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<h1>Source code for motrackers.detectors.detector</h1><div class="highlight"><pre>
<span></span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">import</span> <span class="nn">cv2</span> <span class="k">as</span> <span class="nn">cv</span>
<span class="kn">from</span> <span class="nn">motrackers.utils.misc</span> <span class="kn">import</span> <span class="n">xyxy2xywh</span>
<div class="viewcode-block" id="Detector"><a class="viewcode-back" href="../../../includeme/apidocuments.html#motrackers.detectors.detector.Detector">[docs]</a><span class="k">class</span> <span class="nc">Detector</span><span class="p">:</span>
<span class="sd">"""</span>
<span class="sd"> Abstract class for detector.</span>
<span class="sd"> Args:</span>
<span class="sd"> object_names (dict): Dictionary containing (key, value) as (class_id, class_name) for object detector.</span>
<span class="sd"> confidence_threshold (float): Confidence threshold for object detection.</span>
<span class="sd"> nms_threshold (float): Threshold for non-maximal suppression.</span>
<span class="sd"> draw_bboxes (bool): If true, draw bounding boxes on the image is possible.</span>
<span class="sd"> """</span>
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">object_names</span><span class="p">,</span> <span class="n">confidence_threshold</span><span class="p">,</span> <span class="n">nms_threshold</span><span class="p">,</span> <span class="n">draw_bboxes</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
<span class="bp">self</span><span class="o">.</span><span class="n">object_names</span> <span class="o">=</span> <span class="n">object_names</span>
<span class="bp">self</span><span class="o">.</span><span class="n">confidence_threshold</span> <span class="o">=</span> <span class="n">confidence_threshold</span>
<span class="bp">self</span><span class="o">.</span><span class="n">nms_threshold</span> <span class="o">=</span> <span class="n">nms_threshold</span>
<span class="bp">self</span><span class="o">.</span><span class="n">height</span> <span class="o">=</span> <span class="kc">None</span>
<span class="bp">self</span><span class="o">.</span><span class="n">width</span> <span class="o">=</span> <span class="kc">None</span>
<span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="mi">12345</span><span class="p">)</span>
<span class="k">if</span> <span class="n">draw_bboxes</span><span class="p">:</span>
<span class="bp">self</span><span class="o">.</span><span class="n">bbox_colors</span> <span class="o">=</span> <span class="p">{</span><span class="n">key</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">255</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mi">3</span><span class="p">,))</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_names</span><span class="o">.</span><span class="n">keys</span><span class="p">()}</span>
<div class="viewcode-block" id="Detector.forward"><a class="viewcode-back" href="../../../includeme/apidocuments.html#motrackers.detectors.detector.Detector.forward">[docs]</a> <span class="k">def</span> <span class="nf">forward</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">image</span><span class="p">):</span>
<span class="sd">"""</span>
<span class="sd"> Forward pass for the detector with input image.</span>
<span class="sd"> Args:</span>
<span class="sd"> image (numpy.ndarray): Input image.</span>
<span class="sd"> Returns:</span>
<span class="sd"> numpy.ndarray: detections</span>
<span class="sd"> """</span>
<span class="k">raise</span> <span class="bp">NotImplemented</span></div>
<div class="viewcode-block" id="Detector.detect"><a class="viewcode-back" href="../../../includeme/apidocuments.html#motrackers.detectors.detector.Detector.detect">[docs]</a> <span class="k">def</span> <span class="nf">detect</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">image</span><span class="p">):</span>
<span class="sd">"""</span>
<span class="sd"> Detect objects in the input image.</span>
<span class="sd"> Args:</span>
<span class="sd"> image (numpy.ndarray): Input image.</span>
<span class="sd"> Returns:</span>
<span class="sd"> tuple: Tuple containing the following elements:</span>
<span class="sd"> - bboxes (numpy.ndarray): Bounding boxes with shape (n, 4) containing detected objects with each row as `(xmin, ymin, width, height)`.</span>
<span class="sd"> - confidences (numpy.ndarray): Confidence or detection probabilities if the detected objects with shape (n,).</span>
<span class="sd"> - class_ids (numpy.ndarray): Class_ids or label_ids of detected objects with shape (n, 4)</span>
<span class="sd"> """</span>
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">width</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">height</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
<span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">width</span><span class="p">)</span> <span class="o">=</span> <span class="n">image</span><span class="o">.</span><span class="n">shape</span><span class="p">[:</span><span class="mi">2</span><span class="p">]</span>
<span class="n">detections</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">forward</span><span class="p">(</span><span class="n">image</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
<span class="n">bboxes</span><span class="p">,</span> <span class="n">confidences</span><span class="p">,</span> <span class="n">class_ids</span> <span class="o">=</span> <span class="p">[],</span> <span class="p">[],</span> <span class="p">[]</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">detections</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]):</span>
<span class="n">detection</span> <span class="o">=</span> <span class="n">detections</span><span class="p">[</span><span class="n">i</span><span class="p">,</span> <span class="p">:]</span>
<span class="n">class_id</span> <span class="o">=</span> <span class="n">detection</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
<span class="n">confidence</span> <span class="o">=</span> <span class="n">detection</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span>
<span class="k">if</span> <span class="n">confidence</span> <span class="o">></span> <span class="bp">self</span><span class="o">.</span><span class="n">confidence_threshold</span><span class="p">:</span>
<span class="n">bbox</span> <span class="o">=</span> <span class="n">detection</span><span class="p">[</span><span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">height</span><span class="p">])</span>
<span class="n">bboxes</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">bbox</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="s2">"int"</span><span class="p">))</span>
<span class="n">confidences</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="nb">float</span><span class="p">(</span><span class="n">confidence</span><span class="p">))</span>
<span class="n">class_ids</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="nb">int</span><span class="p">(</span><span class="n">class_id</span><span class="p">))</span>
<span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">bboxes</span><span class="p">):</span>
<span class="n">bboxes</span> <span class="o">=</span> <span class="n">xyxy2xywh</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">bboxes</span><span class="p">))</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
<span class="n">class_ids</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">class_ids</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="s1">'int'</span><span class="p">)</span>
<span class="n">indices</span> <span class="o">=</span> <span class="n">cv</span><span class="o">.</span><span class="n">dnn</span><span class="o">.</span><span class="n">NMSBoxes</span><span class="p">(</span><span class="n">bboxes</span><span class="p">,</span> <span class="n">confidences</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">confidence_threshold</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">nms_threshold</span><span class="p">)</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
<span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">bboxes</span><span class="p">)[</span><span class="n">indices</span><span class="p">,</span> <span class="p">:],</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">confidences</span><span class="p">)[</span><span class="n">indices</span><span class="p">],</span> <span class="n">class_ids</span><span class="p">[</span><span class="n">indices</span><span class="p">]</span>
<span class="k">else</span><span class="p">:</span>
<span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([]),</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([]),</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([])</span></div>
<div class="viewcode-block" id="Detector.draw_bboxes"><a class="viewcode-back" href="../../../includeme/apidocuments.html#motrackers.detectors.detector.Detector.draw_bboxes">[docs]</a> <span class="k">def</span> <span class="nf">draw_bboxes</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">image</span><span class="p">,</span> <span class="n">bboxes</span><span class="p">,</span> <span class="n">confidences</span><span class="p">,</span> <span class="n">class_ids</span><span class="p">):</span>
<span class="sd">"""</span>
<span class="sd"> Draw the bounding boxes about detected objects in the image.</span>
<span class="sd"> Args:</span>
<span class="sd"> image (numpy.ndarray): Image or video frame.</span>
<span class="sd"> bboxes (numpy.ndarray): Bounding boxes pixel coordinates as (xmin, ymin, width, height)</span>
<span class="sd"> confidences (numpy.ndarray): Detection confidence or detection probability.</span>
<span class="sd"> class_ids (numpy.ndarray): Array containing class ids (aka label ids) of each detected object.</span>
<span class="sd"> Returns:</span>
<span class="sd"> numpy.ndarray: image with the bounding boxes drawn on it.</span>
<span class="sd"> """</span>
<span class="k">for</span> <span class="n">bb</span><span class="p">,</span> <span class="n">conf</span><span class="p">,</span> <span class="n">cid</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">bboxes</span><span class="p">,</span> <span class="n">confidences</span><span class="p">,</span> <span class="n">class_ids</span><span class="p">):</span>
<span class="n">clr</span> <span class="o">=</span> <span class="p">[</span><span class="nb">int</span><span class="p">(</span><span class="n">c</span><span class="p">)</span> <span class="k">for</span> <span class="n">c</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">bbox_colors</span><span class="p">[</span><span class="n">cid</span><span class="p">]]</span>
<span class="n">cv</span><span class="o">.</span><span class="n">rectangle</span><span class="p">(</span><span class="n">image</span><span class="p">,</span> <span class="p">(</span><span class="n">bb</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">bb</span><span class="p">[</span><span class="mi">1</span><span class="p">]),</span> <span class="p">(</span><span class="n">bb</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">bb</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span> <span class="n">bb</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">bb</span><span class="p">[</span><span class="mi">3</span><span class="p">]),</span> <span class="n">clr</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span>
<span class="n">label</span> <span class="o">=</span> <span class="s2">"</span><span class="si">{}</span><span class="s2">:</span><span class="si">{:.4f}</span><span class="s2">"</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_names</span><span class="p">[</span><span class="n">cid</span><span class="p">],</span> <span class="n">conf</span><span class="p">)</span>
<span class="p">(</span><span class="n">label_width</span><span class="p">,</span> <span class="n">label_height</span><span class="p">),</span> <span class="n">baseLine</span> <span class="o">=</span> <span class="n">cv</span><span class="o">.</span><span class="n">getTextSize</span><span class="p">(</span><span class="n">label</span><span class="p">,</span> <span class="n">cv</span><span class="o">.</span><span class="n">FONT_HERSHEY_SIMPLEX</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span>
<span class="n">y_label</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="n">bb</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">label_height</span><span class="p">)</span>
<span class="n">cv</span><span class="o">.</span><span class="n">rectangle</span><span class="p">(</span><span class="n">image</span><span class="p">,</span> <span class="p">(</span><span class="n">bb</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">y_label</span> <span class="o">-</span> <span class="n">label_height</span><span class="p">),</span> <span class="p">(</span><span class="n">bb</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">label_width</span><span class="p">,</span> <span class="n">y_label</span> <span class="o">+</span> <span class="n">baseLine</span><span class="p">),</span>
<span class="p">(</span><span class="mi">255</span><span class="p">,</span> <span class="mi">255</span><span class="p">,</span> <span class="mi">255</span><span class="p">),</span> <span class="n">cv</span><span class="o">.</span><span class="n">FILLED</span><span class="p">)</span>
<span class="n">cv</span><span class="o">.</span><span class="n">putText</span><span class="p">(</span><span class="n">image</span><span class="p">,</span> <span class="n">label</span><span class="p">,</span> <span class="p">(</span><span class="n">bb</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">y_label</span><span class="p">),</span> <span class="n">cv</span><span class="o">.</span><span class="n">FONT_HERSHEY_SIMPLEX</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="n">clr</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span>
<span class="k">return</span> <span class="n">image</span></div></div>
</pre></div>
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