"""
Overview:
Detect human keypoints in anime images.
The model is from `https://github.com/IDEA-Research/DWPose <https://github.com/IDEA-Research/DWPose>`_.
.. image:: dwpose_demo.plot.py.svg
:align: center
This is an overall benchmark of all the keypoint detect models:
.. image:: dwpose_benchmark.plot.py.svg
:align: center
"""
import warnings
from typing import Tuple, List
import cv2
import numpy as np
from huggingface_hub import hf_hub_download
from .format import OP18KeyPointSet
from ..data import ImageTyping, load_image
from ..detect import detect_person
from ..utils import open_onnx_model, ts_lru_cache
def _dwpose_preprocess(img: np.ndarray, out_bbox=None, input_size: Tuple[int, int] = (288, 384)) \
-> Tuple[List[np.ndarray], List[np.ndarray], List[np.ndarray]]:
"""
Do preprocessing for RTMPose model inference.
Args:
img (np.ndarray): Input image in shape.
out_bbox (List[Tuple[int, int, int, int]]): Bounding box of each person.
input_size (tuple): Input image size in shape (w, h).
Returns:
tuple:
- resized_img (np.ndarray): Preprocessed image.
- center (np.ndarray): Center of image.
- scale (np.ndarray): Scale of image.
"""
# get shape of image
out_img, out_center, out_scale = [], [], []
for i in range(len(out_bbox)):
x0 = out_bbox[i][0]
y0 = out_bbox[i][1]
x1 = out_bbox[i][2]
y1 = out_bbox[i][3]
bbox = np.array([x0, y0, x1, y1])
# get center and scale
center, scale = _bbox_xyxy2cs(bbox, padding=1.25)
# do affine transformation
resized_img, scale = _top_down_affine(input_size, scale, center, img)
# normalize image
mean = np.array([123.675, 116.28, 103.53])
std = np.array([58.395, 57.12, 57.375])
resized_img = (resized_img - mean) / std
out_img.append(resized_img)
out_center.append(center)
out_scale.append(scale)
return out_img, out_center, out_scale
def _dwpose_inference(session, img: List[np.ndarray]) -> List[np.ndarray]:
"""
Inference RTMPose model.
Args:
session (ort.InferenceSession): ONNXRuntime session.
img (np.ndarray): Input image in shape.
Returns:
outputs (np.ndarray): Output of RTMPose model.
"""
all_out = []
for i in range(len(img)):
# build output
input_values = {session.get_inputs()[0].name: img[i].transpose(2, 0, 1)[None, ...].astype(np.float32)}
output_names = [out.name for out in session.get_outputs()]
# run model
outputs = session.run(output_names, input_values)
all_out.append(outputs)
return all_out
def _dwpose_postprocess(outputs: List[np.ndarray], model_input_size: Tuple[int, int],
center: List[np.ndarray], scale: List[np.ndarray], simcc_split_ratio: float = 2.0) \
-> Tuple[np.ndarray, np.ndarray]:
"""
Postprocess for RTMPose model output.
Args:
outputs (np.ndarray): Output of RTMPose model.
model_input_size (tuple): RTMPose model Input image size.
center (tuple): Center of bbox in shape (x, y).
scale (tuple): Scale of bbox in shape (w, h).
simcc_split_ratio (float): Split ratio of simcc.
Returns:
tuple:
- keypoints (np.ndarray): Rescaled keypoints.
- scores (np.ndarray): Model predict scores.
"""
all_key = []
all_score = []
for i in range(len(outputs)):
# use simcc to decode
simcc_x, simcc_y = outputs[i]
keypoints, scores = _output_decode(simcc_x, simcc_y, simcc_split_ratio)
# rescale keypoints
keypoints = keypoints / model_input_size * scale[i] + center[i] - scale[i] / 2
all_key.append(keypoints[0])
all_score.append(scores[0])
return np.array(all_key), np.array(all_score)
def _bbox_xyxy2cs(bbox: np.ndarray, padding: float = 1.) -> Tuple[np.ndarray, np.ndarray]:
"""
Transform the bbox format from (x,y,w,h) into (center, scale)
Args:
bbox (ndarray): Bounding box(es) in shape (4,) or (n, 4), formatted
as (left, top, right, bottom)
padding (float): BBox padding factor that will be multilied to scale.
Default: 1.0
Returns:
tuple: A tuple containing center and scale.
- np.ndarray[float32]: Center (x, y) of the bbox in shape (2,) or
(n, 2)
- np.ndarray[float32]: Scale (w, h) of the bbox in shape (2,) or
(n, 2)
"""
# convert single bbox from (4, ) to (1, 4)
dim = bbox.ndim
if dim == 1:
bbox = bbox[None, :]
# get bbox center and scale
x1, y1, x2, y2 = np.hsplit(bbox, [1, 2, 3])
center = np.hstack([x1 + x2, y1 + y2]) * 0.5
scale = np.hstack([x2 - x1, y2 - y1]) * padding
if dim == 1:
center = center[0]
scale = scale[0]
return center, scale
def _fix_aspect_ratio(bbox_scale: np.ndarray, aspect_ratio: float) -> np.ndarray:
"""Extend the scale to match the given aspect ratio.
Args:
bbox_scale (np.ndarray): The image scale (w, h) in shape (2, )
aspect_ratio (float): The ratio of ``w/h``
Returns:
np.ndarray: The reshaped image scale in (2, )
"""
w, h = np.hsplit(bbox_scale, [1])
return np.where(
w > h * aspect_ratio,
np.hstack([w, w / aspect_ratio]),
np.hstack([h * aspect_ratio, h]),
)
def _rotate_point(pt: np.ndarray, angle_rad: float) -> np.ndarray:
"""Rotate a point by an angle.
Args:
pt (np.ndarray): 2D point coordinates (x, y) in shape (2, )
angle_rad (float): rotation angle in radian
Returns:
np.ndarray: Rotated point in shape (2, )
"""
sn, cs = np.sin(angle_rad), np.cos(angle_rad)
rot_mat = np.array([[cs, -sn], [sn, cs]])
return rot_mat @ pt
def _get_3rd_point(a: np.ndarray, b: np.ndarray) -> np.ndarray:
"""To calculate the affine matrix, three pairs of points are required. This
function is used to get the 3rd point, given 2D points a & b.
The 3rd point is defined by rotating vector `a - b` by 90 degrees
anticlockwise, using b as the rotation center.
Args:
a (np.ndarray): The 1st point (x,y) in shape (2, )
b (np.ndarray): The 2nd point (x,y) in shape (2, )
Returns:
np.ndarray: The 3rd point.
"""
direction = a - b
return b + np.r_[-direction[1], direction[0]]
def _get_warp_matrix(center: np.ndarray, scale: np.ndarray, rot: float,
output_size: Tuple[int, int], shift: Tuple[float, float] = (0., 0.),
inv: bool = False) -> np.ndarray:
"""Calculate the affine transformation matrix that can warp the bbox area
in the input image to the output size.
Args:
center (np.ndarray[2, ]): Center of the bounding box (x, y).
scale (np.ndarray[2, ]): Scale of the bounding box
wrt [width, height].
rot (float): Rotation angle (degree).
output_size (np.ndarray[2, ] | list(2,)): Size of the
destination heatmaps.
shift (0-100%): Shift translation ratio wrt the width/height.
Default (0., 0.).
inv (bool): Option to inverse the affine transform direction.
(inv=False: src->dst or inv=True: dst->src)
Returns:
np.ndarray: A 2x3 transformation matrix
"""
shift = np.array(shift)
src_w = scale[0]
dst_w = output_size[0]
dst_h = output_size[1]
# compute transformation matrix
rot_rad = np.deg2rad(rot)
src_dir = _rotate_point(np.array([0., src_w * -0.5]), rot_rad)
dst_dir = np.array([0., dst_w * -0.5])
# get four corners of the src rectangle in the original image
src = np.zeros((3, 2), dtype=np.float32)
src[0, :] = center + scale * shift
src[1, :] = center + src_dir + scale * shift
src[2, :] = _get_3rd_point(src[0, :], src[1, :])
# get four corners of the dst rectangle in the input image
dst = np.zeros((3, 2), dtype=np.float32)
dst[0, :] = [dst_w * 0.5, dst_h * 0.5]
dst[1, :] = np.array([dst_w * 0.5, dst_h * 0.5]) + dst_dir
dst[2, :] = _get_3rd_point(dst[0, :], dst[1, :])
src, dst = src.astype(np.float32), dst.astype(np.float32)
if inv:
src, dst = dst, src # pragma: no cover
warp_mat = cv2.getAffineTransform(src, dst)
return warp_mat
def _top_down_affine(input_size: Tuple[int, int], bbox_scale: np.ndarray, bbox_center: np.ndarray,
img: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
"""Get the bbox image as the model input by affine transform.
Args:
input_size (dict): The input size of the model.
bbox_scale (dict): The bbox scale of the img.
bbox_center (dict): The bbox center of the img.
img (np.ndarray): The original image.
Returns:
tuple: A tuple containing center and scale.
- np.ndarray[float32]: img after affine transform.
- np.ndarray[float32]: bbox scale after affine transform.
"""
w, h = input_size
warp_size = (int(w), int(h))
# reshape bbox to fixed aspect ratio
bbox_scale = _fix_aspect_ratio(bbox_scale, aspect_ratio=w / h)
# get the affine matrix
center = bbox_center
scale = bbox_scale
rot = 0
warp_mat = _get_warp_matrix(center, scale, rot, output_size=(w, h))
# do affine transform
img = cv2.warpAffine(img, warp_mat, warp_size, flags=cv2.INTER_LINEAR)
return img, bbox_scale
def _get_simcc_maximum(simcc_x: np.ndarray, simcc_y: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
"""Get maximum response location and value from simcc representations.
Note:
instance number: N
num_keypoints: K
heatmap height: H
heatmap width: W
Args:
simcc_x (np.ndarray): x-axis SimCC in shape (K, Wx) or (N, K, Wx)
simcc_y (np.ndarray): y-axis SimCC in shape (K, Wy) or (N, K, Wy)
Returns:
tuple:
- locs (np.ndarray): locations of maximum heatmap responses in shape
(K, 2) or (N, K, 2)
- vals (np.ndarray): values of maximum heatmap responses in shape
(K,) or (N, K)
"""
n, k, wx = simcc_x.shape
simcc_x = simcc_x.reshape(n * k, -1)
simcc_y = simcc_y.reshape(n * k, -1)
# get maximum value locations
x_locs = np.argmax(simcc_x, axis=1)
y_locs = np.argmax(simcc_y, axis=1)
locs = np.stack((x_locs, y_locs), axis=-1).astype(np.float32)
max_val_x = np.amax(simcc_x, axis=1)
max_val_y = np.amax(simcc_y, axis=1)
# get maximum value across x and y axis
mask = max_val_x > max_val_y
max_val_x[mask] = max_val_y[mask]
vals = max_val_x
locs[vals <= 0.] = -1
# reshape
locs = locs.reshape(n, k, 2)
vals = vals.reshape(n, k)
return locs, vals
def _output_decode(simcc_x: np.ndarray, simcc_y: np.ndarray, simcc_split_ratio: float) \
-> Tuple[np.ndarray, np.ndarray]:
"""Modulate simcc distribution with Gaussian.
Args:
simcc_x (np.ndarray[K, Wx]): model predicted simcc in x.
simcc_y (np.ndarray[K, Wy]): model predicted simcc in y.
simcc_split_ratio (float): The split ratio of simcc.
Returns:
tuple: A tuple containing center and scale.
- np.ndarray[float32]: keypoints in shape (K, 2) or (n, K, 2)
- np.ndarray[float32]: scores in shape (K,) or (n, K)
"""
keypoints, scores = _get_simcc_maximum(simcc_x, simcc_y)
keypoints /= simcc_split_ratio
return keypoints, scores
mmpose_idx = [17, 6, 8, 10, 7, 9, 12, 14, 16, 13, 15, 2, 1, 4, 3]
openpose_idx = [1, 2, 3, 4, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17]
def _dwpose_reorder_body_points(keypoints, scores):
keypoints_info = np.concatenate((keypoints, scores[..., None]), axis=-1)
# compute neck joint
neck = np.mean(keypoints_info[:, [5, 6]], axis=1)
# neck score when visualizing pred
neck[:, 2:4] = np.logical_and(keypoints_info[:, 5, 2:4] > 0.3, keypoints_info[:, 6, 2:4] > 0.3).astype(int)
new_keypoints_info = np.insert(keypoints_info, 17, neck, axis=1)
new_keypoints_info[:, openpose_idx] = new_keypoints_info[:, mmpose_idx]
keypoints_info = new_keypoints_info
keypoints, scores = keypoints_info[..., :2], keypoints_info[..., 2]
return keypoints, scores
def _split_data(keypoints, scores) -> List[OP18KeyPointSet]:
keypoints_info = np.concatenate((keypoints, scores[..., None]), axis=-1)
return [OP18KeyPointSet(info) for info in keypoints_info]
@ts_lru_cache()
def _open_dwpose_model():
return open_onnx_model(hf_hub_download(
repo_id='yzd-v/DWPose',
filename='dw-ll_ucoco_384.onnx',
))
[docs]def dwpose_estimate(image: ImageTyping, auto_detect: bool = True,
out_bboxes=None, person_detect_cfgs=None) -> List[OP18KeyPointSet]:
"""
Performs inference on the RTMPose model and returns keypoints and scores.
:param image: Input image.
:type image: ImageTyping
:param auto_detect: Auto detect person with :func:`imgutils.detect.person.detect_person`.
:type auto_detect: bool
:param out_bboxes: Bounding boxes.
:type out_bboxes: Optional[List[Tuple[int, int, int, int]]]
:param person_detect_cfgs: Config arguments for :func:`imgutils.detect.person.detect_person`.
:type person_detect_cfgs: Optional[Dict]
:return: List of mapping of different parts, including ``all``, ``head``, ``body``, ``foot``, ``hand1`` and ``hand2``.
:rtype: List[OP18KeyPointSet]
Examples:
>>> from imgutils.data import load_image
>>> from imgutils.pose import dwpose_estimate, op18_visualize
>>>
>>> image = load_image('dwpose/squat.jpg')
>>> keypoints = dwpose_estimate(image)
>>> keypoints
[<imgutils.pose.format.OP18KeyPointSet object at 0x7f5ca933f3d0>]
>>>
>>> from matplotlib import pyplot as plt
>>> plt.imshow(op18_visualize(image, keypoints))
<matplotlib.image.AxesImage object at 0x7f5c98069790>
>>> plt.show()
.. note::
Function :func:`imgutils.pose.visual.op18_visualize` can be used to visualize this result.
"""
session = _open_dwpose_model()
h, w = session.get_inputs()[0].shape[-2:]
model_input_size = (w, h)
image = load_image(image, mode='RGB')
np_image = np.array(image)
if auto_detect:
if out_bboxes is not None:
warnings.warn('Out bboxes provided, auto detection will be disabled.')
else:
out_bboxes = [
(x0, y0, x1, y1) for (x0, y0, x1, y1), _, _ in
detect_person(image, **(person_detect_cfgs or {}))
]
elif out_bboxes is None:
out_bboxes = [(0, 0, image.width, image.height)]
resized_img, center, scale = _dwpose_preprocess(np_image, out_bboxes, model_input_size)
outputs = _dwpose_inference(session, resized_img)
keypoints, scores = _dwpose_postprocess(outputs, model_input_size, center, scale)
if keypoints.shape[0] > 0:
keypoints, scores = _dwpose_reorder_body_points(keypoints, scores)
return _split_data(keypoints, scores)
else:
return []