Update `speed-estimation` solution (#16798)
Co-authored-by: UltralyticsAssistant <web@ultralytics.com>pull/16803/head^2
Muhammad Rizwan Munawar
2 months ago
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GitHub
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4 changed files with 74 additions and 129 deletions
@ -1,116 +1,76 @@ |
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# Ultralytics YOLO 🚀, AGPL-3.0 license |
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from collections import defaultdict |
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from time import time |
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import cv2 |
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import numpy as np |
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from ultralytics.utils.checks import check_imshow |
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from ultralytics.solutions.solutions import BaseSolution, LineString |
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from ultralytics.utils.plotting import Annotator, colors |
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class SpeedEstimator: |
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class SpeedEstimator(BaseSolution): |
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"""A class to estimate the speed of objects in a real-time video stream based on their tracks.""" |
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def __init__(self, names, reg_pts=None, view_img=False, line_thickness=2, spdl_dist_thresh=10): |
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""" |
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Initializes the SpeedEstimator with the given parameters. |
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Args: |
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names (dict): Dictionary of class names. |
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reg_pts (list, optional): List of region points for speed estimation. Defaults to [(20, 400), (1260, 400)]. |
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view_img (bool, optional): Whether to display the image with annotations. Defaults to False. |
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line_thickness (int, optional): Thickness of the lines for drawing boxes and tracks. Defaults to 2. |
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spdl_dist_thresh (int, optional): Distance threshold for speed calculation. Defaults to 10. |
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""" |
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# Region information |
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self.reg_pts = reg_pts if reg_pts is not None else [(20, 400), (1260, 400)] |
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def __init__(self, **kwargs): |
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"""Initializes the SpeedEstimator with the given parameters.""" |
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super().__init__(**kwargs) |
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self.names = names # Classes names |
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self.initialize_region() # Initialize speed region |
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# Tracking information |
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self.trk_history = defaultdict(list) |
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self.view_img = view_img # bool for displaying inference |
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self.tf = line_thickness # line thickness for annotator |
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self.spd = {} # set for speed data |
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self.trkd_ids = [] # list for already speed_estimated and tracked ID's |
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self.spdl = spdl_dist_thresh # Speed line distance threshold |
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self.trk_pt = {} # set for tracks previous time |
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self.trk_pp = {} # set for tracks previous point |
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# Check if the environment supports imshow |
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self.env_check = check_imshow(warn=True) |
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def estimate_speed(self, im0, tracks): |
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def estimate_speed(self, im0): |
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""" |
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Estimates the speed of objects based on tracking data. |
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Args: |
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im0 (ndarray): Image. |
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tracks (list): List of tracks obtained from the object tracking process. |
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Returns: |
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(ndarray): The image with annotated boxes and tracks. |
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im0 (ndarray): The input image that will be used for processing |
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Returns |
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im0 (ndarray): The processed image for more usage |
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""" |
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if tracks[0].boxes.id is None: |
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return im0 |
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self.annotator = Annotator(im0, line_width=self.line_width) # Initialize annotator |
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self.extract_tracks(im0) # Extract tracks |
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boxes = tracks[0].boxes.xyxy.cpu() |
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clss = tracks[0].boxes.cls.cpu().tolist() |
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t_ids = tracks[0].boxes.id.int().cpu().tolist() |
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annotator = Annotator(im0, line_width=self.tf) |
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annotator.draw_region(reg_pts=self.reg_pts, color=(255, 0, 255), thickness=self.tf * 2) |
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self.annotator.draw_region( |
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reg_pts=self.region, color=(104, 0, 123), thickness=self.line_width * 2 |
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) # Draw region |
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for box, t_id, cls in zip(boxes, t_ids, clss): |
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track = self.trk_history[t_id] |
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bbox_center = (float((box[0] + box[2]) / 2), float((box[1] + box[3]) / 2)) |
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track.append(bbox_center) |
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for box, track_id, cls in zip(self.boxes, self.track_ids, self.clss): |
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self.store_tracking_history(track_id, box) # Store track history |
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if len(track) > 30: |
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track.pop(0) |
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# Check if track_id is already in self.trk_pp or trk_pt initialize if not |
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if track_id not in self.trk_pt: |
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self.trk_pt[track_id] = 0 |
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if track_id not in self.trk_pp: |
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self.trk_pp[track_id] = self.track_line[-1] |
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trk_pts = np.hstack(track).astype(np.int32).reshape((-1, 1, 2)) |
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speed_label = f"{int(self.spd[track_id])} km/h" if track_id in self.spd else self.names[int(cls)] |
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self.annotator.box_label(box, label=speed_label, color=colors(track_id, True)) # Draw bounding box |
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if t_id not in self.trk_pt: |
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self.trk_pt[t_id] = 0 |
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# Draw tracks of objects |
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self.annotator.draw_centroid_and_tracks( |
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self.track_line, color=colors(int(track_id), True), track_thickness=self.line_width |
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) |
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speed_label = f"{int(self.spd[t_id])} km/h" if t_id in self.spd else self.names[int(cls)] |
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bbox_color = colors(int(t_id), True) |
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annotator.box_label(box, speed_label, bbox_color) |
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cv2.polylines(im0, [trk_pts], isClosed=False, color=bbox_color, thickness=self.tf) |
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cv2.circle(im0, (int(track[-1][0]), int(track[-1][1])), self.tf * 2, bbox_color, -1) |
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# Calculation of object speed |
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if not self.reg_pts[0][0] < track[-1][0] < self.reg_pts[1][0]: |
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return |
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if self.reg_pts[1][1] - self.spdl < track[-1][1] < self.reg_pts[1][1] + self.spdl: |
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direction = "known" |
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elif self.reg_pts[0][1] - self.spdl < track[-1][1] < self.reg_pts[0][1] + self.spdl: |
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# Calculate object speed and direction based on region intersection |
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if LineString([self.trk_pp[track_id], self.track_line[-1]]).intersects(self.l_s): |
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direction = "known" |
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else: |
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direction = "unknown" |
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if self.trk_pt.get(t_id) != 0 and direction != "unknown" and t_id not in self.trkd_ids: |
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self.trkd_ids.append(t_id) |
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time_difference = time() - self.trk_pt[t_id] |
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# Perform speed calculation and tracking updates if direction is valid |
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if direction == "known" and track_id not in self.trkd_ids: |
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self.trkd_ids.append(track_id) |
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time_difference = time() - self.trk_pt[track_id] |
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if time_difference > 0: |
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self.spd[t_id] = np.abs(track[-1][1] - self.trk_pp[t_id][1]) / time_difference |
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self.trk_pt[t_id] = time() |
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self.trk_pp[t_id] = track[-1] |
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if self.view_img and self.env_check: |
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cv2.imshow("Ultralytics Speed Estimation", im0) |
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if cv2.waitKey(1) & 0xFF == ord("q"): |
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return |
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self.spd[track_id] = np.abs(self.track_line[-1][1] - self.trk_pp[track_id][1]) / time_difference |
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return im0 |
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self.trk_pt[track_id] = time() |
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self.trk_pp[track_id] = self.track_line[-1] |
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self.display_output(im0) # display output with base class function |
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if __name__ == "__main__": |
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names = {0: "person", 1: "car"} # example class names |
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speed_estimator = SpeedEstimator(names) |
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return im0 # return output image for more usage |
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