obj_detect_imgs.py

# coding=utf-8
"""
  run object detection and tracking inference
"""

import argparse
import cv2
import math
import json
import random
import sys
import time
import threading
import operator
import os
import pickle
os.environ["TF_CPP_MIN_LOG_LEVEL"] = "3"

# remove all the annoying warnings from tf v1.10 to v1.13
import logging
logging.getLogger("tensorflow").disabled = True

import matplotlib
# avoid the warning "gdk_cursor_new_for_display:
# assertion 'GDK_IS_DISPLAY (display)' failed" with Python 3
matplotlib.use('Agg')

from tqdm import tqdm
from PIL import Image

import numpy as np
import tensorflow as tf

# detection stuff
from models import get_model
from models import resizeImage
from nn import fill_full_mask
from utils import get_op_tensor_name
from utils import parse_nvidia_smi
from utils import sec2time
from utils import PerformanceLogger

import pycocotools.mask as cocomask

# tracking stuff
from deep_sort import nn_matching
from deep_sort.detection import Detection
from deep_sort.tracker import Tracker
from application_util import preprocessing
from deep_sort.utils import create_obj_infos,linear_inter_bbox,filter_short_objs

# for mask
import pycocotools.mask as cocomask

# class ids stuff
from class_ids import targetClass2id_new_nopo
from class_ids import coco_obj_class_to_id
from class_ids import coco_obj_id_to_class
from class_ids import coco_obj_to_actev_obj
from class_ids import coco_id_mapping

targetClass2id = targetClass2id_new_nopo
targetid2class = {targetClass2id[one]: one for one in targetClass2id}

def get_args():
  """Parse arguments and intialize some hyper-params."""
  global targetClass2id, targetid2class
  parser = argparse.ArgumentParser()

  parser.add_argument("--img_lst", default=None, help="path to imgs")

  parser.add_argument("--out_dir", default=None,
                      help="out_dir/imgname.json")
  # --- for internal visualization
  parser.add_argument("--visualize", action="store_true")
  parser.add_argument("--vis_path", default=None)
  parser.add_argument("--vis_thres", default=0.7, type=float)

  parser.add_argument("--threshold_conf", default=0.0001, type=float)

  parser.add_argument("--is_load_from_pb", action="store_true",
                      help="load from a frozen graph")
  parser.add_argument("--log_time_and_gpu", action="store_true")
  parser.add_argument("--util_log_interval", type=float, default=10.)
  parser.add_argument("--save_util_log_to", default=None,
                      help="save to a json for generating figures")

  parser.add_argument("--version", type=int, default=4, help="model version")
  parser.add_argument("--is_coco_model", action="store_true",
                      help="is coco model, will output coco classes instead")
  parser.add_argument("--use_gn", action="store_true",
                      help="it is group norm model")
  parser.add_argument("--use_conv_frcnn_head", action="store_true",
                      help="group norm model from tensorpack uses conv head")


  # ---- gpu params
  parser.add_argument("--gpu", default=1, type=int, help="number of gpu")
  parser.add_argument("--gpuid_start", default=0, type=int,
                      help="start of gpu id")
  parser.add_argument("--im_batch_size", type=int, default=1)
  parser.add_argument("--fix_gpuid_range", action="store_true",
                      help="for junweil.pc")
  parser.add_argument("--use_all_mem", action="store_true")

  # ----------- model params
  parser.add_argument("--num_class", type=int, default=15,
                      help="num catagory + 1 background")

  parser.add_argument("--model_path", default="/app/object_detection_model")

  parser.add_argument("--rpn_batch_size", type=int, default=256,
                      help="num roi per image for RPN  training")
  parser.add_argument("--frcnn_batch_size", type=int, default=512,
                      help="num roi per image for fastRCNN training")

  parser.add_argument("--rpn_test_post_nms_topk", type=int, default=1000,
                      help="test post nms, input to fast rcnn")

  parser.add_argument("--max_size", type=int, default=1920,
                      help="num roi per image for RPN and fastRCNN training")
  parser.add_argument("--short_edge_size", type=int, default=1080,
                      help="num roi per image for RPN and fastRCNN training")


  parser.add_argument("--bupt_exp", action="store_true",
                      help="activity box experiemnt")

  # ---- tempory: for activity detection model
  parser.add_argument("--actasobj", action="store_true")
  parser.add_argument("--actmodel_path",
                      default="/app/activity_detection_model")

  parser.add_argument("--resnet152", action="store_true", help="")
  parser.add_argument("--resnet50", action="store_true", help="")
  parser.add_argument("--resnet34", action="store_true", help="")
  parser.add_argument("--resnet18", action="store_true", help="")
  parser.add_argument("--use_se", action="store_true",
                      help="use squeeze and excitation in backbone")
  parser.add_argument("--use_frcnn_class_agnostic", action="store_true",
                      help="use class agnostic fc head")
  parser.add_argument("--use_resnext", action="store_true", help="")
  parser.add_argument("--use_att_frcnn_head", action="store_true",
                      help="use attention to sum [K, 7, 7, C] feature into"
                           " [K, C]")

  # ------ 04/2020, efficientdet
  parser.add_argument("--is_efficientdet", action="store_true")
  parser.add_argument("--efficientdet_modelname", default="efficientdet-d0")
  parser.add_argument("--efficientdet_max_detection_topk", type=int,
                      default=5000, help="#topk boxes before NMS")
  parser.add_argument("--efficientdet_min_level", type=int, default=3)
  parser.add_argument("--efficientdet_max_level", type=int, default=7)

  # ---- COCO Mask-RCNN model
  parser.add_argument("--add_mask", action="store_true")

  # --------------- exp junk
  parser.add_argument("--use_dilations", action="store_true",
                      help="use dilations=2 in res5")
  parser.add_argument("--use_deformable", action="store_true",
                      help="use deformable conv")
  parser.add_argument("--add_act", action="store_true",
                      help="add activitiy model")
  parser.add_argument("--finer_resolution", action="store_true",
                      help="fpn use finer resolution conv")
  parser.add_argument("--fix_fpn_model", action="store_true",
                      help="for finetuneing a fpn model, whether to fix the"
                           " lateral and poshoc weights")
  parser.add_argument("--is_cascade_rcnn", action="store_true",
                      help="cascade rcnn on top of fpn")
  parser.add_argument("--add_relation_nn", action="store_true",
                      help="add relation network feature")

  parser.add_argument("--test_frame_extraction", action="store_true")
  parser.add_argument("--use_my_naming", action="store_true")

  # for efficient use of COCO model classes
  parser.add_argument("--use_partial_classes", action="store_true")
  parser.add_argument("--person_only", action="store_true")

  parser.add_argument("--only_classes", default=None,
                      help="only these classnames (comma seperated) to save")

  args = parser.parse_args()

  if args.use_partial_classes:
    args.is_coco_model = True
    args.partial_classes = [classname for classname in coco_obj_to_actev_obj]

  assert args.gpu == args.im_batch_size  # one gpu one image
  assert args.gpu == 1, "Currently only support single-gpu inference"

  if args.is_load_from_pb:
    args.load_from = args.model_path

  args.controller = "/cpu:0"  # parameter server

  targetid2class = targetid2class
  targetClass2id = targetClass2id

  if args.actasobj:
    from class_ids import targetAct2id
    targetClass2id = targetAct2id
    targetid2class = {targetAct2id[one]: one for one in targetAct2id}
  if args.bupt_exp:
    from class_ids import targetAct2id_bupt
    targetClass2id = targetAct2id_bupt
    targetid2class = {targetAct2id_bupt[one]: one for one in targetAct2id_bupt}

  assert len(targetClass2id) == args.num_class, (len(targetClass2id),
                                                 args.num_class)


  assert args.version in [2, 3, 4, 5, 6], \
         "Currently we only have version 2-6 model"

  if args.version == 2:
    pass
  elif args.version == 3:
    args.use_dilations = True
  elif args.version == 4:
    args.use_frcnn_class_agnostic = True
    args.use_dilations = True
  elif args.version == 5:
    args.use_frcnn_class_agnostic = True
    args.use_dilations = True
  elif args.version == 6:
    args.use_frcnn_class_agnostic = True
    args.use_se = True

  if args.is_coco_model:
    assert args.version == 2
    targetClass2id = coco_obj_class_to_id
    targetid2class = coco_obj_id_to_class
    args.num_class = 81

    if args.person_only:
      args.num_class = 2
      targetid2class = {0: "BG", 1: "person"}
      targetClass2id = {"BG": 0, "person": 1}

    if args.use_partial_classes:
      partial_classes = ["BG"] + args.partial_classes
      targetClass2id = {classname: i
                        for i, classname in enumerate(partial_classes)}
      targetid2class = {targetClass2id[o]: o for o in targetClass2id}

  # ---- 04/2020, efficientdet
  if args.is_efficientdet:
    targetClass2id = coco_obj_class_to_id
    targetid2class = coco_obj_id_to_class
    args.num_class = 81
    args.is_coco_model = True


  args.classname2id = targetClass2id
  args.classid2name = targetid2class

  # ---------------more defautls
  args.is_pack_model = False
  args.diva_class3 = True
  args.diva_class = False
  args.diva_class2 = False
  args.use_small_object_head = False
  args.use_so_score_thres = False
  args.use_so_association = False
  #args.use_gn = False
  #args.use_conv_frcnn_head = False
  args.so_person_topk = 10
  args.use_cpu_nms = False
  args.use_bg_score = False
  args.freeze_rpn = True
  args.freeze_fastrcnn = True
  args.freeze = 2
  args.small_objects = ["Prop", "Push_Pulled_Object",
                        "Prop_plus_Push_Pulled_Object", "Bike"]
  args.no_obj_detect = False
  #args.add_mask = False
  args.is_fpn = True
  # args.new_tensorpack_model = True
  args.mrcnn_head_dim = 256
  args.is_train = False

  args.rpn_min_size = 0
  args.rpn_proposal_nms_thres = 0.7
  args.anchor_strides = (4, 8, 16, 32, 64)

  # [3] is 32, since we build FPN with r2,3,4,5, so 2**5
  args.fpn_resolution_requirement = float(args.anchor_strides[3])

  #if args.is_efficientdet:
  #  args.fpn_resolution_requirement = 128.0  # 2 ** max_level
    #args.short_edge_size = np.ceil(
    #    args.short_edge_size / args.fpn_resolution_requirement) * \
    #        args.fpn_resolution_requirement

  args.max_size = np.ceil(args.max_size / args.fpn_resolution_requirement) * \
                  args.fpn_resolution_requirement

  args.fpn_num_channel = 256

  args.fpn_frcnn_fc_head_dim = 1024

  # ---- all the mask rcnn config

  args.resnet_num_block = [3, 4, 23, 3]  # resnet 101
  args.use_basic_block = False  # for resnet-34 and resnet-18
  if args.resnet152:
    args.resnet_num_block = [3, 8, 36, 3]
  if args.resnet50:
    args.resnet_num_block = [3, 4, 6, 3]
  if args.resnet34:
    args.resnet_num_block = [3, 4, 6, 3]
    args.use_basic_block = True
  if args.resnet18:
    args.resnet_num_block = [2, 2, 2, 2]
    args.use_basic_block = True

  args.anchor_stride = 16  # has to be 16 to match the image feature
  args.anchor_sizes = (32, 64, 128, 256, 512)

  args.anchor_ratios = (0.5, 1, 2)

  args.num_anchors = len(args.anchor_sizes) * len(args.anchor_ratios)
  # iou thres to determine anchor label
  # args.positive_anchor_thres = 0.7
  # args.negative_anchor_thres = 0.3

  # when getting region proposal, avoid getting too large boxes
  args.bbox_decode_clip = np.log(args.max_size / 16.0)

  # fastrcnn
  args.fastrcnn_batch_per_im = args.frcnn_batch_size
  args.fastrcnn_bbox_reg_weights = np.array([10, 10, 5, 5], dtype="float32")

  args.fastrcnn_fg_thres = 0.5  # iou thres
  # args.fastrcnn_fg_ratio = 0.25 # 1:3 -> pos:neg

  # testing
  args.rpn_test_pre_nms_topk = 6000

  args.fastrcnn_nms_iou_thres = 0.5

  args.result_score_thres = args.threshold_conf
  args.result_per_im = 100


  if args.only_classes is not None:
    args.only_classes = args.only_classes.split(",")

  return args


def initialize(config, sess):
  """
    load the tf model weights into session
  """
  tf.global_variables_initializer().run()
  allvars = tf.global_variables()
  allvars = [var for var in allvars if "global_step" not in var.name]
  restore_vars = allvars
  opts = ["Adam", "beta1_power", "beta2_power", "Adam_1", "Adadelta_1",
          "Adadelta", "Momentum"]
  restore_vars = [var for var in restore_vars
                  if var.name.split(":")[0].split("/")[-1] not in opts]

  saver = tf.train.Saver(restore_vars, max_to_keep=5)

  load_from = config.model_path
  ckpt = tf.train.get_checkpoint_state(load_from)
  if ckpt and ckpt.model_checkpoint_path:
    loadpath = ckpt.model_checkpoint_path
    saver.restore(sess, loadpath)
  else:
    if os.path.exists(load_from):
      if load_from.endswith(".ckpt"):
        # load_from should be a single .ckpt file
        saver.restore(sess, load_from)
      elif load_from.endswith(".npz"):
        # load from dict
        weights = np.load(load_from)
        params = {get_op_tensor_name(n)[1]:v
                  #for n, v in dict(weights).iteritems()}
                  for n, v in dict(weights).items()}
        param_names = set(params.keys())

        variables = restore_vars

        variable_names = set([k.name for k in variables])

        intersect = variable_names & param_names

        restore_vars = [v for v in variables if v.name in intersect]

        with sess.as_default():
          for v in restore_vars:
            vname = v.name
            v.load(params[vname])

        not_used = [(o, weights[o].shape)
                    for o in weights.keys()
                    if get_op_tensor_name(o)[1] not in intersect]
        if not not_used:
          print("warning, %s/%s in npz not restored:%s" % (
              len(weights.keys()) - len(intersect), len(weights.keys()),
              not_used))

      else:
        raise Exception("Not recognized model type:%s" % load_from)
    else:
      raise Exception("Model not exists")



if __name__ == "__main__":
  args = get_args()

  if args.log_time_and_gpu:
    start_time = time.time()

    gpuid_range = (args.gpuid_start, args.gpu)
    if args.fix_gpuid_range:
      gpuid_range = (0, 1)

    performance_logger = PerformanceLogger(
        gpuid_range,
        interval=args.util_log_interval)
    performance_logger.start()


  imglst = [line.strip()
              for line in open(args.img_lst).readlines()]

  if args.out_dir is not None:
    if not os.path.exists(args.out_dir):
      os.makedirs(args.out_dir)

  if args.visualize:
    from viz import draw_boxes

    vis_path = args.vis_path
    if not os.path.exists(vis_path):
      os.makedirs(vis_path)

  # 1. load the object detection model
  model = get_model(args, args.gpuid_start, controller=args.controller)

  tfconfig = tf.ConfigProto(allow_soft_placement=True)
  if not args.use_all_mem:
    tfconfig.gpu_options.allow_growth = True
  tfconfig.gpu_options.visible_device_list = "%s" % (
      ",".join(["%s" % i
                for i in range(args.gpuid_start, args.gpuid_start + args.gpu)]))

  with tf.Session(config=tfconfig) as sess:

    if not args.is_load_from_pb:
      initialize(config=args, sess=sess)

    for imgfile in tqdm(imglst, ascii=True):
      imgname = os.path.splitext(os.path.basename(imgfile))[0]
      frame = cv2.imread(imgfile)
      #frame = np.array(Image.open(imgfile))
      im = frame.astype("float32")

      resized_image = resizeImage(im, args.short_edge_size, args.max_size)

      scale = (resized_image.shape[0] * 1.0 / im.shape[0] + \
               resized_image.shape[1] * 1.0 / im.shape[1]) / 2.0

      feed_dict = model.get_feed_dict_forward(resized_image)


      if args.add_mask:
        sess_input = [model.final_boxes, model.final_labels,
                      model.final_probs, model.final_masks]
        final_boxes, final_labels, final_probs, final_masks = sess.run(
            sess_input, feed_dict=feed_dict)
      else:
        sess_input = [model.final_boxes, model.final_labels,
                      model.final_probs]
        final_boxes, final_labels, final_probs = sess.run(
            sess_input, feed_dict=feed_dict)

      if args.is_efficientdet:
        # the output here is 1 - num_partial_classes
        if args.use_partial_classes:
          for i in range(len(final_labels)):
            final_labels[i] = coco_obj_class_to_id[
                args.partial_classes[final_labels[i] - 1]]
        else:
          # 1-90 to 1-80
          for i in range(len(final_labels)):
            final_labels[i] = \
                coco_obj_class_to_id[coco_id_mapping[final_labels[i]]]

      # ---------------- get the json outputs for object detection

      # scale back the box to original image size
      final_boxes = final_boxes / scale

      if args.add_mask:
        final_masks = [fill_full_mask(box, mask, im.shape[:2])
                       for box, mask in zip(final_boxes, final_masks)]

      # save as json
      pred = []

      for j, (box, prob, label) in enumerate(zip(
          final_boxes, final_probs, final_labels)):
        box[2] -= box[0]
        box[3] -= box[1]  # produce x,y,w,h output

        cat_id = int(label)
        cat_name = targetid2class[cat_id]

        if args.only_classes and cat_name not in args.only_classes:
          continue

        # encode mask
        rle = None
        if args.add_mask:
          final_mask = final_masks[j] # [14, 14]
          rle = cocomask.encode(np.array(
              final_mask[:, :, None], order="F"))[0]
          rle["counts"] = rle["counts"].decode("ascii")

        res = {
            "category_id": int(cat_id),
            "cat_name": cat_name,  # [0-80]
            "score": float(round(prob, 7)),
            #"bbox": list(map(lambda x: float(round(x, 2)), box)),
            "bbox": [float(round(x, 2)) for x in box],
            "segmentation": rle,
            "im_size": [im.shape[0], im.shape[1]],
        }

        pred.append(res)

      predfile = os.path.join(args.out_dir, "%s.json" % (imgname))

      with open(predfile, "w") as f:
        json.dump(pred, f)

      # for visualization
      if args.visualize:
        good_ids = [i for i in range(len(final_boxes))
                    if final_probs[i] >= args.vis_thres]
        if args.only_classes:
          good_ids = [i for i in good_ids
                      if targetid2class[final_labels[i]] in args.only_classes]
        final_boxes, final_labels, final_probs = final_boxes[good_ids], \
            final_labels[good_ids], final_probs[good_ids]
        vis_boxes = np.asarray(
            [[box[0], box[1], box[2] + box[0], box[3] + box[1]]
             for box in final_boxes])
        vis_labels = ["%s_%.2f" % (targetid2class[cat_id], prob)
                      for cat_id, prob in zip(final_labels, final_probs)]
        newim = draw_boxes(im, vis_boxes, vis_labels,
                           color=np.array([255, 0, 0]), font_scale=0.5,
                           thickness=2)

        vis_file = os.path.join(vis_path,
                                "%s.jpg" % (imgname))
        cv2.imwrite(vis_file, newim)



  if args.log_time_and_gpu:
    end_time = time.time()
    performance_logger.end()
    logs = performance_logger.logs
    print("total run time %s (%s), log utilize every %s seconds and get "
          "GPU util median %.2f%% and average %.2f%%. GPU temperature "
          "average %.2f (C), CPU util median %.2f%%" % (
              sec2time(end_time - start_time),
              end_time - start_time,
              args.util_log_interval,
              np.median(logs["gpu_utilization"]),
              np.mean(logs["gpu_utilization"]),
              np.mean(logs["gpu_temperature"]),
              np.median(logs["cpu_utilization"]),))

    if args.save_util_log_to is not None:

      with open(args.save_util_log_to, "w") as f:
        json.dump(logs, f)
      print("saved util log to %s" % args.save_util_log_to)
  cv2.destroyAllWindows()