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play.py
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import numpy as np
import cv2
import os
import argparse
import time
# from parser.parser_eth import ParserETH
# from parser.parser_sdd import ParserSDD
# from parser.parser_gc import ParserGC
# from parser.parser_hermes import ParserHermes
from toolkit.loaders.loader_eth import load_eth
from toolkit.loaders.loader_crowds import load_crowds
from toolkit.loaders.loader_sdd import load_sdd, load_sdd_dir
from toolkit.loaders.loader_gcs import load_gcs
from toolkit.loaders.loader_hermes import load_bottleneck
from toolkit.ui.pyqt.qtui.opentrajui import OpenTrajUI
def error_msg(msg):
print('Error:', msg)
exit(-1)
class Play:
def __init__(self, gui_mode):
bg_im = None
self.gui_mode_pyqt = (args.gui_mode == 'pyqt')
self.gui_mode_opencv = (args.gui_mode == 'opencv')
if self.gui_mode_pyqt:
self.qtui = OpenTrajUI(reserve_n_agents=100)
self.agent_index = -1
def is_a_video(self, filename):
return '.mp4' in filename or '.avi' in filename
def to_image_frame(self, Hinv, loc):
"""
Given H^-1 and world coordinates, returns (u, v) in image coordinates.
"""
if loc.ndim > 1:
locHomogenous = np.hstack((loc, np.ones((loc.shape[0], 1))))
loc_tr = np.transpose(locHomogenous)
loc_tr = np.matmul(Hinv, loc_tr) # to camera frame
locXYZ = np.transpose(loc_tr/loc_tr[2]) # to pixels (from millimeters)
return locXYZ[:, :2].astype(int)
else:
locHomogenous = np.hstack((loc, 1))
locHomogenous = np.dot(Hinv, locHomogenous) # to camera frame
locXYZ = locHomogenous / locHomogenous[2] # to pixels (from millimeters)
return locXYZ[:2].astype(int)
def set_background_im(self, im, timestamp=-1):
self.bg_im = im.copy()
if self.gui_mode_pyqt:
self.qtui.update_im(im)
self.qtui.erase_paths()
self.qtui.erase_circles()
if timestamp >= 0:
if self.gui_mode_pyqt:
self.qtui.setTimestamp(timestamp)
elif self.gui_mode_opencv:
cv2.putText(self.bg_im, '%d' % timestamp, (30, 80), cv2.FONT_HERSHEY_SIMPLEX, 2, (0, 0, 255), 3)
def draw_trajectory(self, id, ll, color, width):
if self.gui_mode_pyqt:
self.qtui.draw_path(ll[..., ::-1], color, [width])
elif self.gui_mode_opencv:
for tt in range(ll.shape[0] - 1):
cv2.line(self.bg_im, (ll[tt][1], ll[tt][0]), (ll[tt + 1][1], ll[tt + 1][0]), color, width)
def draw_agent(self, id, pos, radius, color, width):
if self.gui_mode_pyqt:
self.qtui.draw_circle(pos, radius, color, width)
elif self.gui_mode_opencv:
cv2.circle(self.bg_im, (pos[1], pos[0]), radius, color, width)
def play(self, traj_dataset, Hinv, media_file):
timestamps = sorted(traj_dataset.__t_p_dict__.keys())
if os.path.exists(media_file):
if self.is_a_video(media_file):
cap = cv2.VideoCapture(media_file)
else:
ref_im = cv2.imread(media_file)
ids_t = []
# for t in range(timestamps[0], timestamps[-1]):
# for t in range(0, timestamps[-1]):
t = 0
pause = False
while True:
if self.is_a_video(media_file) and not pause:
ret, ref_im = cap.read()
ref_im_copy = np.copy(ref_im)
self.set_background_im(ref_im, t)
if t in timestamps:
xys_t = traj_dataset.__t_p_dict__[t]
ids_t = traj_dataset.__t_id_dict__[t]
for i, id in enumerate(ids_t):
xy_i = np.array(xys_t[i])
UV_i = self.to_image_frame(Hinv, xy_i)
# fetch entire trajectory
traj_i = traj_dataset.__id_p_dict__[id]
TRAJ_i = self.to_image_frame(Hinv, traj_i)
self.draw_trajectory(id, TRAJ_i, (255, 255, 0), 2)
self.draw_agent(id, (UV_i[1], UV_i[0]), 5, (0, 0, 255), 2)
# if not ids_t:
# print('No agent')
if not pause and t < timestamps[-1]:
t += 1
delay_ms = 20
if self.gui_mode_pyqt:
self.qtui.processEvents()
pause = self.qtui.pause
time.sleep(delay_ms/1000.)
else:
# cv2.namedWindow('OpenTraj (Press ESC for exit)', cv2.WINDOW_NORMAL)
# cv2.imshow('OpenTraj (Press ESC for exit)', ref_im_copy)
key = cv2.waitKey(delay_ms * (1 - pause)) & 0xFF
if key == 27: # press ESCAPE to quit
break
elif key == 32: # press SPACE to pause/play
pause = not pause
# def play(parser, Hinv, media_file):
# timestamps = sorted(parser.t_p_dict.keys())
#
# if os.path.exists(media_file):
# if is_a_video(media_file):
# cap = cv2.VideoCapture(media_file)
# else:
# ref_im = cv2.imread(media_file)
#
# pause = False
# ids_t = []
# # for t in range(timestamps[0], timestamps[-1]):
# for t in range(0, timestamps[-1]):
# if is_a_video(media_file):
# ret, ref_im = cap.read()
#
# ref_im_copy = np.copy(ref_im)
# if t in timestamps:
# xys_t = parser.t_p_dict[t]
# ids_t = parser.t_id_dict[t]
#
# for i, id in enumerate(ids_t):
# xy_i = np.array(xys_t[i])
# UV_i = to_image_frame(Hinv, xy_i)
#
# # fetch entire trajectory
# traj_i = parser.id_p_dict[id]
# TRAJ_i = to_image_frame(Hinv, traj_i)
# draw_line(ref_im_copy, TRAJ_i, (255, 255, 0), 2)
# cv2.circle(ref_im_copy, (UV_i[1], UV_i[0]), 5, (0, 0, 255), 2)
#
# cv2.putText(ref_im_copy, '%d' % t, (30, 80), cv2.FONT_HERSHEY_SIMPLEX, 2, (0,0,255), 3)
# cv2.namedWindow('OpenTraj (Press ESC for exit)', cv2.WINDOW_NORMAL)
# cv2.imshow('OpenTraj (Press ESC for exit)', ref_im_copy)
# delay_ms = 100
# key = cv2.waitKey(delay_ms * (1-pause)) & 0xFF
# if key == 27: # press ESCAPE to quit
# break
# elif key == 32: # press SPACE to pause/play
# pause = not pause
if __name__ == '__main__':
argparser = argparse.ArgumentParser(description='OpenTraj - Human Trajectory Dataset Package')
argparser.add_argument('--data-root', '--data-root',
help='the root address of OpenTraj directory')
argparser.add_argument('--gui-mode', '--g',
default='pyqt', choices=['pyqt', 'opencv'], # 'tkinter' ?
help='pick a specific mode for gui'
'(default: "pyqt")')
argparser.add_argument('--dataset', '--dataset',
default='eth',
choices=['eth',
'hotel',
'zara01',
'zara02',
'students03',
'gc',
'sdd-bookstore0',
'Hermes-xxx'],
help='select dataset'
'(default: "eth")')
argparser.add_argument('--background', '--b',
default='image', choices=['image', 'video'],
help='select background type. video does not exist for all datasets,'
'you might need to download it first.'
'(default: "image")')
args = argparser.parse_args()
opentraj_root = args.data_root
traj_dataset = None
# #============================ ETH =================================
if args.dataset == 'eth':
annot_file = os.path.join(opentraj_root, 'ETH/seq_eth/obsmat.txt')
traj_dataset = load_eth(annot_file)
homog_file = os.path.join(opentraj_root, 'ETH/seq_eth/H.txt')
if args.background == 'image':
media_file = os.path.join(opentraj_root, 'ETH/seq_eth/reference.png')
elif args.background == 'video':
media_file = os.path.join(opentraj_root, 'ETH/seq_eth/video.avi')
else:
error_msg('background type is invalid')
elif args.dataset == 'hotel':
annot_file = os.path.join(opentraj_root, 'ETH/seq_hotel/obsmat.txt')
traj_dataset = load_eth(annot_file)
homog_file = os.path.join(opentraj_root, 'ETH/seq_hotel/H.txt')
# media_file = os.path.join(opentraj_root, 'ETH/seq_hotel/reference.png')
media_file = os.path.join(opentraj_root, 'ETH/seq_hotel/video.avi')
# #============================ UCY =================================
# elif args.dataset == 'zara01':
# traj_dataset = ParserETH()
# parser = ParserETH()
# annot_file = os.path.join(opentraj_root, 'UCY/zara01/obsmat.txt')
# homog_file = os.path.join(opentraj_root, 'UCY/zara01/H.txt')
# # media_file = os.path.join(opentraj_root, 'UCY/zara01/reference.png')
# media_file = os.path.join(opentraj_root, 'UCY/zara01/video.avi')
#
# elif args.dataset == 'zara01':
# traj_dataset = ParserETH()
# annot_file = os.path.join(opentraj_root, 'UCY/zara02/obsmat.txt')
# homog_file = os.path.join(opentraj_root, 'UCY/zara02/H.txt')
# # media_file = os.path.join(opentraj_root, 'UCY/zara02/reference.png')
# media_file = os.path.join(opentraj_root, 'UCY/zara02/video.avi')
#
# elif args.dataset == 'students03':
# traj_dataset = ParserETH()
# # annot_file = os.path.join(opentraj_root, 'UCY/st3_dataset/obsmat_px.txt')
# # media_file = os.path.join(opentraj_root, 'UCY/st3_dataset/reference.png')
# # homog_file = os.path.join(opentraj_root, 'UCY/st3_dataset/H_iw.txt')
# # # homog_file = ''
#
# annot_file = os.path.join(opentraj_root, 'UCY/st3_dataset/obsmat.txt')
# homog_file = os.path.join(opentraj_root, 'UCY/st3_dataset/H.txt')
# # media_file = os.path.join(opentraj_root, 'UCY/st3_dataset/reference.png')
# media_file = os.path.join(opentraj_root, 'UCY/st3_dataset/video.avi')
# #============================ SDD =================================
# dataset_parser = ParserSDD()
# annot_file = os.path.join(opentraj_root, 'SDD/bookstore/video0/annotations.txt')
# media_file = os.path.join(opentraj_root, 'SDD/bookstore/video0/reference.jpg')
# homog_file = ''
# #============================ GC ==================================
# elif args.dataset == 'gc':
# gc_world_coord = True
# traj_dataset = ParserGC(world_coord=gc_world_coord)
# annot_file = os.path.join(opentraj_root, 'GC/Annotation') # image coordinate
# if gc_world_coord:
# homog_file = os.path.join(opentraj_root, 'GC/H-world.txt')
# media_file = os.path.join(opentraj_root, 'GC/plan.png')
# else:
# homog_file = os.path.join(opentraj_root, 'GC/H-image.txt')
# media_file = os.path.join(opentraj_root, 'GC/reference.jpg')
# ========================== HERMES =================================
# dataset_parser = ParserHermes()
# annot_file = os.path.join(opentraj_root, 'HERMES/Corridor-1D/uo-070-180-180.txt')
# annot_file = os.path.join(opentraj_root, 'HERMES/Corridor-2D/boa-300-050-070.txt')
# media_file = os.path.join(opentraj_root, 'HERMES/cor-180.jpg')
# homog_file = os.path.join(opentraj_root, 'HERMES/H.txt')
if not traj_dataset:
error_msg('dataset name is invalid')
Homog = (np.loadtxt(homog_file)) if os.path.exists(homog_file) else np.eye(3)
Hinv = np.linalg.inv(Homog)
play = Play(args.gui_mode)
play.play(traj_dataset, Hinv, media_file)
# qtui.app.exec()