High Resolution Pose Estimation new tool (#356)

* High Resolution Pose Estimation new tool * changes on path for 1080pi image input * adding height1 height2 as params to learner * typos * fixed tests * edit Readme files, edit files(PEP8 changes) to pass tests * fix formatting * Apply suggestions from code review Co-authored-by: ad-daniel <[email protected]> Co-authored-by: Nikolaos Passalis <[email protected]> * Minor fix in comments of original pose estimation node * HR pose estimation ros1 node * Apply suggestions from code review Co-authored-by: ad-daniel <[email protected]> Co-authored-by: Kostas Tsampazis <[email protected]> * suggestions from review (edit functions, code duplication,typos,etc) * suggestions from review (edit functions, code duplication,typos,etc) * edit some paths * changes for test errors * apply suggestions from review * Apply suggestions from code review type casting issue on height variables str() to int() Co-authored-by: Nikolaos Passalis <[email protected]> * Missing stuff * add a CHANGELOG entry, reference the demo and documentation in index.md * Simplified HR pose estimation * pep8 fixes * apply review suggestions edited hardcoded values, removed unnecessary values from learner, added docstrings in functions edited the readme file after the changes * Update docs/reference/high-resolution-pose-estimation.md Co-authored-by: Nikolaos Passalis <[email protected]> * Apply suggestions from code review Co-authored-by: Kostas Tsampazis <[email protected]> * Apply suggestions from code review Co-authored-by: Kostas Tsampazis <[email protected]> * review fixes * typos Co-authored-by: Kostas Tsampazis <[email protected]> Co-authored-by: ad-daniel <[email protected]> Co-authored-by: ad-daniel <[email protected]> Co-authored-by: Nikolaos Passalis <[email protected]> Co-authored-by: Nikolaos <[email protected]>
opendr-eu · Dec 21, 2022 · bedccdd · bedccdd
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,7 +8,8 @@ Released on December, XX, 2022.
     - Added Continual Transformer Encoders ([#317](https://github.com/opendr-eu/opendr/pull/317)).
     - Added Continual Spatio-Temporal Graph Convolutional Networks tool ([#370](https://github.com/opendr-eu/opendr/pull/370)).
     - Added AmbiguityMeasure utility tool ([#361](https://github.com/opendr-eu/opendr/pull/361)).
-    - Added SiamRPN 2D tracking tool ([#367](https://github.com/opendr-eu/opendr/pull/367))
+    - Added SiamRPN 2D tracking tool ([#367](https://github.com/opendr-eu/opendr/pull/367)).
+    - Added High resolution pose estimation tool ([#356](https://github.com/opendr-eu/opendr/pull/356)).
 
   - Bug Fixes:
     - Fixed `BoundingBoxList`, `TrackingAnnotationList`, `BoundingBoxList3D` and `TrackingAnnotationList3D` confidence warnings ([#365](https://github.com/opendr-eu/opendr/pull/365)).

diff --git a/docs/reference/high-resolution-pose-estimation.md b/docs/reference/high-resolution-pose-estimation.md
diff --git a/docs/reference/index.md b/docs/reference/index.md
@@ -30,6 +30,7 @@ Neither the copyright holder nor any applicable licensor will be liable for any
             - [landmark_based_facial_expression_recognition](landmark-based-facial-expression-recognition.md)
         - pose estimation:
             - [lightweight_open_pose Module](lightweight-open-pose.md)
+            - [high_resolution_pose_estimation Module](high-resolution-pose-estimation.md)
         - activity recognition:
             - [skeleton-based action recognition](skeleton-based-action-recognition.md)
             - [continual skeleton-based action recognition Module](skeleton-based-action-recognition.md#class-costgcnlearner)
@@ -111,7 +112,8 @@ Neither the copyright holder nor any applicable licensor will be liable for any
         - heart anomaly detection:
             - [heart anomaly detection Demo](/projects/python/perception/heart_anomaly_detection)
         - pose estimation:
-            - [lightweight_open_pose Demo](/projects/python/perception/lightweight_open_pose)
+            - [lightweight_open_pose Demo](/projects/python/perception/pose_estimation/lightweight_open_pose)
+            - [high_resolution_pose_estimation Demo](/projects/python/perception/pose_estimation/high_resolution_pose_estimation)
         - multimodal human centric:
             - [rgbd_hand_gesture_learner Demo](/projects/python/perception/multimodal_human_centric/rgbd_hand_gesture_recognition)
             - [audiovisual_emotion_recognition Demo](/projects/python/perception/multimodal_human_centric/audiovisual_emotion_recognition)

diff --git a/projects/opendr_ws/src/opendr_perception/CMakeLists.txt b/projects/opendr_ws/src/opendr_perception/CMakeLists.txt
@@ -29,6 +29,7 @@ include_directories(
 
 catkin_install_python(PROGRAMS
    scripts/pose_estimation_node.py
+   scripts/hr_pose_estimation_node.py
    scripts/fall_detection_node.py
    scripts/object_detection_2d_nanodet_node.py
    scripts/object_detection_2d_yolov5_node.py

diff --git a/projects/opendr_ws/src/opendr_perception/scripts/hr_pose_estimation_node.py b/projects/opendr_ws/src/opendr_perception/scripts/hr_pose_estimation_node.py
@@ -0,0 +1,164 @@
+#!/usr/bin/env python
+# Copyright 2020-2022 OpenDR European Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import torch
+
+import rospy
+from sensor_msgs.msg import Image as ROS_Image
+from opendr_bridge.msg import OpenDRPose2D
+from opendr_bridge import ROSBridge
+
+from opendr.engine.data import Image
+from opendr.perception.pose_estimation import draw
+from opendr.perception.pose_estimation import HighResolutionPoseEstimationLearner
+
+
+class PoseEstimationNode:
+
+    def __init__(self, input_rgb_image_topic="/usb_cam/image_raw",
+                 output_rgb_image_topic="/opendr/image_pose_annotated", detections_topic="/opendr/poses", device="cuda",
+                 num_refinement_stages=2, use_stride=False, half_precision=False):
+        """
+        Creates a ROS Node for high resolution pose estimation with HR Pose Estimation.
+        :param input_rgb_image_topic: Topic from which we are reading the input image
+        :type input_rgb_image_topic: str
+        :param output_rgb_image_topic: Topic to which we are publishing the annotated image (if None, no annotated
+        image is published)
+        :type output_rgb_image_topic: str
+        :param detections_topic: Topic to which we are publishing the annotations (if None, no pose detection message
+        is published)
+        :type detections_topic:  str
+        :param device: device on which we are running inference ('cpu' or 'cuda')
+        :type device: str
+        :param num_refinement_stages: Specifies the number of pose estimation refinement stages are added on the
+        model's head, including the initial stage. Can be 0, 1 or 2, with more stages meaning slower and more accurate
+        inference
+        :type num_refinement_stages: int
+        :param use_stride: Whether to add a stride value in the model, which reduces accuracy but increases
+        inference speed
+        :type use_stride: bool
+        :param half_precision: Enables inference using half (fp16) precision instead of single (fp32) precision.
+        Valid only for GPU-based inference
+        :type half_precision: bool
+        """
+        self.input_rgb_image_topic = input_rgb_image_topic
+
+        if output_rgb_image_topic is not None:
+            self.image_publisher = rospy.Publisher(output_rgb_image_topic, ROS_Image, queue_size=1)
+        else:
+            self.image_publisher = None
+
+        if detections_topic is not None:
+            self.pose_publisher = rospy.Publisher(detections_topic, OpenDRPose2D, queue_size=1)
+        else:
+            self.pose_publisher = None
+
+        self.bridge = ROSBridge()
+
+        # Initialize the high resolution pose estimation learner
+        self.pose_estimator = HighResolutionPoseEstimationLearner(device=device, num_refinement_stages=num_refinement_stages,
+                                                                  mobilenet_use_stride=use_stride,
+                                                                  half_precision=half_precision)
+        self.pose_estimator.download(path=".", verbose=True)
+        self.pose_estimator.load("openpose_default")
+
+    def listen(self):
+        """
+        Start the node and begin processing input data.
+        """
+        rospy.init_node('opendr_hr_pose_estimation_node', anonymous=True)
+        rospy.Subscriber(self.input_rgb_image_topic, ROS_Image, self.callback, queue_size=1, buff_size=10000000)
+        rospy.loginfo("Pose estimation node started.")
+        rospy.spin()
+
+    def callback(self, data):
+        """
+        Callback that processes the input data and publishes to the corresponding topics.
+        :param data: Input image message
+        :type data: sensor_msgs.msg.Image
+        """
+        # Convert sensor_msgs.msg.Image into OpenDR Image
+        image = self.bridge.from_ros_image(data, encoding='bgr8')
+
+        # Run pose estimation
+        poses = self.pose_estimator.infer(image)
+
+        #  Publish detections in ROS message
+        if self.pose_publisher is not None:
+            for pose in poses:
+                if pose.id is None:  # Temporary fix for pose not having id
+                    pose.id = -1
+                # Convert OpenDR pose to ROS pose message using bridge and publish it
+                self.pose_publisher.publish(self.bridge.to_ros_pose(pose))
+
+        if self.image_publisher is not None:
+            # Get an OpenCV image back
+            image = image.opencv()
+            # Annotate image with poses
+            for pose in poses:
+                draw(image, pose)
+            # Convert the annotated OpenDR image to ROS image message using bridge and publish it
+            self.image_publisher.publish(self.bridge.to_ros_image(Image(image), encoding='bgr8'))
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-i", "--input_rgb_image_topic", help="Topic name for input rgb image",
+                        type=str, default="/usb_cam/image_raw")
+    parser.add_argument("-o", "--output_rgb_image_topic", help="Topic name for output annotated rgb image",
+                        type=lambda value: value if value.lower() != "none" else None,
+                        default="/opendr/image_pose_annotated")
+    parser.add_argument("-d", "--detections_topic", help="Topic name for detection messages",
+                        type=lambda value: value if value.lower() != "none" else None,
+                        default="/opendr/poses")
+    parser.add_argument("--device", help="Device to use, either \"cpu\" or \"cuda\", defaults to \"cuda\"",
+                        type=str, default="cuda", choices=["cuda", "cpu"])
+    parser.add_argument("--accelerate", help="Enables acceleration flags (e.g., stride)", default=False,
+                        action="store_true")
+    args = parser.parse_args()
+
+    try:
+        if args.device == "cuda" and torch.cuda.is_available():
+            device = "cuda"
+        elif args.device == "cuda":
+            print("GPU not found. Using CPU instead.")
+            device = "cpu"
+        else:
+            print("Using CPU.")
+            device = "cpu"
+    except:
+        print("Using CPU.")
+        device = "cpu"
+
+    if args.accelerate:
+        stride = True
+        stages = 0
+        half_prec = True
+    else:
+        stride = False
+        stages = 2
+        half_prec = False
+
+    pose_estimator_node = PoseEstimationNode(device=device,
+                                             input_rgb_image_topic=args.input_rgb_image_topic,
+                                             output_rgb_image_topic=args.output_rgb_image_topic,
+                                             detections_topic=args.detections_topic,
+                                             num_refinement_stages=stages, use_stride=stride, half_precision=half_prec)
+    pose_estimator_node.listen()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/projects/opendr_ws/src/opendr_perception/scripts/pose_estimation_node.py b/projects/opendr_ws/src/opendr_perception/scripts/pose_estimation_node.py
@@ -99,7 +99,7 @@ def callback(self, data):
         #  Publish detections in ROS message
         if self.pose_publisher is not None:
             for pose in poses:
-                # Convert OpenDR pose to ROS2 pose message using bridge and publish it
+                # Convert OpenDR pose to ROS pose message using bridge and publish it
                 self.pose_publisher.publish(self.bridge.to_ros_pose(pose))
 
         if self.image_publisher is not None:
@@ -108,7 +108,7 @@ def callback(self, data):
             # Annotate image with poses
             for pose in poses:
                 draw(image, pose)
-            # Convert the annotated OpenDR image to ROS2 image message using bridge and publish it
+            # Convert the annotated OpenDR image to ROS image message using bridge and publish it
             self.image_publisher.publish(self.bridge.to_ros_image(Image(image), encoding='bgr8'))
 
 

diff --git a/...cts/python/perception/pose_estimation/high_resolution_pose_estimation/README.md b/...cts/python/perception/pose_estimation/high_resolution_pose_estimation/README.md
@@ -0,0 +1,11 @@
+# High Resolution Pose Estimation
+
+This folder contains sample applications that demonstrate various parts of the functionality provided by the High Resolution Pose Estimation algorithm provided by OpenDR.
+
+More specifically, the applications provided are:
+
+1. demos/inference_demo.py: A tool that demonstrates how to perform inference on a single high resolution image and then draw the detected poses. 
+2. demos/eval_demo.py: A tool that demonstrates how to perform evaluation using the High Resolution Pose Estimation algorithm on 720p, 1080p and 1440p datasets. 
+3. demos/benchmarking_demo.py: A simple benchmarking tool for measuring the performance of High Resolution Pose Estimation in various platforms.
+
+
diff --git a/...hon/perception/pose_estimation/high_resolution_pose_estimation/demos/benchmarking_demo.py b/...hon/perception/pose_estimation/high_resolution_pose_estimation/demos/benchmarking_demo.py
@@ -0,0 +1,83 @@
+# Copyright 2020-2022 OpenDR European Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import cv2
+import time
+from opendr.perception.pose_estimation import HighResolutionPoseEstimationLearner
+import argparse
+from os.path import join
+from tqdm import tqdm
+import numpy as np
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--device", help="Device to use (cpu, cuda)", type=str, default="cuda")
+    parser.add_argument("--accelerate", help="Enables acceleration flags (e.g., stride)", default=False,
+                        action="store_true")
+    parser.add_argument("--height1", help="Base height of resizing in heatmap generation", default=360)
+    parser.add_argument("--height2", help="Base height of resizing in second inference", default=540)
+
+    args = parser.parse_args()
+
+    device, accelerate, base_height1, base_height2 = args.device, args.accelerate,\
+        args.height1, args.height2
+
+    if device == 'cpu':
+        import torch
+        torch.set_flush_denormal(True)
+        torch.set_num_threads(8)
+
+    if accelerate:
+        stride = True
+        stages = 0
+        half_precision = True
+    else:
+        stride = False
+        stages = 2
+        half_precision = False
+
+    pose_estimator = HighResolutionPoseEstimationLearner(device=device, num_refinement_stages=stages,
+                                                         mobilenet_use_stride=stride, half_precision=half_precision,
+                                                         first_pass_height=int(base_height1),
+                                                         second_pass_height=int(base_height2))
+    pose_estimator.download(path=".", verbose=True)
+    pose_estimator.load("openpose_default")
+
+    # Download one sample image
+    pose_estimator.download(path=".", mode="test_data")
+    image_path = join("temp", "dataset", "image", "000000000785_1080.jpg")
+    img = cv2.imread(image_path)
+
+    fps_list = []
+    print("Benchmarking...")
+    for i in tqdm(range(50)):
+        start_time = time.perf_counter()
+        # Perform inference
+        poses = pose_estimator.infer(img)
+
+        end_time = time.perf_counter()
+        fps_list.append(1.0 / (end_time - start_time))
+    print("Average FPS: %.2f" % (np.mean(fps_list)))
+
+    # If pynvml is available, try to get memory stats for cuda
+    try:
+        if 'cuda' in device:
+            from pynvml import nvmlInit, nvmlDeviceGetMemoryInfo, nvmlDeviceGetHandleByIndex
+
+            nvmlInit()
+            info = nvmlDeviceGetMemoryInfo(nvmlDeviceGetHandleByIndex(0))
+            print("Memory allocated: %.2f MB " % (info.used / 1024 ** 2))
+    except ImportError:
+        pass
diff --git a/...ects/python/perception/pose_estimation/high_resolution_pose_estimation/demos/eval_demo.py b/...ects/python/perception/pose_estimation/high_resolution_pose_estimation/demos/eval_demo.py
@@ -0,0 +1,62 @@
+# Copyright 2020-2022 OpenDR European Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from opendr.perception.pose_estimation import HighResolutionPoseEstimationLearner
+import argparse
+from os.path import join
+from opendr.engine.datasets import ExternalDataset
+import time
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--device", help="Device to use (cpu, cuda)", type=str, default="cuda")
+    parser.add_argument("--accelerate", help="Enables acceleration flags (e.g., stride)", default=False,
+                        action="store_true")
+    parser.add_argument("--height1", help="Base height of resizing in first inference", default=360)
+    parser.add_argument("--height2", help="Base height of resizing in second inference", default=540)
+
+    args = parser.parse_args()
+
+    device, accelerate, base_height1, base_height2 = args.device, args.accelerate,\
+        args.height1, args.height2
+
+    if accelerate:
+        stride = True
+        stages = 0
+        half_precision = True
+    else:
+        stride = True
+        stages = 2
+        half_precision = True
+
+    pose_estimator = HighResolutionPoseEstimationLearner(device=device, num_refinement_stages=stages,
+                                                         mobilenet_use_stride=stride,
+                                                         half_precision=half_precision,
+                                                         first_pass_height=int(base_height1),
+                                                         second_pass_height=int(base_height2))
+    pose_estimator.download(path=".", verbose=True)
+    pose_estimator.load("openpose_default")
+
+    # Download a sample dataset
+    pose_estimator.download(path=".", mode="test_data")
+
+    eval_dataset = ExternalDataset(path=join("temp", "dataset"), dataset_type="COCO")
+
+    t0 = time.time()
+    results_dict = pose_estimator.eval(eval_dataset, use_subset=False, verbose=True, silent=True,
+                                       images_folder_name="image", annotations_filename="annotation.json")
+    t1 = time.time()
+    print("\n Evaluation time:  ", t1 - t0, "seconds")
+    print("Evaluation results = ", results_dict)