4992d4c34e
* update readme * remove legend for front * change default z_max to 100m * add visualization for distance * add visualization for distance * adjust text * remove legend for frontal image * change frontal visualization * adjust visualization * update fontsize as constant * change name of saving * change architecture name * change architecture name * change architecture name * remove gt boxes * support different resolutions * adapt to front and combined * change name to multi
147 lines
6.0 KiB
Python
147 lines
6.0 KiB
Python
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# pylint: disable=too-many-statements, too-many-branches, undefined-loop-variable
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import os
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import json
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from collections import defaultdict
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import torch
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from PIL import Image
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from .visuals.printer import Printer
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from .visuals.pifpaf_show import KeypointPainter, image_canvas
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from .network import PifPaf, ImageList, Loco
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from .network.process import factory_for_gt, preprocess_pifpaf
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def predict(args):
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cnt = 0
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# Load Models
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pifpaf = PifPaf(args)
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assert args.mode in ('mono', 'stereo', 'pifpaf')
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if 'mono' in args.mode:
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monoloco = Loco(model=args.model, net='monoloco_pp',
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device=args.device, n_dropout=args.n_dropout, p_dropout=args.dropout)
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if 'stereo' in args.mode:
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monstereo = Loco(model=args.model, net='monstereo',
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device=args.device, n_dropout=args.n_dropout, p_dropout=args.dropout)
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# data
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data = ImageList(args.images, scale=args.scale)
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if args.mode == 'stereo':
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assert len(data.image_paths) % 2 == 0, "Odd number of images in a stereo setting"
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bs = 2
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else:
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bs = 1
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data_loader = torch.utils.data.DataLoader(
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data, batch_size=bs, shuffle=False,
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pin_memory=args.pin_memory, num_workers=args.loader_workers)
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for idx, (image_paths, image_tensors, processed_images_cpu) in enumerate(data_loader):
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images = image_tensors.permute(0, 2, 3, 1)
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processed_images = processed_images_cpu.to(args.device, non_blocking=True)
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fields_batch = pifpaf.fields(processed_images)
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# unbatch stereo pair
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for ii, (image_path, image, processed_image_cpu, fields) in enumerate(zip(
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image_paths, images, processed_images_cpu, fields_batch)):
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if args.output_directory is None:
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splits = os.path.split(image_paths[0])
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output_path = os.path.join(splits[0], 'out_' + splits[1])
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else:
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file_name = os.path.basename(image_paths[0])
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output_path = os.path.join(args.output_directory, 'out_' + file_name)
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print('image', idx, image_path, output_path)
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keypoint_sets, scores, pifpaf_out = pifpaf.forward(image, processed_image_cpu, fields)
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if ii == 0:
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pifpaf_outputs = [keypoint_sets, scores, pifpaf_out] # keypoints_sets and scores for pifpaf printing
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images_outputs = [image] # List of 1 or 2 elements with pifpaf tensor and monoloco original image
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pifpaf_outs = {'left': pifpaf_out}
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image_path_l = image_path
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else:
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pifpaf_outs['right'] = pifpaf_out
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if args.mode in ('stereo', 'mono'):
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# Extract calibration matrix and ground truth file if present
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with open(image_path_l, 'rb') as f:
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pil_image = Image.open(f).convert('RGB')
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images_outputs.append(pil_image)
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im_name = os.path.basename(image_path_l)
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im_size = (float(image.size()[1] / args.scale), float(image.size()[0] / args.scale)) # Original
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kk, dic_gt = factory_for_gt(im_size, name=im_name, path_gt=args.path_gt)
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# Preprocess pifpaf outputs and run monoloco
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boxes, keypoints = preprocess_pifpaf(pifpaf_outs['left'], im_size, enlarge_boxes=False)
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if args.mode == 'mono':
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print("Prediction with MonoLoco++")
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dic_out = monoloco.forward(keypoints, kk)
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dic_out = monoloco.post_process(dic_out, boxes, keypoints, kk, dic_gt)
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else:
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print("Prediction with MonStereo")
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boxes_r, keypoints_r = preprocess_pifpaf(pifpaf_outs['right'], im_size)
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dic_out = monstereo.forward(keypoints, kk, keypoints_r=keypoints_r)
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dic_out = monstereo.post_process(dic_out, boxes, keypoints, kk, dic_gt)
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else:
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dic_out = defaultdict(list)
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kk = None
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factory_outputs(args, images_outputs, output_path, pifpaf_outputs, dic_out=dic_out, kk=kk)
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print('Image {}\n'.format(cnt) + '-' * 120)
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cnt += 1
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def factory_outputs(args, images_outputs, output_path, pifpaf_outputs, dic_out=None, kk=None):
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"""Output json files or images according to the choice"""
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# Save json file
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if args.mode == 'pifpaf':
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keypoint_sets, scores, pifpaf_out = pifpaf_outputs[:]
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# Visualizer
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keypoint_painter = KeypointPainter(show_box=False)
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skeleton_painter = KeypointPainter(show_box=False, color_connections=True, markersize=1, linewidth=4)
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if 'json' in args.output_types and keypoint_sets.size > 0:
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with open(output_path + '.pifpaf.json', 'w') as f:
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json.dump(pifpaf_out, f)
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if 'keypoints' in args.output_types:
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with image_canvas(images_outputs[0],
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output_path + '.keypoints.png',
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show=args.show,
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fig_width=args.figure_width,
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dpi_factor=args.dpi_factor) as ax:
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keypoint_painter.keypoints(ax, keypoint_sets)
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if 'skeleton' in args.output_types:
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with image_canvas(images_outputs[0],
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output_path + '.skeleton.png',
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show=args.show,
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fig_width=args.figure_width,
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dpi_factor=args.dpi_factor) as ax:
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skeleton_painter.keypoints(ax, keypoint_sets, scores=scores)
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else:
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if any((xx in args.output_types for xx in ['front', 'bird', 'multi'])):
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print(output_path)
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if dic_out['boxes']: # Only print in case of detections
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printer = Printer(images_outputs[1], output_path, kk, args)
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figures, axes = printer.factory_axes()
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printer.draw(figures, axes, dic_out, images_outputs[1])
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if 'json' in args.output_types:
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with open(os.path.join(output_path + '.monoloco.json'), 'w') as ff:
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json.dump(dic_out, ff)
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