67e908968f
* Merged old monstereo * Working webcam and risen hand detection * Small fixes * Update README.md Pictures to be added later * Added GIFs to README * Improved risen hand detection and fixes * Fixes * Fixed for test * printer.py cleanup * fix * fix * fix * Changes for pull request * Fix * Fixed for test * Changed visualization * Multi webcam support * Update README.md * Added README GIF * Update README.md * Better args and gif * Typo * Black theme * Linting * Fixes for the pull request * Trailing whitespace fixed * Better gif * Deleted unused files * Fixed error with no activity * Fixed linting issue * Correction on GIF * Minor linting fix * Minor change * Revert change * Removed unecessary check
214 lines
12 KiB
Python
214 lines
12 KiB
Python
# pylint: disable=too-many-branches, too-many-statements, import-outside-toplevel
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import argparse
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from openpifpaf import decoder, network, visualizer, show, logger
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def cli():
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parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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# Subparser definition
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subparsers = parser.add_subparsers(help='Different parsers for main actions', dest='command')
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predict_parser = subparsers.add_parser("predict")
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prep_parser = subparsers.add_parser("prep")
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training_parser = subparsers.add_parser("train")
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eval_parser = subparsers.add_parser("eval")
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# Predict (2D pose and/or 3D location from images)
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predict_parser.add_argument('images', nargs='*', help='input images')
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predict_parser.add_argument('--glob', help='glob expression for input images (for many images)')
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predict_parser.add_argument('--checkpoint', help='pifpaf model')
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predict_parser.add_argument('-o', '--output-directory', help='Output directory')
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predict_parser.add_argument('--output_types', nargs='+', default=['multi'],
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help='what to output: json keypoints skeleton for Pifpaf'
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'json bird front or multi for MonStereo')
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predict_parser.add_argument('--no_save', help='to show images', action='store_true')
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predict_parser.add_argument('--hide_distance', help='to not show the absolute distance of people from the camera',
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default=False, action='store_true')
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predict_parser.add_argument('--dpi', help='image resolution', type=int, default=150)
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predict_parser.add_argument('--long-edge', default=None, type=int,
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help='rescale the long side of the image (aspect ratio maintained)')
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predict_parser.add_argument('--white-overlay',
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nargs='?', default=False, const=0.8, type=float,
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help='increase contrast to annotations by making image whiter')
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predict_parser.add_argument('--font-size', default=0, type=int, help='annotation font size')
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predict_parser.add_argument('--monocolor-connections', default=False, action='store_true',
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help='use a single color per instance')
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predict_parser.add_argument('--instance-threshold', type=float, default=None, help='threshold for entire instance')
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predict_parser.add_argument('--seed-threshold', type=float, default=0.5, help='threshold for single seed')
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predict_parser.add_argument('--disable-cuda', action='store_true', help='disable CUDA')
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predict_parser.add_argument('--precise-rescaling', dest='fast_rescaling', default=True, action='store_false',
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help='use more exact image rescaling (requires scipy)')
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predict_parser.add_argument('--decoder-workers', default=None, type=int,
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help='number of workers for pose decoding, 0 for windows')
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decoder.cli(parser)
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logger.cli(parser)
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network.Factory.cli(parser)
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show.cli(parser)
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visualizer.cli(parser)
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# Monoloco
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predict_parser.add_argument('--activities', nargs='+', choices=['raise_hand', 'social_distance'],
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help='Choose activities to show: social_distance, raise_hand', default=[])
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predict_parser.add_argument('--mode', help='keypoints, mono, stereo', default='mono')
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predict_parser.add_argument('--model', help='path of MonoLoco/MonStereo model to load')
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predict_parser.add_argument('--net', help='only to select older MonoLoco model, otherwise use --mode')
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predict_parser.add_argument('--path_gt', help='path of json file with gt 3d localization')
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#default='data/arrays/names-kitti-200615-1022.json')
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predict_parser.add_argument('--z_max', type=int, help='maximum meters distance for predictions', default=100)
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predict_parser.add_argument('--n_dropout', type=int, help='Epistemic uncertainty evaluation', default=0)
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predict_parser.add_argument('--dropout', type=float, help='dropout parameter', default=0.2)
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predict_parser.add_argument('--show_all', help='only predict ground-truth matches or all', action='store_true')
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predict_parser.add_argument('--webcam', help='monstereo streaming', action='store_true')
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predict_parser.add_argument('--camera', help='device to use for webcam streaming', type=int, default=0)
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predict_parser.add_argument('--focal', help='focal length in mm for a sensor size of 7.2x5.4 mm. (nuScenes)',
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type=float, default=5.7)
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# Social distancing and social interactions
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predict_parser.add_argument('--threshold_prob', type=float, help='concordance for samples', default=0.25)
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predict_parser.add_argument('--threshold_dist', type=float, help='min distance of people', default=2.5)
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predict_parser.add_argument('--radii', type=tuple, help='o-space radii', default=(0.3, 0.5, 1))
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# Preprocess input data
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prep_parser.add_argument('--dir_ann', help='directory of annotations of 2d joints', required=True)
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prep_parser.add_argument('--mode', help='mono, stereo', default='mono')
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prep_parser.add_argument('--dataset',
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help='datasets to preprocess: nuscenes, nuscenes_teaser, nuscenes_mini, kitti',
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default='kitti')
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prep_parser.add_argument('--dir_nuscenes', help='directory of nuscenes devkit', default='data/nuscenes/')
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prep_parser.add_argument('--iou_min', help='minimum iou to match ground truth', type=float, default=0.3)
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prep_parser.add_argument('--variance', help='new', action='store_true')
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prep_parser.add_argument('--activity', help='new', action='store_true')
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# Training
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training_parser.add_argument('--joints', help='Json file with input joints', required=True)
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training_parser.add_argument('--mode', help='mono, stereo', default='mono')
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training_parser.add_argument('--out', help='output_path, e.g., data/outputs/test.pkl')
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training_parser.add_argument('-e', '--epochs', type=int, help='number of epochs to train for', default=500)
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training_parser.add_argument('--bs', type=int, default=512, help='input batch size')
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training_parser.add_argument('--monocular', help='whether to train monoloco', action='store_true')
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training_parser.add_argument('--dropout', type=float, help='dropout. Default no dropout', default=0.2)
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training_parser.add_argument('--lr', type=float, help='learning rate', default=0.002)
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training_parser.add_argument('--sched_step', type=float, help='scheduler step time (epochs)', default=30)
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training_parser.add_argument('--sched_gamma', type=float, help='Scheduler multiplication every step', default=0.98)
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training_parser.add_argument('--hidden_size', type=int, help='Number of hidden units in the model', default=1024)
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training_parser.add_argument('--n_stage', type=int, help='Number of stages in the model', default=3)
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training_parser.add_argument('--hyp', help='run hyperparameters tuning', action='store_true')
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training_parser.add_argument('--multiplier', type=int, help='Size of the grid of hyp search', default=1)
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training_parser.add_argument('--r_seed', type=int, help='specify the seed for training and hyp tuning', default=1)
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training_parser.add_argument('--print_loss', help='print training and validation losses', action='store_true')
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training_parser.add_argument('--auto_tune_mtl', help='whether to use uncertainty to autotune losses',
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action='store_true')
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training_parser.add_argument('--no_save', help='to not save model and log file', action='store_true')
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# Evaluation
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eval_parser.add_argument('--mode', help='mono, stereo', default='mono')
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eval_parser.add_argument('--dataset', help='datasets to evaluate, kitti or nuscenes', default='kitti')
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eval_parser.add_argument('--activity', help='evaluate activities', action='store_true')
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eval_parser.add_argument('--geometric', help='to evaluate geometric distance', action='store_true')
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eval_parser.add_argument('--generate', help='create txt files for KITTI evaluation', action='store_true')
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eval_parser.add_argument('--dir_ann', help='directory of annotations of 2d joints (for KITTI evaluation)')
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eval_parser.add_argument('--model', help='path of MonoLoco model to load')
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eval_parser.add_argument('--joints', help='Json file with input joints to evaluate (for nuScenes evaluation)')
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eval_parser.add_argument('--n_dropout', type=int, help='Epistemic uncertainty evaluation', default=0)
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eval_parser.add_argument('--dropout', type=float, help='dropout. Default no dropout', default=0.2)
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eval_parser.add_argument('--hidden_size', type=int, help='Number of hidden units in the model', default=1024)
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eval_parser.add_argument('--n_stage', type=int, help='Number of stages in the model', default=3)
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eval_parser.add_argument('--show', help='whether to show statistic graphs', action='store_true')
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eval_parser.add_argument('--save', help='whether to save statistic graphs', action='store_true')
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eval_parser.add_argument('--verbose', help='verbosity of statistics', action='store_true')
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eval_parser.add_argument('--new', help='new', action='store_true')
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eval_parser.add_argument('--variance', help='evaluate keypoints variance', action='store_true')
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eval_parser.add_argument('--net', help='Choose network: monoloco, monoloco_p, monoloco_pp, monstereo')
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eval_parser.add_argument('--baselines', help='whether to evaluate stereo baselines', action='store_true')
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eval_parser.add_argument('--generate_official', help='whether to add empty txt files for official evaluation',
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action='store_true')
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args = parser.parse_args()
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return args
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def main():
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args = cli()
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if args.command == 'predict':
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if args.webcam:
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from .visuals.webcam import webcam
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webcam(args)
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else:
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from .predict import predict
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predict(args)
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elif args.command == 'prep':
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if 'nuscenes' in args.dataset:
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from .prep.preprocess_nu import PreprocessNuscenes
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prep = PreprocessNuscenes(args.dir_ann, args.dir_nuscenes, args.dataset, args.iou_min)
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prep.run()
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else:
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from .prep.preprocess_kitti import PreprocessKitti
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prep = PreprocessKitti(args.dir_ann, mode=args.mode, iou_min=args.iou_min)
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if args.activity:
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prep.process_activity()
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else:
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prep.run()
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elif args.command == 'train':
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from .train import HypTuning
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if args.hyp:
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hyp_tuning = HypTuning(joints=args.joints, epochs=args.epochs,
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monocular=args.monocular, dropout=args.dropout,
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multiplier=args.multiplier, r_seed=args.r_seed)
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hyp_tuning.train(args)
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else:
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from .train import Trainer
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training = Trainer(args)
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_ = training.train()
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_ = training.evaluate()
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elif args.command == 'eval':
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if args.activity:
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from .eval.eval_activity import ActivityEvaluator
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evaluator = ActivityEvaluator(args)
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if 'collective' in args.dataset:
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evaluator.eval_collective()
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else:
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evaluator.eval_kitti()
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elif args.geometric:
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assert args.joints, "joints argument not provided"
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from .eval.geom_baseline import geometric_baseline
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geometric_baseline(args.joints)
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elif args.variance:
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from .eval.eval_variance import joints_variance
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joints_variance(args.joints, clusters=None, dic_ms=None)
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else:
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if args.generate:
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from .eval.generate_kitti import GenerateKitti
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kitti_txt = GenerateKitti(args)
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kitti_txt.run()
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if args.dataset == 'kitti':
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from .eval import EvalKitti
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kitti_eval = EvalKitti(args)
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kitti_eval.run()
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kitti_eval.printer()
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elif 'nuscenes' in args.dataset:
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from .train import Trainer
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training = Trainer(args)
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_ = training.evaluate(load=True, model=args.model, debug=False)
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else:
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raise ValueError("Option not recognized")
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else:
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raise ValueError("Main subparser not recognized or not provided")
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if __name__ == '__main__':
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main()
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