7.6 MiB
7.6 MiB
Visualise embeddings of the JDE model¶
This notebook embeds images from the training data using the JDE model. It then collects all embeddings and projects them using different techniques (e.g. UMAP, PCA). These projections are plotted; try to hover the plot to see the source detection.
In a second step these images are drawn onto a canvas using the projected points.
In [1]:
import glob
import pickle
from typing import TypedDict
from tqdm.auto import tqdm
import os
import numpy as np
import logging
import argparse
logger = logging.getLogger(__name__)
In [2]:
from track import eval_seq
from utils.parse_config import parse_model_cfg
from utils.utils import mkdir_if_missing
import utils.datasets as datasets
from utils.log import logger as trmlog # we need to override this...
trmlog.setLevel(logging.INFO)
In [3]:
import umap # should provide better results than t-SNE
In [4]:
# import matplotlib.pyplot as plt
from bokeh.io import curdoc, output_notebook
from bokeh.models import ColumnDataSource
from bokeh.layouts import column, row, gridplot
from bokeh.plotting import figure, show
from bokeh.models import (PanTool,
ResetTool,
HoverTool, WheelZoomTool, BoxZoomTool)
# load bokeh
output_notebook()
In [5]:
# p1 = figure(plot_width=250, plot_height=250)
# r1 = p1.circle([1,2,3],[3,2,1], size=20)
# t = show(p1, notebook_handle=True)
In [26]:
img_seqs = [
"MOT16/test/MOT16-01/",
"MOT16/test/MOT16-03/",
"MOT16/test/MOT16-06/",
"MOT16/test/MOT16-07/",
"MOT16/test/MOT16-08/",
"MOT16/test/MOT16-12/",
"MOT16/test/MOT16-14/",
"MOT16/train/MOT16-02/",
"MOT16/train/MOT16-04/",
"MOT16/train/MOT16-05/",
"MOT16/train/MOT16-09/",
"MOT16/train/MOT16-10/",
"MOT16/train/MOT16-11/",
"MOT16/train/MOT16-13/",
"CaltechPedestrians/data/images/",
"PRW/images/",
"CUHK-SYSU/images/",
"CityScapes/leftImg8bit/test/*",
"CityScapes/leftImg8bit/train/*",
"CityScapes/leftImg8bit/val/*",
]
In [ ]:
In [12]:
# Data types
from dataclasses import dataclass
from pathlib import Path
Tlwh = list[float, float, float, float] #top left width height
Embedding = np.array
TrackerFrameEmbedding = list[Tlwh, Embedding]
@dataclass
class FrameEmbedding():
pcl_filename: str
tlwh: Tlwh
embedding: Embedding
umap: Embedding = None
pca: Embedding = None
@classmethod
def from_tracker_embedding(cls, pcl_filename: str | Path, tfe: TrackerFrameEmbedding):
return cls(pcl_filename=pcl_filename, tlwh=tfe[0], embedding=tfe[1])
@property
def img_filename(self):
return self.pcl_filename[:-4] + '.jpg'
In [13]:
# load options; quick'n'dirty copy from track.py (as the Namespace object is used in the multitracker)
parser = argparse.ArgumentParser(prog='visualise_embeddings.py')
parser.add_argument('--cfg', type=str, default='cfg/yolov3_1088x608.cfg', help='cfg file path')
parser.add_argument('--weights', type=str, default='jde.1088x608.uncertainty.pt', help='path to weights file')
parser.add_argument('--iou-thres', type=float, default=0.5, help='iou threshold required to qualify as detected')
parser.add_argument('--conf-thres', type=float, default=0.5, help='object confidence threshold')
parser.add_argument('--nms-thres', type=float, default=0.4, help='iou threshold for non-maximum suppression')
parser.add_argument('--min-box-area', type=float, default=200, help='filter out tiny boxes')
parser.add_argument('--track-buffer', type=int, default=30, help='tracking buffer')
parser.add_argument('--dataset-dir', type=str, default="/datasets", help='Path to directory with datasets')
parser.add_argument('--experiment-name', type=str, default="embedding_test", help="name to prefix output directory with")
parser.add_argument('--output-dir', type=str, default="./OUT", help="directory for results")
# we're running in notebook, so default to empty
opt = parser.parse_args([])
logger.setLevel(logging.INFO)
result_path = os.path.join(opt.output_dir, opt.experiment_name)
mkdir_if_missing(result_path)
data_type = 'mot'
# Read config
cfg_dict = parse_model_cfg(opt.cfg)
# set img_size in opt, so it is passed on to JDETracker
opt.img_size = [int(cfg_dict[0]['width']), int(cfg_dict[0]['height'])]
In [24]:
from ipywidgets import __version__
assert __version__ == "7.7.2"
# import time
# for i in tqdm(range(10)):
# time.sleep(1)
In [25]:
# run tracking on all img_seqs
for pattern in tqdm(img_seqs):
for seq in glob.glob(os.path.join(opt.dataset_dir, pattern)):
logger.info('start seq: {}'.format(seq))
if os.path.exists(os.path.join(seq, 'img1')):
seq_dir = os.path.join(seq, 'img1')
else:
seq_dir = seq
dataloader = datasets.LoadImages(seq_dir, opt.img_size)
# result_filename = os.path.join(result_path, '{}.txt'.format(seq))
try:
meta_info = open(os.path.join(seq, 'seqinfo.ini')).read()
frame_rate = int(meta_info[meta_info.find('frameRate')+10:meta_info.find('\nseqLength')])
except FileNotFoundError as e:
logger.warning(f"No ini file for {seq}. Note, these are only for MOT")
frame_rate = 25
p = str(Path(seq).relative_to(opt.dataset_dir))
nf, ta, tc = eval_seq(opt, dataloader, data_type, None,
save_dir=os.path.join(result_path, p), save_figures=True, save_img=False, show_image=False, frame_rate=frame_rate)
In [28]:
result_path = os.path.join(opt.output_dir, opt.experiment_name)
transformed_embedding_pcl = os.path.join(result_path, 'transformed_embeddings.pcl')
orig_embedding_pcl = os.path.join(result_path, 'orig_embeddings.pcl')
Load all pre-calculated embeddings from disk and project them. Save this collection of embeddings and their projections for easier working at a later stages.
In [29]:
from sklearn import decomposition
frame_embeddings: list[FrameEmbedding] = []
if os.path.exists(transformed_embedding_pcl):
with open(transformed_embedding_pcl, 'rb') as fp:
frame_embeddings = pickle.load(fp)
logger.info(f'loaded {len(frame_embeddings)} embeddings')
else:
if os.path.exists(orig_embedding_pcl):
with open(orig_embedding_pcl, 'rb') as fp:
frame_embeddings = pickle.load(fp)
logger.info(f'loaded {len(frame_embeddings)} embeddings')
else:
for pattern in tqdm(img_seqs):
for seq_path in glob.glob(os.path.join(result_path, pattern)):
for i, frame_path in tqdm(enumerate(glob.iglob(f"{seq_path}/*-*.pcl"))):
# if i%2 == 1:
# # TODO skip 50% for now
# continue
with open(frame_path, 'rb') as fp:
tracker_embedding = pickle.load(fp)
fe = FrameEmbedding.from_tracker_embedding(frame_path, tracker_embedding)
frame_embeddings.append(fe)
logger.info(f'loaded {len(frame_embeddings)} embeddings')
with open(orig_embedding_pcl, 'wb') as fp:
logger.info(f'saved all loaded embeddings embeddings')
pickle.dump(frame_embeddings, fp)
logger.info(f'transform using UMAP')
reducer = umap.UMAP(n_components=2)
umap_embeddings = reducer.fit_transform([e.embedding for e in frame_embeddings])
for i, e in enumerate(umap_embeddings):
frame_embeddings[i].umap = e
logger.info(f'transform using PCA')
pca = decomposition.PCA(n_components=2)
pca_embeddings = pca.fit_transform([e.embedding for e in frame_embeddings])
for i, e in enumerate(pca_embeddings):
frame_embeddings[i].pca = e
with open(transformed_embedding_pcl, 'wb') as fp:
logger.info(f'saved transformed embeddings')
pickle.dump(frame_embeddings, fp)
In [30]:
# print(embeddings)
umap_embeddings = np.array([e.umap for e in frame_embeddings])
pca_embeddings = np.array([e.pca for e in frame_embeddings])
In [64]:
import base64
import cv2
def b64_image_files(frame_embeddings: list[FrameEmbedding]):
urls = []
for i, fe in enumerate(frame_embeddings):
im = cv2.imread(fe.img_filename)
pic_width = int(im.shape[1] * .3)
pic_height = int(im.shape[0] * .3)
new_dimension = (pic_width, pic_height)
try:
im = cv2.resize(im, new_dimension)
_, byte_data = cv2.imencode('.png', im)
except Exception as e:
print(i, fe.img_filename, e)
url = 'data:image/png;base64,' + base64.b64encode(byte_data).decode('utf-8')
urls.append(url)
return urls
In [31]:
# source = ColumnDataSource(data={'x': embeddings[:, 0], 'y': embeddings[:, 1], 'b64': b64_image_files(frame_embeddings), 'fn': [e.img_filename for e in frame_embeddings] })
source = ColumnDataSource(data={
'x': umap_embeddings[:, 0], 'y': umap_embeddings[:, 1],
'pca_x': pca_embeddings[:, 0], 'pca_y': pca_embeddings[:, 1],
'fn': [e.img_filename for e in frame_embeddings]
})
In [85]:
# thanks to https://github.com/jni/blob-explorer/blob/bd9fa676a2a23317e2ea84bdf48b19e71b9e75d4/picker.py#L24
# who uses base64 encoding, but in VScode we can just use the _path_ to the file
tooltip = """
<img height=100 src='@fn'>
"""
tools1 = [BoxZoomTool(), PanTool(), WheelZoomTool(), ResetTool(), HoverTool(tooltips=tooltip)]
tools2 = [BoxZoomTool(), PanTool(), WheelZoomTool(), ResetTool(), HoverTool(tooltips=tooltip)]
In [86]:
p_umap = figure(width=800, height=800, title='UMAP projection',
tools=tools1
)
r_umap = p_umap.circle(source=source, size=10, color="navy", alpha=0.5)
In [87]:
p_pca = figure(width=800, height=800, title='PCA projection',
tools=tools2
)
r_pca = p_pca.circle('pca_x', 'pca_y', source=source, size=10, color="red", alpha=0.5)
In [83]:
handle = show(gridplot([[p_umap, p_pca]]), notebook_handle=True)
In [ ]:
Stage 2 Generate a grid images out of the projections¶
Now that there are individual points, we can perheaps better make sense of patterns if we see all points at once. As this is virtually impossible, we can try rendering a grid, with images on it. For each field on the grid, try to find the point closest to the center, and draw that image.
In [32]:
from scipy import spatial
In [48]:
class GridPosition(TypedDict):
pos: tuple[int,int]
distance: float
frame_embedding: FrameEmbedding
In [49]:
import cv2
# resize and pad from https://stackoverflow.com/a/44724368 (alkasm)
def resizeAndPad(img, size, padColor=0):
h, w = img.shape[:2]
sh, sw = size
# interpolation method
if h > sh or w > sw: # shrinking image
interp = cv2.INTER_AREA
else: # stretching image
interp = cv2.INTER_CUBIC
# aspect ratio of image
aspect = w/h # if on Python 2, you might need to cast as a float: float(w)/h
# compute scaling and pad sizing
if aspect > 1: # horizontal image
new_w = sw
new_h = np.round(new_w/aspect).astype(int)
pad_vert = (sh-new_h)/2
pad_top, pad_bot = np.floor(pad_vert).astype(int), np.ceil(pad_vert).astype(int)
pad_left, pad_right = 0, 0
elif aspect < 1: # vertical image
new_h = sh
new_w = np.round(new_h*aspect).astype(int)
pad_horz = (sw-new_w)/2
pad_left, pad_right = np.floor(pad_horz).astype(int), np.ceil(pad_horz).astype(int)
pad_top, pad_bot = 0, 0
else: # square image
new_h, new_w = sh, sw
pad_left, pad_right, pad_top, pad_bot = 0, 0, 0, 0
# set pad color
if len(img.shape) == 3 and not isinstance(padColor, (list, tuple, np.ndarray)): # color image but only one color provided
padColor = [padColor]*3
# scale and pad
scaled_img = cv2.resize(img, (new_w, new_h), interpolation=interp)
scaled_img = cv2.copyMakeBorder(scaled_img, pad_top, pad_bot, pad_left, pad_right, borderType=cv2.BORDER_CONSTANT, value=padColor)
return scaled_img
In [68]:
def projection_to_grid(grid_items, points, frame_embeddings: list[FrameEmbedding]):
# create a KDTree for fast searching of nearest points
spatial_tree = spatial.KDTree(points)
min_x = min(points[:,0])
max_x = max(points[:,0])
min_y = min(points[:,1])
max_y = max(points[:,1])
#initialize empty
# grid = [None]*(grid_items * grid_items)
grid: list[GridPosition] = []
# find the points closest to the grid centroids
for ix in range(grid_items):
embedding_x = (ix+0.5) / grid_items * (max_x - min_x) + min_x
for iy in range(grid_items):
embedding_y = (iy+0.5) / grid_items * (max_y - min_y) + min_y
distance, index = spatial_tree.query([embedding_x, embedding_y])
# print(distance, frame_embeddings[index].img_filename)
grid_index = ix * grid_items + iy
gp = GridPosition(pos=(ix, iy), distance=distance, frame_embedding=frame_embeddings[index])
grid.append(gp)
print(f'{len(grid)} items. Sort')
grid.sort(key=lambda k: k['distance'])
# remove duplicate closest points based on distance
drawn_embeddings = set()
items_to_draw: list[GridPosition] = []
for point in grid:
if point['frame_embedding'].img_filename not in drawn_embeddings:
drawn_embeddings.add(point['frame_embedding'].img_filename)
items_to_draw.append(point)
return items_to_draw
In [87]:
bgcolors = [
('MOT16', [255, 0, 0]),
('CaltechPedestrians', [0, 255, 0]),
('PRW', [0, 0, 255]),
('CUHK-SYSU', [255, 255, 0]),
('CityScapes', [0, 255, 255]),
]
def draw_grid(grid_size, items_to_draw: list[GridPosition], colored=True):
grid_items = max([max(p['pos']) for p in items_to_draw])+1
canvas = np.zeros((grid_size * grid_items, grid_size*grid_items, 3), np.uint8)
for point in items_to_draw:
if colored:
try:
color_idx = [k[0] in point['frame_embedding'].img_filename for k in bgcolors].index(True)
color = bgcolors[color_idx][1]
except ValueError:
color = [0,0,0]
else:
color = [0,0,0]
img = cv2.imread(point['frame_embedding'].img_filename)
img = resizeAndPad(img, (grid_size, grid_size), color)
iy = point['pos'][1]
ix = point['pos'][0]
y = grid_size*iy
x = grid_size*ix
canvas[x:x+grid_size,y:y+grid_size] = img
return canvas
In [97]:
from matplotlib import pyplot as plt
from PIL import Image
def show_and_save(cv_img, fn):
# Convert for consumption by matplotlib or Pillow
image = cv2.cvtColor(cv_img, cv2.COLOR_BGR2RGB)
# Converts from one colour space to the other. this is needed as RGB
# is not the default colour space for OpenCV
plt.imshow(image)
plt.show()
im = Image.fromarray(image)
# im = im.resize((1500,1500))
im.save(fn)
im.resize((1000, 1000)).save(fn[:-4] + '-small.png')
PCA reduces dimensions in a linear fasion. Thus this should stay truer to the values as they are embedded.
In [98]:
grid_points = projection_to_grid(150, pca_embeddings, frame_embeddings)
# print(['CUHK-SYSU' in p['frame_embedding'].img_filename for p in grid_points])
canvas = draw_grid(60, grid_points, False)
show_and_save(canvas, os.path.join(result_path, 'pca_plain.png'))
canvas = draw_grid(60, grid_points, True)
for i, k in enumerate(bgcolors):
dataset, color = k
cv2.putText(canvas, dataset, (100, 100*i+100), cv2.FONT_HERSHEY_DUPLEX, 2, color, 2)
show_and_save(canvas, os.path.join(result_path, 'pca_color.png'))
Large versions are saved without colors and with colors. [Note, these are big image files]
UMAP is a clustering algorithm ,which tries to confirm to local and global structures. Being similar to T-SNE it is a visualisation/exploratory method, and thus it shoul not be interpreted too strict.
In [99]:
grid_points = projection_to_grid(150, umap_embeddings, frame_embeddings)
canvas = draw_grid(60, grid_points, False)
show_and_save(canvas, os.path.join(result_path, 'umap_plain.png'))
canvas = draw_grid(60, grid_points, True)
for i, k in enumerate(bgcolors):
dataset, color = k
cv2.putText(canvas, dataset, (100, 100*i+100), cv2.FONT_HERSHEY_DUPLEX, 2, color, 2)
show_and_save(canvas, os.path.join(result_path, 'umap_color.png'))
Large versions are saved without colors and with colors. [Note, these are big image files]
