keypoint_infer.py

# Copyright (c) 2020 PaddlePaddle Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import glob
import math
import os
import sys
import time
from functools import reduce

import cv2
import numpy as np
import paddle
import yaml
from PIL import Image
# add deploy path of PadleDetection to sys.path
parent_path = os.path.abspath(os.path.join(__file__, *(['..'])))
sys.path.insert(0, parent_path)

from preprocess import preprocess, NormalizeImage, Permute
from keypoint_preprocess import EvalAffine, TopDownEvalAffine, expand_crop
from keypoint_postprocess import HRNetPostProcess
from visualize import visualize_pose
from paddle.inference import Config
from paddle.inference import create_predictor
from infer import Detector

# Global dictionary
KEYPOINT_SUPPORT_MODELS = {'HigherHRNet': 'keypoint_bottomup', 'HRNet': 'keypoint_topdown'}


class KeyPointDetector(Detector):
    """
    Args:
        model_dir (str): root path of model.pdiparams, model.pdmodel and infer_cfg.yml
        device (str): Choose the device you want to run, it can be: CPU/GPU/XPU, default is CPU
        run_mode (str): mode of running(paddle/trt_fp32/trt_fp16)
        batch_size (int): size of pre batch in inference
        trt_min_shape (int): min shape for dynamic shape in trt
        trt_max_shape (int): max shape for dynamic shape in trt
        trt_opt_shape (int): opt shape for dynamic shape in trt
        trt_calib_mode (bool): If the model is produced by TRT offline quantitative
            calibration, trt_calib_mode need to set True
        cpu_threads (int): cpu threads
        enable_mkldnn (bool): whether to open MKLDNN
        use_dark(bool): whether to use postprocess in DarkPose
    """

    def __init__(self,
                 model_dir,
                 device='CPU',
                 run_mode='paddle',
                 batch_size=1,
                 trt_min_shape=1,
                 trt_max_shape=1280,
                 trt_opt_shape=640,
                 trt_calib_mode=False,
                 cpu_threads=1,
                 enable_mkldnn=False,
                 output_dir='output',
                 threshold=0.5,
                 use_dark=True):
        super(KeyPointDetector, self).__init__(
            model_dir=model_dir,
            device=device,
            run_mode=run_mode,
            batch_size=batch_size,
            trt_min_shape=trt_min_shape,
            trt_max_shape=trt_max_shape,
            trt_opt_shape=trt_opt_shape,
            trt_calib_mode=trt_calib_mode,
            cpu_threads=cpu_threads,
            enable_mkldnn=enable_mkldnn,
            output_dir=output_dir,
            threshold=threshold,
        )
        self.use_dark = use_dark

    def set_config(self, model_dir):
        return PredictConfig_KeyPoint(model_dir)

    def get_person_from_rect(self, image, results):
        # crop the person result from image
        self.det_times.preprocess_time_s.start()
        valid_rects = results['boxes']
        rect_images = []
        new_rects = []
        org_rects = []
        for rect in valid_rects:
            rect_image, new_rect, org_rect = expand_crop(image, rect)
            if rect_image is None or rect_image.size == 0:
                continue
            rect_images.append(rect_image)
            new_rects.append(new_rect)
            org_rects.append(org_rect)
        self.det_times.preprocess_time_s.end()
        return rect_images, new_rects, org_rects

    def postprocess(self, inputs, result):
        np_heatmap = result['heatmap']
        np_masks = result['masks']
        # postprocess output of predictor
        if KEYPOINT_SUPPORT_MODELS[self.pred_config.arch] == 'keypoint_bottomup':
            results = {}
            h, w = inputs['im_shape'][0]
            preds = [np_heatmap]
            if np_masks is not None:
                preds += np_masks
            preds += [h, w]
            keypoint_postprocess = HRNetPostProcess()
            kpts, scores = keypoint_postprocess(*preds)
            results['keypoint'] = kpts
            results['score'] = scores
            return results
        elif KEYPOINT_SUPPORT_MODELS[self.pred_config.arch] == 'keypoint_topdown':
            results = {}
            imshape = inputs['im_shape'][:, ::-1]
            center = np.round(imshape / 2.)
            scale = imshape / 200.
            keypoint_postprocess = HRNetPostProcess(use_dark=self.use_dark)
            kpts, scores = keypoint_postprocess(np_heatmap, center, scale)
            results['keypoint'] = kpts
            results['score'] = scores
            return results
        else:
            raise ValueError("Unsupported arch: {}, expect {}".format(self.pred_config.arch, KEYPOINT_SUPPORT_MODELS))

    def predict(self, repeats=1):
        '''
        Args:
            repeats (int): repeat number for prediction
        Returns:
            results (dict): include 'boxes': np.ndarray: shape:[N,6], N: number of box,
                            matix element:[class, score, x_min, y_min, x_max, y_max]
                            MaskRCNN's results include 'masks': np.ndarray:
                            shape: [N, im_h, im_w]
        '''
        # model prediction
        np_heatmap, np_masks = None, None
        for i in range(repeats):
            self.predictor.run()
            output_names = self.predictor.get_output_names()
            heatmap_tensor = self.predictor.get_output_handle(output_names[0])
            np_heatmap = heatmap_tensor.copy_to_cpu()
            if self.pred_config.tagmap:
                masks_tensor = self.predictor.get_output_handle(output_names[1])
                heat_k = self.predictor.get_output_handle(output_names[2])
                inds_k = self.predictor.get_output_handle(output_names[3])
                np_masks = [masks_tensor.copy_to_cpu(), heat_k.copy_to_cpu(), inds_k.copy_to_cpu()]
        result = dict(heatmap=np_heatmap, masks=np_masks)
        return result

    def predict_image(self, image_list, run_benchmark=False, repeats=1, visual=True):
        results = []
        batch_loop_cnt = math.ceil(float(len(image_list)) / self.batch_size)
        for i in range(batch_loop_cnt):
            start_index = i * self.batch_size
            end_index = min((i + 1) * self.batch_size, len(image_list))
            batch_image_list = image_list[start_index:end_index]
            # preprocess
            self.det_times.preprocess_time_s.start()
            inputs = self.preprocess(batch_image_list)
            self.det_times.preprocess_time_s.end()

            # model prediction
            self.det_times.inference_time_s.start()
            result = self.predict()
            self.det_times.inference_time_s.end()

            # postprocess
            self.det_times.postprocess_time_s.start()
            result = self.postprocess(inputs, result)
            self.det_times.postprocess_time_s.end()
            self.det_times.img_num += len(batch_image_list)

            if visual:
                if not os.path.exists(self.output_dir):
                    os.makedirs(self.output_dir)
                visualize(batch_image_list, result, visual_thresh=self.threshold, save_dir=self.output_dir)

            results.append(result)
            if visual:
                print('Test iter {}'.format(i))
        results = self.merge_batch_result(results)
        return results

    def predict_video(self, video_file, camera_id):
        video_name = 'output.mp4'
        if camera_id != -1:
            capture = cv2.VideoCapture(camera_id)
        else:
            capture = cv2.VideoCapture(video_file)
            video_name = os.path.split(video_file)[-1]
        # Get Video info : resolution, fps, frame count
        width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH))
        height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
        fps = int(capture.get(cv2.CAP_PROP_FPS))
        frame_count = int(capture.get(cv2.CAP_PROP_FRAME_COUNT))
        print("fps: %d, frame_count: %d" % (fps, frame_count))

        if not os.path.exists(self.output_dir):
            os.makedirs(self.output_dir)
        out_path = os.path.join(self.output_dir, video_name)
        fourcc = cv2.VideoWriter_fourcc(*'mp4v')
        writer = cv2.VideoWriter(out_path, fourcc, fps, (width, height))
        index = 1
        while (1):
            ret, frame = capture.read()
            if not ret:
                break
            print('detect frame: %d' % (index))
            index += 1
            results = self.predict_image([frame[:, :, ::-1]], visual=False)
            im_results = {}
            im_results['keypoint'] = [results['keypoint'], results['score']]
            im = visualize_pose(frame, im_results, visual_thresh=self.threshold, returnimg=True)
            writer.write(im)
            if camera_id != -1:
                cv2.imshow('Mask Detection', im)
                if cv2.waitKey(1) & 0xFF == ord('q'):
                    break
        writer.release()


def create_inputs(imgs, im_info):
    """generate input for different model type
    Args:
        imgs (list(numpy)): list of image (np.ndarray)
        im_info (list(dict)): list of image info
    Returns:
        inputs (dict): input of model
    """
    inputs = {}
    inputs['image'] = np.stack(imgs, axis=0).astype('float32')
    im_shape = []
    for e in im_info:
        im_shape.append(np.array((e['im_shape'])).astype('float32'))
    inputs['im_shape'] = np.stack(im_shape, axis=0)
    return inputs


class PredictConfig_KeyPoint():
    """set config of preprocess, postprocess and visualize
    Args:
        model_dir (str): root path of model.yml
    """

    def __init__(self, model_dir):
        # parsing Yaml config for Preprocess
        deploy_file = os.path.join(model_dir, 'infer_cfg.yml')
        with open(deploy_file) as f:
            yml_conf = yaml.safe_load(f)
        self.check_model(yml_conf)
        self.arch = yml_conf['arch']
        self.archcls = KEYPOINT_SUPPORT_MODELS[yml_conf['arch']]
        self.preprocess_infos = yml_conf['Preprocess']
        self.min_subgraph_size = yml_conf['min_subgraph_size']
        self.labels = yml_conf['label_list']
        self.tagmap = False
        self.use_dynamic_shape = yml_conf['use_dynamic_shape']
        if 'keypoint_bottomup' == self.archcls:
            self.tagmap = True
        self.print_config()

    def check_model(self, yml_conf):
        """
        Raises:
            ValueError: loaded model not in supported model type
        """
        for support_model in KEYPOINT_SUPPORT_MODELS:
            if support_model in yml_conf['arch']:
                return True
        raise ValueError("Unsupported arch: {}, expect {}".format(yml_conf['arch'], KEYPOINT_SUPPORT_MODELS))

    def print_config(self):
        print('-----------  Model Configuration -----------')
        print('%s: %s' % ('Model Arch', self.arch))
        print('%s: ' % ('Transform Order'))
        for op_info in self.preprocess_infos:
            print('--%s: %s' % ('transform op', op_info['type']))
        print('--------------------------------------------')


def visualize(image_list, results, visual_thresh=0.6, save_dir='output'):
    im_results = {}
    for i, image_file in enumerate(image_list):
        skeletons = results['keypoint']
        scores = results['score']
        skeleton = skeletons[i:i + 1]
        score = scores[i:i + 1]
        im_results['keypoint'] = [skeleton, score]
        visualize_pose(image_file, im_results, visual_thresh=visual_thresh, save_dir=save_dir)