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final_jaad_dataloder.py
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import torch
import torch.utils.data as data
import os
import pickle5 as pk
import matplotlib.pyplot as plt
from pathlib import Path
import numpy as np
from torchvision import transforms as A
import torch.nn.functional as F
from tqdm import tqdm, trange
from jaad_data import JAAD
class DataSet(data.Dataset):
def __init__(self, path, jaad_path, frame, vel, balance=True, bh='all', t23=False, transforms=None, seg_map=False, h3d=True, pcpa=None, forecast=True, last2=False, time_crop=False):
np.random.seed(42)
self.time_crop = time_crop
self.forecast = forecast
self.last2 = last2
self.h3d = h3d # bool if true 3D human keypoints data is enable otherwise 2D is only used
self.bh = bh
self.t23 = t23
self.seg = seg_map
self.pcpa = os.getcwd() / Path(pcpa)
self.transforms = transforms
self.frame = frame
self.vel= vel
self.balance = balance
self.data_set = 'test'
self.maxw_var = 9
self.maxh_var = 6
self.maxd_var = 2
self.input_size = int(32 * 1)
nsamples = [1871, 3204, 13037]
balance_data = [max(nsamples) / s for s in nsamples]
if t23:
balance_data = [1, (nsamples[0] + nsamples[2])/nsamples[1], 1]
self.data_path = os.getcwd() / Path(path) / 'data'
self.imgs_path = os.getcwd() / Path(path) / 'imgs'
self.data_list = [data_name for data_name in os.listdir(self.data_path)]
self.jaad_path = jaad_path
imdb = JAAD(data_path=self.jaad_path)
self.vid_ids = imdb._get_video_ids_split(self.data_set)
filt_list = lambda x: "_".join(x.split('_')[:2]) in self.vid_ids
ped_ids = list(filter(filt_list, self.data_list))
if bh != 'all':
filt_list = lambda x: 'b' in x
ped_ids = list(filter(filt_list, ped_ids))
pcpa_, dense_, fussi_ = self.load_3part()
self.models_data = {}
for k_id in pcpa_['ped_id'].keys():
vid_n = int(k_id.split('_')[1])
vid_n = f'video_{vid_n:04}'
ped_id = k_id.split('fr')[0]
frm = k_id.split('fr')[1]
pcpa_key = vid_n + '_pid_' + ped_id + '_fr' + frm
try:
dense_res = dense_['result'][k_id]
dense_lab = dense_['labels'][k_id]
fussi_res = fussi_['result'][k_id]
fussi_lab = fussi_['labels'][k_id]
pcpa_res = pcpa_['result'][k_id]
pcpa_lab = pcpa_['labels'][k_id]
assert dense_lab == fussi_lab == pcpa_lab
except KeyError:
continue
pcpa_dict = {'result': pcpa_res, 'label': pcpa_lab}
dense_dict = {'result': dense_res, 'label': dense_lab}
fussi_dict = {'result': fussi_res, 'label': fussi_lab}
if pcpa_key + '.pkl' in ped_ids:
self.models_data[pcpa_key] = [pcpa_dict, dense_dict, fussi_dict]
list_k = list(self.models_data.keys())
filt_list = lambda x: x.split('.')[0] in list_k
ped_ids = list(filter(filt_list, ped_ids))
self.ped_data = {}
for ped_id in tqdm(ped_ids, desc=f'loading {self.data_set} data in memory'):
ped_path = self.data_path.joinpath(ped_id).as_posix()
loaded_data = self.load_data(ped_path)
img_file = str(self.imgs_path / loaded_data['crop_img'].stem) + '.pkl'
loaded_data['crop_img'] = self.load_data(img_file)
if balance:
if 'b' not in ped_id: # irrelevant
self.repet_data(balance_data[2], loaded_data, ped_id)
elif loaded_data['crossing'] == 0: # no crossing
self.repet_data(balance_data[0], loaded_data, ped_id)
elif loaded_data['crossing'] == 1: # crossing
self.repet_data(balance_data[1], loaded_data, ped_id)
else:
self.ped_data[ped_id.split('.')[0]] = loaded_data
self.ped_ids = list(self.ped_data.keys())
self.data_len = len(self.ped_ids)
def load_3part(self, ):
pcpa, fussi, g_pcpca = {}, {}, {}
mod = 'bh' if self.bh == 'bh' else 'all'
if self.last2:
pcpa['result'] = self.load_data(self.pcpa.__str__() + f'/jaad/pcpa_preds_jaad_{mod}_last2.pkl')
pcpa['labels'] = self.load_data(self.pcpa.__str__() + f'/jaad/pcpa_labels_jaad_{mod}_last2.pkl')
pcpa['ped_id'] = self.load_data(self.pcpa.__str__() + f'/test_results/jaad/pcpa_ped_ids_jaad_{mod}_last2.pkl')
fussi['result'] = self.load_data(self.pcpa.__str__() + f'/jaad/fussi_preds_jaad_last2.pkl')
fussi['labels'] = self.load_data(self.pcpa.__str__() + f'/jaad/fussi_labels_jaad_last2.pkl')
fussi['ped_id'] = self.load_data(self.pcpa.__str__() + f'/jaad/fussi_ped_ids_jaad_last2.pkl')
g_pcpca['result'] = self.load_data(self.pcpa.__str__() + f'/jaad/g_pcpa_preds_jaad_{mod}_last2.pkl')
g_pcpca['labels'] = self.load_data(self.pcpa.__str__() + f'/jaad/g_pcpa_labels_jaad_{mod}_last2.pkl')
g_pcpca['ped_id'] = self.load_data(self.pcpa.__str__() + f'/jaad/g_pcpa_ped_ids_jaad_{mod}_last2.pkl')
else:
pcpa['result'] = self.load_data(self.pcpa.__str__() + f'/jaad/pcpa_preds_jaad_{mod}.pkl')
pcpa['labels'] = self.load_data(self.pcpa.__str__() + f'/jaad/pcpa_labels_jaad_{mod}.pkl')
pcpa['ped_id'] = self.load_data(self.pcpa.__str__() + f'/jaad/pcpa_ped_ids_jaad_{mod}.pkl')
fussi['result'] = self.load_data(self.pcpa.__str__() + f'/jaad/fussi_preds_jaad.pkl')
fussi['labels'] = self.load_data(self.pcpa.__str__() + f'/jaad/fussi_labels_jaad.pkl')
fussi['ped_id'] = self.load_data(self.pcpa.__str__() + f'/jaad/fussi_ped_ids_jaad.pkl')
g_pcpca['result'] = self.load_data(self.pcpa.__str__() + f'/jaad/g_pcpca_preds_jaad_{mod}.pkl')
g_pcpca['labels'] = self.load_data(self.pcpa.__str__() + f'/jaad/g_pcpca_labels_jaad_{mod}.pkl')
g_pcpca['ped_id'] = self.load_data(self.pcpa.__str__() + f'/jaad/g_pcpca_ped_ids_jaad_{mod}.pkl')
return pcpa, fussi, g_pcpca
def repet_data(self, n_rep, data, ped_id):
ped_id = ped_id.split('.')[0]
if self.data_set == 'train' or self.data_set == 'val' or self.t23:
prov = n_rep % 1
n_rep = int(n_rep) if prov == 0 else int(n_rep) + np.random.choice(2, 1, p=[1 - prov, prov])[0]
# n_rep = int(n_rep * 2)
else:
n_rep = int(n_rep)
for i in range(n_rep):
self.ped_data[ped_id + f'-r{i}'] = data
def load_data(self, data_path):
with open(data_path, 'rb') as fid:
database = pk.load(fid, encoding='bytes')
return database
def __len__(self):
return self.data_len
def __getitem__(self, item):
ped_id = self.ped_ids[item]
pcpa_dict, dense_dict, g_pcpca_dict = self.models_data[ped_id.split('.')[0].split('-')[0]]
models_data = {'pcpa': pcpa_dict, 'fussi': dense_dict, 'g_pcpca': g_pcpca_dict}
ped_data = self.ped_data[ped_id]
weather_ = ped_data['weather']
w, h = ped_data['w'], ped_data['h']
if self.forecast:
ped_data['kps'][-30:] = ped_data['kps_forcast']
kp = ped_data['kps']
else:
kp = ped_data['kps'][:-30]
# key points data augmentation
if self.data_set == 'train':
kp[..., 0] = np.clip(kp[..., 0] + np.random.randint(self.maxw_var, size=kp[..., 0].shape), 0, w)
kp[..., 1] = np.clip(kp[..., 1] + np.random.randint(self.maxh_var, size=kp[..., 1].shape), 0, w)
kp[..., 2] = np.clip(kp[..., 2] + np.random.randint(self.maxd_var, size=kp[..., 2].shape), 0, w)
# normalize key points data
kp[..., 0] /= w
kp[..., 1] /= h
kp[..., 2] /= 80
kp = torch.from_numpy(kp.transpose(2, 0, 1)).float().contiguous()
seg_map = torch.from_numpy(ped_data['crop_img'][:1]).float()
seg_map = (seg_map - 78.26) / 45.12
img = ped_data['crop_img'][1:]
img = self.transforms(img.transpose(1, 2, 0)).contiguous()
if self.seg:
img = torch.cat([seg_map, img], 0)
vel = torch.from_numpy(np.tile(ped_data['vehicle_act'], [1, 2]).transpose(1, 0)).float().contiguous()
if not self.forecast:
vel = vel[:, :-30]
if np.random.randint(10) >= 9 and self.time_crop:
crop_size = np.random.randint(2, 21)
kp = kp[:crop_size]
vel = vel[:crop_size]
# 0 for no crossing, 1 for crossing, 2 for irrelevant
idx = -2 if self.balance else -1
if 'b' not in ped_id.split('-')[idx]: # if is irrelevant
bh = torch.from_numpy(np.ones(1).reshape([1])) * 2
else: # if is crosing or not
bh = torch.from_numpy(ped_data['crossing'].reshape([1])).float()
if not self.h3d:
kp = kp[[0, 1, 3], ].clone()
if self.frame and not self.vel:
return kp, bh, img, weather_, models_data
elif self.frame and self.vel:
return kp, bh, img, vel, weather_, models_data
else:
return kp, bh, weather_, models_data
def main():
data_path = './data/JAAD'
jaad_path = './JAAD'
pcpa = './data/test_results'
transform = A.Compose([
A.ToTensor(),
A.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]),
])
tr_data = DataSet(path=data_path, jaad_path=jaad_path, frame=True, vel=True, balance= False, bh='all', transforms=transform, pcpa=pcpa)
iter_ = tqdm(range(len(tr_data)))
labels = np.zeros([len(tr_data), 3])
for i in iter_:
x, y, f, v, pcpa = tr_data.__getitem__(i)
labels[i, y.long().item()] = 1
print(f'No Crossing: {int(labels.sum(0)[0])}, Crossing: {int(labels.sum(0)[1])}, Irrenlevants : {int(labels.sum(0)[2])} ')
print('finish')
if __name__ == "__main__":
main()