MetaMOT/tools/track.py

from loguru import logger

import torch
import torch.backends.cudnn as cudnn
from torch.nn.parallel import DistributedDataParallel as DDP

from yolox.core import launch
from yolox.exp import get_exp
from yolox.utils import configure_nccl, fuse_model, get_local_rank, get_model_info, setup_logger

from yolox.evaluators import MOTEvaluator

import argparse
import os
import random
import warnings
import glob
import motmetrics as mm
from collections import OrderedDict
from pathlib import Path
import learn2learn as l2l
import yolox.statics as statics


def make_parser():
    parser = argparse.ArgumentParser("YOLOX Eval")
    parser.add_argument("-t", "--task", type=str, default="metamot")
    parser.add_argument("-expn", "--experiment-name", type=str, default=None)
    parser.add_argument("-n", "--name", type=str, default=None, help="model name")

    parser.add_argument(
        "--adaptation_period", default=4, type=int, help="if 4, then adapts to one batch in four batches"
    )

    # distributed
    parser.add_argument(
        "--dist-backend", default="nccl", type=str, help="distributed backend"
    )
    parser.add_argument(
        "--dist-url",
        default=None,
        type=str,
        help="url used to set up distributed training",
    )
    parser.add_argument("-b", "--batch-size", type=int, default=64, help="batch size")
    parser.add_argument(
        "-d", "--devices", default=None, type=int, help="device for training"
    )
    parser.add_argument(
        "--local_rank", default=0, type=int, help="local rank for dist training"
    )
    parser.add_argument(
        "--num_machines", default=1, type=int, help="num of node for training"
    )
    parser.add_argument(
        "--machine_rank", default=0, type=int, help="node rank for multi-node training"
    )
    parser.add_argument(
        "-f",
        "--exp_file",
        default=None,
        type=str,
        help="pls input your expriment description file",
    )
    parser.add_argument(
        "--fp16",
        dest="fp16",
        default=False,
        action="store_true",
        help="Adopting mix precision evaluating.",
    )
    parser.add_argument(
        "--fuse",
        dest="fuse",
        default=False,
        action="store_true",
        help="Fuse conv and bn for testing.",
    )
    parser.add_argument(
        "--trt",
        dest="trt",
        default=False,
        action="store_true",
        help="Using TensorRT model for testing.",
    )
    parser.add_argument(
        "--test",
        dest="test",
        default=False,
        action="store_true",
        help="Evaluating on test-dev set.",
    )
    parser.add_argument(
        "--speed",
        dest="speed",
        default=False,
        action="store_true",
        help="speed test only.",
    )
    parser.add_argument(
        "opts",
        help="Modify config options using the command-line",
        default=None,
        nargs=argparse.REMAINDER,
    )
    # det args
    parser.add_argument("-c", "--ckpt", default=None, type=str, help="ckpt for eval")
    parser.add_argument("--conf", default=0.01, type=float, help="test conf")
    parser.add_argument("--nms", default=0.7, type=float, help="test nms threshold")
    parser.add_argument("--tsize", default=None, type=int, help="test img size")
    parser.add_argument("--seed", default=None, type=int, help="eval seed")
    # tracking args
    parser.add_argument("--track_thresh", type=float, default=0.6, help="tracking confidence threshold")
    parser.add_argument("--track_buffer", type=int, default=30, help="the frames for keep lost tracks")
    parser.add_argument("--match_thresh", type=float, default=0.9, help="matching threshold for tracking")
    parser.add_argument("--min-box-area", type=float, default=100, help='filter out tiny boxes')
    parser.add_argument("--mot20", dest="mot20", default=False, action="store_true", help="test mot20.")

    parser.add_argument("--use_existing_files", default=False, action="store_true", help="to use already created files")
    return parser


def compare_dataframes(gts, ts):
    accs = []
    names = []
    for k, tsacc in ts.items():
        if k in gts:
            logger.info('Comparing {}...'.format(k))
            accs.append(mm.utils.compare_to_groundtruth(gts[k], tsacc, 'iou', distth=0.5))
            names.append(k)
        else:
            logger.warning('No ground truth for {}, skipping.'.format(k))

    return accs, names


def process_loader(args, exp, val_loader, model, is_distributed, trt_file, decoder):
    file_name = os.path.join(exp.output_dir, args.experiment_name)
    rank = args.local_rank
    if rank == 0:
        os.makedirs(file_name, exist_ok=True)

    results_folder = os.path.join(file_name, "track_results")
    os.makedirs(results_folder, exist_ok=True)

    adaptation_period = None
    if args.task == 'metamot':
        adaptation_period = args.adaptation_period

    evaluator = MOTEvaluator(
        args=args,
        dataloader=val_loader,
        img_size=exp.test_size,
        confthre=exp.test_conf,
        nmsthre=exp.nmsthre,
        num_classes=exp.num_classes,
    )
    # start evaluate
    *_, summary = evaluator.evaluate(
        model, is_distributed, args.fp16, trt_file, decoder, exp.test_size, results_folder,
        adaptation_period=adaptation_period, eval_det=False
    )
    logger.info("\n" + summary)


def eval_MOT(args, exp, val_ann=None):
    file_name = os.path.join(exp.output_dir, args.experiment_name)
    rank = args.local_rank
    if rank == 0:
        os.makedirs(file_name, exist_ok=True)

    results_folder = os.path.join(file_name, "track_results")
    os.makedirs(results_folder, exist_ok=True)

    # evaluate MOTA
    mm.lap.default_solver = 'lap'

    if val_ann == 'val_half.json':
        gt_type = '_val_half'
    else:
        gt_type = ''
    print('gt_type', gt_type)
    if args.mot20:
        gtfiles = glob.glob(os.path.join(statics.DATA_PATH, 'MOT20/train', '*/gt/gt{}.txt'.format(gt_type)))
    else:
        gtfiles = glob.glob(os.path.join(statics.DATA_PATH, 'MOT17/train', '*/gt/gt{}.txt'.format(gt_type)))
    print('gt_files', gtfiles)
    tsfiles = [f for f in glob.glob(os.path.join(results_folder, '*.txt')) if
               not os.path.basename(f).startswith('eval')]

    logger.info('Found {} groundtruths and {} test files.'.format(len(gtfiles), len(tsfiles)))
    logger.info('Available LAP solvers {}'.format(mm.lap.available_solvers))
    logger.info('Default LAP solver \'{}\''.format(mm.lap.default_solver))
    logger.info('Loading files.')

    gt = OrderedDict([(Path(f).parts[-3], mm.io.loadtxt(f, fmt='mot15-2D', min_confidence=1)) for f in gtfiles])
    ts = OrderedDict(
        [(os.path.splitext(Path(f).parts[-1])[0], mm.io.loadtxt(f, fmt='mot15-2D', min_confidence=-1)) for f in
         tsfiles])

    mh = mm.metrics.create()
    accs, names = compare_dataframes(gt, ts)

    logger.info('Running metrics')
    metrics = ['recall', 'precision', 'num_unique_objects', 'mostly_tracked',
               'partially_tracked', 'mostly_lost', 'num_false_positives', 'num_misses',
               'num_switches', 'num_fragmentations', 'mota', 'motp', 'num_objects']
    summary = mh.compute_many(accs, names=names, metrics=metrics, generate_overall=True)
    # summary = mh.compute_many(accs, names=names, metrics=mm.metrics.motchallenge_metrics, generate_overall=True)
    # print(mm.io.render_summary(
    #   summary, formatters=mh.formatters,
    #   namemap=mm.io.motchallenge_metric_names))
    div_dict = {
        'num_objects': ['num_false_positives', 'num_misses', 'num_switches', 'num_fragmentations'],
        'num_unique_objects': ['mostly_tracked', 'partially_tracked', 'mostly_lost']}
    for divisor in div_dict:
        for divided in div_dict[divisor]:
            summary[divided] = (summary[divided] / summary[divisor])
    fmt = mh.formatters
    change_fmt_list = ['num_false_positives', 'num_misses', 'num_switches', 'num_fragmentations', 'mostly_tracked',
                       'partially_tracked', 'mostly_lost']
    for k in change_fmt_list:
        fmt[k] = fmt['mota']
    print(mm.io.render_summary(summary, formatters=fmt, namemap=mm.io.motchallenge_metric_names))

    metrics = mm.metrics.motchallenge_metrics + ['num_objects']
    summary = mh.compute_many(accs, names=names, metrics=metrics, generate_overall=True)
    print(mm.io.render_summary(summary, formatters=mh.formatters, namemap=mm.io.motchallenge_metric_names))
    logger.info('Completed')


def load_model(args, exp, is_distributed):
    model = exp.get_model()
    logger.info("Model Summary: {}".format(get_model_info(model, exp.test_size)))
    if args.seed is not None:
        random.seed(args.seed)
        torch.manual_seed(args.seed)
        cudnn.deterministic = True
        warnings.warn(
            "You have chosen to seed testing. This will turn on the CUDNN deterministic setting, "
        )

        # set environment variables for distributed training
    cudnn.benchmark = True
    rank = args.local_rank

    # rank = get_local_rank()

    file_name = os.path.join(exp.output_dir, args.experiment_name)

    if rank == 0:
        os.makedirs(file_name, exist_ok=True)

    setup_logger(file_name, distributed_rank=rank, filename="val_log.txt", mode="a")
    logger.info("Args: {}".format(args))

    if args.conf is not None:
        exp.test_conf = args.conf
    if args.nms is not None:
        exp.nmsthre = args.nms
    if args.tsize is not None:
        exp.test_size = (args.tsize, args.tsize)

    if args.task == "metamot":
        model = l2l.algorithms.MAML(model, lr=exp.inner_lr, first_order=exp.first_order)
    torch.cuda.set_device(rank)
    model.cuda(rank)
    model.eval()

    if not args.speed and not args.trt:
        if args.ckpt is None:
            ckpt_file = os.path.join(file_name, "best_ckpt.pth.tar")
        else:
            ckpt_file = args.ckpt

        logger.info("loading checkpoint")
        loc = "cuda:{}".format(rank)
        ckpt = torch.load(ckpt_file, map_location=loc)

        # handling meta models
        new_dict = {}
        if (not list(ckpt["model"].keys())[0].startswith('module')) and args.task == "metamot":
            for key in ckpt["model"].keys():
                if not key.startswith('module.'):
                    new_dict['module.' + key] = ckpt["model"][key]
                else:
                    new_dict[key] = ckpt["model"][key]
            del ckpt["model"]
            ckpt["model"] = new_dict

        # load the model state dict
        model.load_state_dict(ckpt["model"])
        logger.info("loaded checkpoint done.")

    if is_distributed:
        model = DDP(model, device_ids=[rank])

    if args.fuse:
        logger.info("\tFusing model...")
        model = fuse_model(model)

    if args.trt:
        assert (
                not args.fuse and not is_distributed and args.batch_size == 1
        ), "TensorRT model is not support model fusing and distributed inferencing!"
        trt_file = os.path.join(file_name, "model_trt.pth")
        assert os.path.exists(
            trt_file
        ), "TensorRT model is not found!\n Run tools/trt.py first!"
        model.head.decode_in_inference = False
        decoder = model.head.decode_outputs
    else:
        trt_file = None
        decoder = None

    return model, trt_file, decoder


@logger.catch
def main(exp, args, num_gpu):
    is_distributed = num_gpu > 1
    print('is_distributed', is_distributed)
    print('num_gpu', num_gpu)

    # logger.info("Model Structure:\n{}".format(str(model)))
    model, trt_file, decoder = load_model(args, exp, is_distributed)

    if args.task == 'metamot':
        val_loaders = exp.get_eval_loaders(args.batch_size, is_distributed, args.test)
        if not args.use_existing_files:
            for val_loader in val_loaders:
                logger.info('processing loader...')
                process_loader(args, exp, val_loader, model, is_distributed, trt_file, decoder)
        eval_MOT(args, exp)
    else:
        if not args.use_existing_files:
            val_loader = exp.get_eval_loader(args.batch_size, is_distributed, args.test)
            process_loader(args, exp, val_loader, model, is_distributed, trt_file, decoder)
        eval_MOT(args, exp, exp.val_ann)


if __name__ == "__main__":
    args = make_parser().parse_args()
    exp = get_exp(args.exp_file, args.name)
    exp.merge(args.opts)

    if not args.experiment_name:
        args.experiment_name = exp.exp_name

    num_gpu = torch.cuda.device_count() if args.devices is None else args.devices
    assert num_gpu <= torch.cuda.device_count()

    launch(
        main,
        num_gpu,
        args.num_machines,
        args.machine_rank,
        backend=args.dist_backend,
        dist_url=args.dist_url,
        args=(exp, args, num_gpu),
    )