# Copyright (c) 2021 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 os import time import yaml import cv2 import numpy as np import paddle from benchmark_utils import PaddleInferBenchmark from preprocess import preprocess from tracker import JDETracker from ppdet.modeling.mot import visualization as mot_vis from ppdet.modeling.mot.utils import Timer as MOTTimer from paddle.inference import Config from paddle.inference import create_predictor from utils import argsparser, Timer, get_current_memory_mb from infer import Detector, get_test_images, print_arguments, PredictConfig # Global dictionary MOT_SUPPORT_MODELS = { 'JDE', 'FairMOT', } class JDE_Detector(Detector): """ Args: pred_config (object): config of model, defined by `Config(model_dir)` 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(fluid/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 """ def __init__(self, pred_config, model_dir, device='CPU', run_mode='fluid', batch_size=1, trt_min_shape=1, trt_max_shape=1088, trt_opt_shape=608, trt_calib_mode=False, cpu_threads=1, enable_mkldnn=False): super(JDE_Detector, self).__init__( pred_config=pred_config, 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) assert batch_size == 1, "The JDE Detector only supports batch size=1 now" assert pred_config.tracker, "Tracking model should have tracker" tp = pred_config.tracker conf_thres = tp['conf_thres'] if 'conf_thres' in tp else 0. tracked_thresh = tp['tracked_thresh'] if 'tracked_thresh' in tp else 0.7 metric_type = tp['metric_type'] if 'metric_type' in tp else 'euclidean' self.tracker = JDETracker( conf_thres=conf_thres, tracked_thresh=tracked_thresh, metric_type=metric_type) def postprocess(self, pred_dets, pred_embs, threshold): online_targets = self.tracker.update(pred_dets, pred_embs) online_tlwhs, online_ids = [], [] online_scores = [] for t in online_targets: tlwh = t.tlwh tid = t.track_id tscore = t.score if tscore < threshold: continue vertical = tlwh[2] / tlwh[3] > 1.6 if tlwh[2] * tlwh[3] > self.tracker.min_box_area and not vertical: online_tlwhs.append(tlwh) online_ids.append(tid) online_scores.append(tscore) return online_tlwhs, online_scores, online_ids def predict(self, image_list, threshold=0.5, warmup=0, repeats=1): ''' Args: image_list (list): list of image threshold (float): threshold of predicted box' score Returns: online_tlwhs, online_scores, online_ids (np.ndarray) ''' self.det_times.preprocess_time_s.start() inputs = self.preprocess(image_list) self.det_times.preprocess_time_s.end() pred_dets, pred_embs = None, None input_names = self.predictor.get_input_names() for i in range(len(input_names)): input_tensor = self.predictor.get_input_handle(input_names[i]) input_tensor.copy_from_cpu(inputs[input_names[i]]) for i in range(warmup): self.predictor.run() output_names = self.predictor.get_output_names() boxes_tensor = self.predictor.get_output_handle(output_names[0]) pred_dets = boxes_tensor.copy_to_cpu() self.det_times.inference_time_s.start() for i in range(repeats): self.predictor.run() output_names = self.predictor.get_output_names() boxes_tensor = self.predictor.get_output_handle(output_names[0]) pred_dets = boxes_tensor.copy_to_cpu() embs_tensor = self.predictor.get_output_handle(output_names[1]) pred_embs = embs_tensor.copy_to_cpu() self.det_times.inference_time_s.end(repeats=repeats) self.det_times.postprocess_time_s.start() online_tlwhs, online_scores, online_ids = self.postprocess( pred_dets, pred_embs, threshold) self.det_times.postprocess_time_s.end() self.det_times.img_num += 1 return online_tlwhs, online_scores, online_ids def write_mot_results(filename, results, data_type='mot'): if data_type in ['mot', 'mcmot', 'lab']: save_format = '{frame},{id},{x1},{y1},{w},{h},{score},-1,-1,-1\n' elif data_type == 'kitti': save_format = '{frame} {id} pedestrian 0 0 -10 {x1} {y1} {x2} {y2} -10 -10 -10 -1000 -1000 -1000 -10\n' else: raise ValueError(data_type) with open(filename, 'w') as f: for frame_id, tlwhs, tscores, track_ids in results: if data_type == 'kitti': frame_id -= 1 for tlwh, score, track_id in zip(tlwhs, tscores, track_ids): if track_id < 0: continue x1, y1, w, h = tlwh x2, y2 = x1 + w, y1 + h line = save_format.format( frame=frame_id, id=track_id, x1=x1, y1=y1, x2=x2, y2=y2, w=w, h=h, score=score) f.write(line) def predict_image(detector, image_list): results = [] for i, img_file in enumerate(image_list): frame = cv2.imread(img_file) if FLAGS.run_benchmark: detector.predict([frame], FLAGS.threshold, warmup=10, repeats=10) cm, gm, gu = get_current_memory_mb() detector.cpu_mem += cm detector.gpu_mem += gm detector.gpu_util += gu print('Test iter {}, file name:{}'.format(i, img_file)) else: online_tlwhs, online_scores, online_ids = detector.predict( [frame], FLAGS.threshold) online_im = mot_vis.plot_tracking( frame, online_tlwhs, online_ids, online_scores, frame_id=i) if FLAGS.save_images: if not os.path.exists(FLAGS.output_dir): os.makedirs(FLAGS.output_dir) img_name = os.path.split(img_file)[-1] out_path = os.path.join(FLAGS.output_dir, img_name) cv2.imwrite(out_path, online_im) print("save result to: " + out_path) def predict_video(detector, camera_id): if camera_id != -1: capture = cv2.VideoCapture(camera_id) video_name = 'mot_output.mp4' else: capture = cv2.VideoCapture(FLAGS.video_file) video_name = os.path.split(FLAGS.video_file)[-1] fps = 30 frame_count = int(capture.get(cv2.CAP_PROP_FRAME_COUNT)) print('frame_count', frame_count) width = int(capture.get(cv2.CAP_PROP_FRAME_WIDTH)) height = int(capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) # yapf: disable fourcc = cv2.VideoWriter_fourcc(*'mp4v') # yapf: enable if not os.path.exists(FLAGS.output_dir): os.makedirs(FLAGS.output_dir) out_path = os.path.join(FLAGS.output_dir, video_name) writer = cv2.VideoWriter(out_path, fourcc, fps, (width, height)) frame_id = 0 timer = MOTTimer() results = [] while (1): ret, frame = capture.read() if not ret: break timer.tic() online_tlwhs, online_scores, online_ids = detector.predict( [frame], FLAGS.threshold) timer.toc() results.append((frame_id + 1, online_tlwhs, online_scores, online_ids)) fps = 1. / timer.average_time online_im = mot_vis.plot_tracking( frame, online_tlwhs, online_ids, online_scores, frame_id=frame_id, fps=fps) if FLAGS.save_images: save_dir = os.path.join(FLAGS.output_dir, video_name.split('.')[-2]) if not os.path.exists(save_dir): os.makedirs(save_dir) cv2.imwrite( os.path.join(save_dir, '{:05d}.jpg'.format(frame_id)), online_im) frame_id += 1 print('detect frame:%d' % (frame_id)) im = np.array(online_im) writer.write(im) if camera_id != -1: cv2.imshow('Tracking Detection', im) if cv2.waitKey(1) & 0xFF == ord('q'): break if FLAGS.save_mot_txts: result_filename = os.path.join(FLAGS.output_dir, video_name.split('.')[-2] + '.txt') write_mot_results(result_filename, results) writer.release() def main(): pred_config = PredictConfig(FLAGS.model_dir) detector = JDE_Detector( pred_config, FLAGS.model_dir, device=FLAGS.device, run_mode=FLAGS.run_mode, trt_min_shape=FLAGS.trt_min_shape, trt_max_shape=FLAGS.trt_max_shape, trt_opt_shape=FLAGS.trt_opt_shape, trt_calib_mode=FLAGS.trt_calib_mode, cpu_threads=FLAGS.cpu_threads, enable_mkldnn=FLAGS.enable_mkldnn) # predict from video file or camera video stream if FLAGS.video_file is not None or FLAGS.camera_id != -1: predict_video(detector, FLAGS.camera_id) else: # predict from image img_list = get_test_images(FLAGS.image_dir, FLAGS.image_file) predict_image(detector, img_list) if not FLAGS.run_benchmark: detector.det_times.info(average=True) else: mems = { 'cpu_rss_mb': detector.cpu_mem / len(img_list), 'gpu_rss_mb': detector.gpu_mem / len(img_list), 'gpu_util': detector.gpu_util * 100 / len(img_list) } perf_info = detector.det_times.report(average=True) model_dir = FLAGS.model_dir mode = FLAGS.run_mode model_info = { 'model_name': model_dir.strip('/').split('/')[-1], 'precision': mode.split('_')[-1] } data_info = { 'batch_size': 1, 'shape': "dynamic_shape", 'data_num': perf_info['img_num'] } det_log = PaddleInferBenchmark(detector.config, model_info, data_info, perf_info, mems) det_log('MOT') if __name__ == '__main__': paddle.enable_static() parser = argsparser() FLAGS = parser.parse_args() print_arguments(FLAGS) FLAGS.device = FLAGS.device.upper() assert FLAGS.device in ['CPU', 'GPU', 'XPU' ], "device should be CPU, GPU or XPU" main()