# Monoloco library

<img src="docs/monoloco.gif" alt="gif" />


This library is based on three research projects for monocular/stereo 3D human localization, orientation and social distancing.

> __MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization__<br /> 
> _[L. Bertoni](https://scholar.google.com/citations?user=f-4YHeMAAAAJ&hl=en), [S. Kreiss](https://www.svenkreiss.com), 
[T. Mordan](https://people.epfl.ch/taylor.mordan/?lang=en), [A. Alahi](https://scholar.google.com/citations?user=UIhXQ64AAAAJ&hl=en)_, ICRA 2021 <br /> 
__[Article](https://arxiv.org/abs/2008.10913)__  &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;   __[Citation](#Citation)__  &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; __[Video](#Todo)__
     
<img src="docs/000840_multi.jpg" width="700"/>

---


> __Perceiving Humans: from Monocular 3D Localization to Social Distancing__<br />
> _[L. Bertoni](https://scholar.google.com/citations?user=f-4YHeMAAAAJ&hl=en), [S. Kreiss](https://www.svenkreiss.com), 
[A. Alahi](https://scholar.google.com/citations?user=UIhXQ64AAAAJ&hl=en)_, T-ITS 2021 <br /> 
__[Article](https://arxiv.org/abs/2009.00984)__ &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; __[Citation](#Citation)__ &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;  &nbsp; &nbsp; &nbsp; __[Video](https://www.youtube.com/watch?v=r32UxHFAJ2M)__ 

<img src="docs/social_distancing.jpg" width="700"/>

---

> __MonoLoco: Monocular 3D Pedestrian Localization and Uncertainty Estimation__<br />
> _[L. Bertoni](https://scholar.google.com/citations?user=f-4YHeMAAAAJ&hl=en), [S. Kreiss](https://www.svenkreiss.com), [A.Alahi](https://scholar.google.com/citations?user=UIhXQ64AAAAJ&hl=en)_, ICCV 2019 <br /> 
__[Article](https://arxiv.org/abs/1906.06059)__ &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;    __[Citation](#Todo)__ &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;  __[Video](https://www.youtube.com/watch?v=ii0fqerQrec)__
   
<img src="docs/surf.jpg" width="700"/>
    
## License
All projects are built upon [Openpifpaf](https://github.com/vita-epfl/openpifpaf) for the 2D keypoints and share the AGPL Licence.

This software is also available for commercial licensing via the EPFL Technology Transfer
Office (https://tto.epfl.ch/, info.tto@epfl.ch).


## Quick setup
A GPU is not required, yet highly recommended for real-time performances. 

The installation has been tested on OSX and Linux operating systems, with Python 3.6, 3.7, 3.8. 
Packages have been installed with pip and virtual environments.

For quick installation, do not clone this repository, make sure there is no folder named monoloco in your current directory, and run:



```
pip3 install monoloco
```

For development of the source code itself, you need to clone this repository and then:
```
pip3 install sdist
cd monoloco
python3 setup.py sdist bdist_wheel
pip3 install -e .
```

### Interfaces
All the commands are run through a main file called `main.py` using subparsers.
To check all the options:

* `python3 -m monoloco.run --help`
* `python3 -m monoloco.run predict --help`
* `python3 -m monoloco.run train --help`
* `python3 -m monoloco.run eval --help`
* `python3 -m monoloco.run prep --help`

or check the file `monoloco/run.py`

#  Predictions

The software receives an image (or an entire folder using glob expressions), 
calls PifPaf for 2D human pose detection over the image
and runs Monoloco++ or MonStereo for 3D localization &/or social distancing &/or orientation

**Which Modality** <br /> 
The command `--mode` defines which network to run.

- select `--mode mono` (default) to predict 3D localization on monocular image(s)
- select `--mode stereo` for stereo images
- select `--moode keypoints` if just interested in 2D keypoints from OpenPifPaf

Models are downloaded automatically. To use a specific model, use the command `--model`. Additional models can be downloaded from [here](https://drive.google.com/drive/folders/1jZToVMBEZQMdLB5BAIq2CdCLP5kzNo9t?usp=sharing)

**Which Visualization** <br /> 
- select `--output_types multi` if you want to visualize both frontal view or bird's eye view in the same picture
- select `--output_types bird front` if you want to different pictures for the two views or just one view
- select `--output_types json` if you'd like the ouput json file

If you select `--mode keypoints`, use standard OpenPifPaf arguments
For 
Those options can be combined

**Focal Length and Camera Parameters** <br /> 
Absolute distances are affected by the camera intrinsic parameters. 
When processing KITTI images, the network uses the provided intrinsic matrix of the dataset. 
In all the other cases, we use the parameters of nuScenes cameras, with "1/1.8'' CMOS sensors of size 7.2 x 5.4 mm.
The default focal length is 5.7mm and this parameter can be modified using the argument `--focal`.

## A) 3D Localization

**Ground-truth comparison** <br /> 
If you provide a ground-truth json file to compare the predictions of the network,
 the script will match every detection using Intersection over Union metric. 
 The ground truth file can be generated using the subparser `prep`, or directly downloaded from [Google Drive](https://drive.google.com/file/d/1e-wXTO460ip_Je2NdXojxrOrJ-Oirlgh/view?usp=sharing) 
 and called it with the command `--path_gt`. 


**Monocular examples** <br>

For an example image, run the following command:

```
python -m monoloco.run predict docs/002282.png \
--path_gt <to match results with ground-truths> \
-o <output directory> \
--long-edge <rescale the image by providing dimension of long side>
--n_dropout <50 to include epistemic uncertainty, 0 otherwise>
```

![predict](docs/out_002282.png.multi.jpg)

To show all the instances estimated by MonoLoco add the argument `show_all` to the above command.

![predict_all](docs/out_002282.png.multi_all.jpg)

It is also possible to run [openpifpaf](https://github.com/vita-epfl/openpifpaf) directly
by specifying the network with the argument `--net pifpaf`. All the other pifpaf arguments are also supported 
and can be checked with `python -m monstereo.run predict --help`.

![predict](docs/out_002282_pifpaf.jpg)


**Stereo Examples** <br /> 
To run MonStereo on stereo images, make sure the stereo pairs have the following name structure:
- Left image: \<name>.\<extension>
- Right image: \<name>**_r**.\<extension>

(It does not matter the exact suffix as long as the images are ordered)

You can load one or more image pairs using glob expressions. For example:

```
python3 -m monoloco.run predict --mode stereo \
--glob docs/000840*.png
 --path_gt <to match results with ground-truths> \
 -o data/output  -long_edge 2500
 ```
 
![Crowded scene](docs/out_000840.jpg)

```
python3 -m monoloco.run predict --glob docs/005523*.png \ --output_types multi \
--model data/models/ms-200710-1511.pkl \
--path_gt <to match results with ground-truths> \
 -o data/output  --long_edge 2500
 ```

![Occluded hard example](docs/out_005523.jpg)

## B) Social Distancing (and Talking activity)
To visualize social distancing compliance, simply add the argument `--social-distance` to the predict command. This visualization is only supported with `--net monoloco_pp` at the moment.
Threshold distance and radii (for F-formations) can be set using `--threshold-dist` and `--radii`, respectively.

For more info, run:
`python -m monoloco.run predict --help`

**Examples** <br>
An example from the Collective Activity Dataset is provided below.

<img src="docs/frame0038.jpg" width="500"/>

To visualize social distancing run the below, command:
```
python -m monoloco.run predict docs/frame0038.jpg \
--social_distance --output_types front bird 
```
<img src="docs/out_frame0038.jpg.front_bird.jpg" width="700"/>



## C) Orientation and Bounding Box dimensions
MonoLoco++ estimates orientation and box dimensions as well. Results are saved in a json file when using the command 
`--output_types json`. At the moment, the only visualization including orientation is the social distancing one.

<br>

## Training
We train on the KITTI dataset (MonoLoco/Monoloco++/MonStereo) or the nuScenes dataset (MonoLoco) specifying the path of the json file containing the input joints. Please download them [heere](https://drive.google.com/file/d/1e-wXTO460ip_Je2NdXojxrOrJ-Oirlgh/view?usp=sharing) or follow [preprocessing instructions](#Preprocessing).

Our results for MonoLoco++ are obtained with: 

```
python -m monoloco.run train --joints data/arrays/joints-kitti-201202-1743.json --save --monocular
```

While for the MonStereo ones just change the input joints and remove the monocular flag:
```
python3 -m monoloco.run train --joints <json file path> --save`
```

If you are interested in the original results of the MonoLoco ICCV article (now improved with MonoLoco++), please refer to the tag v0.4.9 in this repository.

Finally, for a more extensive list of available parameters, run:

`python -m monstereo.run train --help`

<br>

## Preprocessing
Preprocessing and training step are already fully supported by the code provided, 
but require first to run a pose detector over
all the training images and collect the annotations. 
The code supports this option (by running the predict script and using `--mode pifpaf`).

### Data structure

    data         
    ├── arrays                 
    ├── models
    ├── kitti
    ├── logs
    ├── output
    
Run the following inside monoloco repository:
```
mkdir data
cd data
mkdir arrays models kitti logs output
```


### Kitti Dataset
Annotations from a pose detector needs to be stored in a folder. With PifPaf:

```
python -m openpifpaf.predict \
--glob "<kitti images directory>/*.png" \
--json-output <directory to contain predictions> \
--checkpoint=shufflenetv2k30 \
--instance-threshold=0.05 --seed-threshold 0.05 --force-complete-pose 
```
Once the step is complete, the below commands transform all the annotations into a single json file that will used for training

```
python -m monoloco.run prep --dir_ann <directory that contains annotations>
```
!Add the flag `--monocular` for MonoLoco(++)!

### Collective Activity Dataset
To evaluate on of the [collective activity dataset](http://vhosts.eecs.umich.edu/vision//activity-dataset.html)
 (without any training) we selected 6 scenes that contain people talking to each other. 
 This allows for a balanced dataset, but any other configuration will work. 

THe expected structure for the dataset is the following:

    collective_activity         
    ├── images                 
    ├── annotations
    
where images and annotations inside have the following name convention:

IMAGES: seq<sequence_name>_frame<frame_name>.jpg
ANNOTATIONS: seq<sequence_name>_annotations.txt

With respect to the original dataset, the images and annotations are moved to a single folder 
and the sequence is added in their name. One command to do this is:

`rename -v -n 's/frame/seq14_frame/'  f*.jpg`

which for example change the name of all the jpg images in that folder adding the sequence number
 (remove `-n` after checking it works)

Pifpaf annotations should also be saved in a single folder and can be created with:

```
python -m openpifpaf.predict \
--glob "data/collective_activity/images/*.jpg"  \
--checkpoint=shufflenetv2k30 \
--instance-threshold=0.05 --seed-threshold 0.05 \--force-complete-pose \
--json-output <output folder>
```

Finally, to evaluate activity using a MonoLoco++ pre-trained model trained either on nuSCENES or KITTI:
```
python -m monstereo.run eval --activity \ 
 --dataset collective \
--model <MonoLoco++ model path>  --dir_ann <pifpaf annotations directory>
```

## Evaluation

### 3D Localization
We provide evaluation on KITTI for models trained on nuScenes or KITTI. We compare them with other monocular 
and stereo baselines, depending whether you are evaluating stereo or monocular settings. For some of the baselines, we have obtained the annotations directly from the authors and we don't have yet the permission to publish them.

[MonoLoco](https://github.com/vita-epfl/monoloco), 
[Mono3D](https://www.cs.toronto.edu/~urtasun/publications/chen_etal_cvpr16.pdf), 
[3DOP](https://xiaozhichen.github.io/papers/nips15chen.pdf), 
[MonoDepth](https://arxiv.org/abs/1609.03677) 
[MonoPSR](https://github.com/kujason/monopsr) and our 
[MonoDIS](https://research.mapillary.com/img/publications/MonoDIS.pdf) and our 
[Geometrical Baseline](monoloco/eval/geom_baseline.py).

* **Mono3D**: download validation files from [here](http://3dimage.ee.tsinghua.edu.cn/cxz/mono3d) 
and save them into `data/kitti/m3d`
* **3DOP**: download validation files from [here](https://xiaozhichen.github.io/) 
and save them into `data/kitti/3dop`
* **MonoDepth**: compute an average depth for every instance using the following script 
[here](https://github.com/Parrotlife/pedestrianDepth-baseline/tree/master/MonoDepth-PyTorch) 
and save them into `data/kitti/monodepth`
* **Geometrical Baseline and MonoLoco**:
To include also geometric baselines and MonoLoco, add the flag ``--baselines`` to the evaluation command
```
python -m monoloco.run eval \
--dir_ann <annotation directory> \
--model <model path> \
--net monoloco_pp \
--generate \
--save \
````

#TODO add white table for monocular

<img src="docs/results_monoloco_pp." width="550"/>
By changing the net and the model, the same command evaluates MonStereo model.

#TODO Add white  table for stereo
<img src="docs/results_stereo.jpg" width="550"/>


### Relative Average Precision Localization: RALP-5% (MonStereo)

We modified the original C++ evaluation of KITTI to make it relative to distance. We use **cmake**.
To run the evaluation, first generate the txt file with the standard command for evaluation (above).
Then follow the instructions of this [repository](https://github.com/cguindel/eval_kitti) 
to prepare the folders accordingly (or follow kitti guidelines) and run evaluation. 
The modified file is called *evaluate_object.cpp* and runs exactly as the original kitti evaluation.

### Activity Estimation (Talking)
Please follow preprocessing steps for Collective activity dataset and run pifpaf over the dataset images.
Evaluation on this dataset is done with models trained on either KITTI or nuScenes. 
For optimal performances, we suggest the model trained on nuScenes teaser (#TODO add link)
```
python -m monstereo.run eval 
--activity 
--dataset collective
--net monoloco_pp
--model <path to the model>   
--dir_ann <annotation directory>
```


## Citation
When using this library in your research, we will be happy if you cite us! 

```
@InProceedings{bertoni_2021_icra,
    author = {Bertoni, Lorenzo and Kreiss, Sven and Mordan, Taylor and Alahi, Alexandre},
    title = {MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization},
    booktitle = {International Conference on Robotics and Automation},
    year = {2021}
}
```

```
@ARTICLE{bertoni_2021_its,
    author = {Bertoni, Lorenzo and Kreiss, Sven and Alahi, Alexandre},
    journal={IEEE Transactions on Intelligent Transportation Systems}, 
    title={Perceiving Humans: from Monocular 3D Localization to Social Distancing}, 
    year={2021},
```

```
@InProceedings{bertoni_2019_iccv,
    author = {Bertoni, Lorenzo and Kreiss, Sven and Alahi, Alexandre},
    title = {MonoLoco: Monocular 3D Pedestrian Localization and Uncertainty Estimation},
    booktitle = {The IEEE International Conference on Computer Vision (ICCV)},
    month = {October},
    year = {2019}
}
```