class PoseEstimator(object):
"""
The class for Pose Estimation. Include train, val, test & predict.
"""
def __init__(self, configer):
self.configer = configer
self.batch_time = AverageMeter()
self.data_time = AverageMeter()
self.train_losses = DictAverageMeter()
self.val_losses = DictAverageMeter()
self.pose_visualizer = PoseVisualizer(configer)
self.pose_model_manager = ModelManager(configer)
self.pose_data_loader = DataLoader(configer)
self.pose_net = None
self.train_loader = None
self.val_loader = None
self.optimizer = None
self.scheduler = None
self.runner_state = dict()
self._init_model()
def _init_model(self):
self.pose_net = self.pose_model_manager.get_pose_model()
self.pose_net = RunnerHelper.load_net(self, self.pose_net)
self.optimizer, self.scheduler = Trainer.init(self._get_parameters(), self.configer.get('solver'))
self.train_loader = self.pose_data_loader.get_trainloader()
self.val_loader = self.pose_data_loader.get_valloader()
self.pose_loss = self.pose_model_manager.get_pose_loss()
def _get_parameters(self):
lr_1 = []
lr_2 = []
params_dict = dict(self.pose_net.named_parameters())
for key, value in params_dict.items():
if 'backbone' not in key:
lr_2.append(value)
else:
lr_1.append(value)
params = [{'params': lr_1, 'lr': self.configer.get('solver', 'lr')['base_lr'], 'weight_decay': 0.0},
{'params': lr_2, 'lr': self.configer.get('solver', 'lr')['base_lr'], 'weight_decay': 0.0},]
return params
def train(self):
"""
Train function of every epoch during train phase.
"""
self.pose_net.train()
start_time = time.time()
# Adjust the learning rate after every epoch.
self.runner_state['epoch'] += 1
for i, data_dict in enumerate(self.train_loader):
Trainer.update(self, warm_list=(0,), solver_dict=self.configer.get('solver'))
self.data_time.update(time.time() - start_time)
# Forward pass.
out = self.pose_net(data_dict)
# Compute the loss of the train batch & backward.
loss_dict = self.pose_loss(out)
loss = loss_dict['loss']
self.train_losses.update({key: loss.item() for key, loss in loss_dict.items()}, data_dict['img'].size(0))
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# Update the vars of the train phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.runner_state['iters'] += 1
# Print the log info & reset the states.
if self.runner_state['iters'] % self.configer.get('solver', 'display_iter') == 0:
Log.info('Train Epoch: {0}\tTrain Iteration: {1}\t'
'Time {batch_time.sum:.3f}s / {2}iters, ({batch_time.avg:.3f})\t'
'Data load {data_time.sum:.3f}s / {2}iters, ({data_time.avg:3f})\n'
'Learning rate = {4}\tLoss = {3}\n'.format(
self.runner_state['epoch'], self.runner_state['iters'],
self.configer.get('solver', 'display_iter'), self.train_losses.info(),
RunnerHelper.get_lr(self.optimizer), batch_time=self.batch_time, data_time=self.data_time))
self.batch_time.reset()
self.data_time.reset()
self.train_losses.reset()
if self.configer.get('solver', 'lr')['metric'] == 'iters' \
and self.runner_state['iters'] == self.configer.get('solver', 'max_iters'):
break
# Check to val the current model.
if self.runner_state['iters'] % self.configer.get('solver', 'test_interval') == 0:
self.val()
def val(self):
"""
Validation function during the train phase.
"""
self.pose_net.eval()
start_time = time.time()
with torch.no_grad():
for i, data_dict in enumerate(self.val_loader):
# Forward pass.
out = self.pose_net(data_dict)
# Compute the loss of the val batch.
loss_dict = self.pose_loss(out)
self.val_losses.update({key: loss.item() for key, loss in loss_dict.items()}, data_dict['img'].size(0))
# Update the vars of the val phase.
self.batch_time.update(time.time() - start_time)
start_time = time.time()
self.runner_state['val_loss'] = self.val_losses.avg['loss']
RunnerHelper.save_net(self, self.pose_net, val_loss=self.val_losses.avg['loss'])
# Print the log info & reset the states.
Log.info(
'Test Time {batch_time.sum:.3f}s, ({batch_time.avg:.3f})\t'
'Loss {0}\n'.format(self.val_losses.info(), batch_time=self.batch_time))
self.batch_time.reset()
self.val_losses.reset()
self.pose_net.train()
class OpenPoseTest(object):
def __init__(self, configer):
self.configer = configer
self.blob_helper = BlobHelper(configer)
self.pose_visualizer = PoseVisualizer(configer)
self.pose_parser = PoseParser(configer)
self.pose_model_manager = ModelManager(configer)
self.pose_data_loader = DataLoader(configer)
self.device = torch.device('cpu' if self.configer.get('gpu') is None else 'cuda')
self.pose_net = None
self._init_model()
def _init_model(self):
self.pose_net = self.pose_model_manager.get_pose_model()
self.pose_net = RunnerHelper.load_net(self, self.pose_net)
self.pose_net.eval()
def _get_blob(self, ori_image, scale=None):
assert scale is not None
image = self.blob_helper.make_input(image=ori_image, scale=scale)
b, c, h, w = image.size()
border_hw = [h, w]
if self.configer.exists('test', 'fit_stride'):
stride = self.configer.get('test', 'fit_stride')
pad_w = 0 if (w % stride == 0) else stride - (w % stride) # right
pad_h = 0 if (h % stride == 0) else stride - (h % stride) # down
expand_image = torch.zeros((b, c, h + pad_h, w + pad_w)).to(image.device)
expand_image[:, :, 0:h, 0:w] = image
image = expand_image
return image, border_hw
def __test_img(self, image_path, json_path, raw_path, vis_path):
Log.info('Image Path: {}'.format(image_path))
ori_image = ImageHelper.read_image(image_path,
tool=self.configer.get('data', 'image_tool'),
mode=self.configer.get('data', 'input_mode'))
ori_width, ori_height = ImageHelper.get_size(ori_image)
ori_img_bgr = ImageHelper.get_cv2_bgr(ori_image, mode=self.configer.get('data', 'input_mode'))
heatmap_avg = np.zeros((ori_height, ori_width, self.configer.get('network', 'heatmap_out')))
paf_avg = np.zeros((ori_height, ori_width, self.configer.get('network', 'paf_out')))
multiplier = [scale * self.configer.get('test', 'input_size')[1] / ori_height
for scale in self.configer.get('test', 'scale_search')]
stride = self.configer.get('network', 'stride')
for i, scale in enumerate(multiplier):
image, border_hw = self._get_blob(ori_image, scale=scale)
with torch.no_grad():
paf_out_list, heatmap_out_list = self.pose_net(image)
paf_out = paf_out_list[-1]
heatmap_out = heatmap_out_list[-1]
# extract outputs, resize, and remove padding
heatmap = heatmap_out.squeeze(0).cpu().numpy().transpose(1, 2, 0)
heatmap = cv2.resize(heatmap, None, fx=stride, fy=stride, interpolation=cv2.INTER_CUBIC)
heatmap = cv2.resize(heatmap[:border_hw[0], :border_hw[1]],
(ori_width, ori_height), interpolation=cv2.INTER_CUBIC)
paf = paf_out.squeeze(0).cpu().numpy().transpose(1, 2, 0)
paf = cv2.resize(paf, None, fx=stride, fy=stride, interpolation=cv2.INTER_CUBIC)
paf = cv2.resize(paf[:border_hw[0], :border_hw[1]],
(ori_width, ori_height), interpolation=cv2.INTER_CUBIC)
heatmap_avg = heatmap_avg + heatmap / len(multiplier)
paf_avg = paf_avg + paf / len(multiplier)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(ori_img_bgr, paf_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k, all_peaks)
json_dict = self.__get_info_tree(ori_img_bgr, subset, candidate)
image_canvas = self.pose_parser.draw_points(ori_img_bgr.copy(), json_dict)
image_canvas = self.pose_parser.link_points(image_canvas, json_dict)
ImageHelper.save(image_canvas, vis_path)
ImageHelper.save(ori_img_bgr, raw_path)
Log.info('Json Save Path: {}'.format(json_path))
JsonHelper.save_file(json_dict, json_path)
def __get_info_tree(self, image_raw, subset, candidate):
json_dict = dict()
height, width, _ = image_raw.shape
json_dict['image_height'] = height
json_dict['image_width'] = width
object_list = list()
for n in range(len(subset)):
if subset[n][-1] < self.configer.get('res', 'num_threshold'):
continue
if subset[n][-2] / subset[n][-1] < self.configer.get('res', 'avg_threshold'):
continue
object_dict = dict()
object_dict['kpts'] = np.zeros((self.configer.get('data', 'num_kpts'), 3)).tolist()
for j in range(self.configer.get('data', 'num_kpts')):
index = subset[n][j]
if index == -1:
object_dict['kpts'][j][0] = -1
object_dict['kpts'][j][1] = -1
object_dict['kpts'][j][2] = -1
else:
object_dict['kpts'][j][0] = candidate[index.astype(int)][0]
object_dict['kpts'][j][1] = candidate[index.astype(int)][1]
object_dict['kpts'][j][2] = 1
object_dict['score'] = subset[n][-2]
object_list.append(object_dict)
json_dict['objects'] = object_list
return json_dict
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
peak_counter = 0
for part in range(self.configer.get('data', 'num_kpts')):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down, map_gau > self.configer.get('res', 'part_threshold')))
peaks = zip(np.nonzero(peaks_binary)[1], np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
'''
del_flag = [0 for i in range(len(peaks))]
for i in range(len(peaks)):
if del_flag[i] == 0:
for j in range(i+1, len(peaks)):
if max(abs(peaks[i][0] - peaks[j][0]), abs(peaks[i][1] - peaks[j][1])) <= 6:
del_flag[j] = 1
new_peaks = list()
for i in range(len(peaks)):
if del_flag[i] == 0:
new_peaks.append(peaks[i])
peaks = new_peaks
'''
peaks_with_score = [x + (map_ori[x[1], x[0]],) for x in peaks]
ids = range(peak_counter, peak_counter + len(peaks))
peaks_with_score_and_id = [peaks_with_score[i] + (ids[i],) for i in range(len(ids))]
all_peaks.append(peaks_with_score_and_id)
peak_counter += len(peaks)
return all_peaks
def __extract_paf_info(self, img_raw, paf_avg, all_peaks):
connection_all = []
special_k = []
mid_num = self.configer.get('res', 'mid_point_num')
for k in range(len(self.configer.get('details', 'limb_seq'))):
score_mid = paf_avg[:, :, [k*2, k*2+1]]
candA = all_peaks[self.configer.get('details', 'limb_seq')[k][0] - 1]
candB = all_peaks[self.configer.get('details', 'limb_seq')[k][1] - 1]
nA = len(candA)
nB = len(candB)
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]) + 1e-9
vec = np.divide(vec, norm)
startend = zip(np.linspace(candA[i][0], candB[j][0], num=mid_num),
np.linspace(candA[i][1], candB[j][1], num=mid_num))
startend = list(startend)
vec_x = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 0]
for I in range(len(startend))])
vec_y = np.array([score_mid[int(round(startend[I][1])), int(round(startend[I][0])), 1]
for I in range(len(startend))])
score_midpts = np.multiply(vec_x, vec[0]) + np.multiply(vec_y, vec[1])
score_with_dist_prior = sum(score_midpts) / len(score_midpts)
score_with_dist_prior += min(0.5 * img_raw.shape[0] / norm - 1, 0)
num_positive = len(np.nonzero(score_midpts > self.configer.get('res', 'limb_threshold'))[0])
criterion1 = num_positive > int(self.configer.get('res', 'limb_pos_ratio') * len(score_midpts))
criterion2 = score_with_dist_prior > 0
if criterion1 and criterion2:
connection_candidate.append(
[i, j, score_with_dist_prior, score_with_dist_prior + candA[i][2] + candB[j][2]])
connection_candidate = sorted(connection_candidate, key=lambda x: x[2], reverse=True)
connection = np.zeros((0, 5))
for c in range(len(connection_candidate)):
i, j, s = connection_candidate[c][0:3]
if i not in connection[:, 3] and j not in connection[:, 4]:
connection = np.vstack([connection, [candA[i][3], candB[j][3], s, i, j]])
if len(connection) >= min(nA, nB):
break
connection_all.append(connection)
else:
special_k.append(k)
connection_all.append([])
return special_k, connection_all
def __get_subsets(self, connection_all, special_k, all_peaks):
# 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, self.configer.get('data', 'num_kpts') + 2))
candidate = np.array([item for sublist in all_peaks for item in sublist])
for k in self.configer.get('details', 'mini_tree'):
if k not in special_k:
partAs = connection_all[k][:, 0]
partBs = connection_all[k][:, 1]
indexA, indexB = np.array(self.configer.get('details', 'limb_seq')[k]) - 1
for i in range(len(connection_all[k])): # = 1:size(temp,1)
found = 0
subset_idx = [-1, -1]
for j in range(len(subset)): # 1:size(subset,1):
if subset[j][indexA] == partAs[i] or subset[j][indexB] == partBs[i]:
subset_idx[found] = j
found += 1
if found == 1:
j = subset_idx[0]
if (subset[j][indexB] != partBs[i]):
subset[j][indexB] = partBs[i]
subset[j][-1] += 1
subset[j][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
elif found == 2: # if found 2 and disjoint, merge them
j1, j2 = subset_idx
membership = ((subset[j1] >= 0).astype(int) + (subset[j2] >= 0).astype(int))[:-2]
if len(np.nonzero(membership == 2)[0]) == 0: # merge
subset[j1][:-2] += (subset[j2][:-2] + 1)
subset[j1][-2:] += subset[j2][-2:]
subset[j1][-2] += connection_all[k][i][2]
subset = np.delete(subset, j2, 0)
else: # as like found == 1
subset[j1][indexB] = partBs[i]
subset[j1][-1] += 1
subset[j1][-2] += candidate[partBs[i].astype(int), 2] + connection_all[k][i][2]
# if find no partA in the subset, create a new subset
elif not found:
row = -1 * np.ones(self.configer.get('data', 'num_kpts') + 2)
row[indexA] = partAs[i]
row[indexB] = partBs[i]
row[-1] = 2
row[-2] = sum(candidate[connection_all[k][i, :2].astype(int), 2]) + connection_all[k][i][2]
subset = np.vstack([subset, row])
return subset, candidate
def debug(self, vis_dir):
for i, data_dict in enumerate(self.pose_data_loader.get_trainloader()):
inputs = data_dict['img']
maskmap = data_dict['maskmap']
heatmap = data_dict['heatmap']
vecmap = data_dict['vecmap']
for j in range(inputs.size(0)):
count = count + 1
if count > 10:
exit(1)
Log.info(heatmap.size())
image_bgr = self.blob_helper.tensor2bgr(inputs[j])
mask_canvas = maskmap[j].repeat(3, 1, 1).numpy().transpose(1, 2, 0)
mask_canvas = (mask_canvas * 255).astype(np.uint8)
mask_canvas = cv2.resize(mask_canvas, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
image_bgr = cv2.addWeighted(image_bgr, 0.6, mask_canvas, 0.4, 0)
heatmap_avg = heatmap[j].numpy().transpose(1, 2, 0)
heatmap_avg = cv2.resize(heatmap_avg, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
paf_avg = vecmap[j].numpy().transpose(1, 2, 0)
paf_avg = cv2.resize(paf_avg, (0, 0), fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'), interpolation=cv2.INTER_CUBIC)
self.pose_visualizer.vis_peaks(heatmap_avg, image_bgr)
self.pose_visualizer.vis_paf(paf_avg, image_bgr)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
special_k, connection_all = self.__extract_paf_info(image_bgr, paf_avg, all_peaks)
subset, candidate = self.__get_subsets(connection_all, special_k, all_peaks)
json_dict = self.__get_info_tree(image_bgr, subset, candidate)
image_canvas = self.pose_parser.draw_points(image_bgr, json_dict)
image_canvas = self.pose_parser.link_points(image_canvas, json_dict)
cv2.imwrite(os.path.join(vis_dir, '{}_{}_vis.png'.format(i, j)), image_canvas)
cv2.imshow('main', image_canvas)
cv2.waitKey()
class ConvPoseMachineTest(object):
def __init__(self, configer):
self.configer = configer
self.blob_helper = BlobHelper(configer)
self.pose_vis = PoseVisualizer(configer)
self.pose_model_manager = ModelManager(configer)
self.pose_data_loader = DataLoader(configer)
self.device = torch.device(
'cpu' if self.configer.get('gpu') is None else 'cuda')
self.pose_net = None
self._init_model()
def _init_model(self):
self.pose_net = self.pose_model_manager.get_pose_model()
self.pose_net = RunnerHelper.load_net(self, self.pose_net)
self.pose_net.eval()
def __test_img(self, image_path, save_path):
Log.info('Image Path: {}'.format(image_path))
ori_image = ImageHelper.read_image(
image_path,
tool=self.configer.get('data', 'image_tool'),
mode=self.configer.get('data', 'input_mode'))
ori_width, ori_height = ImageHelper.get_size(ori_image)
ori_img_bgr = ImageHelper.get_cv2_bgr(ori_image,
mode=self.configer.get(
'data', 'input_mode'))
heatmap_avg = np.zeros(
(ori_height, ori_width, self.configer.get('network',
'heatmap_out')))
for i, scale in enumerate(self.configer.get('test', 'scale_search')):
image = self.blob_helper.make_input(ori_image,
input_size=self.configer.get(
'test', 'input_size'),
scale=scale)
with torch.no_grad():
heatmap_out_list = self.pose_net(image)
heatmap_out = heatmap_out_list[-1]
# extract outputs, resize, and remove padding
heatmap = heatmap_out.squeeze(0).cpu().numpy().transpose(
1, 2, 0)
heatmap = cv2.resize(heatmap, (ori_width, ori_height),
interpolation=cv2.INTER_CUBIC)
heatmap_avg = heatmap_avg + heatmap / len(
self.configer.get('test', 'scale_search'))
all_peaks = self.__extract_heatmap_info(heatmap_avg)
image_canvas = self.__draw_key_point(all_peaks, ori_img_bgr)
ImageHelper.save(image_canvas, save_path)
def __extract_heatmap_info(self, heatmap_avg):
all_peaks = []
for part in range(self.configer.get('network', 'heatmap_out') - 1):
map_ori = heatmap_avg[:, :, part]
map_gau = gaussian_filter(map_ori, sigma=3)
map_left = np.zeros(map_gau.shape)
map_left[1:, :] = map_gau[:-1, :]
map_right = np.zeros(map_gau.shape)
map_right[:-1, :] = map_gau[1:, :]
map_up = np.zeros(map_gau.shape)
map_up[:, 1:] = map_gau[:, :-1]
map_down = np.zeros(map_gau.shape)
map_down[:, :-1] = map_gau[:, 1:]
peaks_binary = np.logical_and.reduce(
(map_gau >= map_left, map_gau >= map_right, map_gau >= map_up,
map_gau >= map_down,
map_gau > self.configer.get('vis', 'part_threshold')))
peaks = zip(
np.nonzero(peaks_binary)[1],
np.nonzero(peaks_binary)[0]) # note reverse
peaks = list(peaks)
peaks_with_score = [x + (map_ori[x[1], x[0]], ) for x in peaks]
all_peaks.append(peaks_with_score)
return all_peaks
def __draw_key_point(self, all_peaks, img_raw):
img_canvas = img_raw.copy() # B,G,R order
for i in range(self.configer.get('network', 'heatmap_out') - 1):
for j in range(len(all_peaks[i])):
cv2.circle(img_canvas,
all_peaks[i][j][0:2],
self.configer.get('vis', 'stick_width'),
self.configer.get('details', 'color_list')[i],
thickness=-1)
return img_canvas
def debug(self, vis_dir):
for i, data_dict in enumerate(self.pose_data_loader.get_trainloader()):
inputs = data_dict['img']
heatmap = data_dict['heatmap']
for j in range(inputs.size(0)):
image_bgr = self.blob_helper.tensor2bgr(inputs[j])
heatmap_avg = heatmap[j].numpy().transpose(1, 2, 0)
heatmap_avg = cv2.resize(
heatmap_avg, (0, 0),
fx=self.configer.get('network', 'stride'),
fy=self.configer.get('network', 'stride'),
interpolation=cv2.INTER_CUBIC)
all_peaks = self.__extract_heatmap_info(heatmap_avg)
image_save = self.__draw_key_point(all_peaks, image_bgr)
cv2.imwrite(
os.path.join(vis_dir, '{}_{}_result.jpg'.format(i, j)),
image_save)