexB][1] <= \
connection_all[k][i][2]:
# 否则用当前的limb端点覆盖已经存在的点，并且在这之前，减去已存在关节点的置信度和连接它的limb置信度
if params['len_rate'] * subset[j][-1][
1] <= connection_all[k][i][-1]:
continue
# 减去之前的节点置信度和limb置信度
subset[j][-2][0] -= candidate[
subset[j][indexB][0].astype(int),
2] + subset[j][indexB][1]
# 添加当前节点
subset[j][indexB][0] = partBs[i]
subset[j][indexB][1] = connection_all[k][i][
2] # 保存这个点被留下来的置信度
subset[j][-2][0] += candidate[
partBs[i].astype(int), 2] + connection_all[k][i][2]
subset[j][-1][1] = max(connection_all[k][i][-1],
subset[j][-1][1])
elif found == 2: # if found 2 and disjoint, merge them (disjoint：不相交)
# -----------------------------------------------------
# 如果肢体组成的关节点A,B分别连到了两个人体，则表明这两个人体应该组成一个人体，
# 则合并两个人体（当肢体是按顺序拼接情况下不存在这样的状况）
# --------------------------------------------------
# 说明组装的过程中，有断掉的情况（有limb或者说connection缺失），在之前重复开辟了一个sub person,其实他们是同一个人上的
# If humans H1 and H2 share a part index with the same coordinates, they are sharing the same part!
# H1 and H2 are, therefore, the same humans. So we merge both sets into H1 and remove H2.
# https://arvrjourney.com/human-pose-estimation-using-openpose-with-tensorflow-part-2-e78ab9104fc8
# 该代码与链接中的做法有差异，个人认为链接中的更加合理而且更容易理解
j1, j2 = subset_idx
membership1 = ((subset[j1][..., 0] >=
0).astype(int))[:-2] # 用[:,0]也可
membership2 = ((subset[j2][..., 0] >= 0).astype(int))[:-2]
membership = membership1 + membership2
# [:-2]不包括最后个数项与scores项
# 这些点应该属于同一个人,将这个人所有类型关键点（端点part)个数逐个相加
if len(np.nonzero(membership == 2)
[0]) == 0: # if found 2 and disjoint, merge them
min_limb1 = np.min(subset[j1, :-2,
1][membership1 == 1])
min_limb2 = np.min(subset[j2, :-2,
1][membership2 == 1])
min_tolerance = min(min_limb1,
min_limb2) # 计算允许进行拼接的置信度
if connection_all[k][i][2] < params['connection_tole'] * min_tolerance or params['len_rate'] * \
subset[j1][-1][1] <= connection_all[k][i][-1]:
# 如果merge这两个身体部分的置信度不够大，或者当前这个limb明显大于已存在的limb的长度，则不进行连接
# todo: finetune the tolerance of connection
continue #
subset[j1][:-2][...] += (subset[j2][:-2][...] + 1)
# 对于没有节点标记的地方，因为两行subset相应位置处都是-1,所以合并之后没有节点的部分依旧是-１
# 把不相交的两个subset[j1],[j2]中的id号进行相加，从而完成合并，这里+1是因为默认没有找到关键点初始值是-1
subset[j1][-2:][:, 0] += subset[j2][
-2:][:, 0] # 两行subset的点的个数和总置信度相加
subset[j1][-2][0] += connection_all[k][i][2]
subset[j1][-1][1] = max(connection_all[k][i][-1],
subset[j1][-1][1])
# 注意： 因为是disjoint的两行subset点的merge，因此先前存在的节点的置信度之前已经被加过了 !! 这里只需要再加当前考察的limb的置信度
subset = np.delete(subset, j2, 0)
else:
# 出现了两个人同时竞争一个limb的情况，并且这两个人不是同一个人，通过比较两个人包含此limb的置信度来决定，
# 当前limb的节点应该分配给谁，同时把之前的那个与当前节点相连的节点(即partsA[i])从另一个人(subset)的节点集合中删除
if connection_all[k][i][0] in subset[j1, :-2, 0]:
c1 = np.where(subset[j1, :-2,
0] == connection_all[k][i][0])
c2 = np.where(subset[j2, :-2,
0] == connection_all[k][i][1])
else:
c1 = np.where(subset[j1, :-2,
0] == connection_all[k][i][1])
c2 = np.where(subset[j2, :-2,
0] == connection_all[k][i][0])
# c1, c2分别是当前limb连接到j1人的第c1个关节点，j2人的第c2个关节点
c1 = int(c1[0])
c2 = int(c2[0])
assert c1 != c2, "an candidate keypoint is used twice, shared by two people"
# 如果当前考察的limb置信度比已经存在的两个人连接的置信度小，则跳过，否则删除已存在的不可信的连接节点。
if connection_all[k][i][2] < subset[j1][c1][
1] and connection_all[k][i][2] < subset[j2][
c2][1]:
continue # the trick here is useful
small_j = j1
big_j = j2
remove_c = c1
if subset[j1][c1][1] > subset[j2][c2][1]:
small_j = j2
big_j = j1
remove_c = c2
# 删除和当前limb有连接,并且置信度低的那个人的节点
if params['remove_recon'] > 0:
subset[small_j][-2][0] -= candidate[subset[small_j][remove_c][0].astype(int), 2] + \
subset[small_j][remove_c][1]
subset[small_j][remove_c][0] = -1
subset[small_j][remove_c][1] = -1
subset[small_j][-1][0] -= 1
# if find no partA in the subset, create a new subset
# 如果肢体组成的关节点A,B没有被连接到某个人体则组成新的人体
# ------------------------------------------------------------------
# 1.Sort each possible connection by its score.
# 2.The connection with the highest score is indeed a final connection.
# 3.Move to next possible connection. If no parts of this connection have
# been assigned to a final connection before, this is a final connection.
# 第三点是说，如果下一个可能的连接没有与之前的连接有共享端点的话，会被视为最终的连接，加入row
# 4.Repeat the step 3 until we are done.
# 说明见： https://arvrjourney.com/human-pose-estimation-using-openpose-with-tensorflow-part-2-e78ab9104fc8
elif not found and k < len(limbSeq):
# Fixme: 检查一下是否正确
# 原始的时候是 k<18,因为我加了limb，所以是24,因为真正的limb是0~16，最后两个17,18是额外的不是limb
# 但是后面画limb的时候没有把鼻子和眼睛耳朵的连线画上，要改进
row = -1 * np.ones((20, 2))
row[indexA][0] = partAs[i]
row[indexA][1] = connection_all[k][i][2]
row[indexB][0] = partBs[i]
row[indexB][1] = connection_all[k][i][2]
row[-1][0] = 2
row[-1][1] = connection_all[k][i][
-1] # 这一位用来记录上轮连接limb时的长度，用来作为下一轮连接的先验知识
row[-2][0] = sum(
candidate[connection_all[k][i, :2].astype(int),
2]) + connection_all[k][i][2]
# 两个端点的置信度+limb连接的置信度
# print('create a new subset: ', row, '\t')
row = row[np.newaxis, :, :] # 为了进行concatenate，需要插入一个轴
subset = np.concatenate((subset, row), axis=0)
# delete some rows of subset which has few parts occur
deleteIdx = []
for i in range(len(subset)):
if subset[i][-1][0] < 4 or subset[i][-2][0] / subset[i][-1][
0] < 0.45: # (params['thre1'] + params['thre2']) / 2: # todo: tune, it matters much!
deleteIdx.append(i)
subset = np.delete(subset, deleteIdx, axis=0)
canvas = cv2.imread(input_image) # B,G,R order
# canvas = oriImg
keypoints = []
for s in subset[..., 0]:
keypoint_indexes = s[:18] # 定义的keypoint一共有18个
person_keypoint_coordinates = []
for index in keypoint_indexes:
if index == -1:
# "No candidate for keypoint" # 标志为-1的part是没有检测到的
X, Y = 0, 0
else:
X, Y = candidate[index.astype(int)][:2]
person_keypoint_coordinates.append((X, Y))
person_keypoint_coordinates_coco = [None] * 17
for dt_index, gt_index in dt_gt_mapping.items():
if gt_index is None:
continue
person_keypoint_coordinates_coco[
gt_index] = person_keypoint_coordinates[dt_index]
keypoints.append((person_keypoint_coordinates_coco,
1 - 1.0 / s[-2])) # s[19] is the score
for i in range(len(keypoints)):
print('the {}th keypoint detection result is : '.format(i),
keypoints[i])
# 画所有的峰值
# for i in range(18):
# # rgba = np.array(cmap(1 - i/18. - 1./36))
# # rgba[0:3] *= 255
# for j in range(len(all_peaks[i])): # all_peaks保存了坐标，score以及id
# # 注意x,y坐标谁在前谁在后，在这个project中有点混乱
# cv2.circle(canvas, all_peaks[i][j][0:2], 3, colors[i], thickness=-1)
# 画所有的骨架
color_board = [
0, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21
]
color_idx = 0
for i in draw_list: # 画出18个limb Fixme：我设计了25个limb,画的limb顺序需要调整，相应color数也要增加
for n in range(len(subset)):
index = subset[n][np.array(limbSeq[i])][..., 0]
if -1 in index: # 有-1说明没有对应的关节点与之相连,即有一个类型的part没有缺失，无法连接成limb
continue
# 在上一个cell中有 canvas = cv2.imread(test_image) # B,G,R order
cur_canvas = canvas.copy()
Y = candidate[index.astype(int), 0]
X = candidate[index.astype(int), 1]
mX = np.mean(X)
mY = np.mean(Y)
length = ((X[0] - X[1])**2 + (Y[0] - Y[1])**2)**0.5
angle = math.degrees(math.atan2(X[0] - X[1], Y[0] - Y[1]))
polygon = cv2.ellipse2Poly(
(int(mY), int(mX)), (int(length / 2), 3), int(angle), 0, 360,
1)
cv2.circle(cur_canvas, (int(Y[0]), int(X[0])),
4,
color=[0, 0, 0],
thickness=2)
cv2.circle(cur_canvas, (int(Y[1]), int(X[1])),
4,
color=[0, 0, 0],
thickness=2)
cv2.fillConvexPoly(cur_canvas, polygon,
colors[color_board[color_idx]])
canvas = cv2.addWeighted(canvas, 0.4, cur_canvas, 0.6, 0)
color_idx += 1
return canvas