YOLOv7_bytetrack.py

import argparse
import time 
import cv2
import numpy as np
from openvino.runtime import Core  # pip install openvino -i  https://pypi.tuna.tsinghua.edu.cn/simple
import onnxruntime as ort  # 使用onnxruntime推理用上，pip install onnxruntime，默认安装CPU

import copy
from bytetrack.byte_tracker import BYTETracker

# COCO默认的80类
CLASSES = ['person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light',
            'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
              'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee',
                'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard',
                  'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple', 'sandwich',
                    'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch', 'potted plant', 'bed',
                      'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone', 'microwave', 'oven',
                        'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear', 'hair drier', 'toothbrush']


class OpenvinoInference(object):
    def __init__(self, onnx_path):
        self.onnx_path = onnx_path
        ie = Core()
        self.model_onnx = ie.read_model(model=self.onnx_path)
        self.compiled_model_onnx = ie.compile_model(model=self.model_onnx, device_name="CPU")
        self.output_layer_onnx = self.compiled_model_onnx.output(0)

    def predict(self, datas):
        predict_data = self.compiled_model_onnx([datas])[self.output_layer_onnx]
        return predict_data
    

class YOLOv7:
    """YOLOv7 object detection model class for handling inference and visualization."""

    def __init__(self, onnx_model, imgsz=(640, 640), infer_tool='openvino'):
        """
        Initialization.

        Args:
            onnx_model (str): Path to the ONNX model.
        """
        self.infer_tool = infer_tool
        if self.infer_tool == 'openvino':
            # 构建openvino推理引擎
            self.openvino = OpenvinoInference(onnx_model)
            self.ndtype = np.single
        else:
            # 构建onnxruntime推理引擎
            self.ort_session = ort.InferenceSession(onnx_model,
                                                providers=['CUDAExecutionProvider', 'CPUExecutionProvider']
                                                if ort.get_device() == 'GPU' else ['CPUExecutionProvider'])

            # Numpy dtype: support both FP32 and FP16 onnx model
            self.ndtype = np.half if self.ort_session.get_inputs()[0].type == 'tensor(float16)' else np.single
       
        self.classes = CLASSES  # 加载模型类别
        self.model_height, self.model_width = imgsz[0], imgsz[1]  # 图像resize大小
        self.color_palette = np.random.uniform(0, 255, size=(len(self.classes), 3))  # 为每个类别生成调色板

    def __call__(self, im0, conf_threshold=0.4, iou_threshold=0.45):
        """
        The whole pipeline: pre-process -> inference -> post-process.

        Args:
            im0 (Numpy.ndarray): original input image.
            conf_threshold (float): confidence threshold for filtering predictions.
            iou_threshold (float): iou threshold for NMS.

        Returns:
            boxes (List): list of bounding boxes.
        """
        # 前处理Pre-process
        t1 = time.time()
        im, ratio, (pad_w, pad_h) = self.preprocess(im0)
        print('预处理时间：{:.3f}s'.format(time.time() - t1))
        
        # 推理 inference
        t2 = time.time()
        if self.infer_tool == 'openvino':
            preds = self.openvino.predict(im)
        else:
            preds = self.ort_session.run(None, {self.ort_session.get_inputs()[0].name: im})[0]
        print('推理时间：{:.3f}s'.format(time.time() - t2))
     
        # 后处理Post-process
        t3 = time.time()
        boxes = self.postprocess(preds,
                                im0=im0,
                                ratio=ratio,
                                pad_w=pad_w,
                                pad_h=pad_h,
                                conf_threshold=conf_threshold,
                                iou_threshold=iou_threshold,
                                )
        print('后处理时间：{:.3f}s'.format(time.time() - t3))

        return boxes
        
    # 前处理，包括：resize, pad, HWC to CHW，BGR to RGB，归一化，增加维度CHW -> BCHW
    def preprocess(self, img):
        """
        Pre-processes the input image.

        Args:
            img (Numpy.ndarray): image about to be processed.

        Returns:
            img_process (Numpy.ndarray): image preprocessed for inference.
            ratio (tuple): width, height ratios in letterbox.
            pad_w (float): width padding in letterbox.
            pad_h (float): height padding in letterbox.
        """
        # Resize and pad input image using letterbox() (Borrowed from Ultralytics)
        shape = img.shape[:2]  # original image shape
        new_shape = (self.model_height, self.model_width)
        r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])
        ratio = r, r
        new_unpad = int(round(shape[1] * r)), int(round(shape[0] * r))
        pad_w, pad_h = (new_shape[1] - new_unpad[0]) / 2, (new_shape[0] - new_unpad[1]) / 2  # wh padding
        if shape[::-1] != new_unpad:  # resize
            img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR)
        top, bottom = int(round(pad_h - 0.1)), int(round(pad_h + 0.1))
        left, right = int(round(pad_w - 0.1)), int(round(pad_w + 0.1))
        img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=(114, 114, 114))  # 填充

        # Transforms: HWC to CHW -> BGR to RGB -> div(255) -> contiguous -> add axis(optional)
        img = np.ascontiguousarray(np.einsum('HWC->CHW', img)[::-1], dtype=self.ndtype) / 255.0
        img_process = img[None] if len(img.shape) == 3 else img
        return img_process, ratio, (pad_w, pad_h)
    
    # 后处理，包括：阈值过滤与NMS
    def postprocess(self, preds, im0, ratio, pad_w, pad_h, conf_threshold, iou_threshold):
        """
        Post-process the prediction.

        Args:
            preds (Numpy.ndarray): predictions come from ort.session.run().
            im0 (Numpy.ndarray): [h, w, c] original input image.
            ratio (tuple): width, height ratios in letterbox.
            pad_w (float): width padding in letterbox.
            pad_h (float): height padding in letterbox.
            conf_threshold (float): conf threshold.
            iou_threshold (float): iou threshold.

        Returns:
            boxes (List): list of bounding boxes.
        """
        # (Batch_size, Num_anchors, xywh_score_conf_cls), v5和v6_1.0的[..., 4]是置信度分数，v8v9采用类别里面最大的概率作为置信度score
        x = preds  # outputs: predictions (1, 8400*3, 85)
    
        # Predictions filtering by conf-threshold
        x = x[x[..., 4] > conf_threshold]
       
        # Create a new matrix which merge these(box, score, cls) into one
        # For more details about `numpy.c_()`: https://numpy.org/doc/1.26/reference/generated/numpy.c_.html
        x = np.c_[x[..., :4], x[..., 4], np.argmax(x[..., 5:], axis=-1)]

        # NMS filtering
        # 经过NMS后的值, np.array([[x, y, w, h, conf, cls], ...]), shape=(-1, 4 + 1 + 1)
        x = x[cv2.dnn.NMSBoxes(x[:, :4], x[:, 4], conf_threshold, iou_threshold)]
    
        # 重新缩放边界框，为画图做准备
        if len(x) > 0:
            # Bounding boxes format change: cxcywh -> xyxy
            x[..., [0, 1]] -= x[..., [2, 3]] / 2
            x[..., [2, 3]] += x[..., [0, 1]]

            # Rescales bounding boxes from model shape(model_height, model_width) to the shape of original image
            x[..., :4] -= [pad_w, pad_h, pad_w, pad_h]
            x[..., :4] /= min(ratio)

            # Bounding boxes boundary clamp
            x[..., [0, 2]] = x[:, [0, 2]].clip(0, im0.shape[1])
            x[..., [1, 3]] = x[:, [1, 3]].clip(0, im0.shape[0])

            return x[..., :6]  # boxes
        else:
            return []

    # 绘框
    def draw_and_visualize(self, im, bboxes, video_writer, vis=False, save=False, is_track=False):
        """
        Draw and visualize results.

        Args:
            im (np.ndarray): original image, shape [h, w, c].
            bboxes (numpy.ndarray): [n, 6], n is number of bboxes.
            vis (bool): imshow using OpenCV.
            save (bool): save image annotated.

        Returns:
            None
        """
        # Draw rectangles 
        if not is_track:
            for (*box, conf, cls_) in bboxes:
                # draw bbox rectangle
                cv2.rectangle(im, (int(box[0]), int(box[1])), (int(box[2]), int(box[3])),
                            self.color_palette[int(cls_)], 1, cv2.LINE_AA)
                cv2.putText(im, f'{self.classes[int(cls_)]}: {conf:.3f}', (int(box[0]), int(box[1] - 9)),
                            cv2.FONT_HERSHEY_SIMPLEX, 0.7, self.color_palette[int(cls_)], 2, cv2.LINE_AA)
        else:
            for (*box, conf, id_) in bboxes:
                # draw bbox rectangle
                cv2.rectangle(im, (int(box[0]), int(box[1])), (int(box[2]), int(box[3])),
                            (0, 0, 255), 1, cv2.LINE_AA)
                cv2.putText(im, f'{id_}: {conf:.3f}', (int(box[0]), int(box[1] - 9)),
                            cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2, cv2.LINE_AA)
    
        # Show image
        if vis:
            cv2.imshow('demo', im)
            cv2.waitKey(1)

        # Save video
        if save:
            video_writer.write(im)
            

class ByteTrackerONNX(object):
    def __init__(self, args):
        self.args = args
        self.tracker = BYTETracker(args, frame_rate=30)

    def _tracker_update(self, dets, image):
        online_targets = []
        if dets is not None:
            online_targets = self.tracker.update(
                dets[:, :5],
                [image.shape[0], image.shape[1]],
                [image.shape[0], image.shape[1]],
            )

        online_tlwhs = []
        online_ids = []
        online_scores = []
        for online_target in online_targets:
            tlwh = online_target.tlwh
            track_id = online_target.track_id
            vertical = tlwh[2] / tlwh[3] > 1.6
            if tlwh[2] * tlwh[3] > self.args.min_box_area and not vertical:
                online_tlwhs.append(tlwh)
                online_ids.append(track_id)
                online_scores.append(online_target.score)

        return online_tlwhs, online_ids, online_scores
    
    
    def inference(self, image, dets):
        """
        Args: dets: 检测结果, [x1, y1, x2, y2, conf, cls]
        Returns: np.array([[x1, y1, x2, y2, conf, ids], ...])
        """
        bboxes, ids, scores = self._tracker_update(dets, image)
        if len(bboxes) == 0:
            return []
        # Bounding boxes format change: tlwh -> xyxy
        bboxes = np.array(bboxes)
        bboxes[..., [2, 3]] += bboxes[..., [0, 1]]
        bboxes = np.c_[bboxes, np.array(scores), np.array(ids)]
        return bboxes


if __name__ == '__main__':
    # Create an argument parser to handle command-line arguments
    parser = argparse.ArgumentParser()
    parser.add_argument('--model', type=str, default='weights/yolov7.onnx', help='Path to ONNX model')
    parser.add_argument('--source', type=str, default=str('test.mp4'), help='Path to input image')
    parser.add_argument('--imgsz', type=tuple, default=(640, 640), help='Image input size')
    parser.add_argument('--conf', type=float, default=0.25, help='Confidence threshold')
    parser.add_argument('--iou', type=float, default=0.45, help='NMS IoU threshold')
    parser.add_argument('--infer_tool', type=str, default='openvino', choices=("openvino", "onnxruntime"), help='选择推理引擎')

    parser.add_argument('--is_track', type=bool, default=True, help='是否启用跟踪')
    parser.add_argument('--track_thresh', type=float, default=0.5, help='tracking confidence threshold')
    parser.add_argument('--track_buffer', type=int, default=30, help='the frames for keep lost tracks, usually as same with FPS')
    parser.add_argument('--match_thresh', type=float, default=0.8, help='matching threshold for tracking')
    parser.add_argument('--min_box_area', type=float, default=10, help='filter out tiny boxes',)
    parser.add_argument('--mot20', dest='mot20', default=False, action='store_true', help='test mot20.',)
    args = parser.parse_args()

    # Build model
    model = YOLOv7(args.model, args.imgsz, args.infer_tool)

    bytetrack = ByteTrackerONNX(args)

    # 读取视频,解析帧数宽高,保存视频
    cap = cv2.VideoCapture(args.source)
    width = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
    height = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
    fps = cap.get(cv2.CAP_PROP_FPS)
    frame_count = cap.get(cv2.CAP_PROP_FRAME_COUNT)
    video_writer = cv2.VideoWriter('demo.mp4', cv2.VideoWriter_fourcc(*"mp4v"), fps, (int(width), int(height)))
    frame_id = 1

    while True:
        start_time = time.time()
        ret, img = cap.read()
        if not ret:
            break

        # Inference
        boxes = model(img, conf_threshold=args.conf, iou_threshold=args.iou)
        
        # track
        if args.is_track:
            boxes = bytetrack.inference(img, boxes)
        
        # Visualize
        if len(boxes) > 0:
            model.draw_and_visualize(copy.deepcopy(img), boxes, video_writer, vis=True, save=False, is_track=args.is_track)
        
        end_time = time.time() - start_time
        print('frame {}/{} (Total time: {:.2f} ms)'.format(frame_id, int(frame_count), end_time * 1000))
        frame_id += 1