diff --git a/.gitignore b/.gitignore index 1054e35..2f57332 100644 --- a/.gitignore +++ b/.gitignore @@ -3,6 +3,18 @@ weights/* !weights/ckpt.t7 !weights/DHN.pth !weights/osnet_x0_25.pth +visdrone/* +uavdt/* +mot17/* +runs/* +wandb/* +track_result.txt +.idea/ +tracker/results/* +*.mp4 +*.mkv +temp.py +demo_result/ # Byte-compiled / optimized / DLL files __pycache__/ diff --git a/README.md b/README.md index b8d31f8..dc1f791 100644 --- a/README.md +++ b/README.md @@ -1,41 +1,26 @@ # YOLO v7 + 各种tracker实现多目标跟踪 -## 0. 更新记录 +**** -**2023.3.14**解决了`DeepSORT`和`C_BIoUTracker`后面出现的目标不跟踪的bug. +本人在写这个代码的时候, 没想到会有这么多人看到. 然而, 必须承认我这份代码是以尽量整合为目的, 加了我自己的理解, 所以有的部分也许和原论文有出入, 导致效果不一定是最好的. -**2023.2.28**优化了`track_demo.py`, 减少了内存占用. +为此, 给大家推荐一个成熟的repo: (https://github.com/mikel-brostrom/yolo_tracking)[https://github.com/mikel-brostrom/yolo_tracking] -**2023.2.24**加入了**推理单个视频或图片文件夹**以及**YOLO v8**的推理功能, 对应的代码为`tracker/track_demo.py`与`tracker/track_yolov8.py`. 推理单个视频或图片文件夹不需要指定数据集与真值, 也没有评测指标的功能, 只需要在命令行中指定`obj`即可, 例如: +我这个代码大家可以作为学习之用, 也就是熟悉MOT的流程. 如果追求更好的效果, 我建议采纳更成熟的那些. -```shell -python tracker/track_demo.py --obj demo.mp4 -``` -YOLO v8 代码的参数与之前完全相同. 安装YOLO v8以及训练步骤请参照[YOLO v8](https://github.com/ultralytics/ultralytics) +我会不断听取大家的问题和建议, 希望和大家一起学习! +**** -**2023.2.11**修复了TrackEval路径报错的问题, 详见[issue35](https://github.com/JackWoo0831/Yolov7-tracker/issues/35) +## 0. 近期更新 -**2023.2.10**修改了[DeepSORT](https://github.com/JackWoo0831/Yolov7-tracker/blob/master/tracker/deepsort.py)的代码与相关部分代码, 遵循了DeepSORT原论文**级联匹配和余弦距离计算**的原则, 并且解决了原有DeepSORT代码出现莫名漂移跟踪框的问题. +**2023.10.24**: 对于botsort(`tracker/botsort.py line 358`)和bytetrack(`tracker/bytetrack.py line 89`), 在低置信度检测列表初始化, 改正原有错误 (原本写错了, 写的用`det_high`初始化). -**2023.1.15**加入了**MOT17数据集**的训练与测试功能, 增加了MOT17转yolo格式的代码(`./tools/convert_MOT17_to_yolo.py`), 转换的过程中强制使得坐标合法, 且忽略了遮挡率>=0.75的目标. 您可以采用此代码转换并训练, 具体请见后面的说明. 在使用tracker的时候, 注意将`data_format`设置为yolo, 这样可以直接根据txt文件的路径读取图片. +**2023.9.16**: 对于`track_demo.py`, 由于`yolov7`的`non_maximum_supress`函数中已经对类别做了筛选, 因此删去了主程序中类别计算的部分, 并修复了一些小bug -**2023.1.14**加入了当前DanceTrack的SOTA[C_BIoUTracker](https://arxiv.org/pdf/2211.14317v2.pdf), 该论文提出了一种增广的IoU来避免目标的瞬间大范围移动, 且弃用了Kalman滤波. 该代码没有开源, 我是按照自己的理解进行了复现. **有错误非常欢迎指出**. +**2023.5.6[大更新]**: 对于v5, v7, 改变前处理和后处理方式(采用原有方式), ***解决了部分边界框近大远小的bug, 边界框更加精确***. 此外, 对于v8, 弃用了resize步骤, 直接推理. -**2022.11.26**加入了[TrackEval](https://github.com/JonathonLuiten/TrackEval)评测的方式, 支持MOT, VisDrone和UAVDT三种数据集. 此外将一些路径变量选择了按照`yaml`的方式读取, 尽量让代码可读性高一些. 如果您不想用TrackEval进行评测, 则可以将`track.py`或`track_yolov5.py`的命令配置代码`parser.add_argument('--track_eval', type=bool, default=True, help='Use TrackEval to evaluate')`改为`False`. -**2022.11.10**更新了如何设置数据集路径的说明, 请参见README的`track.py路径读取说明`部分. - -**2022.11.09**修复了BoT-SORT中的一处错误[issue 16](https://github.com/JackWoo0831/Yolov7-tracker/issues/16), 加粗了边界框与字体. - -**2022.11.08**更新了track.py, track_yolov5.py, basetrack.py和tracker_dataloader.py, 修复了yolo格式读取数据以及保存视频功能的一些bug, 并增加了隔帧检测的功能(大多数时候用不到). - -**2022.10.22**本代码的匹配代码比较简单, 不一定会达到最好的效果(每次匹配只用一次linear assignment, 没有和历史帧的特征相匹配), 您可以使用cascade matching的方式(参见[StrongSORT](https://github.com/dyhBUPT/StrongSORT/blob/master/deep_sort/tracker.py)的line94-134) - -**2022.10.15**增加了对yolo v5的支持, 只需替换track.py, 将tracker文件夹放到v5的根目录(我测试的是官方的[repo](https://github.com/ultralytics/yolov5))下即可. 代码在[yolo v5](https://github.com/JackWoo0831/Yolov7-tracker/blob/master/tracker/track_yolov5.py). - -**2022.09.27**修复了STrack类中update不更新外观的问题, 代码有较大更改, **您可能需要重新下载```./tracker```文件夹**. -尝试加入StrongSORT, 但是目前还不work:(, 尽力调一调 ## 1. 亮点 1. 统一代码风格, 对多种tracker重新整理, 详细注释, 方便阅读, 适合初学者 @@ -144,7 +129,7 @@ origin意味着您直接使用数据集原本的路径, **而不是通过yolo要 DATA_ROOT的值应为/data/datasets/VisDrone2019/VisDrone2019-MOT-test-dev/sequences, 即DATA_ROOT目录下应该为各个视频序列的文件夹. ``` -***2. yolo*** +***2. yolo[推荐]*** yolo格式意味着您通过yolo训练时所要求的txt文件读取序列. 我们知道yolo要求txt文件记录图片的路径, 例如: @@ -247,3 +232,42 @@ python tracker/track_demo.py --obj demo.mp4 > 注意: 推理的时候batch_size要求为1. ## 更多运行命令参考 run_yolov7.txt文件 + + +## 10. 更新记录 + + +**2023.3.14**解决了`DeepSORT`和`C_BIoUTracker`后面出现的目标不跟踪的bug. + +**2023.2.28**优化了`track_demo.py`, 减少了内存占用. + +**2023.2.24**加入了**推理单个视频或图片文件夹**以及**YOLO v8**的推理功能, 对应的代码为`tracker/track_demo.py`与`tracker/track_yolov8.py`. 推理单个视频或图片文件夹不需要指定数据集与真值, 也没有评测指标的功能, 只需要在命令行中指定`obj`即可, 例如: + +```shell +python tracker/track_demo.py --obj demo.mp4 +``` +YOLO v8 代码的参数与之前完全相同. 安装YOLO v8以及训练步骤请参照[YOLO v8](https://github.com/ultralytics/ultralytics) + + +**2023.2.11**修复了TrackEval路径报错的问题, 详见[issue35](https://github.com/JackWoo0831/Yolov7-tracker/issues/35) + +**2023.2.10**修改了[DeepSORT](https://github.com/JackWoo0831/Yolov7-tracker/blob/master/tracker/deepsort.py)的代码与相关部分代码, 遵循了DeepSORT原论文**级联匹配和余弦距离计算**的原则, 并且解决了原有DeepSORT代码出现莫名漂移跟踪框的问题. + +**2023.1.15**加入了**MOT17数据集**的训练与测试功能, 增加了MOT17转yolo格式的代码(`./tools/convert_MOT17_to_yolo.py`), 转换的过程中强制使得坐标合法, 且忽略了遮挡率>=0.75的目标. 您可以采用此代码转换并训练, 具体请见后面的说明. 在使用tracker的时候, 注意将`data_format`设置为yolo, 这样可以直接根据txt文件的路径读取图片. + +**2023.1.14**加入了当前DanceTrack的SOTA[C_BIoUTracker](https://arxiv.org/pdf/2211.14317v2.pdf), 该论文提出了一种增广的IoU来避免目标的瞬间大范围移动, 且弃用了Kalman滤波. 该代码没有开源, 我是按照自己的理解进行了复现. **有错误非常欢迎指出**. + +**2022.11.26**加入了[TrackEval](https://github.com/JonathonLuiten/TrackEval)评测的方式, 支持MOT, VisDrone和UAVDT三种数据集. 此外将一些路径变量选择了按照`yaml`的方式读取, 尽量让代码可读性高一些. 如果您不想用TrackEval进行评测, 则可以将`track.py`或`track_yolov5.py`的命令配置代码`parser.add_argument('--track_eval', type=bool, default=True, help='Use TrackEval to evaluate')`改为`False`. + +**2022.11.10**更新了如何设置数据集路径的说明, 请参见README的`track.py路径读取说明`部分. + +**2022.11.09**修复了BoT-SORT中的一处错误[issue 16](https://github.com/JackWoo0831/Yolov7-tracker/issues/16), 加粗了边界框与字体. + +**2022.11.08**更新了track.py, track_yolov5.py, basetrack.py和tracker_dataloader.py, 修复了yolo格式读取数据以及保存视频功能的一些bug, 并增加了隔帧检测的功能(大多数时候用不到). + +**2022.10.22**本代码的匹配代码比较简单, 不一定会达到最好的效果(每次匹配只用一次linear assignment, 没有和历史帧的特征相匹配), 您可以使用cascade matching的方式(参见[StrongSORT](https://github.com/dyhBUPT/StrongSORT/blob/master/deep_sort/tracker.py)的line94-134) + +**2022.10.15**增加了对yolo v5的支持, 只需替换track.py, 将tracker文件夹放到v5的根目录(我测试的是官方的[repo](https://github.com/ultralytics/yolov5))下即可. 代码在[yolo v5](https://github.com/JackWoo0831/Yolov7-tracker/blob/master/tracker/track_yolov5.py). + +**2022.09.27[大更新]**修复了STrack类中update不更新外观的问题, 代码有较大更改, **您可能需要重新下载```./tracker```文件夹**. +尝试加入StrongSORT, 但是目前还不work:(, 尽力调一调 \ No newline at end of file diff --git a/data/uavdt.yaml b/data/uavdt.yaml new file mode 100644 index 0000000..3f0e02e --- /dev/null +++ b/data/uavdt.yaml @@ -0,0 +1,7 @@ +train: ./uavdt/train.txt +val: ./uavdt/test.txt +test: ./uavdt/test.txt + +nc: 1 + +names: ['car'] \ No newline at end of file diff --git a/mot17/test.txt b/mot17/test.txt deleted file mode 100644 index fa1d903..0000000 --- a/mot17/test.txt +++ /dev/null @@ -1,17757 +0,0 @@ -MOT17/images/test/MOT17-07-SDP/000001.jpg -MOT17/images/test/MOT17-07-SDP/000002.jpg 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-MOT17/images/val/MOT17-13-FRCNN/000361.jpg -MOT17/images/val/MOT17-13-FRCNN/000362.jpg -MOT17/images/val/MOT17-13-FRCNN/000363.jpg -MOT17/images/val/MOT17-13-FRCNN/000364.jpg -MOT17/images/val/MOT17-13-FRCNN/000365.jpg -MOT17/images/val/MOT17-13-FRCNN/000366.jpg -MOT17/images/val/MOT17-13-FRCNN/000367.jpg -MOT17/images/val/MOT17-13-FRCNN/000368.jpg -MOT17/images/val/MOT17-13-FRCNN/000369.jpg -MOT17/images/val/MOT17-13-FRCNN/000370.jpg -MOT17/images/val/MOT17-13-FRCNN/000371.jpg -MOT17/images/val/MOT17-13-FRCNN/000372.jpg -MOT17/images/val/MOT17-13-FRCNN/000373.jpg -MOT17/images/val/MOT17-13-FRCNN/000374.jpg -MOT17/images/val/MOT17-13-FRCNN/000375.jpg -MOT17/images/val/MOT17-13-FRCNN/000376.jpg diff --git a/run_yolov7.txt b/run_yolov7.txt index 1e9f1b9..f808d42 100644 --- a/run_yolov7.txt +++ b/run_yolov7.txt @@ -17,6 +17,8 @@ python train_aux.py --dataset visdrone --workers 8 --device 4 --batch-size 16 -- ## all category python train_aux.py --dataset visdrone --workers 8 --device 0 --batch-size 16 --data data/visdrone_all.yaml --img 1280 1280 --cfg cfg/training/yolov7-w6.yaml --weights './weights/yolov7-w6_training.pt' --name yolov7-w6-custom --hyp data/hyp.scratch.custom.yaml +uavdt: +python train_aux.py --dataset uavdt --workers 8 --device 5 --batch-size 16 --data data/uavdt.yaml --img 1280 1280 --cfg cfg/training/yolov7-w6.yaml --weights './weights/yolov7-w6_training.pt' --name yolov7-w6-custom --hyp data/hyp.scratch.custom.yaml ## all category, no mosaic, rect training NOTE: edited augment = False in line 246, train_aux.py @@ -61,4 +63,4 @@ CUDA_VISIBLE_DEVICES=0 python train_aux.py --dataset mot17 --workers 8 --device track: python tracker/track.py --dataset mot17 --data_format yolo --tracker sort --model_path runs/train/yolov7-w6-custom3/weights/best.pt --save_images python tracker/track.py --dataset mot17 --data_format yolo --tracker bytetrack --model_path weights/best.pt --save_images -python tracker/track.py --dataset mot17 --data_format yolo --tracker deepsort --model_path weights/best.pt --save_images \ No newline at end of file +python tracker/track.py --dataset mot17 --data_format yolo --tracker deepsort --model_path weights/best.pt --save_images diff --git a/tools/convert_UAVDT_to_yolo.py b/tools/convert_UAVDT_to_yolo.py index 217b9a0..7793c4c 100644 --- a/tools/convert_UAVDT_to_yolo.py +++ b/tools/convert_UAVDT_to_yolo.py @@ -47,7 +47,7 @@ def generate_imgs_and_labels(opts): # 分别处理train与test process_train_test(train_seq_list, frame_range, CATEGOTY_ID, 'train') - process_train_test(test_seq_list, frame_range, CATEGOTY_ID, 'test') + process_train_test(test_seq_list, {'start': 0.0, 'end': 1.0}, CATEGOTY_ID, 'test') print('All Done!!') @@ -156,4 +156,4 @@ def process_train_test(seqs: list, frame_range: dict, cat_id: int = 0, split: st opts = parser.parse_args() generate_imgs_and_labels(opts) - # python uav_tools/convert_UAVDT_to_yolo.py --generate_imgs --half --random \ No newline at end of file + # python tools/convert_UAVDT_to_yolo.py --generate_imgs --half --random \ No newline at end of file diff --git a/tracker/basetrack.py b/tracker/basetrack.py index 1719a2b..7744aab 100644 --- a/tracker/basetrack.py +++ b/tracker/basetrack.py @@ -107,6 +107,17 @@ def __init__(self, cls, tlwh, score, kalman_format='default', self.mean, self.cov = None, None # for kalman predict # some tool funcs + @staticmethod + def tlbr2tlwh(tlbr): + """ + convert tlbr to tlwh + """ + result = np.asarray(tlbr).copy() + result[2] -= result[0] + result[3] -= result[1] + + return result + @staticmethod def tlwh2xyah(tlwh): """ @@ -375,26 +386,12 @@ def update(self, det_results, ori_img): """step 1. filter results and init tracks""" det_results = det_results[det_results[:, 4] > self.det_thresh] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] - if det_results.shape[0] > 0: - if self.NMS: - # TODO: Note nms need tlbr format - bbox_temp = STrack.xywh2tlbr(det_results[:, :4]) - nms_indices = nms(torch.from_numpy(bbox_temp), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] # detections: List[Strack] - detections = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4])] + detections = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4])] else: detections = [] diff --git a/tracker/botsort.py b/tracker/botsort.py index f1f8489..c3cc65c 100644 --- a/tracker/botsort.py +++ b/tracker/botsort.py @@ -270,7 +270,7 @@ def multi_gmc(stracks, H=np.eye(2, 3)): class BoTSORT(BaseTracker): - def __init__(self, opts, frame_rate=30, gamma=0.02, use_GMC=False, *args, **kwargs) -> None: + def __init__(self, opts, frame_rate=30, gamma=0.02, use_GMC=True, *args, **kwargs) -> None: super().__init__(opts, frame_rate, *args, **kwargs) self.use_apperance_model = False @@ -318,7 +318,7 @@ def update(self, det_results, ori_img): ori_img: original image, np.ndarray, shape(H, W, C) """ if isinstance(det_results, torch.Tensor): - det_results = det_results.cpu().numpy() + det_results = det_results.detach().cpu().numpy() if isinstance(ori_img, torch.Tensor): ori_img = ori_img.numpy() @@ -328,14 +328,6 @@ def update(self, det_results, ori_img): lost_stracks = [] # The tracks which are not obtained in the current frame but are not removed.(Lost for some time lesser than the threshold for removing) removed_stracks = [] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] - """step 1. filter results and init tracks""" # filter small area bboxs @@ -343,13 +335,6 @@ def update(self, det_results, ori_img): small_indicies = det_results[:, 2]*det_results[:, 3] > 50 det_results = det_results[small_indicies] - # run NMS - if self.NMS: - # NOTE: Note nms need tlbr format - nms_indices = nms(torch.from_numpy(STrack.xywh2tlbr(det_results[:, :4])), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] - # cal high and low indicies det_high_indicies = det_results[:, 4] >= self.det_thresh det_low_indicies = np.logical_and(np.logical_not(det_high_indicies), det_results[:, 4] > self.low_conf_thresh) @@ -358,19 +343,19 @@ def update(self, det_results, ori_img): det_high, det_low = det_results[det_high_indicies], det_results[det_low_indicies] if det_high.shape[0] > 0: if self.use_apperance_model: - features = self.get_feature(STrack.xywh2tlbr(det_high[:, :4]), ori_img) + features = self.get_feature(det_high[:, :4], ori_img) # detections: List[Strack] - D_high = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format, feature=feature) - for (cls, xywh, score, feature) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4], features)] + D_high = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format, feature=feature) + for (cls, tlbr, score, feature) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4], features)] else: - D_high = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] + D_high = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] else: D_high = [] if det_low.shape[0] > 0: - D_low = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] + D_low = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] else: D_low = [] diff --git a/tracker/bytetrack.py b/tracker/bytetrack.py index 3b987a0..19cf74b 100644 --- a/tracker/bytetrack.py +++ b/tracker/bytetrack.py @@ -57,14 +57,6 @@ def update(self, det_results, ori_img): lost_stracks = [] # The tracks which are not obtained in the current frame but are not removed.(Lost for some time lesser than the threshold for removing) removed_stracks = [] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] - """step 1. filter results and init tracks""" # filter small area bboxs @@ -72,12 +64,6 @@ def update(self, det_results, ori_img): small_indicies = det_results[:, 2]*det_results[:, 3] > 50 det_results = det_results[small_indicies] - # run NMS - if self.NMS: - # NOTE: Note nms need tlbr format - nms_indices = nms(torch.from_numpy(STrack.xywh2tlbr(det_results[:, :4])), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] # cal high and low indicies det_high_indicies = det_results[:, 4] >= self.det_thresh @@ -88,19 +74,19 @@ def update(self, det_results, ori_img): det_high, det_low = det_results[det_high_indicies], det_results[det_low_indicies] if det_high.shape[0] > 0: if self.use_apperance_model: - features = self.get_feature(STrack.xywh2tlbr(det_high[:, :4]), ori_img) + features = self.get_feature(det_high[:, :4], ori_img) # detections: List[Strack] - D_high = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format, feature=feature) - for (cls, xywh, score, feature) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4], features)] + D_high = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format, feature=feature) + for (cls, tlbr, score, feature) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4], features)] else: - D_high = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] + D_high = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] else: D_high = [] if det_low.shape[0] > 0: - D_low = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] + D_low = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] else: D_low = [] diff --git a/tracker/c_biou_tracker.py b/tracker/c_biou_tracker.py index 6db4869..7381532 100644 --- a/tracker/c_biou_tracker.py +++ b/tracker/c_biou_tracker.py @@ -61,7 +61,6 @@ def get_buffer_bbox(self, level=1, bbox=None): buffer_bbox = bbox + np.array([-b*bbox[2], -b*bbox[3], 2*b*bbox[2], 2*b*bbox[3]]) return np.maximum(0.0, buffer_bbox) - @property def tlbr(self): ret = self.origin_bbox_buffer[-1].copy() @@ -152,6 +151,18 @@ def update(self, new_track, frame_id): self.time_since_update = 0 + + @staticmethod + def tlbr2tlwh(tlbr): + """ + convert tlbr to tlwh + """ + result = np.asarray(tlbr).copy() + result[2] -= result[0] + result[3] -= result[1] + + return result + @staticmethod def xywh2tlbr(xywh): """ @@ -226,25 +237,11 @@ def update(self, det_results, ori_img): """step 1. filter results and init tracks""" det_results = det_results[det_results[:, 4] > self.det_thresh] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] - if det_results.shape[0] > 0: - if self.NMS: - # TODO: Note nms need tlbr format - bbox_temp = C_BIoUSTrack.xywh2tlbr(det_results[:, :4]) - nms_indices = nms(torch.from_numpy(bbox_temp), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] # detections: List[Strack] - detections = [C_BIoUSTrack(cls, C_BIoUSTrack.xywh2tlwh(xywh), score) - for (cls, xywh, score) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4])] + detections = [C_BIoUSTrack(cls, C_BIoUSTrack.tlbr2tlwh(tlbr), score) + for (cls, tlbr, score) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4])] else: detections = [] diff --git a/tracker/config_files/uavdt.yaml b/tracker/config_files/uavdt.yaml index d17248c..af4906b 100644 --- a/tracker/config_files/uavdt.yaml +++ b/tracker/config_files/uavdt.yaml @@ -8,7 +8,7 @@ CATEGORY_DICT: 0: 'car' CERTAIN_SEQS: - - 'M0101' + - IGNORE_SEQS: # Seqs you want to ignore - diff --git a/tracker/deepmot.py b/tracker/deepmot.py index 0448f53..d32e32b 100644 --- a/tracker/deepmot.py +++ b/tracker/deepmot.py @@ -176,14 +176,6 @@ def update(self, det_results, ori_img): lost_stracks = [] # The tracks which are not obtained in the current frame but are not removed.(Lost for some time lesser than the threshold for removing) removed_stracks = [] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] - """step 1. filter results and init tracks""" # filter small area bboxs @@ -191,27 +183,22 @@ def update(self, det_results, ori_img): small_indicies = det_results[:, 2]*det_results[:, 3] > 50 det_results = det_results[small_indicies] - # run NMS - if self.NMS: - # NOTE: Note nms need tlbr format - nms_indices = nms(torch.from_numpy(STrack.xywh2tlbr(det_results[:, :4])), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] # cal high and low indicies det_high_indicies = det_results[:, 4] >= self.det_thresh det_low_indicies = np.logical_and(np.logical_not(det_high_indicies), det_results[:, 4] > self.low_conf_thresh) det_high, det_low = det_results[det_high_indicies], det_results[det_low_indicies] + if det_high.shape[0] > 0: - D_high = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] + D_high = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] else: D_high = [] if det_low.shape[0] > 0: - D_low = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] + D_low = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] else: D_low = [] diff --git a/tracker/deepsort.py b/tracker/deepsort.py index a112d78..c4858ae 100644 --- a/tracker/deepsort.py +++ b/tracker/deepsort.py @@ -96,34 +96,21 @@ def update(self, det_results, ori_img): """step 1. filter results and init tracks""" det_results = det_results[det_results[:, 4] > self.det_thresh] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] + if det_results.shape[0] > 0: - bbox_temp = STrack.xywh2tlbr(det_results[:, :4]) + bbox_temp = det_results[:, :4] if self.filter_small_area: # filter small area bboxs small_indicies = det_results[:, 2]*det_results[:, 3] > 50 det_results = det_results[small_indicies] bbox_temp = bbox_temp[small_indicies] - if self.NMS: - # NOTE: Note nms need tlbr format - nms_indices = nms(torch.from_numpy(bbox_temp), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] - features = self.get_feature(bbox_temp[nms_indices.numpy()], ori_img) - else: - features = self.get_feature(bbox_temp, ori_img) + features = self.get_feature(bbox_temp, ori_img) # detections: List[Strack] - detections = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format, feature=feature, use_avg_of_feature=False) - for (cls, xywh, score, feature) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4], features)] + detections = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format, feature=feature, use_avg_of_feature=False) + for (cls, tlbr, score, feature) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4], features)] else: detections = [] diff --git a/tracker/strongsort.py b/tracker/strongsort.py index b56d19a..65109ef 100644 --- a/tracker/strongsort.py +++ b/tracker/strongsort.py @@ -108,29 +108,17 @@ def update(self, det_results, ori_img): """step 1. filter results and init tracks""" det_results = det_results[det_results[:, 4] > self.det_thresh] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] + if det_results.shape[0] > 0: - bbox_temp = STrack.xywh2tlbr(det_results[:, :4]) - if self.NMS: - # NOTE: Note nms need tlbr format - nms_indices = nms(torch.from_numpy(bbox_temp), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] - features = self.get_feature(bbox_temp[nms_indices.numpy()], ori_img) - else: - features = self.get_feature(bbox_temp, ori_img) + bbox_temp = det_results[:, :4] + + features = self.get_feature(bbox_temp, ori_img) # detections: List[Strack] - detections = [STrack(cls, STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format, feature=feature) - for (cls, xywh, score, feature) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4], features)] + detections = [STrack(cls, STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format, feature=feature) + for (cls, tlbr, score, feature) in zip(det_results[:, -1], det_results[:, :4], det_results[:, 4], features)] else: detections = [] diff --git a/tracker/track.py b/tracker/track.py index 61b37f8..a7224ba 100644 --- a/tracker/track.py +++ b/tracker/track.py @@ -29,6 +29,8 @@ from models.experimental import attempt_load from evaluate import evaluate from utils.torch_utils import select_device, time_synchronized, TracedModel + from utils.general import non_max_suppression, scale_coords, check_img_size + print('Note: running yolo v7 detector') except: @@ -73,17 +75,16 @@ def main(opts, cfgs): opts.save_images = True """ - 1. load model + 1. load model for yolo v7 """ device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") - ckpt = torch.load(opts.model_path, map_location=device) - model = ckpt['ema' if ckpt.get('ema') else 'model'].float().fuse().eval() # for yolo v7 + + model = attempt_load(opts.model_path, map_location=device) # for yolo v7 + stride = int(model.stride.max()) # model stride + opts.img_size = check_img_size(opts.img_size, s=stride) # check img_size if opts.trace: - print(opts.img_size) model = TracedModel(model, device, opts.img_size) - else: - model.to(device) """ 2. load dataset and track @@ -124,7 +125,7 @@ def main(opts, cfgs): path = os.path.join(DATA_ROOT, seq) if opts.data_format == 'origin' else os.path.join('./', f'{opts.dataset}', 'test.txt') - loader = tracker_dataloader.TrackerLoader(path, opts.img_size, opts.data_format, seq) + loader = tracker_dataloader.TrackerLoader(path, opts.img_size, opts.data_format, seq, pre_process_method='v7', model_stride=stride) data_loader = torch.utils.data.DataLoader(loader, batch_size=1) @@ -139,27 +140,16 @@ def main(opts, cfgs): timer.tic() # start timing this img if not i % opts.detect_per_frame: # if it's time to detect - + out = model(img.to(device)) # model forward out = out[0] # NOTE: for yolo v7 - - if len(out.shape) == 3: # case (bs, num_obj, ...) - # out = out.squeeze() - # NOTE: assert batch size == 1 - out = out.squeeze(0) - img0 = img0.squeeze(0) - # remove some low conf detections - out = out[out[:, 4] > 0.001] - - - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - if opts.det_output_format == 'yolo': - cls_conf, cls_idx = torch.max(out[:, 5:], dim=1) - # out[:, 4] *= cls_conf # fuse object and cls conf - out[:, 5] = cls_idx - out = out[:, :6] + img0 = img0.squeeze(0) + + # post process + out = post_process_v7(out, img_size=img.shape[2:], ori_img_size=img0.shape) current_tracks = tracker.update(out, img0) # List[class(STracks)] + else: # otherwize # make the img shape (bs, C, H, W) as (C, H, W) if len(img0.shape) == 4: @@ -239,17 +229,30 @@ def main(opts, cfgs): evaluate(sorted(os.listdir(f'./tracker/results/{folder_name}')), sorted([seq + '.txt' for seq in seqs]), data_type='visdrone', result_folder=folder_name) -def save_results(folder_name, seq_name, results, data_type='default'): + + +def post_process_v7(out, img_size, ori_img_size): + """ post process for v5 and v7 + + """ + + out = non_max_suppression(out, conf_thres=0.01, )[0] + out[:, :4] = scale_coords(img_size, out[:, :4], ori_img_size, ratio_pad=None).round() + + # out: tlbr, conf, cls + + return out + + +def save_results(folder_name, seq_name, results, data_type='mot17'): """ write results to txt file results: list row format: frame id, target id, box coordinate, class(optional) to_file: file path(optional) - data_type: write data format + data_type: write data format, default or mot17 format. """ assert len(results) - if not data_type == 'default': - raise NotImplementedError # TODO if not os.path.exists(f'./tracker/results/{folder_name}'): @@ -258,11 +261,13 @@ def save_results(folder_name, seq_name, results, data_type='default'): with open(os.path.join('./tracker/results', folder_name, seq_name + '.txt'), 'w') as f: for frame_id, target_ids, tlwhs, clses in results: if data_type == 'default': - - # f.write(f'{frame_id},{target_id},{tlwh[0]},{tlwh[1]},\ - # {tlwh[2]},{tlwh[3]},{cls}\n') + for id, tlwh, cls in zip(target_ids, tlwhs, clses): f.write(f'{frame_id},{id},{tlwh[0]:.2f},{tlwh[1]:.2f},{tlwh[2]:.2f},{tlwh[3]:.2f},{int(cls)}\n') + + elif data_type == 'mot17': + for id, tlwh, cls in zip(target_ids, tlwhs, clses): + f.write(f'{frame_id},{id},{tlwh[0]:.2f},{tlwh[1]:.2f},{tlwh[2]:.2f},{tlwh[3]:.2f},1.0,-1,-1,-1\n') f.close() return folder_name @@ -346,7 +351,7 @@ def get_color(idx): parser.add_argument('--model_path', type=str, default='./weights/best.pt', help='model path') parser.add_argument('--trace', type=bool, default=False, help='traced model of YOLO v7') - parser.add_argument('--img_size', nargs='+', type=int, default=[1280, 1280], help='[train, test] image sizes') + parser.add_argument('--img_size', nargs='+', type=int, default=1280, help='[train, test] image sizes') """For tracker""" # model path @@ -354,7 +359,7 @@ def get_color(idx): parser.add_argument('--dhn_path', type=str, default='./weights/DHN.pth', help='path of DHN path for DeepMOT') # threshs - parser.add_argument('--conf_thresh', type=float, default=0.5, help='filter tracks') + parser.add_argument('--conf_thresh', type=float, default=0.2, help='filter tracks') parser.add_argument('--nms_thresh', type=float, default=0.7, help='thresh for NMS') parser.add_argument('--iou_thresh', type=float, default=0.5, help='IOU thresh to filter tracks') @@ -377,4 +382,5 @@ def get_color(idx): # NOTE: read path of datasets, sequences and TrackEval configs with open(f'./tracker/config_files/{opts.dataset}.yaml', 'r') as f: cfgs = yaml.load(f, Loader=yaml.FullLoader) + main(opts, cfgs) diff --git a/tracker/track_demo.py b/tracker/track_demo.py index ca9b9fa..0a564d6 100644 --- a/tracker/track_demo.py +++ b/tracker/track_demo.py @@ -30,6 +30,7 @@ from models.experimental import attempt_load from evaluate import evaluate from utils.torch_utils import select_device, time_synchronized, TracedModel + from utils.general import non_max_suppression, scale_coords, check_img_size print('Note: running yolo v7 detector') except: @@ -64,8 +65,11 @@ def main(opts): 1. load model """ device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") + ckpt = torch.load(opts.model_path, map_location=device) model = ckpt['ema' if ckpt.get('ema') else 'model'].float().fuse().eval() # for yolo v7 + stride = int(model.stride.max()) # model stride + opts.img_size = check_img_size(opts.img_size, s=stride) # check img_size if opts.trace: print(opts.img_size) @@ -86,7 +90,7 @@ def main(opts): # check path assert os.path.exists(obj_name), 'the path does not exist! ' obj, get_next_frame = None, None # init obj - if 'mp4' in opts.obj or 'MP4' in opts.obj: # if it is a video + if 'mp4' in opts.obj or 'MP4' in opts.obj or 'mkv' in opts.obj: # if it is a video obj = cv2.VideoCapture(obj_name) get_next_frame = lambda _ : obj.read() @@ -94,7 +98,7 @@ def main(opts): else: obj_name = obj_name[:-4] else: - obj = my_queue(os.listdir(obj_name)) + obj = my_queue(os.listdir(obj_name), obj_name) get_next_frame = lambda _ : obj.pop_front() if os.path.isabs(obj_name): obj_name = obj_name.split('/')[-1] @@ -116,13 +120,16 @@ def main(opts): if not is_valid: break # end of reading - img = resize_a_frame(img0, [opts.img_size, opts.img_size]) + img, img0 = preprocess_v7(ori_img=img0, model_size=(opts.img_size, opts.img_size), model_stride=stride) timer.tic() # start timing this img img = img.unsqueeze(0) # （C, H, W) -> (bs == 1, C, H, W) - out = model(img.to(device)) # model forward - out = out[0] # NOTE: for yolo v7 - + with torch.no_grad(): + out = model(img.to(device)) # model forward + out = out[0] # NOTE: for yolo v7 + + out = post_process_v7(out, img_size=img.shape[2:], ori_img_size=img0.shape) + if len(out.shape) == 3: # case (bs, num_obj, ...) # out = out.squeeze() # NOTE: assert batch size == 1 @@ -132,11 +139,11 @@ def main(opts): # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - cls_conf, cls_idx = torch.max(out[:, 5:], dim=1) + # cls_conf, cls_idx = torch.max(out[:, 5:], dim=1) # out[:, 4] *= cls_conf # fuse object and cls conf - out[:, 5] = cls_idx - out = out[:, :6] - + # out[:, 5] = cls_idx + # out = out[:, :6] + current_tracks = tracker.update(out, img0) # List[class(STracks)] @@ -157,7 +164,7 @@ def main(opts): results.append((frame_id + 1, cur_id, cur_tlwh, cur_cls)) timer.toc() # end timing this image - plot_img(img0, frame_id, [cur_tlwh, cur_id, cur_cls], save_dir=os.path.join(SAVE_FOLDER, 'reuslt_images', obj_name)) + plot_img(img0, frame_id, [cur_tlwh, cur_id, cur_cls], save_dir=os.path.join(SAVE_FOLDER, 'result_images', obj_name)) frame_id += 1 @@ -175,15 +182,16 @@ class my_queue: """ implement a queue for image seq reading """ - def __init__(self, arr: list) -> None: + def __init__(self, arr: list, root_path: str) -> None: self.arr = arr self.start_idx = 0 + self.root_path = root_path def push_back(self, item): self.arr.append(item) def pop_front(self): - ret = cv2.imread(self.arr[self.start_idx]) + ret = cv2.imread(os.path.join(self.root_path, self.arr[self.start_idx])) self.start_idx += 1 return not self.is_empty(), ret @@ -191,25 +199,63 @@ def is_empty(self): return self.start_idx == len(self.arr) -def resize_a_frame(frame, target_size): - """ - resize a frame to target size - - frame: np.ndarray, shape (H, W, C) - target_size: List[int, int] | Tuple[int, int] +def post_process_v7(out, img_size, ori_img_size): + """ post process for v5 and v7 + """ - # resize to input to the YOLO net - frame_resized = cv2.resize(frame, (target_size[0], target_size[1])) # (H', W', C) - # convert BGR to RGB and to (C, H, W) - frame_resized = frame_resized[:, :, ::-1].transpose(2, 0, 1) - frame_resized = np.ascontiguousarray(frame_resized, dtype=np.float32) - frame_resized /= 255.0 + out = non_max_suppression(out, conf_thres=0.01, )[0] + out[:, :4] = scale_coords(img_size, out[:, :4], ori_img_size, ratio_pad=None).round() - frame_resized = torch.from_numpy(frame_resized) + # out: tlbr, conf, cls - return frame_resized + return out +def preprocess_v7(ori_img, model_size, model_stride): + """ simple preprocess for a single image + + """ + img_resized = _letterbox(ori_img, new_shape=model_size, stride=model_stride)[0] + + img_resized = img_resized[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB + img_resized = np.ascontiguousarray(img_resized) + + img_resized = torch.from_numpy(img_resized).float() + img_resized /= 255.0 + + return img_resized, ori_img + +def _letterbox(img, new_shape=(640, 640), color=(114, 114, 114), auto=True, scaleFill=False, scaleup=True, stride=32): + # Resize and pad image while meeting stride-multiple constraints + shape = img.shape[:2] # current shape [height, width] + if isinstance(new_shape, int): + new_shape = (new_shape, new_shape) + + # Scale ratio (new / old) + r = min(new_shape[0] / shape[0], new_shape[1] / shape[1]) + if not scaleup: # only scale down, do not scale up (for better test mAP) + r = min(r, 1.0) + + # Compute padding + ratio = r, r # width, height ratios + new_unpad = int(round(shape[1] * r)), int(round(shape[0] * r)) + dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1] # wh padding + if auto: # minimum rectangle + dw, dh = np.mod(dw, stride), np.mod(dh, stride) # wh padding + elif scaleFill: # stretch + dw, dh = 0.0, 0.0 + new_unpad = (new_shape[1], new_shape[0]) + ratio = new_shape[1] / shape[1], new_shape[0] / shape[0] # width, height ratios + + dw /= 2 # divide padding into 2 sides + dh /= 2 + + if shape[::-1] != new_unpad: # resize + img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR) + top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1)) + left, right = int(round(dw - 0.1)), int(round(dw + 0.1)) + img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) # add border + return img, ratio, (dw, dh) def save_results(obj_name, results, data_type='default'): """ @@ -255,7 +301,7 @@ def plot_img(img, frame_id, results, save_dir): # draw a rect cv2.rectangle(img_, tlbr[:2], tlbr[2:], get_color(id), thickness=3, ) # note the id and cls - text = f'{CATEGORY_DICT[cls]}-{id}' + text = f'id: {id}' cv2.putText(img_, text, (tlbr[0], tlbr[1]), fontFace=cv2.FONT_HERSHEY_PLAIN, fontScale=1, color=(255, 164, 0), thickness=2) @@ -273,14 +319,15 @@ def save_videos(obj_name): obj_name = [obj_name] for seq in obj_name: - images_path = os.path.join(SAVE_FOLDER, 'reuslt_images', seq) + if 'mp4' in seq: seq = seq[:-4] + images_path = os.path.join(SAVE_FOLDER, 'result_images', seq) images_name = sorted(os.listdir(images_path)) to_video_path = os.path.join(images_path, '../', seq + '.mp4') fourcc = cv2.VideoWriter_fourcc(*"mp4v") img0 = Image.open(os.path.join(images_path, images_name[0])) - vw = cv2.VideoWriter(to_video_path, fourcc, 15, img0.size) + vw = cv2.VideoWriter(to_video_path, fourcc, 30, img0.size) for img in images_name: if img.endswith('.jpg'): @@ -303,12 +350,12 @@ def get_color(idx): if __name__ == '__main__': parser = argparse.ArgumentParser() - parser.add_argument('--obj', type=str, default='M1305.mp4', help='video NAME or images FOLDER NAME') + parser.add_argument('--obj', type=str, default='demo.mp4', help='video NAME or images FOLDER NAME') parser.add_argument('--save_txt', type=bool, default=False, help='whether save txt') parser.add_argument('--tracker', type=str, default='sort', help='sort, deepsort, etc') - parser.add_argument('--model_path', type=str, default='./weights/best.pt', help='model path') + parser.add_argument('--model_path', type=str, default='./weights/yolov7_UAVDT_35epochs_20230507.pt', help='model path') parser.add_argument('--trace', type=bool, default=False, help='traced model of YOLO v7') parser.add_argument('--img_size', type=int, default=1280, help='[train, test] image sizes') @@ -319,7 +366,7 @@ def get_color(idx): parser.add_argument('--dhn_path', type=str, default='./weights/DHN.pth', help='path of DHN path for DeepMOT') # threshs - parser.add_argument('--conf_thresh', type=float, default=0.5, help='filter tracks') + parser.add_argument('--conf_thresh', type=float, default=0.05, help='filter tracks') parser.add_argument('--nms_thresh', type=float, default=0.7, help='thresh for NMS') parser.add_argument('--iou_thresh', type=float, default=0.5, help='IOU thresh to filter tracks') diff --git a/tracker/track_yolov5.py b/tracker/track_yolov5.py index 329b6bb..3798324 100644 --- a/tracker/track_yolov5.py +++ b/tracker/track_yolov5.py @@ -27,6 +27,7 @@ from models.common import DetectMultiBackend from evaluate import evaluate + from utils.general import check_img_size, non_max_suppression, scale_boxes print('Note: running yolo v5 detector') except: @@ -75,6 +76,9 @@ def main(opts, cfgs): """ device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") model = DetectMultiBackend(opts.model_path, device=device, dnn=False, data=YAML_DICT, fp16=False) + stride = model.stride + opts.img_size = check_img_size(opts.img_size, s=stride) # check img_size + model.eval() # warm up model.warmup(imgsz=(1, 3, 640, 640)) @@ -115,7 +119,7 @@ def main(opts, cfgs): path = os.path.join(DATA_ROOT, seq) if opts.data_format == 'origin' else os.path.join('./', f'{opts.dataset}', 'test.txt') - loader = tracker_dataloader.TrackerLoader(path, opts.img_size, opts.data_format, seq) + loader = tracker_dataloader.TrackerLoader(path, opts.img_size, opts.data_format, seq, pre_process_method='v5', model_stride=stride) data_loader = torch.utils.data.DataLoader(loader, batch_size=1) @@ -132,23 +136,11 @@ def main(opts, cfgs): if not i % opts.detect_per_frame: # if it's time to detect out = model(img.to(device)) # model forward - out = out[0] # NOTE: for yolo v7 + out = out[0] - if len(out.shape) == 3: # case (bs, num_obj, ...) - # out = out.squeeze() - # NOTE: assert batch size == 1 - out = out.squeeze(0) - img0 = img0.squeeze(0) - # remove some low conf detections - out = out[out[:, 4] > 0.001] - - - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - if opts.det_output_format == 'yolo': - cls_conf, cls_idx = torch.max(out[:, 5:], dim=1) - # out[:, 4] *= cls_conf # fuse object and cls conf - out[:, 5] = cls_idx - out = out[:, :6] + img0 = img0.squeeze(0) + + out = post_process_v5(out, img_size=img.shape[2:], ori_img_size=img0.shape) current_tracks = tracker.update(out, img0) # List[class(STracks)] else: # otherwize @@ -175,7 +167,7 @@ def main(opts, cfgs): timer.toc() # end timing this image if opts.save_images: - plot_img(img0, frame_id, [cur_tlwh, cur_id, cur_cls], save_dir=os.path.join(DATASET_ROOT, 'reuslt_images', seq)) + plot_img(img0, frame_id, [cur_tlwh, cur_id, cur_cls], save_dir=os.path.join(DATASET_ROOT, 'result_images', seq)) frame_id += 1 @@ -223,17 +215,30 @@ def main(opts, cfgs): sorted([seq + '.txt' for seq in seqs]), data_type='visdrone', result_folder=folder_name) -def save_results(folder_name, seq_name, results, data_type='default'): + +def post_process_v5(out, img_size, ori_img_size): + """ post process for v5 and v7 + + """ + + out = non_max_suppression(out, conf_thres=0.01, )[0] + out[:, :4] = scale_boxes(img_size, out[:, :4], ori_img_size, ratio_pad=None).round() + + # out: tlbr, conf, cls + + return out + + + +def save_results(folder_name, seq_name, results, data_type='mot17'): """ write results to txt file results: list row format: frame id, target id, box coordinate, class(optional) to_file: file path(optional) - data_type: write data format + data_type: write data format, default or mot17 format. """ assert len(results) - if not data_type == 'default': - raise NotImplementedError # TODO if not os.path.exists(f'./tracker/results/{folder_name}'): @@ -242,11 +247,13 @@ def save_results(folder_name, seq_name, results, data_type='default'): with open(os.path.join('./tracker/results', folder_name, seq_name + '.txt'), 'w') as f: for frame_id, target_ids, tlwhs, clses in results: if data_type == 'default': - - # f.write(f'{frame_id},{target_id},{tlwh[0]},{tlwh[1]},\ - # {tlwh[2]},{tlwh[3]},{cls}\n') + for id, tlwh, cls in zip(target_ids, tlwhs, clses): f.write(f'{frame_id},{id},{tlwh[0]:.2f},{tlwh[1]:.2f},{tlwh[2]:.2f},{tlwh[3]:.2f},{int(cls)}\n') + + elif data_type == 'mot17': + for id, tlwh, cls in zip(target_ids, tlwhs, clses): + f.write(f'{frame_id},{id},{tlwh[0]:.2f},{tlwh[1]:.2f},{tlwh[2]:.2f},{tlwh[3]:.2f},1.0,-1,-1,-1\n') f.close() return folder_name @@ -290,7 +297,7 @@ def save_videos(seq_names): seq_names = [seq_names] for seq in seq_names: - images_path = os.path.join(DATASET_ROOT, 'reuslt_images', seq) + images_path = os.path.join(DATASET_ROOT, 'result_images', seq) images_name = sorted(os.listdir(images_path)) to_video_path = os.path.join(images_path, '../', seq + '.mp4') @@ -329,7 +336,7 @@ def get_color(idx): parser.add_argument('--model_path', type=str, default=None, help='model path') - parser.add_argument('--img_size', nargs='+', type=int, default=[1280, 1280], help='[train, test] image sizes') + parser.add_argument('--img_size', nargs='+', type=int, default=1280, help='[train, test] image sizes') """For tracker""" # model path diff --git a/tracker/track_yolov8.py b/tracker/track_yolov8.py index e3a8728..5765f51 100644 --- a/tracker/track_yolov8.py +++ b/tracker/track_yolov8.py @@ -115,7 +115,7 @@ def main(opts, cfgs): # NOTE: yolo v8 requires img to be original shape that openCV reads, that is # (H, W, C) inseatd of (C, H, W) - loader = tracker_dataloader.TrackerLoader(path, opts.img_size, opts.data_format, seq, convert_and_norm=False) + loader = tracker_dataloader.TrackerLoader(path, opts.img_size, opts.data_format, seq, pre_process_method='v8') data_loader = torch.utils.data.DataLoader(loader, batch_size=1) @@ -141,13 +141,15 @@ def main(opts, cfgs): out_ = model.predict(img) # out: list['ultralytics.yolo.engine.results.Results'] out_ = out_[0].boxes # out: ultralytics.yolo.engine.results.Results + out_ = postprocess_v8(out_) + # NOTE: convert out to (N, 6) which means [xc, yc, w, h, conf, cls] - out = torch.cat([out_.xywh, out_.conf[:, None], out_.cls[:, None]], dim=1) + out = torch.cat([out_.xyxy, out_.conf[:, None], out_.cls[:, None]], dim=1) if len(img0.shape) == 4: img0 = img0.squeeze(0) # remove some low conf detections - out = out[out[:, 4] > 0.001] + out = out[out[:, 4] > 0.01] current_tracks = tracker.update(out, img0) # List[class(STracks)] else: # otherwize @@ -174,7 +176,7 @@ def main(opts, cfgs): timer.toc() # end timing this image if opts.save_images: - plot_img(img0, frame_id, [cur_tlwh, cur_id, cur_cls], save_dir=os.path.join(DATASET_ROOT, 'reuslt_images', seq)) + plot_img(img0, frame_id, [cur_tlwh, cur_id, cur_cls], save_dir=os.path.join(DATASET_ROOT, 'result_images', seq)) frame_id += 1 @@ -229,17 +231,22 @@ def main(opts, cfgs): evaluate(sorted(os.listdir(f'./tracker/results/{folder_name}')), sorted([seq + '.txt' for seq in seqs]), data_type='visdrone', result_folder=folder_name) -def save_results(folder_name, seq_name, results, data_type='default'): + + +def postprocess_v8(out): + + return out + + +def save_results(folder_name, seq_name, results, data_type='mot17'): """ write results to txt file results: list row format: frame id, target id, box coordinate, class(optional) to_file: file path(optional) - data_type: write data format + data_type: write data format, default or mot17 format. """ assert len(results) - if not data_type == 'default': - raise NotImplementedError # TODO if not os.path.exists(f'./tracker/results/{folder_name}'): @@ -248,11 +255,13 @@ def save_results(folder_name, seq_name, results, data_type='default'): with open(os.path.join('./tracker/results', folder_name, seq_name + '.txt'), 'w') as f: for frame_id, target_ids, tlwhs, clses in results: if data_type == 'default': - - # f.write(f'{frame_id},{target_id},{tlwh[0]},{tlwh[1]},\ - # {tlwh[2]},{tlwh[3]},{cls}\n') + for id, tlwh, cls in zip(target_ids, tlwhs, clses): f.write(f'{frame_id},{id},{tlwh[0]:.2f},{tlwh[1]:.2f},{tlwh[2]:.2f},{tlwh[3]:.2f},{int(cls)}\n') + + elif data_type == 'mot17': + for id, tlwh, cls in zip(target_ids, tlwhs, clses): + f.write(f'{frame_id},{id},{tlwh[0]:.2f},{tlwh[1]:.2f},{tlwh[2]:.2f},{tlwh[3]:.2f},1.0,-1,-1,-1\n') f.close() return folder_name @@ -296,7 +305,7 @@ def save_videos(seq_names): seq_names = [seq_names] for seq in seq_names: - images_path = os.path.join(DATASET_ROOT, 'reuslt_images', seq) + images_path = os.path.join(DATASET_ROOT, 'result_images', seq) images_name = sorted(os.listdir(images_path)) to_video_path = os.path.join(images_path, '../', seq + '.mp4') diff --git a/tracker/tracker_dataloader.py b/tracker/tracker_dataloader.py index 86af736..62dc0fd 100644 --- a/tracker/tracker_dataloader.py +++ b/tracker/tracker_dataloader.py @@ -18,19 +18,24 @@ def letterbox(img, height=608, width=1088, color=(127.5, 127.5, 127.5)): # resi class TrackerLoader(torch.utils.data.Dataset): - def __init__(self, path, img_size=1280, format='origin', seq=None, convert_and_norm=True) -> None: + def __init__(self, path, img_size=1280, format='origin', seq=None, pre_process_method='v5', + model_stride=32) -> None: """ Load images for EACH SEQUENCE + path: file for img paths(format == 'yolo') or dataset path(format == 'origin') img_size: image size for model, tuple or int format: 'origin' or 'yolo'. origin for direct read imgs under seqs, yolo for read imgs by train.txt - convert_and_norm: whether convert origin image from (H, W, C) to (C, H, W) and normed between(0, 1) + pre_process_method: how to resize origin image + model_stride: stride of the model, only valid for v5 or v7 """ super().__init__() self.DATA_ROOT = '/data/wujiapeng/datasets/' if format == 'yolo' else path # to get image self.img_files = [] self.format = format - self.convert_and_norm = convert_and_norm + self.pre_process_method = pre_process_method + self.model_stride = model_stride + if format == 'origin': assert os.path.isdir(path), f'your path is {path}, path must be your dataset path' @@ -65,22 +70,64 @@ def __getitem__(self, index): if self.format == 'origin': current_img_path = os.path.join(self.DATA_ROOT, current_img_path) - img = cv2.imread(current_img_path) # (H, W, C) + ori_img = cv2.imread(current_img_path) # (H, W, C) - assert img is not None, f'Fail to load image{current_img_path}' + assert ori_img is not None, f'Fail to load image{current_img_path}' - # img_resized, *_ = letterbox(img, self.height, self.width) - img_resized = cv2.resize(img, (self.width, self.height)) + if self.pre_process_method in ['v5', 'v7']: - if self.convert_and_norm: - # convert BGR to RGB and to (C, H, W) - img_resized = img_resized[:, :, ::-1].transpose(2, 0, 1) + img_resized = self._letterbox(ori_img, new_shape=(self.height, self.width), stride=self.model_stride)[0] - img_resized = np.ascontiguousarray(img_resized, dtype=np.float32) - img_resized /= 255.0 + img_resized = img_resized[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB + img_resized = np.ascontiguousarray(img_resized) - return torch.from_numpy(img_resized), torch.from_numpy(img) + img_resized = torch.from_numpy(img_resized).float() + img_resized /= 255.0 + elif self.pre_process_method in ['v8']: + # NOTE: abort resize step + # img_resized = cv2.resize(ori_img, (self.height, self.width)) + img_resized = torch.from_numpy(ori_img) + + else: + raise NotImplementedError + + + return img_resized, torch.from_numpy(ori_img) + + + + def _letterbox(self, img, new_shape=(640, 640), color=(114, 114, 114), auto=True, scaleFill=False, scaleup=True, stride=32): + # Resize and pad image while meeting stride-multiple constraints + shape = img.shape[:2] # current shape [height, width] + if isinstance(new_shape, int): + new_shape = (new_shape, new_shape) + + # Scale ratio (new / old) + r = min(new_shape[0] / shape[0], new_shape[1] / shape[1]) + if not scaleup: # only scale down, do not scale up (for better test mAP) + r = min(r, 1.0) + + # Compute padding + ratio = r, r # width, height ratios + new_unpad = int(round(shape[1] * r)), int(round(shape[0] * r)) + dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1] # wh padding + if auto: # minimum rectangle + dw, dh = np.mod(dw, stride), np.mod(dh, stride) # wh padding + elif scaleFill: # stretch + dw, dh = 0.0, 0.0 + new_unpad = (new_shape[1], new_shape[0]) + ratio = new_shape[1] / shape[1], new_shape[0] / shape[0] # width, height ratios + + dw /= 2 # divide padding into 2 sides + dh /= 2 + + if shape[::-1] != new_unpad: # resize + img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR) + top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1)) + left, right = int(round(dw - 0.1)), int(round(dw + 0.1)) + img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) # add border + return img, ratio, (dw, dh) def __len__(self): return len(self.img_files) diff --git a/tracker/uavmot.py b/tracker/uavmot.py index ac08b88..0dccd17 100644 --- a/tracker/uavmot.py +++ b/tracker/uavmot.py @@ -122,14 +122,6 @@ def update(self, det_results, ori_img): lost_stracks = [] # The tracks which are not obtained in the current frame but are not removed.(Lost for some time lesser than the threshold for removing) removed_stracks = [] - # convert the scale to origin size - # NOTE: yolo v7 origin out format: [xc, yc, w, h, conf, cls0_conf, cls1_conf, ..., clsn_conf] - # TODO: check here, if nesscessary use two ratio - img_h, img_w = ori_img.shape[0], ori_img.shape[1] - ratio = [img_h / self.model_img_size[0], img_w / self.model_img_size[1]] # usually > 1 - det_results[:, 0], det_results[:, 2] = det_results[:, 0]*ratio[1], det_results[:, 2]*ratio[1] - det_results[:, 1], det_results[:, 3] = det_results[:, 1]*ratio[0], det_results[:, 3]*ratio[0] - """step 1. filter results and init tracks""" # filter small area bboxs @@ -137,35 +129,28 @@ def update(self, det_results, ori_img): small_indicies = det_results[:, 2]*det_results[:, 3] > 50 det_results = det_results[small_indicies] - # run NMS - if self.NMS: - # NOTE: Note nms need tlbr format - nms_indices = nms(torch.from_numpy(AMF_STrack.xywh2tlbr(det_results[:, :4])), torch.from_numpy(det_results[:, 4]), - self.opts.nms_thresh) - det_results = det_results[nms_indices.numpy()] # cal high and low indicies det_high_indicies = det_results[:, 4] >= self.det_thresh det_low_indicies = np.logical_and(np.logical_not(det_high_indicies), det_results[:, 4] > self.low_conf_thresh) - # init saperatly det_high, det_low = det_results[det_high_indicies], det_results[det_low_indicies] if det_high.shape[0] > 0: if self.use_apperance_model: - features = self.get_feature(AMF_STrack.xywh2tlbr(det_high[:, :4]), ori_img) + features = self.get_feature(det_high[:, :4], ori_img) # detections: List[Strack] - D_high = [AMF_STrack(cls, AMF_STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format, feature=feature) - for (cls, xywh, score, feature) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4], features)] + D_high = [AMF_STrack(cls, AMF_STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format, feature=feature) + for (cls, tlbr, score, feature) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4], features)] else: - D_high = [AMF_STrack(cls, AMF_STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] + D_high = [AMF_STrack(cls, AMF_STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_high[:, -1], det_high[:, :4], det_high[:, 4])] else: D_high = [] if det_low.shape[0] > 0: - D_low = [AMF_STrack(cls, AMF_STrack.xywh2tlwh(xywh), score, kalman_format=self.opts.kalman_format) - for (cls, xywh, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] + D_low = [AMF_STrack(cls, AMF_STrack.tlbr2tlwh(tlbr), score, kalman_format=self.opts.kalman_format) + for (cls, tlbr, score) in zip(det_low[:, -1], det_low[:, :4], det_low[:, 4])] else: D_low = [] diff --git a/utils/datasets.py b/utils/datasets.py index 1f491aa..98886ff 100644 --- a/utils/datasets.py +++ b/utils/datasets.py @@ -77,20 +77,8 @@ def create_dataloader(path, imgsz, batch_size, stride, opt, hyp=None, augment=Fa pad=pad, image_weights=image_weights, prefix=prefix) - elif opt.dataset == 'visdrone': - dataset = LoadImagesAndLabelsVisDrone(path, imgsz, batch_size, - augment=augment, # augment images - hyp=hyp, # augmentation hyperparameters - rect=rect, # rectangular training - cache_images=cache, - single_cls=opt.single_cls, - stride=int(stride), - pad=pad, - image_weights=image_weights, - prefix=prefix) - - elif opt.dataset == 'mot17': - dataset = LoadImagesAndLabelsVisDrone(path, imgsz, batch_size, + else: + dataset = LoadImagesAndLabelsCustom(path, imgsz, batch_size, augment=augment, # augment images hyp=hyp, # augmentation hyperparameters rect=rect, # rectangular training @@ -100,8 +88,6 @@ def create_dataloader(path, imgsz, batch_size, stride, opt, hyp=None, augment=Fa pad=pad, image_weights=image_weights, prefix=prefix) - else: - raise NotImplementedError batch_size = min(batch_size, len(dataset)) nw = min([os.cpu_count() // world_size, batch_size if batch_size > 1 else 0, workers]) # number of workers @@ -699,7 +685,7 @@ def img2label_paths_VisDrone(img_paths): -class LoadImagesAndLabelsVisDrone(LoadImagesAndLabels): +class LoadImagesAndLabelsCustom(LoadImagesAndLabels): def __init__(self, path, img_size=640, batch_size=16, augment=False, hyp=None, rect=False, image_weights=False, cache_images=False, single_cls=False, stride=32, pad=0, prefix=''): # super().__init__(path, img_size, batch_size, augment, hyp, rect, image_weights, cache_images, single_cls, stride, pad, prefix) diff --git a/visdrone/test.txt b/visdrone/test.txt deleted file mode 100644 index 168ee08..0000000 --- a/visdrone/test.txt +++ /dev/null @@ -1,6635 +0,0 @@ -VisDrone2019/VisDrone2019/images/VisDrone2019-MOT-test-dev/uav0000120_04775_v/0000001.jpg -VisDrone2019/VisDrone2019/images/VisDrone2019-MOT-test-dev/uav0000120_04775_v/0000002.jpg -VisDrone2019/VisDrone2019/images/VisDrone2019-MOT-test-dev/uav0000120_04775_v/0000003.jpg -VisDrone2019/VisDrone2019/images/VisDrone2019-MOT-test-dev/uav0000120_04775_v/0000004.jpg 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