sort_tracking.py

# -*- coding: utf-8 -*-
"""
Created on Thu Aug 13 23:04:27 2020

@author: AIA
Usage : python sort_tracking.py
"""
from __future__ import print_function

from numba import jit
import os
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.patches as patches
from skimage import io
from scipy.optimize import linear_sum_assignment
import glob
import time
import argparse
from filterpy.kalman import KalmanFilter
from pathlib import Path

import cv2
from tqdm import tqdm
import pandas as pd
from yolov5_inference import yolo_detector
from utils.torch_utils import time_synchronized, select_device
from models.experimental import attempt_load
from centroidtrackerV1 import CentroidTracker


# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-w", "--weights", type=str, default='best.pt', help='model.pt path(s)')
ap.add_argument("-i", "--img", type=int, default= 1024, help='image size to prediction')
ap.add_argument("-d", "--inp", type=str, default='input/images1/', help='Input directory')
ap.add_argument("-s", "--savevid", type=str, default='True', help='Whether video will be saved or not')
args = vars(ap.parse_args())




def iou(bb_test,bb_gt):
    """
    Computes IUO between two bboxes in the form [x1,y1,x2,y2]
    """
    xx1 = np.maximum(bb_test[0], bb_gt[0])
    yy1 = np.maximum(bb_test[1], bb_gt[1])
    xx2 = np.minimum(bb_test[2], bb_gt[2])
    yy2 = np.minimum(bb_test[3], bb_gt[3])
    w = np.maximum(0., xx2 - xx1)
    h = np.maximum(0., yy2 - yy1)
    wh = w * h
    o = wh / ((bb_test[2]-bb_test[0])*(bb_test[3]-bb_test[1])
    + (bb_gt[2]-bb_gt[0])*(bb_gt[3]-bb_gt[1]) - wh)
    return(o)

def colinearity(det,hist):
    '''
    det - current detection
    hist - last 2 mean detections
    '''
    dims = det[2:4] - det[:2]
    diag = np.sqrt(sum(dims**2))
    a = det[:2] + dims/2 - hist[-2]
    b = hist[-1] - hist[-2]
    len1 = np.sqrt(sum(a*a))
    len2 = np.sqrt(sum(b*b))
    ratio = len2/float(len1)
    maxdist = diag*(min(dims)/max(dims)+1)
    maxval = b.dot(b)
    a *= ratio
    return a.dot(b)/float(maxval) if maxval and maxdist > len1 else 0

def convert_bbox_to_z(bbox):
    """
    Takes a bounding box in the form [x1,y1,x2,y2] and returns z in the form
    [x,y,s,r] where x,y is the centre of the box and s is the scale/area and r is
    the aspect ratio
    """
    w = bbox[2]-bbox[0]
    h = bbox[3]-bbox[1]
    x = bbox[0]+w/2.
    y = bbox[1]+h/2.
    s = w*h    #scale is just area
    r = w/float(h)
    return np.array([x,y,s,r]).reshape((4,1))

def convert_x_to_bbox(x,score=None):
    """
    Takes a bounding box in the centre form [x,y,s,r] and returns it in the form
    [x1,y1,x2,y2] where x1,y1 is the top left and x2,y2 is the bottom right
    """
    w = np.sqrt(x[2]*x[3])
    h = x[2]/w
    if(score==None):
        return np.array([x[0]-w/2.,x[1]-h/2.,x[0]+w/2.,x[1]+h/2.]).reshape((1,4))
    else:
        return np.array([x[0]-w/2.,x[1]-h/2.,x[0]+w/2.,x[1]+h/2.,score]).reshape((1,5))


class KalmanBoxTracker(object):
    """
    This class represents the internel state of individual tracked objects observed as bbox.
    """
    count = 0
    
    def __init__(self,bbox):
        """
        Initialises a tracker using initial bounding box.
        """
        #define constant velocity model
        self.kf = KalmanFilter(dim_x=7, dim_z=4)
        self.kf.F = np.array([[1,0,0,0,1,0,0],[0,1,0,0,0,1,0],[0,0,1,0,0,0,1],[0,0,0,1,0,0,0],  [0,0,0,0,1,0,0],[0,0,0,0,0,1,0],[0,0,0,0,0,0,1]])
        self.kf.H = np.array([[1,0,0,0,0,0,0],[0,1,0,0,0,0,0],[0,0,1,0,0,0,0],[0,0,0,1,0,0,0]])

        self.kf.R[2:,2:] *= 10.
        self.kf.P[4:,4:] *= 1000. #give high uncertainty to the unobservable initial velocities
        self.kf.P *= 10.
        self.kf.Q[-1,-1] *= 0.01
        self.kf.Q[4:,4:] *= 0.01

        self.kf.x[:4] = convert_bbox_to_z(bbox)
        self.time_since_update = 0
        self.id = KalmanBoxTracker.count
        KalmanBoxTracker.count += 1
        self.history = []
        self.hits = 0
        self.hit_streak = 0
        self.age = 0
        self.cthist = [self.kf.x[:2].ravel()]

    def update(self, bbox, n):
        """
        Updates the state vector with observed bbox.
        """
        self.time_since_update = 0
        self.history = []
        self.hits += 1
        self.hit_streak += 1
        self.kf.update(convert_bbox_to_z(bbox))
        self.cthist.append(bbox[:2] + (bbox[2:4] - bbox[:2]) / 2)
        self.cthist = self.cthist[-n:]

    def predict(self):
        """
        Advances the state vector and returns the predicted bounding box estimate.
        """
        if((self.kf.x[6]+self.kf.x[2])<=0):
            self.kf.x[6] *= 0.0
        self.kf.predict()
        self.age += 1
        if(self.time_since_update>0):
            self.hit_streak = 0
            self.kf.P *= 1.2 # we may be lost, increase uncertainty and responsiveness
        self.time_since_update += 1
        self.history.append(convert_x_to_bbox(self.kf.x))
        return self.history[-1]

    def get_state(self):
        """
        Returns the current bounding box estimate.
        """
        return convert_x_to_bbox(self.kf.x)
    

def associate_detections_to_trackers(detections, trackers, cost_fn = iou, threshold = 0.45):    ##default was 0.33
    """
    Assigns detections to tracked object (both represented as bounding boxes)
    Returns 3 lists of matches, unmatched_detections and unmatched_trackers
    """
    lendet = len(detections)
    lentrk = len(trackers)

    if(lentrk==0):
        return np.empty((0,2),dtype=int), np.arange(lendet), np.array([],dtype=int)
    cost_matrix = np.zeros((lendet,lentrk),dtype=np.float32)

    for d,det in enumerate(detections):
        for t,trk in enumerate(trackers):
            cost_matrix[d,t] = cost_fn(det,trk)
    cost_matrix[cost_matrix < threshold] = 0.
    matched_indices = linear_sum_assignment(-cost_matrix)
    matched_indices = np.asarray(matched_indices)
    matched_indices = np.transpose(matched_indices)

    costs = cost_matrix[tuple(matched_indices.T)] # select values from cost matrix by matched indices
    matches = matched_indices[np.where(costs)[0]] # remove zero values from matches
    unmatched_detections = np.where(np.in1d(range(lendet), matches[:,0], invert=True))[0]
    unmatched_trackers = np.where(np.in1d(range(lentrk), matches[:,1], invert=True))[0]

    if(len(matches)==0):
        matches = np.empty((0,2),dtype=int)

    return matches, unmatched_detections, unmatched_trackers


class Sort(object):
    def __init__(self,max_age=10,min_hits=0):
        """
        Sets key parameters for SORT
        """
        self.max_age = max_age
        self.min_hits = min_hits
        self.trackers = []
        self.frame_count = 0

    def update(self, dets, cnum = 8):   #3 was default
        """
        Params:
          dets - a numpy array of detections in the format [[x1,y1,x2,y2,score],[x1,y1,x2,y2,score],...]
          cnum - number of center positions to average
        Requires: this method must be called once for each frame even with empty detections.
        Returns the a similar array, where the last column is the object ID.
        NOTE: The number of objects returned may differ from the number of detections provided.
        """
        self.frame_count += 1
        #get predicted locations from existing trackers.
        trks = np.zeros((len(self.trackers),5))
        ctmean = []
        to_del = []
        ret = []
        
        for t,trk in enumerate(trks):
            pos = self.trackers[t].predict()[0]
            trk[:] = [pos[0], pos[1], pos[2], pos[3], 0]
            if(np.any(np.isnan(pos))):
                to_del.append(t)
        trks = np.ma.compress_rows(np.ma.masked_invalid(trks))
        for t in reversed(to_del):
            self.trackers.pop(t)
        matched, unmatched_dets, unmatched_trks = associate_detections_to_trackers(dets,trks)

        for t in unmatched_trks:
            cnt = np.array(self.trackers[t].cthist)
            cnt = np.array([np.convolve(cnt[:,i], np.ones((cnum,))/cnum, mode='valid') for i in (0,1)]).T
            if cnt.shape[0] == 1: # fix same len
                cnt = np.concatenate((cnt,cnt),axis=0)
            ctmean.append(cnt)

        rematch, new_dets, lost_trks = associate_detections_to_trackers(dets[unmatched_dets],ctmean,colinearity,0.6)
        rematch = np.array([unmatched_dets[rematch[:,0]], unmatched_trks[rematch[:,1]]]).T
        matched = np.concatenate((matched, rematch.reshape(-1,2)))
        unmatched_dets = unmatched_dets[new_dets]
        unmatched_trks = unmatched_trks[lost_trks]

        #update matched trackers with assigned detections
        for t,trk in enumerate(self.trackers):
            if(t not in unmatched_trks):
                d = matched[np.where(matched[:,1]==t)[0],0]
                trk.update(dets[d,:][0], cnum+1)

        #create and initialise new trackers for unmatched detections
        for i in unmatched_dets:
            trk = KalmanBoxTracker(dets[i,:]) 
            self.trackers.append(trk)
        i = len(self.trackers)
        for trk in reversed(self.trackers):
            d = trk.get_state()[0]
            if((trk.time_since_update < self.max_age) and (trk.hit_streak >= self.min_hits or self.frame_count <= self.min_hits)):
                ret.append(np.concatenate((d,[trk.id+1],[trk.time_since_update])).reshape(1,-1)) # +1 as MOT benchmark requires positive
            i -= 1
            #remove dead tracklet
            if(trk.time_since_update > self.max_age):
                self.trackers.pop(i)
        if(len(ret)>0):
            return np.concatenate(ret)
        return np.empty((0,5))
    

def draw_bb(img, label):
    # Show boundingbox on Image
    #height, width = img.shape[0], img.shape[1]

    for car_no in range(len(label)):     ###i need to make it read from list
    
        x1 = label[car_no][0]
        y1 = label[car_no][1]
        x2 = label[car_no][2]
        y2 = label[car_no][3]

        cv2.rectangle(img, (x1, y1), (x2, y2), (0, 255, 0), 2)

    return img




images_dir = args["inp"]
img_name = glob.glob(images_dir + "*.jpg")
img_list = []
for name in img_name:
    name = (Path(name).stem)+'.jpg'
    img_list.append(name)

list.sort(img_list)
print("Total images: " + str(len(img_list)))




mot_tracker = Sort() #create instance of the SORT tracker

(H, W) = (None, None)
trajectories = {}

def running_mean(x, N):
    cumsum = np.cumsum(np.insert(x, 0, 0)) 
    return (np.ceil((cumsum[N:] - cumsum[:-N]) / float(N))).astype("int")


##see timing details here : https://stackoverflow.com/questions/42869495/numpy-version-of-exponential-weighted-moving-average-equivalent-to-pandas-ewm
def numpy_ewma_vectorized_v2(data, window):
    alpha = 2 /(window + 1.0)
    alpha_rev = 1-alpha
    n = data.shape[0]

    pows = alpha_rev**(np.arange(n+1))

    scale_arr = 1/pows[:-1]
    offset = data[0]*pows[1:]
    pw0 = alpha*alpha_rev**(n-1)

    mult = data*pw0*scale_arr
    cumsums = mult.cumsum()
    out = offset + cumsums*scale_arr[::-1]
    return out.astype("int")


if args["savevid"]:
    ##to save into a video
    image_file = os.path.join(args["inp"],img_list[0])
    frame0 = cv2.imread(image_file)

    fourcc = cv2.VideoWriter_fourcc(*'mp4v') 
    height,width,layers= frame0.shape
    video=cv2.VideoWriter('kalman_video.avi', fourcc, 20, (width,height))


weights = args["weights"]
device = select_device('')
half = device.type != 'cpu'  # half precision only supported on CUDA
model = attempt_load(weights, map_location=device)  # load FP32 model   ##here model checks whether one model or ensemble of models will be loaded

yolo = yolo_detector(model, device, half)


# loop over the frames from the video stream
for i in tqdm(range(0, len(img_list))):
    t0 = time_synchronized()
    # read the next frame from the video stream and resize it
    parent_dir = args["inp"]
    image_file = os.path.join(parent_dir,img_list[i])  ##path of an image
    #frame = cv2.imread(image_file)
    image_size = args["img"]

    ######################################
    ###prediction part of YOLOV5
    ### obtain our output predictions, and initialize the list of bounding box rectangles
    ######################################

    rects , frame = yolo.infer_on_single_img(image_file, image_size)
    t1 = time_synchronized()
    frame = draw_bb(frame, rects)
    # if the frame dimensions are None, grab them
    if W is None or H is None:
        (H, W) = frame.shape[:2]
    

    dets = np.array(rects)

    trackers = mot_tracker.update(dets)

    for d in trackers:
        d = d.astype(np.int32)
        centroid = [int((d[0] + d[2]) / 2), int((d[1] + d[3]) / 2)]
        ID = d[4]
        
        text = "ID {}".format(ID)
        
        try:
            track = trajectories[str(ID)]
            track.append(centroid)
            
            ##applying moving average on centroid
            centx = [item[0] for item in track]
            centy = [item[1] for item in track]
            #centxx = running_mean(centx, 2)
            #centyy = running_mean(centy, 2)

            centxx = numpy_ewma_vectorized_v2(np.array(centx), 4)
            centyy = numpy_ewma_vectorized_v2(np.array(centy), 4)

            mvavg = []
            for (i,j) in zip(centxx,centyy):
                mvavg.append([i,j])
        
            #print(track)
            #print(mvavg)
            trajectories[str(ID)] = track
            cv2.polylines(frame, [np.array(mvavg)], False, (0, 255, 255), 5)
        except:
            trajectories[str(ID)] = [centroid]  
        cv2.putText(frame, text, (centroid[0] - 10, centroid[1] - 10),
            cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
        cv2.circle(frame, (centroid[0], centroid[1]), 4, (0, 255, 0), -1)
    
    #t2 = time_synchronized()
    t2 = time.time()
    video.write(frame)
    #cv2.imshow("Frame", frame)
    print('Model takes %.3fs' % (t1 - t0))
    print('Tracking takes %.3fs' % (t2 - t1))
    #key = cv2.waitKey(15) & 0xFF

    del(centroid)
    del(frame)
    del(trackers)
    del(dets)

cv2.destroyAllWindows()
video.release()
print("Done")

#print("Total Tracking took: %.3f for %d frames or %.1f FPS"%(total_time,total_frames,total_frames/total_time))