detect.py

"""Run inference with a YOLOv5 model on images, videos, directories, streams

Usage:
    $ python path/to/detect.py --source path/to/img.jpg --weights yolov5s.pt --img 640
"""

import argparse
import sys
import time
from pathlib import Path

import cv2
import torch
import torch.backends.cudnn as cudnn
import pickle
import os
import pandas as pd

FILE = Path(__file__).absolute()
sys.path.append(FILE.parents[0].as_posix())  # add yolov5/ to path

from models.experimental import attempt_load
from utils.datasets import LoadStreams, LoadImages
from utils.general import check_img_size, check_requirements, check_imshow, colorstr, non_max_suppression, \
    apply_classifier, scale_coords, xyxy2xywh, strip_optimizer, set_logging, increment_path, save_one_box
from utils.plots import colors, plot_one_box
from utils.torch_utils import select_device, load_classifier, time_synchronized


@torch.no_grad()
def run(weights='yolov5s.pt',  # model.pt path(s)
        source='data/images',  # file/dir/URL/glob, 0 for webcam
        imgsz=640,  # inference size (pixels)
        conf_thres=0.25,  # confidence threshold
        iou_thres=0.45,  # NMS IOU threshold
        max_det=1000,  # maximum detections per image
        device='',  # cuda device, i.e. 0 or 0,1,2,3 or cpu
        view_img=False,  # show results
        save_txt=False,  # save results to *.txt
        save_conf=False,  # save confidences in --save-txt labels
        save_crop=False,  # save cropped prediction boxes
        nosave=False,  # do not save images/videos
        classes=None,  # filter by class: --class 0, or --class 0 2 3
        agnostic_nms=False,  # class-agnostic NMS
        augment=False,  # augmented inference
        visualize=False,  # visualize features
        update=False,  # update all models
        project='runs/detect',  # save results to project/name
        name='exp',  # save results to project/name
        exist_ok=False,  # existing project/name ok, do not increment
        line_thickness=3,  # bounding box thickness (pixels)
        hide_labels=False,  # hide labels
        hide_conf=False,  # hide confidences
        half=False,  # use FP16 half-precision inference
        ):
    save_img = not nosave and not source.endswith('.txt')  # save inference images
    webcam = source.isnumeric() or source.endswith('.txt') or source.lower().startswith(
        ('rtsp://', 'rtmp://', 'http://', 'https://'))

    filename = source.split('/')[-1].split('.')[0]  
    print("------", filename)

    # Directories
    save_dir = increment_path(Path(project) / name, exist_ok=exist_ok)  # increment run
    (save_dir / 'labels' if save_txt else save_dir).mkdir(parents=True, exist_ok=True)  # make dir

    # Initialize
    set_logging()
    device = select_device(device)
    half &= device.type != 'cpu'  # half precision only supported on CUDA

    # Load model
    model = attempt_load(weights, map_location=device)  # load FP32 model
    stride = int(model.stride.max())  # model stride
    imgsz = check_img_size(imgsz, s=stride)  # check image size
    names = model.module.names if hasattr(model, 'module') else model.names  # get class names
    if half:
        model.half()  # to FP16

    # Second-stage classifier
    classify = False
    if classify:
        modelc = load_classifier(name='resnet50', n=2)  # initialize
        modelc.load_state_dict(torch.load('resnet50.pt', map_location=device)['model']).to(device).eval()

    # Dataloader
    if webcam:
        view_img = check_imshow()
        cudnn.benchmark = True  # set True to speed up constant image size inference
        dataset = LoadStreams(source, img_size=imgsz, stride=stride)
        bs = len(dataset)  # batch_size
    else:
        dataset = LoadImages(source, img_size=imgsz, stride=stride)
        bs = 1  # batch_size
        fps = dataset.get_fps()
        spf = 1 / fps * 1000
    vid_path, vid_writer = [None] * bs, [None] * bs

    # Run inference
    if device.type != 'cpu':
        model(torch.zeros(1, 3, imgsz, imgsz).to(device).type_as(next(model.parameters())))  # run once
    t0 = time.time()

     # Initializations for counting algorithm
    tree_count = 0
    double_count_iou_thresh = 0.5
    next_frames_to_consider = 5
    bbox_compare_dict = {}
    gps_spf = 55
    if os.path.exists('tree_gps.txt'):
        with open('tree_gps.txt', 'rb') as file:
            tree_gps_list = pickle.load(file)
            print("Loaded: ", len(tree_gps_list))
            os.remove('tree_gps.txt')
    else:
        tree_gps_list = []
        print("Creating new list")

    for path, img, im0s, vid_cap, current_frame_no  in dataset:
        img = torch.from_numpy(img).to(device)
        img = img.half() if half else img.float()  # uint8 to fp16/32
        img /= 255.0  # 0 - 255 to 0.0 - 1.0
        if img.ndimension() == 3:
            img = img.unsqueeze(0)

        # Inference
        t1 = time_synchronized()
        pred = model(img,
                     augment=augment,
                     visualize=increment_path(save_dir / Path(path).stem, mkdir=True) if visualize else False)[0]

        # Apply NMS
        pred = non_max_suppression(pred, conf_thres, iou_thres, classes, agnostic_nms, max_det=max_det)
        t2 = time_synchronized()

        # Apply Classifier
        if classify:
            pred = apply_classifier(pred, modelc, img, im0s)

        # Reduce next_frames_to_consider in the bbox_compare_dict
        if bool(bbox_compare_dict):
            for key in list(bbox_compare_dict):
                bbox_compare_dict[key] = bbox_compare_dict[key] - 1
                if bbox_compare_dict[key] == 0:
                    bbox_compare_dict.pop(key)

        # Process detections
        for i, det in enumerate(pred):  # detections per image
            if webcam:  # batch_size >= 1
                p, s, im0, frame = path[i], f'{i}: ', im0s[i].copy(), dataset.count
            else:
                p, s, im0, frame = path, '', im0s.copy(), getattr(dataset, 'frame', 0)

            p = Path(p)  # to Path
            save_path = str(save_dir / p.name)  # img.jpg
            txt_path = str(save_dir / 'labels' / p.stem) + ('' if dataset.mode == 'image' else f'_{frame}')  # img.txt
            s += '%gx%g ' % img.shape[2:]  # print string
            gn = torch.tensor(im0.shape)[[1, 0, 1, 0]]  # normalization gain whwh
            imc = im0.copy() if save_crop else im0  # for save_crop

             # Make counting range
            mid = int(im0.shape[1] / 2)
            counting_range = int((0.04 * im0.shape[1]) / 2)
            left_limit = mid - counting_range
            right_limit = mid + counting_range
            overlay = im0.copy()
            cv2.rectangle(overlay, (left_limit, 0), (right_limit, im0.shape[0]), (124,252,0), -1, lineType=cv2.LINE_AA)
            im0 = cv2.addWeighted(overlay, 0.25, im0, 0.75, 0, im0)

            if len(det):
                # Rescale boxes from img_size to im0 size
                det[:, :4] = scale_coords(img.shape[2:], det[:, :4], im0.shape).round()

                # Print results
                for c in det[:, -1].unique():
                    n = (det[:, -1] == c).sum()  # detections per class
                    s += f"{n} {names[int(c)]}{'s' * (n > 1)}, "  # add to string

                # Write results
                for *xyxy, conf, cls in reversed(det):
                    if save_txt:  # Write to file
                        xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist()  # normalized xywh
                        line = (cls, *xywh, conf) if save_conf else (cls, *xywh)  # label format
                        with open(txt_path + '.txt', 'a') as f:
                            f.write(('%g ' * len(line)).rstrip() % line + '\n')

                    if save_img or opt.save_crop or view_img:  # Add bbox to image
                        c = int(cls)  # integer class
                        label = None if opt.hide_labels else (names[c] if opt.hide_conf else f'{names[c]} {conf:.2f}')
                        intermediate_count = plot_one_box(xyxy, im0, tree_count, bbox_compare_dict, double_count_iou_thresh, next_frames_to_consider, spf=spf, current_frame_no=current_frame_no, gps_spf=gps_spf, tree_gps_list=tree_gps_list, label=label)
                        tree_count = tree_count + intermediate_count
                        #print("TREE_COUNT", tree_count)
                        # Display tree_count
                        font_size = im0.shape[0] / 500
                        text = "Tree Count: " + str(tree_count)
                        bottom_margin = 0.05 * im0.shape[0] 
                        left_margin = 0.35 * im0.shape[1]
                        cv2.putText(im0, text, (int(left_margin), int(im0.shape[0] - bottom_margin)), cv2.FONT_HERSHEY_SIMPLEX, font_size, (0,0,0), int(2*font_size), cv2.LINE_AA)
                        if save_crop:
                            save_one_box(xyxy, imc, file=save_dir / 'crops' / names[c] / f'{p.stem}.jpg', BGR=True)

            # Display tree_count
            font_size = im0.shape[0] / 500
            text = "Tree Count: " + str(tree_count)
            bottom_margin = 0.05 * im0.shape[0]
            left_margin = 0.35 * im0.shape[1]
            cv2.putText(im0, text, (int(left_margin), int(im0.shape[0] - bottom_margin)), cv2.FONT_HERSHEY_SIMPLEX, font_size, (0,0,0), int(2*font_size), cv2.LINE_AA)
            print("TREE_COUNT", tree_count)

            # Print time (inference + NMS)
            print(f'{s}Done. ({t2 - t1:.3f}s)')

            # Stream results
            if view_img:
                cv2.imshow(str(p), im0)
                cv2.waitKey(1)  # 1 millisecond

            # Save results (image with detections)
            if save_img:
                if dataset.mode == 'image':
                    cv2.imwrite(save_path, im0)
                else:  # 'video' or 'stream'
                    if vid_path[i] != save_path:  # new video
                        vid_path[i] = save_path
                        if isinstance(vid_writer[i], cv2.VideoWriter):
                            vid_writer[i].release()  # release previous video writer
                        if vid_cap:  # video
                            fps = vid_cap.get(cv2.CAP_PROP_FPS)
                            w = int(vid_cap.get(cv2.CAP_PROP_FRAME_WIDTH))
                            h = int(vid_cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
                        else:  # stream
                            fps, w, h = 30, im0.shape[1], im0.shape[0]
                            save_path += '.mp4'
                        vid_writer[i] = cv2.VideoWriter(save_path, cv2.VideoWriter_fourcc(*'mp4v'), fps, (w, h))
                    vid_writer[i].write(im0)

    if save_txt or save_img:
        s = f"\n{len(list(save_dir.glob('labels/*.txt')))} labels saved to {save_dir / 'labels'}" if save_txt else ''
        print(f"Results saved to {save_dir}{s}")

    print("ANSWER: ", tree_count)
    text = filename + ' ' + str(tree_count)
    print(text, file=open('tree_count.txt', "a+"))
    
    # Save the tree_gps_list to file
    print("Length of tree_gps_list: ", len(tree_gps_list))
    print(tree_gps_list)
    with open('tree_gps.txt', 'wb') as file:
        pickle.dump(tree_gps_list, file)
    
    if update:
        strip_optimizer(weights)  # update model (to fix SourceChangeWarning)

    print(f'Done. ({time.time() - t0:.3f}s)')


def parse_opt():
    parser = argparse.ArgumentParser()
    parser.add_argument('--weights', nargs='+', type=str, default='yolov5s.pt', help='model.pt path(s)')
    parser.add_argument('--source', type=str, default='data/images', help='file/dir/URL/glob, 0 for webcam')
    parser.add_argument('--imgsz', '--img', '--img-size', type=int, default=640, help='inference size (pixels)')
    parser.add_argument('--conf-thres', type=float, default=0.25, help='confidence threshold')
    parser.add_argument('--iou-thres', type=float, default=0.45, help='NMS IoU threshold')
    parser.add_argument('--max-det', type=int, default=1000, help='maximum detections per image')
    parser.add_argument('--device', default='', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
    parser.add_argument('--view-img', action='store_true', help='show results')
    parser.add_argument('--save-txt', action='store_true', help='save results to *.txt')
    parser.add_argument('--save-conf', action='store_true', help='save confidences in --save-txt labels')
    parser.add_argument('--save-crop', action='store_true', help='save cropped prediction boxes')
    parser.add_argument('--nosave', action='store_true', help='do not save images/videos')
    parser.add_argument('--classes', nargs='+', type=int, help='filter by class: --class 0, or --class 0 2 3')
    parser.add_argument('--agnostic-nms', action='store_true', help='class-agnostic NMS')
    parser.add_argument('--augment', action='store_true', help='augmented inference')
    parser.add_argument('--visualize', action='store_true', help='visualize features')
    parser.add_argument('--update', action='store_true', help='update all models')
    parser.add_argument('--project', default='runs/detect', help='save results to project/name')
    parser.add_argument('--name', default='exp', help='save results to project/name')
    parser.add_argument('--exist-ok', action='store_true', help='existing project/name ok, do not increment')
    parser.add_argument('--line-thickness', default=3, type=int, help='bounding box thickness (pixels)')
    parser.add_argument('--hide-labels', default=False, action='store_true', help='hide labels')
    parser.add_argument('--hide-conf', default=False, action='store_true', help='hide confidences')
    parser.add_argument('--half', action='store_true', help='use FP16 half-precision inference')
    opt = parser.parse_args()
    return opt


def main(opt):
    print(colorstr('detect: ') + ', '.join(f'{k}={v}' for k, v in vars(opt).items()))
    check_requirements(exclude=('tensorboard', 'thop'))
    run(**vars(opt))


if __name__ == "__main__":
    opt = parse_opt()
    main(opt)