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Bug fix for log
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@PINTO0309
PINTO0309 committed Jan 30, 2025
1 parent ab1f073 commit 5bee5d1
Showing 1 changed file with 34 additions and 22 deletions.
56 changes: 34 additions & 22 deletions 423_6DRepNet360/demo/demo_yolov9_onnx_webcam_with_tracker_camera_gazing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
from bbalg import state_verdict
import importlib.util
from abc import ABC, abstractmethod
from datetime import datetime

class Color(Enum):
BLACK = '\033[30m'
Expand Down Expand Up @@ -101,9 +102,9 @@ def __init__(self, max_distance=50, max_lost=30, looking_duration=90, headtilt_d

def update_trackers(self, head_boxes: List[Box]):
# 現在追跡中のオブジェクトの中心点を取得
tracked_centroids = [(t.id, (t.box.cx, t.box.cy)) for t in self.tracked_heads.values()]
tracked_centroids: List[Tuple[int, Tuple[int, int]]] = [(t.id, (t.box.cx, t.box.cy)) for t in self.tracked_heads.values()]
# 新しく検出されたバウンディングボックスの中心点を取得
new_centroids = [(box.cx, box.cy) for box in head_boxes]
new_centroids: List[Tuple[int, int]] = [(box.cx, box.cy) for box in head_boxes]

# マッチング処理
matched, unmatched_tracked, unmatched_new = self.match_objects(tracked_centroids, new_centroids)
Expand Down Expand Up @@ -132,7 +133,7 @@ def update_trackers(self, head_boxes: List[Box]):

return list(self.tracked_heads.values())

def match_objects(self, tracked_centroids, new_centroids):
def match_objects(self, tracked_centroids: List[Tuple[int, Tuple[int, int]]], new_centroids: List[Tuple[int, int]]):
matched = []
unmatched_tracked = list(range(len(tracked_centroids)))
unmatched_new = list(range(len(new_centroids)))
Expand Down Expand Up @@ -931,7 +932,7 @@ def __init__(self, base_filename, max_lines=18000, header_row=None):
self.log_file = None
self.csv_writer = None
self.header_row = header_row # ヘッダ行
self.start_time = datetime.datetime.now().strftime("%Y%m%d%H%M%S")
self.start_time = datetime.now().strftime("%Y%m%d%H%M%S")

# 初回のログファイルを開く
self._open_new_file()
Expand Down Expand Up @@ -1154,12 +1155,15 @@ def main():
head_tracker = HeadTracker(max_distance=50, max_lost=30, looking_duration=int(looking_duration * cap_fps))

log_writer: LogWriter = None
NUMBER_OF_COLUMNS_PER_LOG_PER_INSTANCE: int = 3
if enable_log:
header_row = ['timestamp']
header_row = ['timestamp', 'frameno']
for idx in range(max_logging_instances):
header_row += [f'head_{idx+1}', f'looking_{idx+1}']
header_row += [f'trackid_{idx+1}', f'looking_{idx+1}', f'headtilt_{idx+1}',]
log_writer = LogWriter(base_filename="log.csv", max_lines=max_logging_rows, header_row=header_row)

frame_no: int = 0 # ログ出力用動画フレーム番号

while cap.isOpened():
res, image = cap.read()
if not res:
Expand All @@ -1178,6 +1182,11 @@ def main():

boxes = [box for box in boxes if box.classid == 7] # Head

# ログ出力用タイムスタンプ取得
now = datetime.now()
timestamp = now.strftime("%Y%m%d%H%M%S") + f'{now.microsecond // 1000:03d}'

log_row = [timestamp, frame_no]
if len(boxes) > 0:
image_height = debug_image.shape[0]
image_width = debug_image.shape[1]
Expand Down Expand Up @@ -1251,25 +1260,13 @@ def main():
head_tracker.stack_looking_history(tracked_head.id, is_looking)
is_looking_start = head_tracker.get_looking_state_start(tracked_head.id)

is_headtilt = is_headtilt_at_camera_with_angles(yaw=yaw_deg, pitch=pitch_deg, roll=roll_deg)
is_headtilt = is_headtilt_at_camera_with_angles(yaw=yaw_deg, pitch=pitch_deg, roll=roll_deg, tilt_threshold=12.0)
head_tracker.stack_headtilt_history(tracked_head.id, is_headtilt)
is_headtilt_start = head_tracker.get_headtilt_state_start(tracked_head.id)

looking_camera_txt = head_tracker.get_looking_view_text(is_looking_start)
head_tilt_txt = head_tracker.get_headtilt_view_text(is_headtilt_start)

if enable_log:
log_row = []
now = datetime.datetime.now()
timestamp = now.strftime("%Y%m%d%H%M%S") + f'{now.microsecond // 1000:03d}'
log_row.append(timestamp)
log_row.append(f'{tracked_head.id}')
log_row.append(f'{is_looking_start}')
log_row.append(f'{is_headtilt_start}')
while len(log_row) < (max_logging_instances * 2 + 1):
log_row.append('')
log_writer.write_row(log_row)

cv2.putText(
debug_image,
f'{tracked_head.id:06} {looking_camera_txt} {head_tilt_txt}',
Expand Down Expand Up @@ -1298,16 +1295,31 @@ def main():
)

draw_axis(debug_image, yaw_deg, pitch_deg, roll_deg, tdx=float(cx), tdy=float(cy), size=abs(x2-x1)//2)

# ログ出力
if enable_log:
log_row.append(f'{tracked_head.id}')
log_row.append(f'{is_looking_start}')
log_row.append(f'{is_headtilt_start}')

# timestamp, frame_no, tracked_head.id, is_looking_start, is_headtilt_start, ... (tracked_head.id〜is_headtilt_start x20)
if enable_log:
while len(log_row) < (max_logging_instances * NUMBER_OF_COLUMNS_PER_LOG_PER_INSTANCE + 2):
log_row.append('')
log_writer.write_row(log_row)

else:
# ログ出力
if enable_log:
log_row = []
now = datetime.datetime.now()
timestamp = now.strftime("%Y%m%d%H%M%S") + f'{now.microsecond // 1000:03d}'
log_row.append(timestamp)
while len(log_row) < (max_logging_instances * 2 + 1):
# timestamp, frame_no, tracked_head.id, is_looking_start, is_headtilt_start, ... (tracked_head.id〜is_headtilt_start x20)
while len(log_row) < (max_logging_instances * NUMBER_OF_COLUMNS_PER_LOG_PER_INSTANCE + 2):
log_row.append('')
log_writer.write_row(log_row)

frame_no += 1 # ログ出力用フレーム番号

elapsed_time = time.time() - start_time
cv2.putText(debug_image, f'{elapsed_time*1000:.2f} ms', (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 255), 2, cv2.LINE_AA)
cv2.putText(debug_image, f'{elapsed_time*1000:.2f} ms', (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 1, cv2.LINE_AA)
Expand Down

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