def PoseEstimatorPredict(image_path,plot = False,resolution ='432x368', scales = '[None]',model = 'mobilenet_thin'):
'''
input:
image_path,图片路径，jpg
plot = False,是否画图，如果True,两样内容，关键点信息+标点图片matrix
resolution ='432x368', 规格
scales = '[None]',
model = 'mobilenet_thin'，模型选择
output:
plot为false，返回一个内容：关键点信息
plot为true，返回两个内容：关键点信息+标点图片matrix
'''
w, h = model_wh(resolution)
e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
image = common.read_imgfile(image_path, None, None)
t = time.time()
humans = e.inference(image, scales=scales) # 主要的预测函数
elapsed = time.time() - t
logger.info('inference image: %s in %.4f seconds.' % (image_path, elapsed))
centers = get_keypoint(image,humans) # 拿上关键点信息
if plot:
# 画图的情况下：
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False) # 画图函数
fig = plt.figure()
a = fig.add_subplot(2, 2, 1)
a.set_title('Result')
plt.imshow(cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
return centers,image
else:
# 不画图的情况下：
return centers
def __init__(self):
"""
Initialize the graphics window and mesh surface
"""
# setup the view window
self.app = QtGui.QApplication(sys.argv)
self.window = gl.GLViewWidget()
self.window.setWindowTitle('Terrain')
self.window.setGeometry(0, 110, 1920, 1080)
self.window.setCameraPosition(distance=30, elevation=12)
self.window.show()
gx = gl.GLGridItem()
gy = gl.GLGridItem()
gz = gl.GLGridItem()
gx.rotate(90, 0, 1, 0)
gy.rotate(90, 1, 0, 0)
gx.translate(-10, 0, 0)
gy.translate(0, -10, 0)
gz.translate(0, 0, -10)
self.window.addItem(gx)
self.window.addItem(gy)
self.window.addItem(gz)
model = 'mobilenet_thin'
#model = '432x368'
camera = 0
self.lines = {}
self.connection = [[0, 1], [1, 2], [2, 3], [0, 4], [4, 5], [5, 6],
[0, 7], [7, 8], [8, 9], [9, 10], [8, 11], [11, 12],
[12, 13], [8, 14], [14, 15], [15, 16]]
resolution = '432x368'
w, h = model_wh(resolution)
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
self.cam = cv2.VideoCapture(camera)
ret_val, image = self.cam.read()
#print('ret_val', ret_val)
self.poseLifting = Prob3dPose(
'./src/lifting/models/prob_model_params.mat')
keypoints = self.mesh(image)
print('keypoints', keypoints)
self.points = gl.GLScatterPlotItem(pos=keypoints,
color=pg.glColor((0, 255, 0)),
size=15)
#print(keypoints)
self.window.addItem(self.points)
for n, pts in enumerate(self.connection):
self.lines[n] = gl.GLLinePlotItem(pos=np.array(
[keypoints[p] for p in pts]),
color=pg.glColor((0, 0, 255)),
width=3,
antialias=True)
self.window.addItem(self.lines[n])
def __init__(self,
zoom=1.0,
resolution='656x368',
model='cmu',
show_process=False):
self.zoom = zoom
self.resolution = resolution
self.model = model
self.show_process = show_process
logger.debug('initialization %s : %s' % (model, get_graph_path(model)))
self.w, self.h = model_wh(resolution)
self.e = TfPoseEstimator(get_graph_path(model),
target_size=(self.w, self.h))
def __init__(self):
"""
Initialize the graphics window and mesh surface
"""
self.bitFalling = 0
# Initialize plot.
plt.ion()
f2 = plt.figure(figsize=(6, 5))
self.windowNeck = f2.add_subplot(1, 1, 1)
self.windowNeck.set_title('Speed')
self.windowNeck.set_xlabel('Time')
self.windowNeck.set_ylabel('Speed')
# plt.show()
self.times = []
self.recordVelocity = []
self.recordNeck = []
self.recordYTopRectangle = []
self.recordHIP = []
self.recordTimeList = []
self.globalTime = 0
self.highestNeck = 0
# self.highestNeckTime = 0
self.highestHIP = 0
self.saveTimesStartFalling = -1
self.surpriseMovingTime = -1
self.detectedHIP_Y = 0
self.detectedNECK_Y = 0
self.extraDistance = 0
self.fgbg = cv2.createBackgroundSubtractorMOG2(history=1,
varThreshold=500,
detectShadows=False)
self.secondNeck = 0
self.human_in_frame = False
self.lastTimesFoundNeck = -1
self.width = 300
self.height = 200
self.quotaVirtureNeck = 3
self.used_quotaVirtureNeck = 0
self.quoutaFalling = 0
model = 'mobilenet_thin_432x368'
w, h = model_wh(model)
camera = 0 # 1 mean external camera , 0 mean internal camera
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
self.cam = cv2.VideoCapture(camera)
# self.cam = cv2.VideoCapture('C:/outpy2.avi')
self.cam.set(cv2.CAP_PROP_AUTOFOCUS, 0) # turn the autofocus off
self.recordAcceleration = []
def main():
parser = argparse.ArgumentParser(
description='tf-pose-estimation run by folder')
parser.add_argument('--folder', type=str, default='./images/')
parser.add_argument('--resolution',
type=str,
default='432x368',
help='network input resolution. default=432x368')
parser.add_argument('--model',
type=str,
default='mobilenet_thin',
help='cmu / mobilenet_thin')
parser.add_argument('--scales',
type=str,
default='[None]',
help='for multiple scales, eg. [1.0, (1.1, 0.05)]')
args = parser.parse_args()
scales = ast.literal_eval(args.scales)
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
types = ('*.png', '*.jpg')
files_grabbed = []
for files in types:
files_grabbed.extend(glob.glob(os.path.join(args.folder, files)))
all_humans = dict()
if not os.path.exists('output'):
os.mkdir('output')
for i, file in enumerate(files_grabbed):
# estimate human poses from a single image !
image = common.read_imgfile(file, None, None)
t = time.time()
humans = e.inference(image, scales=scales)
elapsed = time.time() - t
logger.info('inference image #%d: %s in %.4f seconds.' %
(i, file, elapsed))
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
# cv2.imshow('tf-pose-estimation result', image)
filename = 'pose_{}.png'.format(i)
output_filepath = os.path.join('output', filename)
cv2.imwrite(output_filepath, image)
logger.info('image saved: {}'.format(output_filepath))
# cv2.waitKey(5000)
all_humans[file.replace(args.folder, '')] = humans
with open(os.path.join(args.folder, 'pose.dil'), 'wb') as f:
dill.dump(all_humans, f, protocol=dill.HIGHEST_PROTOCOL)
def __init__(self):
"""
Initialize the graphics window and mesh surface
"""
# setup the view window
self.app = QtGui.QApplication(sys.argv)
self.window = gl.GLViewWidget()
self.window.setWindowTitle('Terrain')
self.window.setGeometry(0, 110, 1920, 1080)
self.window.setCameraPosition(distance=30, elevation=12)
self.window.show()
gx = gl.GLGridItem()
gy = gl.GLGridItem()
gz = gl.GLGridItem()
gx.rotate(90, 0, 1, 0)
gy.rotate(90, 1, 0, 0)
gx.translate(-10, 0, 0)
gy.translate(0, -10, 0)
gz.translate(0, 0, -10)
self.window.addItem(gx)
self.window.addItem(gy)
self.window.addItem(gz)
model = 'mobilenet_thin'
camera = 0
w, h = model_wh("432x368")
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
self.cam = cv2.VideoCapture(0)
ret_val, image = self.cam.read()
self.poseLifting = Prob3dPose('lifting/models/prob_model_params.mat')
keypoints = self.mesh(image)
self.points = gl.GLScatterPlotItem(
pos=keypoints,
color=pg.glColor((255, 255, 0)),
size=15
)
# self.lines = gl.GLLinePlotItem(
# pos=lines,
# color=pg.glColor((255, 255, 255)),
# width=2
# )
self.window.addItem(self.points)
def __init__(self):
"""
Initialize the graphics window and mesh surface
"""
# Initialize plot.
plt.ion()
f = plt.figure(figsize=(5, 5))
f2 = plt.figure(figsize=(6, 5))
self.window3DBody = f.gca(projection='3d')
self.window3DBody.set_title('3D_Body')
self.windowStable = f2.add_subplot(1, 1, 1)
self.windowStable.set_title('Stable')
self.windowStable.set_xlabel('Time')
self.windowStable.set_ylabel('Distant')
self.windowStable.set_ylim([0, 1500])
#plt.show()
self.times = [0]
self.stable = [0]
self.recordHead = []
self.fps_time = 0
model = 'mobilenet_thin_432x368'
w, h = model_wh(model)
#model = 'cmu'
#w,h = 656,368
camera = 1 #1 mean external camera , 0 mean internal camera
self.lines = {}
self.connection = [[0, 1], [1, 2], [2, 3], [0, 4], [4, 5], [5, 6],
[0, 7], [7, 8], [8, 9], [9, 10], [8, 11], [11, 12],
[12, 13], [8, 14], [14, 15], [15, 16]]
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
self.cam = cv2.VideoCapture(camera)
ret_val, image = self.cam.read(cv2.IMREAD_COLOR)
self.poseLifting = Prob3dPose(
'./src/lifting/models/prob_model_params.mat')
self.statusBodyWindow = 0
try:
keypoints = self.mesh(image)
except:
pass
def __init__(self):
"""
Initialize the graphics window and mesh surface
add some grids in the 3 point... that are just filling up the background
"""
# setup the view window
self.app = QtGui.QApplication(sys.argv)
self.window = gl.GLViewWidget()
self.window.setWindowTitle('Terrain')
self.window.setGeometry(0, 110, 1920, 1080)
self.window.setCameraPosition(distance=30, elevation=12)
self.window.show()
gx = gl.GLGridItem()
gy = gl.GLGridItem()
gz = gl.GLGridItem()
gx.rotate(90, 0, 1, 0)
gy.rotate(90, 1, 0, 0)
gx.translate(-10, 0, 0)
gy.translate(0, -10, 0) # we translate all of them
gz.translate(0, 0, -10) # so they're pushed out to the background
self.window.addItem(gx)
self.window.addItem(gy) # add them all to the window
self.window.addItem(gz)
model = "mobilenet_thin_432x368"
camera = 0
w, h = model_wh(model)
# we are gonna create e objects but instead we're gonna call it
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
# we're basically just going the same thing(run.py line:37) instead of args.model
# we just created our own object for model
self.cam = cv2.VideoCapture(camera)
ret_val, image = self.cam.read()
self.poseLifting = Prob3dPose(
'./src/lifting/models/prob_model_params.mat')
# we'll have this object to do our 3d pose translater? yukardaki
keypoints = self.mesh(image)
self.points = gl.GLScatterPlotItem( # plot dots
pos=keypoints,
color=pg.glColor((0, 255, 0)),
size=15)
self.window.addItem(self.points)
def cnvt(img, name) :
os.chdir(read_path)
image = cv2.imread(img)
os.chdir(old_path)
model = 'mobilenet_thin'
resolution = '432x368'
w, h = model_wh(resolution)
e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
humans = e.inference(image)
blank_image = np.zeros((h,w,3), np.uint8)
image = TfPoseEstimator.draw_humans(blank_image, humans, imgcopy=False)
os.chdir(save_path)
cv2.imwrite(name, image)
print("Saved - %s As - %s" % (img, name))
os.chdir(old_path)
def __init__(self, calibration_file):
"""
This method init an OpenPose model
"""
args = type('', (), {})
# args.resolution = '1312x736'
args.resolution = '432x368'
args.model = 'mobilenet_thin'
args.scales = '[None]'
scales = ast.literal_eval(args.scales)
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
self.model = {'e': e, 'scales': scales}
# start new matlab session
self.matlab = matlab.engine.start_matlab()
# or...
# in matlab run: matlab.engine.shareEngine
# and uncomment the following line
# self.matlab = matlab.engine.connect_matlab()
self.calibration = calibration_file
def __init__(self):
"""
Initialize the graphics window and mesh surface
"""
self.bitFalling = 0
# Initialize plot.
self.times = []
self.recordVelocity = []
self.recordNeck = []
self.recordYTopRectangle = []
self.recordHIP = []
self.recordTimeList = []
self.globalTime = 0
self.highestNeck = 0
# self.hightestNeckTime = 0
self.highestHIP = 0
self.saveTimesStartFalling = -1
self.quoutaFalling = 0
self.surpriseMovingTime = -1
self.detectedHIP_Y = 0
self.detectedNECK_Y = 0
self.extraDistance = 0
self.fgbg = cv2.createBackgroundSubtractorMOG2(history=1,
varThreshold=500,
detectShadows=False)
self.secondNeck = 0
self.human_in_frame = False
self.lastTimesFoundNeck = -1
self.width = 300
self.height = 200
self.quotaVirtureNeck = 3
self.used_quotaVirtureNeck = 0
model = 'mobilenet_thin_432x368'
w, h = model_wh(model)
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
self.recordAcceleration = []
def __init__(self):
self.parser = argparse.ArgumentParser(
description='tf-pose-estimation run')
self.parser.add_argument(
'--resolution',
type=str,
default='432x368',
help='network input resolution. default=432x368')
self.parser.add_argument('--model',
type=str,
default='mobilenet_thin',
help='cmu / mobilenet_thin')
self.parser.add_argument(
'--scales',
type=str,
default='[None]',
help='for multiple scales, eg. [1.0, (1.1, 0.05)]')
self.args = self.parser.parse_args()
self.scales = ast.literal_eval(self.args.scales)
self.w, self.h = model_wh(self.args.resolution)
self.e = TfPoseEstimator(get_graph_path(self.args.model),
target_size=(self.w, self.h))
ch.setLevel(logging.DEBUG)
formatter = logging.Formatter('[%(asctime)s] [%(name)s] [%(levelname)s] %(message)s')
ch.setFormatter(formatter)
logger.addHandler(ch)
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='tf-pose-estimation run') # Adding arguments to the programs
parser.add_argument('--image', type=str, default='../images/p1.jpg') # Adding images name else it will take the default image
parser.add_argument('--resolution', type=str, default='432x368', help='network input resolution. default=432x368') # Specify resolution
parser.add_argument('--model', type=str, default='mobilenet_thin', help='cmu / mobilenet_thin') # Specify Model
parser.add_argument('--scales', type=str, default='[None]', help='for multiple scales, eg. [1.0, (1.1, 0.05)]') # Scales - Reason Unknown
args = parser.parse_args() # Argument contain all the parse
scales = ast.literal_eval(args.scales)
w, h = model_wh(args.resolution) #Return width and height into w, h respectively after checking if its a multiple of 16
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h)) # Model + width and height
# estimate human poses from a single image !
image = common.read_imgfile(args.image, None, None)
# image = cv2.fastNlMeansDenoisingColored(image, None, 10, 10, 7, 21)
t = time.time()
humans = e.inference(image, scales=scales)
elapsed = time.time() - t
logger.info('inference image: %s in %.4f seconds.' % (args.image, elapsed))
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
# cv2.imshow('tf-pose-estimation result', image)
# cv2.waitKey()
# parameters
image_topic = rospy.get_param('~camera', '')
model = rospy.get_param('~model', 'cmu_640x480')
scales = rospy.get_param('~scales', '[None]')
scales = ast.literal_eval(scales)
tf_lock = Lock()
rospy.loginfo('[TfPoseEstimatorROS] scales(%d)=%s' % (len(scales), str(scales)))
if not image_topic:
rospy.logerr('Parameter \'camera\' is not provided.')
sys.exit(-1)
try:
w, h = model_wh(model)
graph_path = get_graph_path(model)
rospack = rospkg.RosPack()
graph_path = os.path.join(rospack.get_path('tfpose_ros'), graph_path)
except Exception as e:
rospy.logerr('invalid model: %s, e=%s' % (model, e))
sys.exit(-1)
pose_estimator = TfPoseEstimator(graph_path, target_size=(w, h))
cv_bridge = CvBridge()
rospy.Subscriber(image_topic, Image, callback_image, queue_size=1, buff_size=2**24)
pub_pose = rospy.Publisher('~pose', Persons, queue_size=1)
rospy.loginfo('start+')
cocoGt = COCO(coco_json_file)
catIds = cocoGt.getCatIds(catNms=['person'])
keys = cocoGt.getImgIds(catIds=catIds)
if args.data_idx < 0:
if eval_size > 0:
keys = keys[:eval_size] # only use the first #eval_size elements.
pass
else:
keys = [keys[args.data_idx]]
logger.info('validation %s set size=%d' % (coco_json_file, len(keys)))
write_json = 'etcs/%s_%s_%f.json' % (args.model, args.resize,
args.resize_out_ratio)
logger.debug('initialization %s : %s' %
(args.model, get_graph_path(args.model)))
w, h = model_wh(args.resize)
if w == 0 or h == 0:
e = TfPoseEstimator(get_graph_path(args.model), target_size=(432, 368))
else:
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
result = []
for i, k in enumerate(tqdm(keys)):
img_meta = cocoGt.loadImgs(k)[0]
img_idx = img_meta['id']
img_name = os.path.join(image_dir, img_meta['file_name'])
image = read_imgfile(img_name, None, None)
if image is None:
logger.error('image not found, path=%s' % img_name)
sys.exit(-1)
rospy.init_node('TfPoseEstimatorROS', anonymous=True, log_level=rospy.INFO)
# parameters
image_topic = rospy.get_param('~camera', '')
model = rospy.get_param('~model', 'cmu')
resolution = rospy.get_param('~resolution', '432x368')
resize_out_ratio = float(rospy.get_param('~resize_out_ratio', '4.0'))
tf_lock = Lock()
if not image_topic:
rospy.logerr('Parameter \'camera\' is not provided.')
sys.exit(-1)
try:
w, h = model_wh(resolution)
graph_path = get_graph_path(model)
rospack = rospkg.RosPack()
graph_path = os.path.join(rospack.get_path('tfpose_ros'), graph_path)
except Exception as e:
rospy.logerr('invalid model: %s, e=%s' % (model, e))
sys.exit(-1)
pose_estimator = TfPoseEstimator(graph_path, target_size=(w, h))
cv_bridge = CvBridge()
rospy.Subscriber(image_topic, Image, callback_image, queue_size=1, buff_size=2**24)
pub_pose = rospy.Publisher('~pose', Persons, queue_size=1)
rospy.loginfo('start+')
'--conf',
type=str,
default='configs/mgh.yaml',
help=
'Path to the YAML config file containing the parameters helpful for Openpose inference'
)
args = parser.parse_args()
with open(args.conf, 'r') as f:
conf_vals = yaml.load(f, Loader=yaml.FullLoader)
conf_vals = conf_vals['estimate_pose']
logger.debug(
'initialization %s : %s' %
(conf_vals['model_name'], get_graph_path(conf_vals['model_name'])))
w, h = model_wh(conf_vals['resolution'])
e = TfPoseEstimator(get_graph_path(conf_vals['model_name']),
target_size=(w, h))
subdirs = os.listdir(conf_vals['data_dir'])
def process_vids(subs):
for i in trange(len(subs), desc='Subject ID', position=0):
sub = subs[i]
video_root = os.path.join(conf_vals['data_dir'], sub)
l_vids = []
for root, dirs, fnames in os.walk(video_root):
for fname in fnmatch.filter(fnames,
'*.' + conf_vals['data_ext']):
l_vids.append(os.path.join(root, fname))
l_vids = sorted(l_vids)
def pose_dd():
fps_time = 0
global humans
global BREAK
global image
parser = argparse.ArgumentParser(description='tf-pose-estimation realtime webcam')
parser.add_argument('--camera', type=int, default=0)
parser.add_argument('--zoom', type=float, default=1.0)
parser.add_argument('--model', type=str, default='mobilenet_thin_432x368', help='cmu_640x480 / cmu_640x360 / mobilenet_thin_432x368')
parser.add_argument('--show-process', type=bool, default=False,
help='for debug purpose, if enabled, speed for inference is dropped.')
args = parser.parse_args()
##logger.debug('initialization %s : %s' % (args.model, get_graph_path(args.model)))
w, h = model_wh(args.model)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
#logger.debug('cam read+')
cam = cv2.VideoCapture(args.camera)
ret_val, image = cam.read()
##logger.info('cam image=%dx%d' % (image.shape[1], image.shape[0]))
while True:
ret_val, image = cam.read()
#logger.debug('image preprocess+')
if args.zoom < 1.0:
canvas = np.zeros_like(image)
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (canvas.shape[1] - img_scaled.shape[1]) // 2
dy = (canvas.shape[0] - img_scaled.shape[0]) // 2
canvas[dy:dy + img_scaled.shape[0], dx:dx + img_scaled.shape[1]] = img_scaled
image = canvas
elif args.zoom > 1.0:
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (img_scaled.shape[1] - image.shape[1]) // 2
dy = (img_scaled.shape[0] - image.shape[0]) // 2
image = img_scaled[dy:image.shape[0], dx:image.shape[1]]
#logger.debug('image process+')
humans = e.inference(image)
#logger.debug('postprocess+')
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
#logger.debug('show+')
cv2.putText(image,
"FPS: %f" % (1.0 / (time.time() - fps_time)),
(10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(0, 255, 0), 2)
cv2.imshow('tf-pose-estimation result', image)
fps_time = time.time()
#out.write(image)
if cv2.waitKey(1) == 27:
#out.release()
cv2.destroyAllWindows()
BREAK = True
clientsocket.send("off".encode('utf-8'))
print("off sent")
import sys
sys.exit(0)
break
def doCNNTracking(args):
global is_tracking,logger
fps_time = 0
logger.debug('initialization %s : %s' % (args.model, get_graph_path(args.model)))
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
logger.debug('cam read+')
pipeline = rs.pipeline()
pipeline.start()
frames = pipeline.wait_for_frames()
#get depth影像
depth = frames.get_depth_frame()
depth_image_data = depth.as_frame().get_data()
depth_image = np.asanyarray(depth_image_data)
logger.info('cam depth image=%dx%d' % (depth_image.shape[1], depth_image.shape[0]))
logger.info('camera ready')
#計算depth影像對應至rgb影像的clip
clip_box = [100,-100,290,-300]
human_list = []
while (True):
if(is_tracking):
fps_time = time.time()
frames = pipeline.wait_for_frames()
#get rgb影像
image_frame = frames.get_color_frame()
image_data = image_frame.as_frame().get_data()
image = np.asanyarray(image_data)
#change bgr 2 rgb
image = np.array(image[...,::-1])
origen_image = image
#get depth影像
depth = frames.get_depth_frame()
depth_image_data = depth.as_frame().get_data()
depth_image = np.asanyarray(depth_image_data)
depth_image = depth_image[(int)(clip_box[0]):(int)(clip_box[1]),(int)(clip_box[2]):(int)(clip_box[3])]
depth_image = cv2.resize(depth_image, (640, 480), interpolation=cv2.INTER_CUBIC)
depth_image=depth_image/30
depth_image.astype(np.uint8)
#深度去背的遮罩
thresh=cv2.inRange(depth_image,20,160)
#去背的遮罩做影像處理
kernel = cv2.getStructuringElement(cv2.MORPH_RECT,(1, 1))
eroded = cv2.erode(thresh,kernel)
kernel2 = cv2.getStructuringElement(cv2.MORPH_RECT,(5, 5))
dilated = cv2.dilate(eroded,kernel2)
#亮度遮罩
bright_mask = np.zeros(image.shape);
bright_mask.fill(200)
bright_mask = bright_mask.astype(np.uint8);
bright_mask = cv2.bitwise_and(bright_mask, bright_mask, mask=dilated)
#rgb影像亮度處理
# image = cv2.bitwise_and(image, image, mask=dilated)
image = image.astype(int)+200-bright_mask.astype(int);
image = np.clip(image, 0, 255)
image = image.astype(np.uint8);
image=origen_image
#影像邊緣檢測
image_gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(image_gray, (3, 3), 0)
canny = cv2.Canny(blurred, 50, 50)
canny_blurred = cv2.GaussianBlur(canny, (13, 13), 0)
cv2.imshow('test', canny_blurred)
#tfpose image 縮放
if args.zoom < 1.0:
canvas = np.zeros_like(image)
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (canvas.shape[1] - img_scaled.shape[1]) // 2
dy = (canvas.shape[0] - img_scaled.shape[0]) // 2
canvas[dy:dy + img_scaled.shape[0], dx:dx + img_scaled.shape[1]] = img_scaled
image = canvas
elif args.zoom > 1.0:
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (img_scaled.shape[1] - image.shape[1]) // 2
dy = (img_scaled.shape[0] - image.shape[0]) // 2
image = img_scaled[dy:image.shape[0], dx:image.shape[1]]
#tfpose 計算
humans = e.inference(image)
# #得到joint
# jdata = TfPoseEstimator.get_json_data(image.shape[0],image.shape[1],humans)
# if(len(jdata)>2):
# try:
# #傳送Position資料至SERVER
# chating_room.sendTrackingData(jdata,'track')
# except:
# print("Cannot send data to server.")
#去背後深度影像
depth_masked = cv2.bitwise_and(depth_image, depth_image, mask=dilated)
new_human_list = []
for human in humans:
#計算深度資料
depthDatas=[None] * 20
image_h, image_w = image.shape[:2]
# get joint data with depth
for i in range(common.CocoPart.Background.value):
if i not in human.body_parts.keys():
continue
body_part = human.body_parts[i]
y= int(body_part.y * image_h+ 0.5)
x = int(body_part.x * image_w + 0.5)
s=5;
mat = depth_masked[y-s if(y-s>=0) else 0:y+s if(y+s<=479) else 479,x-s if(x-s>=0) else 0:x+s if (x+s<=639) else 639]
count=0;
sum_depth=0;
for j in range (mat.shape[0]):
for k in range (mat.shape[1]):
if mat[j,k]!=0:
sum_depth+=mat[j,k]
count+=1
if(count>0):
depth=sum_depth/count
else:
depth=0
mat = depth_masked[y-s if(y-s>=0) else 0:y+s if(y+s<=479) else 479,x-s if(x-s>=0) else 0:x+s if (x+s<=639) else 639]
try:
depthDatas[i] = (JointDepthData(i,x,y,depth))
except:
print("err:"+str(x)+" "+str(y)+" "+str(body_part.x )+" "+str(body_part.y ))
# 後處理
jn0=np.zeros((20,3))
for j in depthDatas:
if(j!=None):
jn0[j.jn]=np.array([1,j.x,j.y])
jn0 = jn0.astype(int)
jn00 = jn0.copy()
old_images=None
if(len(human_list)>0):
# 找與之前最相似的Human Data
most_simular_value = 9999999
most_simular_human = ''
jn1=np.zeros((20,3))
for human_data in human_list:
for j in human_data.joint_list:
if(j != None):
jn1[j.jn]=np.array([1,j.x,j.y])
jn1 = jn1.astype(int)
different_value=0
match_count=0
for i in range (18) :
if(jn0[i,0]*jn1[i,0]!=0):
different_value+= np.linalg.norm(jn0[i]-jn1[i])
match_count+=1
if(different_value/match_count<most_simular_value):
most_simular_human = human_data
old_images = most_simular_human.image_list
if(old_images==None):
old_images = [np.zeos((80,80))]*18
w = 160
# for joint_i in range (18):
# smallest_diff = 9999999
# if(jn0[joint_i,0]==int(1) and jn1[joint_i,0]==int(1) and old_images[joint_i].shape[0]>0 and old_images[joint_i].shape[1]>0):
# new_center=np.zeros(2)
# for i in range (-20,20,10):
# for j in range (-20,20,10):
# center = np.array([jn0[joint_i,1]+i,jn0[joint_i,2]+j])
# mat0 = canny_blurred[center[0]-w:center[0]+w,center[1]-w:center[1]+w]
# if(mat0.shape[0]!=2*w or mat0.shape[1]!=2*w or old_images[joint_i].shape[0]!=2*w or old_images[joint_i].shape[1]!=2*w):
# continue
# try:
# mat1 = mat0-old_images[joint_i]
# except:
# print(mat0.shape)
# mat2 = np.exp2(mat1)
# diff = np.sum(mat2)
# if(diff<smallest_diff):
# smallest_diff=diff
# new_images[joint_i] = canny_blurred[center[0]-w:center[0]+w,center[1]-w:center[1]+w]
# new_center=center
# if(smallest_diff<9999999):
# jn0[joint_i,1] = int(new_center[0]+jn0[joint_i,1])/2
# jn0[joint_i,2] = int(new_center[1]+jn1[joint_i,1])/2
temp = np.copy(image)
for joint_i in range(18):
center = np.array([jn0[joint_i,1],jn0[joint_i,2]])
mat0 = image_gray[center[1]-w if(center[1]-w>=0) else 0:center[1]+w if(center[1]+w<480) else 479,center[0]-w if(center[0]-w>=0) else 0:center[0]+w if(center[0]+w<640) else 639]
mat1 = old_images[joint_i]
if(mat0.shape[0]>mat1.shape[0]and mat0.shape[1]>mat1.shape[1] and mat0.shape[0]>0 and mat0.shape[1]>0 and mat1.shape[0]>0 and mat1.shape[1]>0):
loc = match_img(mat0,mat1)
lt = (center[0]-w if(center[0]-w>=0) else 0,center[1]-w if(center[1]-w>=0) else 0)
if(len(loc[1])>0):
c = (int(sum(loc[1])/len(loc[1])),int(sum(loc[0])/len(loc[0])))
cv2.rectangle(temp,(c[0]+lt[0],c[1]+lt[1]),(c[0]+lt[0]+40,c[1]+lt[1]+40), common.CocoColors[joint_i], 2)
# for pt in :
# c = pt-np.array((center[1]-w if(center[1]-w>=0) else 0,center[0]-w if(center[0]-w>=0) else 0))+np.array((center[1],center[0]))
# c2 = (c[0],c[1])
# cv2.rectangle(temp,c2,(c[0]+40,c[1]+40),(255,255,255), 2)
cv2.imshow('test3', temp )
w = 40
new_depthDatas=[None]*20
new_images = [np.zeros((80,80))]*20
for joint_i in range (18):
if(jn0[joint_i,0]==1):
new_depthDatas[joint_i]=(JointDepthData(joint_i,jn0[joint_i,1],jn0[joint_i,2],depthDatas[joint_i].dp))
m=np.copy(image_gray[jn0[joint_i,2]-w:jn0[joint_i,2]+w,jn0[joint_i,1]-w:jn0[joint_i,1]+w])
if(old_images==None and m.shape[0]==2*w and m.shape[1]==2*w):
cv2.circle(image,(jn0[joint_i,1],jn0[joint_i,2]), w, (0,0,255), -1)
new_images[joint_i]=m
elif(old_images==None and (m.shape[0]<2*w or m.shape[1]<2*w)):
pass
elif(m.shape[0]==2*w and m.shape[1]==2*w):
cv2.circle(image,(jn0[joint_i,1],jn0[joint_i,2]),w, (0,255,0), -1)
new_images[joint_i]=old_images[joint_i]*0.9+m*0.1
else:
cv2.circle(image,(jn0[joint_i,1],jn0[joint_i,2]), w, (255,0,0), -1)
new_images[joint_i]=old_images[joint_i]
if(joint_i==1 and m.shape[0]==2*w and m.shape[1]==2*w):
cv2.imshow('test2', m)
cv2.circle(image,(jn00[joint_i,1],jn00[joint_i,2]), w, (255,255,0), -1)
# new_images.append(depth_masked[jn0[joint_i,1]-5:jn0[joint_i,1]+5,jn0[joint_i,2]-5:jn0[joint_i,2]+5])
new_human = HumanData(new_depthDatas,new_images)
new_human_list.append(new_human)
# depth_jdata=json.dumps(new_depthDatas)
# if(len(depth_jdata)>2):
# try:
# #傳送Depth資料至SERVER
# print(depth_jdata)
# chating_room.sendTrackingData(depth_jdata,'track_depth')
# except:
# print("Cannot send depth data to server.")
human_list = new_human_list
depth_image = cv2.applyColorMap(cv2.convertScaleAbs(depth_image/25), cv2.COLORMAP_JET)
# cv2.circle(image,(320,240), 5, (255,0,0), -1)
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
cv2.putText(image,"FPS: %f" % (1.0 / (time.time() - fps_time)),(10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5,(0, 255, 0), 2)
cv2.imshow('tf-pose-estimation result', image)
if cv2.waitKey(25) & 0xFF == ord('q'):
cv2.destroyAllWindows()
break
cv2.destroyAllWindows()
parser.add_argument('--camera', type=int, default=0)
parser.add_argument('--zoom', type=float, default=1.0)
parser.add_argument(
'--model',
type=str,
default='cmu_640x480',
help='cmu_640x480 / cmu_640x360 / mobilenet_thin_432x368')
parser.add_argument(
'--show-process',
type=bool,
default=False,
help='for debug purpose, if enabled, speed for inference is dropped.')
args = parser.parse_args()
logger.debug('initialization %s : %s' %
(args.model, get_graph_path(args.model)))
w, h = model_wh(args.model)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
logger.debug('cam read+')
cam = cv2.VideoCapture(args.camera)
ret_val, image = cam.read()
logger.info('cam image=%dx%d' % (image.shape[1], image.shape[0]))
while True:
ret_val, image = cam.read()
#logger.debug('image preprocess+')
if args.zoom < 1.0:
canvas = np.zeros_like(image)
img_scaled = cv2.resize(image,
None,
fx=args.zoom,
def startt():
fps_time = 0
logger.debug('initialization %s : %s' % ('mobilenet_thin', get_graph_path('mobilenet_thin')))
w, h = model_wh('432x368')
e = TfPoseEstimator(get_graph_path('mobilenet_thin'), target_size=(w, h))
logger.debug('cam read+')
cam = cv2.VideoCapture(0,cv2.CAP_DSHOW)
#"http://127.0.0.1:8000/"
ret_val, image = cam.read()
logger.info('cam image=%dx%d' % (image.shape[1], image.shape[0]))
frame=0
while True:
ret_val, image = cam.read()
#image2 = cv2.threshold(image,0,255,cv2.THRESH_BINARY)
image2 = cv2.imread('../images/123.jpg')
logger.debug('image preprocess+')
"""if args.zoom < 1.0:
canvas = np.zeros_like(image)
canvas2 = np.zeros_like(image2)
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
img_scaled2 = cv2.resize(image2, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (canvas.shape[1] - img_scaled.shape[1]) // 2
dy = (canvas.shape[0] - img_scaled.shape[0]) // 2
canvas[dy:dy + img_scaled.shape[0], dx:dx + img_scaled.shape[1]] = img_scaled
canvas2[dy:dy + img_scaled2.shape[0], dx:dx + img_scaled2.shape[1]] = img_scaled2
image = canvas
image2 = canvas2
elif args.zoom > 1.0:
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (img_scaled.shape[1] - image.shape[1]) // 2
dy = (img_scaled.shape[0] - image.shape[0]) // 2
image = img_scaled[dy:image.shape[0], dx:image.shape[1]]"""
#image2=np.array(image2)
logger.debug('image process+')
humans = e.inference(image)
n = len(humans)
print(humans)
"""body = {}
body["key_points"] = []
for human in humans:
for parts in human.body_parts.items():
print("id" ,parts[0])
print("x",parts[1].x)
print("y",parts[1].y)
print("score = ",parts[1].score)
body["key_points"].append({"ID":parts[0],"X":parts[1].x,"Y":parts[1].y})
with open("json/{0}.json".format(str(i)),'w') as file:
json.dump(body,file)"""
output_json='3d-pose-baseline/src3d/json/'
logger.debug('postprocess+')
image2 = TfPoseEstimator.draw_humans(image2, humans, imgcopy=False,frame=frame,dir=output_json)
# image =
logger.debug('show+')
cv2.putText(image,
"FPS: %f" % (1.0 / (time.time() - fps_time)),
(10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(0, 255, 0), 2)
cv2.putText(image, "persons = %f" % n,(10,30),cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(0, 0, 255), 3)
cv2.imshow('orignal',image)
#cv2.imshow('tf-pose-estimation result', image2)
if n==1:
frame=frame+1
fps_time = time.time()
logger.debug('finished+')
keyboard = cv2.waitKey(30)
if keyboard == 'q' or keyboard == 27:
break
cam.release()
cv2.destroyAllWindows()
return image2
def post(self):
global finished_post
if ((self.request.headers['Content-Type'] == 'imagebin')
and (finished_post == 1)):
print(finished_post)
finished_post = 0
print('Received image')
image = self.request.body
fh = open('static/image1.jpg', 'wb')
fh.write(image)
fh.close()
#fh = open('static/image1.jpg','ab')
#fh.write(bytes([0xD9]))
#fh.close()
print('0')
#image = cv2.imread('static/image1.jpg')
print('1')
print('2')
parser = argparse.ArgumentParser(
description='tf-pose-estimation run')
parser.add_argument(
'--resolution',
type=str,
default='432x368',
help='network input resolution. default=432x368')
parser.add_argument('--model',
type=str,
default='mobilenet_thin',
help='cmu / mobilenet_thin')
parser.add_argument(
'--scales',
type=str,
default='[None]',
help='for multiple scales, eg. [1.0, (1.1, 0.05)]')
args = parser.parse_args()
scales = ast.literal_eval(args.scales)
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
# estimate human poses from a single image !
image = common.read_imgfile('static/image1.jpg', None, None)
# image = cv2.fastNlMeansDenoisingColored(image, None, 10, 10, 7, 21)
t = time.time()
humans = e.inference(image, scales=scales)
elapsed = time.time() - t
logger.info('inference image: image3.jpg in %.4f seconds.' %
(elapsed))
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
#cv2.putText(image,
# f"Fallen: False",
# (60, 60), cv2.FONT_HERSHEY_SIMPLEX, 2,
# (0, 255, 0), 5)
cv2.imwrite('static/image3.jpg', image)
for client in clients:
update_clients(client)
print(finished_post)
finished_post = 1
def doCNNTracking(args):
global is_tracking,logger
fps_time = 0
logger.debug('initialization %s : %s' % (args.model, get_graph_path(args.model)))
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
logger.debug('cam read+')
pipeline = rs.pipeline()
pipeline.start()
frames = pipeline.wait_for_frames()
#get depth影像
depth = frames.get_depth_frame()
depth_image_data = depth.as_frame().get_data()
depth_image = np.asanyarray(depth_image_data)
logger.info('cam depth image=%dx%d' % (depth_image.shape[1], depth_image.shape[0]))
logger.info('camera ready')
#計算depth影像對應至rgb影像的clip
clip_box = [100,-100,290,-300]
while (True):
if(is_tracking):
fps_time = time.time()
frames = pipeline.wait_for_frames()
#get rgb影像
image_frame = frames.get_color_frame()
image_data = image_frame.as_frame().get_data()
image = np.asanyarray(image_data)
#change bgr 2 rgb
image = np.array(image[...,::-1])
origen_image = image
#get depth影像
depth = frames.get_depth_frame()
depth_image_data = depth.as_frame().get_data()
depth_image = np.asanyarray(depth_image_data)
depth_image = depth_image[(int)(clip_box[0]):(int)(clip_box[1]),(int)(clip_box[2]):(int)(clip_box[3])]
depth_image = cv2.resize(depth_image, (640, 480), interpolation=cv2.INTER_CUBIC)
depth_image=depth_image/30
depth_image.astype(np.uint8)
#深度去背的遮罩
thresh=cv2.inRange(depth_image,20,200)
#去背的遮罩做影像處理
kernel = cv2.getStructuringElement(cv2.MORPH_RECT,(1, 1))
eroded = cv2.erode(thresh,kernel)
kernel2 = cv2.getStructuringElement(cv2.MORPH_RECT,(5, 5))
dilated = cv2.dilate(eroded,kernel2)
#亮度遮罩
bright_mask = np.zeros(image.shape);
bright_mask.fill(200)
bright_mask = bright_mask.astype(np.uint8);
bright_mask = cv2.bitwise_and(bright_mask, bright_mask, mask=dilated)
#rgb影像亮度處理
# image = cv2.bitwise_and(image, image, mask=dilated)
image = image.astype(int)+200-bright_mask.astype(int);
image = np.clip(image, 0, 255)
image = image.astype(np.uint8);
#tfpose image 縮放
if args.zoom < 1.0:
canvas = np.zeros_like(image)
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (canvas.shape[1] - img_scaled.shape[1]) // 2
dy = (canvas.shape[0] - img_scaled.shape[0]) // 2
canvas[dy:dy + img_scaled.shape[0], dx:dx + img_scaled.shape[1]] = img_scaled
image = canvas
elif args.zoom > 1.0:
img_scaled = cv2.resize(image, None, fx=args.zoom, fy=args.zoom, interpolation=cv2.INTER_LINEAR)
dx = (img_scaled.shape[1] - image.shape[1]) // 2
dy = (img_scaled.shape[0] - image.shape[0]) // 2
image = img_scaled[dy:image.shape[0], dx:image.shape[1]]
#tfpose 計算
humans = e.inference(image)
# #得到joint
# jdata = TfPoseEstimator.get_json_data(image.shape[0],image.shape[1],humans)
# if(len(jdata)>2):
# try:
# #傳送Position資料至SERVER
# chating_room.sendTrackingData(jdata,'track')
# except:
# print("Cannot send data to server.")
#去背後深度影像
depth_masked = cv2.bitwise_and(depth_image, depth_image, mask=dilated)
human_json_datas = []
for human in humans:
#計算深度資料
depthDatas=[]
image_h, image_w = image.shape[:2]
# get point
for i in range(common.CocoPart.Background.value):
if i not in human.body_parts.keys():
continue
body_part = human.body_parts[i]
y= int(body_part.y * image_h+ 0.5)
x = int(body_part.x * image_w + 0.5)
s=5;
mat = depth_masked[y-s if(y-s>=0) else 0:y+s if(y+s<=479) else 479,x-s if(x-s>=0) else 0:x+s if (x+s<=639) else 639]
count=0;
sum_depth=0;
for j in range (mat.shape[0]):
for k in range (mat.shape[1]):
if mat[j,k]!=0:
sum_depth+=mat[j,k]
count+=1
if(count>0):
depth=sum_depth/count
else:
depth=0
try:
depthDatas.append(JointDepthData(i,x,y,depth).__dict__)
except:
print("err:"+str(x)+" "+str(y)+" "+str(body_part.x )+" "+str(body_part.y ))
human_json_datas.append(json.dumps(depthDatas))
json_data = json.dumps(human_json_datas)
if(len(json_data)>2):
try:
#傳送Depth資料至SERVER
chating_room.sendTrackingData(json_data,'track_depth')
except:
print("Cannot send depth data to server.")
depth_image = cv2.applyColorMap(cv2.convertScaleAbs(depth_image/25), cv2.COLORMAP_JET)
cv2.circle(image,(320,240), 5, (255,255,255), -1)
cv2.circle(image,(304,480-98), 5, (0,0,255), -1)
cv2.circle(image,(377,480-197), 5, (0,160,255), -1)
cv2.circle(image,(106,480-49), 5, (0,255,255), -1)
cv2.circle(image,(460,480-136), 5, (0,255,0), -1)
cv2.circle(image,(481,480-134), 5, (255,0,0), -1)
cv2.circle(image,(85,480-143), 5, (255,160,0), -1)
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
cv2.putText(image,"FPS: %f" % (1.0 / (time.time() - fps_time)),(10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5,(0, 255, 0), 2)
cv2.imshow('tf-pose-estimation result', image)
if cv2.waitKey(25) & 0xFF == ord('q'):
cv2.destroyAllWindows()
break
cv2.destroyAllWindows()
def __init__(self):
"""
Initialize the graphics window and mesh surface
add some grids in the 3 point... that are just filling up the background
"""
# setup the view window
self.app = QtGui.QApplication(sys.argv)
self.window = gl.GLViewWidget()
self.window.setFixedSize(1920, 1080)
self.window.showMaximized()
# self.window.setMaximumSize(1920, 1080)
# self.win = pg.GraphicsWindow()
# self.vb = self.win.addViewBox(col=0, row=0)
# self.t = pg.TextItem("zeynep", (255, 255, 255), anchor=(0,0))
# self.vb.addItem(self.t)
self.window.setWindowTitle('Terrain')
self.window.setGeometry(0, 0, 1920, 1080)
self.window.setCameraPosition(distance=30, elevation=12)
self.window.show()
# self.root = Tk()
self.angle = ""
# self.root = Tk()
# self.root.geometry("100x50+%d+%d" % (0, 0)) # top left
# self.root.overrideredirect(True) # frameless tkinter window
# self.root.resizable(False, False)
# self.root.columnconfigure(0, weight=1)
# self.root.rowconfigure(0, weight=1)
# TEXT = ""
# self.lbl = tk.Label(root, text=TEXT, bg="#e61c1c", font=("bold", 15), border=0, width=35)
# self.lbl.grid(column=0, row=0, sticky="nsew")
gx = gl.GLGridItem()
gy = gl.GLGridItem()
gz = gl.GLGridItem()
gx.rotate(90, 0, 1, 0)
gy.rotate(90, 1, 0, 0)
gx.translate(-10, 0, 0)
gy.translate(0, -10, 0) # we translate all of them
gz.translate(0, 0, -10) # so they're pushed out to the background
self.window.addItem(gx)
self.window.addItem(gy) # add them all to the window
self.window.addItem(gz)
model = "mobilenet_thin_432x368"
camera = 0
self.lines = {}
self.connections = [ # lines that we want to connect all those key points
[0, 1], [1, 2], [2, 3], [0, 4], [4, 5], [5, 6], [0, 7], [7, 8],
[8, 9], [9, 10], [8, 11], [11, 12], [12, 13], [8, 14], [14, 15],
[15, 16]
] # 5.35
w, h = model_wh(model)
# we are gonna create e objects but instead we're gonna call it
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
# we're basically just going the same thing(run.py line:37) instead of args.model
# we just created our own object for model
self.cam = cv2.VideoCapture(camera)
ret_val, image = self.cam.read()
self.poseLifting = Prob3dPose(
'./src/lifting/models/prob_model_params.mat')
# we'll have this object to do our 3d pose translater? yukardaki
keypoints = self.mesh(image)
# rightPointList = keypoints[2:5]
self.rightPointList = keypoints[11:14]
self.leftPointList = keypoints[14:]
self.a = (
gl.GLScatterPlotItem( # plot dot
pos=keypoints[:11],
color=pg.glColor((0, 255, 0)),
size=15))
self.window.addItem(self.a)
self.right = (
gl.GLScatterPlotItem( # plot dot
pos=self.rightPointList,
color=pg.glColor((255, 0, 0)),
size=15))
self.window.addItem(self.right)
self.left = (
gl.GLScatterPlotItem( # plot dot
pos=self.leftPointList,
color=pg.glColor((0, 0, 255)),
size=15))
self.window.addItem(self.left)
for n, pts in enumerate(self.connections):
self.lines[n] = gl.GLLinePlotItem( # lines dict with all of them
pos=np.array([keypoints[p] for p in pts]),
color=pg.glColor((0, 0, 255)),
width=3,
antialias=True)
# add them to our window
self.window.addItem(self.lines[n])
formatter = logging.Formatter('[%(asctime)s] [%(name)s] [%(levelname)s] %(message)s')
ch.setFormatter(formatter)
logger.addHandler(ch)
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='tf-pose-estimation run')
# parser.add_argument('--image', type=str, default='/Users/ildoonet/Downloads/me.jpg')
parser.add_argument('--image', type=str, default='./images/apink2.jpg')
# parser.add_argument('--model', type=str, default='mobilenet_320x240', help='cmu / mobilenet_320x240')
parser.add_argument('--model', type=str, default='mobilenet_thin_432x368', help='cmu_640x480 / cmu_640x360 / mobilenet_thin_432x368')
parser.add_argument('--scales', type=str, default='[None]', help='for multiple scales, eg. [1.0, (1.1, 0.05)]')
args = parser.parse_args()
scales = ast.literal_eval(scales)
w, h = model_wh(args.model)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
# estimate human poses from a single image !
image = common.read_imgfile(args.image, None, None)
# image = cv2.fastNlMeansDenoisingColored(image, None, 10, 10, 7, 21)
t = time.time()
humans = e.inference(image, scales=[None])
# humans = e.inference(image, scales=[None, (0.7, 0.5, 1.8)])
# humans = e.inference(image, scales=[(1.2, 0.05)])
# humans = e.inference(image, scales=[(0.2, 0.2, 1.4)])
elapsed = time.time() - t
logger.info('inference image: %s in %.4f seconds.' % (args.image, elapsed))
image = cv2.imread(args.image, cv2.IMREAD_COLOR)
import cv2
import numpy as np
from estimator import TfPoseEstimator
from networks import get_graph_path, model_wh
fps_time = 0
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='tf-pose-estimation Video')
parser.add_argument('--video', type=str, default='')
args = parser.parse_args()
model = 'mobilenet_thin'
w, h = model_wh('432x368')
e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
cap = cv2.VideoCapture(args.video)
if (cap.isOpened() == False):
print("Error opening video stream or file")
while (cap.isOpened()):
ret_val, image = cap.read()
humans = e.inference(image)
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
cv2.putText(image, "FPS: %f" % (1.0 / (time.time() - fps_time)),
(10, 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv2.imshow('tf-pose-estimation result', image)
fps_time = time.time()
default='432x368',
help='network input resolution. default=432x368')
parser.add_argument('--model',
type=str,
default='mobilenet_thin',
help='cmu / mobilenet_thin')
parser.add_argument(
'--show-process',
type=bool,
default=False,
help='for debug purpose, if enabled, speed for inference is dropped.')
args = parser.parse_args()
logger.debug('initialization %s : %s' %
(args.model, get_graph_path(args.model)))
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
logger.debug('cam read+')
cam = cv2.VideoCapture(args.camera)
ret_val, image = cam.read()
logger.info('cam image=%dx%d' % (image.shape[1], image.shape[0]))
while True:
ret_val, image = cam.read()
logger.debug('image preprocess+')
if args.zoom < 1.0:
canvas = np.zeros_like(image)
img_scaled = cv2.resize(image,
None,
fx=args.zoom,
def post(self):
global fallen
if ((self.request.headers['Content-Type'] == 'imagebin')):
print('Received image')
image = self.request.body
fh = open('static/image1.jpg', 'wb')
fh.write(image)
fh.close()
#fh = open('static/image1.jpg','ab')
#fh.write(bytes([0xD9]))
#fh.close()
print('0')
#image = cv2.imread('static/image1.jpg')
print('1')
print('2')
parser = argparse.ArgumentParser(
description='tf-pose-estimation run')
parser.add_argument(
'--resolution',
type=str,
default='432x368',
help='network input resolution. default=432x368')
parser.add_argument('--model',
type=str,
default='mobilenet_thin',
help='cmu / mobilenet_thin')
parser.add_argument(
'--scales',
type=str,
default='[None]',
help='for multiple scales, eg. [1.0, (1.1, 0.05)]')
args = parser.parse_args()
scales = ast.literal_eval(args.scales)
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
# estimate human poses from a single image !
image = common.read_imgfile('static/image1.jpg', None, None)
# image = cv2.fastNlMeansDenoisingColored(image, None, 10, 10, 7, 21)
t = time.time()
humans = e.inference(image, scales=scales)
elapsed = time.time() - t
logger.info('inference image: image3.jpg in %.4f seconds.' %
(elapsed))
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
fallen = 'OKAY'
for i, h in enumerate(humans):
TORSO_INDEX = 1
LEFT_HIP_INDEX = 8
RIGHT_HIP_INDEX = 11
RIGHT_HAND_INDEX = 4
RIGHT_FOOT_INDEX = 12
LEFT_FOOT_INDEX = 9
# and RIGHT_HAND_INDEX in parts and RIGHT_FOOT_INDEX in parts and LEFT_FOOT_INDEX in parts:
parts = h.body_parts
if TORSO_INDEX in parts and LEFT_HIP_INDEX in parts and RIGHT_HIP_INDEX in parts:
torso = parts[TORSO_INDEX]
left_hip = parts[LEFT_HIP_INDEX]
right_hip = parts[RIGHT_HIP_INDEX]
tx, ty = torso.x, torso.y
lhx, lhy = left_hip.x, left_hip.y
rhx, rhy = right_hip.x, right_hip.y
if tx < lhx or tx > rhx:
fallen = 'FALL'
if abs(lhy - ty) < 0.1 or abs(rhy - ty) < 0.1:
fallen = 'FALL'
if RIGHT_HAND_INDEX in parts and RIGHT_FOOT_INDEX in parts and LEFT_FOOT_INDEX in parts:
right_foot = parts[RIGHT_FOOT_INDEX]
left_foot = parts[LEFT_FOOT_INDEX]
right_hand = parts[RIGHT_HAND_INDEX]
righax, righay = right_hand.x, right_hand.y
rfx, rfy = right_foot.x, right_foot.y
lfx, lfy = left_foot.x, left_foot.y
if abs(lfy - lhy) < 0.1 or abs(rhy - ty) < 0.1:
fallen = 'FALL'
if (lfy - lhy) > (lhy - ty):
fallen = 'FALL'
print(lfy - lhy, lhy - ty)
lowermag = math.sqrt((lfy - lhy) * (lfy - lhy) +
(lhx - lfx) * (lhx - lfx))
uppermag = math.sqrt((lhy - ty) * (lhy - ty) + (tx - lhx) *
(tx - lhx))
if lowermag > uppermag:
fallen = 'FALL'
#cv2.putText(image,
# f"Fallen: False",
# (60, 60), cv2.FONT_HERSHEY_SIMPLEX, 2,
# (0, 255, 0), 5)
cv2.putText(image, f"Fallen: {fallen}", (60, 60),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 5)
cv2.imwrite('static/image3.jpg', image)
for client in clients:
update_clients(client)
def main():
parser = argparse.ArgumentParser(description='tf-pose-estimation run')
parser.add_argument('--image', type=str, default='./images/p3.jpg')
parser.add_argument(
'--resolution',
type=str,
default='432x368',
help='network input resolution. default=432x368')
parser.add_argument(
'--model',
type=str,
default='mobilenet_thin',
help='cmu / mobilenet_thin')
parser.add_argument(
'--scales',
type=str,
default='[None]',
help='for multiple scales, eg. [1.0, (1.1, 0.05)]')
parser.add_argument(
'--stick_only',
action='store_true',
help='save output without other analysis')
parser.add_argument('--plot_3d', action='store_true', help='save 3d poses')
args = parser.parse_args()
scales = ast.literal_eval(args.scales)
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
# estimate human poses from a single image !
image = common.read_imgfile(args.image, None, None)
# image = cv2.fastNlMeansDenoisingColored(image, None, 10, 10, 7, 21)
t = time.time()
humans = e.inference(image, scales=scales)
elapsed = time.time() - t
logger.info('inference image: %s in %.4f seconds.' % (args.image, elapsed))
image = TfPoseEstimator.draw_humans(image, humans, imgcopy=False)
# cv2.imshow('tf-pose-estimation result', image)
# cv2.waitKey()
import matplotlib.pyplot as plt
fig = plt.figure()
a = fig.add_subplot(2, 2, 1)
a.set_title('Result')
rgb_image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
if args.stick_only:
cv2.imwrite('output/test.png', image)
logger.info('image saved: {}'.format('output/test.png'))
import sys
sys.exit(0)
plt.imshow(rgb_image)
bgimg = cv2.cvtColor(image.astype(np.uint8), cv2.COLOR_BGR2RGB)
bgimg = cv2.resize(
bgimg, (e.heatMat.shape[1], e.heatMat.shape[0]),
interpolation=cv2.INTER_AREA)
# show network output
a = fig.add_subplot(2, 2, 2)
plt.imshow(bgimg, alpha=0.5)
tmp = np.amax(e.heatMat[:, :, :-1], axis=2)
plt.imshow(tmp, cmap=plt.cm.gray, alpha=0.5)
plt.colorbar()
tmp2 = e.pafMat.transpose((2, 0, 1))
tmp2_odd = np.amax(np.absolute(tmp2[::2, :, :]), axis=0)
tmp2_even = np.amax(np.absolute(tmp2[1::2, :, :]), axis=0)
a = fig.add_subplot(2, 2, 3)
a.set_title('Vectormap-x')
# plt.imshow(CocoPose.get_bgimg(inp, target_size=(vectmap.shape[1], vectmap.shape[0])), alpha=0.5)
plt.imshow(tmp2_odd, cmap=plt.cm.gray, alpha=0.5)
plt.colorbar()
a = fig.add_subplot(2, 2, 4)
a.set_title('Vectormap-y')
# plt.imshow(CocoPose.get_bgimg(inp, target_size=(vectmap.shape[1], vectmap.shape[0])), alpha=0.5)
plt.imshow(tmp2_even, cmap=plt.cm.gray, alpha=0.5)
plt.colorbar()
if not os.path.exists('output'):
os.mkdir('output')
plt.savefig('output/test.png')
logger.info('image saved: {}'.format('output/test.png'))
if not args.plot_3d:
import sys
sys.exit(0)
#For plotting in 3d
logger.info('3d lifting initialization.')
poseLifting = Prob3dPose('./src/lifting/models/prob_model_params.mat')
image_h, image_w = image.shape[:2]
standard_w = 640
standard_h = 480
pose_2d_mpiis = []
visibilities = []
for human in humans:
pose_2d_mpii, visibility = common.MPIIPart.from_coco(human)
pose_2d_mpiis.append([(int(x * standard_w + 0.5),
int(y * standard_h + 0.5))
for x, y in pose_2d_mpii])
visibilities.append(visibility)
pose_2d_mpiis = np.array(pose_2d_mpiis)
visibilities = np.array(visibilities)
transformed_pose2d, weights = poseLifting.transform_joints(
pose_2d_mpiis, visibilities)
pose_3d = poseLifting.compute_3d(transformed_pose2d, weights)
for i, single_3d in enumerate(pose_3d):
plot_pose(single_3d)
plt.draw()
plt.savefig('output/pose_3d_test.png')
logger.info('3d plot saved: {}'.format('output/pose_3d_test.png'))
def __init__(self):
# setup the view window
self.app = QtGui.QApplication(sys.argv)
self.window = gl.GLViewWidget()
self.window.setFixedSize(1920, 1080)
# self.window.showMaximized()
self.window.setWindowTitle('Terrain')
self.window.setGeometry(0, 0, 1920, 1080)
self.window.setCameraPosition(distance=30, elevation=12)
self.window.show()
self.angle = ""
gx = gl.GLGridItem()
gy = gl.GLGridItem()
gz = gl.GLGridItem()
gx.rotate(90, 0, 1, 0)
gy.rotate(90, 1, 0, 0)
gx.translate(-10, 0, 0)
gy.translate(0, -10, 0) # we translate all of them
gz.translate(0, 0, -10) # so they're pushed out to the background
self.window.addItem(gx)
self.window.addItem(gy) # add them all to the window
self.window.addItem(gz)
model = "mobilenet_thin_432x368"
camera = 0
self.lines = {}
self.connections = [ # lines that we want to connect all those key points
[0, 1], [1, 2], [2, 3], [0, 4], [4, 5], [5, 6], [0, 7], [7, 8],
[8, 9], [9, 10], [8, 11], [11, 12], [12, 13], [8, 14], [14, 15],
[15, 16]
] # 5.35
w, h = model_wh(model)
# we are gonna create e objects but instead we're gonna call it
print("modellllll : ", get_graph_path(model))
self.e = TfPoseEstimator(get_graph_path(model), target_size=(w, h))
print("self.e : ", self.e)
# we're basically just going the same thing(run.py line:37) instead of args.model
# we just created our own object for model
self.cam = cv2.VideoCapture(camera)
ret_val, image = self.cam.read()
self.poseLifting = Prob3dPose(
'./src/lifting/models/prob_model_params.mat')
# we'll have this object to do our 3d pose translater? yukardaki
keypoints = self.mesh(image)
self.rightPointList = keypoints[11:14]
self.leftPointList = keypoints[14:]
self.a = (
gl.GLScatterPlotItem( # plot dot
pos=keypoints[:11],
color=pg.glColor((0, 255, 0)),
size=15))
self.window.addItem(self.a)
self.right = (
gl.GLScatterPlotItem( # plot dot
pos=self.rightPointList,
color=pg.glColor((255, 0, 0)),
size=15))
self.window.addItem(self.right)
self.left = (
gl.GLScatterPlotItem( # plot dot
pos=self.leftPointList,
color=pg.glColor((0, 0, 255)),
size=15))
self.window.addItem(self.left)
for n, pts in enumerate(self.connections):
self.lines[n] = gl.GLLinePlotItem( # lines dict with all of them
pos=np.array([keypoints[p] for p in pts]),
color=pg.glColor((0, 0, 255)),
width=3,
antialias=True)
# add them to our window
self.window.addItem(self.lines[n])
if __name__ == '__main__':
rospy.loginfo('initialization+')
rospy.init_node('TfPoseEstimatorROS', anonymous=True)
# parameters
image_topic = rospy.get_param('~camera', '')
model = rospy.get_param('~model', 'cmu_640x480')
if not image_topic:
rospy.logerr('Parameter \'camera\' is not provided.')
sys.exit(-1)
try:
w, h = model_wh(model)
graph_path = get_graph_path(model)
rospack = rospkg.RosPack()
graph_path = os.path.join(rospack.get_path('tfpose_ros'), graph_path)
except Exception as e:
rospy.logerr('invalid model: %s, e=%s' % (model, e))
sys.exit(-1)
pose_estimator = TfPoseEstimator(graph_path, target_size=(w, h))
cv_bridge = CvBridge()
rospy.Subscriber(image_topic, Image, callback_image, queue_size=1)
pub_pose = rospy.Publisher('~pose', Persons, queue_size=1)
rospy.loginfo('start+')
def pose_comparison():
parser = argparse.ArgumentParser(description='tf-pose-estimation run')
parser.add_argument('--image', type=str, default='./images/p1.jpg')
parser.add_argument('--resolution',
type=str,
default='432x368',
help='network input resolution. default=432x368')
parser.add_argument('--model',
type=str,
default='mobilenet_thin',
help='cmu / mobilenet_thin')
parser.add_argument('--scales',
type=str,
default='[None]',
help='for multiple scales, eg. [1.0, (1.1, 0.05)]')
args = parser.parse_args()
scales = ast.literal_eval(args.scales)
w, h = model_wh(args.resolution)
e = TfPoseEstimator(get_graph_path(args.model), target_size=(w, h))
ref_image = common.read_imgfile(REF_POSE_PATH, None, None)
ref_image = cv2.resize(ref_image, (640, 480))
# estimate human poses from a single image !
image = common.read_imgfile(args.image, None, None)
image = cv2.resize(image, (640, 480))
# image = cv2.fastNlMeansDenoisingColored(image, None, 10, 10, 7, 21)
#t = time.time()
ref_humans = e.inference(ref_image, scales=scales)
humans = e.inference(image, scales=scales)
#elapsed = time.time() - t
#logger.info('inference image: %s in %.4f seconds.' % (args.image, elapsed))
_, ref_centers = TfPoseEstimator.draw_humans_mine(ref_image,
ref_humans,
imgcopy=False)
_, centers = TfPoseEstimator.draw_humans_mine(image, humans, imgcopy=False)
ref_centers = list(ref_centers.values())
centers = list(centers.values())
ref_centers = list(sum(ref_centers, ()))
centers = list(sum(centers, ()))
ref_centers = np.array(ref_centers, dtype=int)
centers = np.array(centers, dtype=int)
shapes = []
shapes.append(ref_centers)
shapes.append(centers)
#create canvas on which the triangles will be visualized
canvas = np.full([640, 480], 255).astype('uint8')
#convert to 3 channel RGB for fun colors!
canvas = cv2.cvtColor(canvas, cv2.COLOR_GRAY2RGB)
#im = draw_shapes(canvas,shapes)
x, y = get_translation(shapes[0])
new_shapes = []
new_shapes.append(shapes[0])
for i in range(1, len(shapes)):
new_shape = procrustes_analysis(shapes[0], shapes[i])
new_shape[::2] = new_shape[::2] + x
new_shape[1::2] = new_shape[1::2] + y
new_shape = new_shape.astype(int)
new_shapes.append(new_shape)
pts_list = []
for lst in new_shapes:
temp = lst.reshape(-1, 1, 2)
pts = list(map(tuple, temp))
pts_list.append(pts)
for i in range(18):
cv2.circle(ref_image,
tuple(pts_list[0][i][0]),
3, (255, 0, 0),
thickness=3,
lineType=8,
shift=0)
cv2.circle(ref_image,
tuple(pts_list[1][i][0]),
3, (255, 255, 0),
thickness=3,
lineType=8,
shift=0)
cv2.imshow('tf-pose-estimation result', ref_image)
cv2.waitKey(0)
variations = []
for i in range(len(new_shapes)):
dist = procrustes_distance(shapes[0], new_shapes[i])
variations.append(dist)
print(variations)
