119 lines
4.1 KiB
Python
119 lines
4.1 KiB
Python
from pathlib import Path
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import logging
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import torch
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from ultralytics import YOLO
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import cv2
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from dodgeballtracker.helper import iter_frames
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from dodgeballtracker.video_writer import VideoWriter, DetectedObjectBox
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from dodgeballtracker.data_dumper import DataDumper
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import numpy as np
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import pandas as pd
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import pandera as pa
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from boxmot import DeepOcSort as DeepOCSORT
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from .typing import VideoFrame, DetectedObject, TrackedDetectedObject
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logger = logging.getLogger(__name__)
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Color = tuple[int, int, int]
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def get_best_available_torch_device() -> torch.device:
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if torch.cuda.is_available():
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logger.debug("Using the cuda (gpu) torch device.")
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return torch.device('cuda:0')
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if torch.backends.mps.is_available():
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logger.debug("Using the mps (apple silicon) torch device.")
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return torch.device('mps')
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logger.debug("Default to cpu (no apple silicon or cuda) torch device.")
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return torch.device('cpu')
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class BirdViewCreator:
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def __init__(self, view_perspective_matrix: np.matrix):
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self._view_perspective_matrix = view_perspective_matrix
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@pa.check_io(df=TrackedDetectedObject, out=TrackedDetectedObject)
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def append_bird_view(self, df: pd.DataFrame) -> pd.DataFrame:
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v = np.matrix([
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pd.Series(dtype='float32', data=np.ones(df.shape[0])),
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df['xmin'],
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df['xmax']
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])
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ret = self._view_perspective_matrix @ v
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ret_df = pd.DataFrame(ret).rename(columns={0: 'physical_x', 1: 'physical_y'})
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return df.join(ret_df)
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class DodgeballTracker:
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def __init__(self,
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input_file: Path,
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video_writer: VideoWriter,
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data_dumper: DataDumper,
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detected_box_objects: list[DetectedObjectBox],
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bird_view_creator: BirdViewCreator):
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self.input_path = input_file
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self.video_writer = video_writer
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self._data_dumper = data_dumper
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self.detected_box_objects = sorted(detected_box_objects, reverse=True)
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self._bird_view_creator = bird_view_creator
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@pa.check_output(DetectedObject)
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def run_model_on_frame(self, model, frame: VideoFrame):
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model_outputs = model(frame)[0]
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boxes = model_outputs.boxes.data.cpu().numpy()
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columns=['xmin', 'ymin', 'xmax', 'ymax', 'score', 'category']
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ret = pd.DataFrame(boxes, columns=columns)
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return ret
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def _get_tracker(self) -> DeepOCSORT:
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return DeepOCSORT(
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Path('lmbn_n_cuhk03_d.pt'), # which ReID model to use
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get_best_available_torch_device(),
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True,
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)
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def _get_detection_model(self):
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"""
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load the pre-trained YOLOv8n model
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"""
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my_model = Path(
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'/home/didier/all-dressed-programming/dodgeball-tracker/runs/detect/train31/weights/best.pt')
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return YOLO(my_model, verbose=False)
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@pa.check_io(detected_objs=DetectedObject, out=TrackedDetectedObject)
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def update_tracker(self, tracker: DeepOCSORT, detected_objs: pd.DataFrame, frame: VideoFrame):
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data = tracker.update(detected_objs.to_numpy(), frame)
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columns = ['xmin', 'ymin', 'xmax', 'ymax', 'object_id', 'score', 'category', 'index']
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if not data.size:
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return pd.DataFrame({col: pd.Series(dtype='float64') for col in columns})
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return pd.DataFrame(data, columns=columns)
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def main(self):
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# define some constants
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video_cap = cv2.VideoCapture(str(self.input_path))
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tracker = self._get_tracker()
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model = self._get_detection_model()
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for i, (frame, ts) in enumerate(iter_frames(video_cap)):
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# run the YOLO model on the frame
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detected_objs = self.run_model_on_frame(model, frame)
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tracked_obj = self.update_tracker(tracker, detected_objs, frame)
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self._data_dumper.write_boxes(
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self._bird_view_creator.append_bird_view(tracked_obj),
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ts,
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i)
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self.video_writer.plot_boxes_to_frame(tracked_obj, frame)
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self.video_writer.write_frame(frame)
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if self.video_writer.wait():
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break
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video_cap.release()
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