mirror of
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Add RTMPose, RTMW, DWPose models (#110)
This commit is contained in:
Jamjamjon
GitHub
@ -24,10 +24,10 @@
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## 🚀 Quick Start
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```bash
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# CPU
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cargo run -r --example yolo # YOLOv8-n detect by default
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cargo run -r --example yolo -- --task detect --ver 8 --scale n --dtype fp16 # q8, q4, q4f16
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# NVIDIA CUDA
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cargo run -r -F cuda --example yolo -- --device cuda:0
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cargo run -r -F cuda --example yolo -- --device cuda:0 # YOLOv8-n detect by default
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# NVIDIA TensorRT
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cargo run -r -F tensorrt --example yolo -- --device tensorrt:0
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@ -79,6 +79,9 @@ usls = "latest-version"
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| [DocLayout-YOLO](https://github.com/opendatalab/DocLayout-YOLO) | Object Detection | [demo](examples/picodet-layout) |
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| [D-FINE](https://github.com/manhbd-22022602/D-FINE) | Object Detection | [demo](examples/d-fine) |
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| [DEIM](https://github.com/ShihuaHuang95/DEIM) | Object Detection | [demo](examples/deim) |
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| [RTMPose](https://github.com/open-mmlab/mmpose/tree/dev-1.x/projects/rtmpose) | Keypoint Detection | [demo](examples/rtmpose) |
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| [DWPose](https://github.com/IDEA-Research/DWPose) | Keypoint Detection | [demo](examples/dwpose) |
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| [RTMW](https://arxiv.org/abs/2407.08634) | Keypoint Detection | [demo](examples/rtmw) |
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| [RTMO](https://github.com/open-mmlab/mmpose/tree/main/projects/rtmo) | Keypoint Detection | [demo](examples/rtmo) |
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| [SAM](https://github.com/facebookresearch/segment-anything) | Segment Anything | [demo](examples/sam) |
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| [SAM2](https://github.com/facebookresearch/segment-anything-2) | Segment Anything | [demo](examples/sam) |
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9
examples/dwpose/README.md
Normal file
9
examples/dwpose/README.md
Normal file
@ -0,0 +1,9 @@
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## Quick Start
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```shell
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cargo run -r --example dwpose
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```
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## Results
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97
examples/dwpose/main.rs
Normal file
97
examples/dwpose/main.rs
Normal file
@ -0,0 +1,97 @@
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use anyhow::Result;
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use usls::{
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models::{RTMPose, YOLO},
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Annotator, Config, DataLoader, Scale, Style, SKELETON_COCO_65, SKELETON_COLOR_COCO_65,
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};
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#[derive(argh::FromArgs)]
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/// Example
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struct Args {
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/// source: image, image folder, video stream
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#[argh(option, default = "String::from(\"./assets/bus.jpg\")")]
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source: String,
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/// device: cuda:0, cpu:0, ...
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#[argh(option, default = "String::from(\"cpu:0\")")]
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device: String,
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/// scale: t, s, m, l
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#[argh(option, default = "String::from(\"m\")")]
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scale: String,
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/// dtype: fp16, q8, q4, q4f16, ...
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#[argh(option, default = "String::from(\"auto\")")]
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dtype: String,
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}
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fn main() -> Result<()> {
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tracing_subscriber::fmt()
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.with_env_filter(tracing_subscriber::EnvFilter::from_default_env())
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.with_timer(tracing_subscriber::fmt::time::ChronoLocal::rfc_3339())
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.init();
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let args: Args = argh::from_env();
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// build YOLOv8
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let yolo_config = Config::yolo_detect()
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.with_scale(Scale::N)
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.with_version(8.into())
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.with_model_device(args.device.parse()?)
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.retain_classes(&[0]) // keep person class only
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.with_class_confs(&[0.5])
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.commit()?;
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let mut yolo = YOLO::new(yolo_config)?;
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// build RTMPose
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let config = match args.scale.as_str() {
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"t" => Config::dwpose_133_t(),
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"s" => Config::dwpose_133_s(),
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"m" => Config::dwpose_133_m(),
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"l" => Config::dwpose_133_l(),
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_ => todo!(),
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}
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.with_model_dtype(args.dtype.parse()?)
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.with_model_device(args.device.parse()?)
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.commit()?;
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let mut rtmpose = RTMPose::new(config)?;
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// build annotator
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let annotator = Annotator::default()
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.with_hbb_style(Style::hbb().with_draw_fill(true))
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.with_keypoint_style(
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Style::keypoint()
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.with_radius(2)
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.with_skeleton((SKELETON_COCO_65, SKELETON_COLOR_COCO_65).into())
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.show_id(false)
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.show_confidence(false)
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.show_name(false),
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);
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// build dataloader
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let dl = DataLoader::new(&args.source)?.with_batch(1).build()?;
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// iterate
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for xs in &dl {
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// YOLO infer
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let ys_det = yolo.forward(&xs)?;
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// RTMPose infer
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for (x, y_det) in xs.iter().zip(ys_det.iter()) {
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let y = rtmpose.forward(x, y_det.hbbs())?;
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// Annotate
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annotator.annotate(x, &y)?.save(format!(
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"{}.jpg",
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usls::Dir::Current
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.base_dir_with_subs(&["runs", rtmpose.spec()])?
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.join(usls::timestamp(None))
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.display(),
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))?
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}
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}
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// summary
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yolo.summary();
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rtmpose.summary();
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Ok(())
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}
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@ -12,7 +12,7 @@ struct Args {
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#[argh(option, default = "String::from(\"cpu:0\")")]
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device: String,
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/// scale: s, m, l
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/// scale: t, s, m, l
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#[argh(option, default = "String::from(\"t\")")]
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scale: String,
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}
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@ -52,7 +52,7 @@ fn main() -> Result<()> {
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.with_skeleton(SKELETON_COCO_19.into())
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.show_confidence(false)
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.show_id(true)
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.show_name(false),
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.show_name(true),
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);
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for (x, y) in xs.iter().zip(ys.iter()) {
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annotator.annotate(x, y)?.save(format!(
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11
examples/rtmpose/README.md
Normal file
11
examples/rtmpose/README.md
Normal file
@ -0,0 +1,11 @@
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## Quick Start
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```shell
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cargo run -r --example rtmpose -- --is-coco true
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```
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## Results
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| rtmpose-17 | rtmpose-26 |
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| :---------------: | :------------------------: |
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|  | |
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122
examples/rtmpose/main.rs
Normal file
122
examples/rtmpose/main.rs
Normal file
@ -0,0 +1,122 @@
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use anyhow::Result;
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use usls::{
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models::{RTMPose, YOLO},
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Annotator, Config, DataLoader, Scale, Style, SKELETON_COCO_19, SKELETON_COLOR_COCO_19,
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SKELETON_COLOR_HALPE_27, SKELETON_HALPE_27,
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};
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#[derive(argh::FromArgs)]
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/// Example
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struct Args {
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/// source: image, image folder, video stream
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#[argh(option, default = "String::from(\"./assets/bus.jpg\")")]
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source: String,
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/// device: cuda:0, cpu:0, ...
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#[argh(option, default = "String::from(\"cpu:0\")")]
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device: String,
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/// scale: t, s, m, l, x
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#[argh(option, default = "String::from(\"t\")")]
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scale: String,
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/// dtype: fp16, q8, q4, q4f16, ...
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#[argh(option, default = "String::from(\"auto\")")]
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dtype: String,
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/// is coco 17 keypoints or halpe 26 keypoints
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#[argh(option, default = "true")]
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is_coco: bool,
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}
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fn main() -> Result<()> {
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tracing_subscriber::fmt()
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.with_env_filter(tracing_subscriber::EnvFilter::from_default_env())
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.with_timer(tracing_subscriber::fmt::time::ChronoLocal::rfc_3339())
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.init();
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let args: Args = argh::from_env();
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// build YOLOv8
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let yolo_config = Config::yolo_detect()
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.with_scale(Scale::N)
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.with_version(8.into())
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.with_model_device(args.device.parse()?)
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.retain_classes(&[0]) // keep person class only
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.with_class_confs(&[0.5])
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.commit()?;
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let mut yolo = YOLO::new(yolo_config)?;
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// build RTMPose
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let config = match args.scale.as_str() {
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"t" => match args.is_coco {
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true => Config::rtmpose_17_t(),
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false => Config::rtmpose_26_t(),
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},
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"s" => match args.is_coco {
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true => Config::rtmpose_17_s(),
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false => Config::rtmpose_26_s(),
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},
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"m" => match args.is_coco {
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true => Config::rtmpose_17_m(),
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false => Config::rtmpose_26_m(),
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},
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"l" => match args.is_coco {
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true => Config::rtmpose_17_l(),
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false => Config::rtmpose_26_l(),
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},
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"x" => match args.is_coco {
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true => Config::rtmpose_17_x(),
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false => Config::rtmpose_26_x(),
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},
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_ => todo!(),
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}
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.with_model_dtype(args.dtype.parse()?)
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.with_model_device(args.device.parse()?)
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.commit()?;
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let mut rtmpose = RTMPose::new(config)?;
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// build annotator
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let annotator = Annotator::default()
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.with_hbb_style(Style::hbb().with_draw_fill(true))
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.with_keypoint_style(
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Style::keypoint()
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.with_radius(4)
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.with_skeleton(if args.is_coco {
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(SKELETON_COCO_19, SKELETON_COLOR_COCO_19).into()
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} else {
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(SKELETON_HALPE_27, SKELETON_COLOR_HALPE_27).into()
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})
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.show_id(false)
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.show_confidence(false)
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.show_name(false),
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);
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// build dataloader
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let dl = DataLoader::new(&args.source)?.with_batch(1).build()?;
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// iterate
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for xs in &dl {
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// YOLO infer
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let ys_det = yolo.forward(&xs)?;
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// RTMPose infer
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for (x, y_det) in xs.iter().zip(ys_det.iter()) {
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let y = rtmpose.forward(x, y_det.hbbs())?;
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// Annotate
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annotator.annotate(x, &y)?.save(format!(
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"{}.jpg",
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usls::Dir::Current
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.base_dir_with_subs(&["runs", rtmpose.spec()])?
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.join(usls::timestamp(None))
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.display(),
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))?
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}
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}
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// summary
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yolo.summary();
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rtmpose.summary();
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Ok(())
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}
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9
examples/rtmw/README.md
Normal file
9
examples/rtmw/README.md
Normal file
@ -0,0 +1,9 @@
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## Quick Start
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```shell
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cargo run -r --example rtmw
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```
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## Result
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97
examples/rtmw/main.rs
Normal file
97
examples/rtmw/main.rs
Normal file
@ -0,0 +1,97 @@
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use anyhow::Result;
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use usls::{
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models::{RTMPose, YOLO},
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Annotator, Config, DataLoader, Scale, Style, SKELETON_COCO_65, SKELETON_COLOR_COCO_65,
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};
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#[derive(argh::FromArgs)]
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/// Example
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struct Args {
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/// source: image, image folder, video stream
|
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#[argh(option, default = "String::from(\"./assets/bus.jpg\")")]
|
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source: String,
|
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|
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/// device: cuda:0, cpu:0, ...
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#[argh(option, default = "String::from(\"cpu:0\")")]
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device: String,
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/// scale: m, l, x
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#[argh(option, default = "String::from(\"m\")")]
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scale: String,
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/// dtype: fp16, q8, q4, q4f16, ...
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#[argh(option, default = "String::from(\"auto\")")]
|
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dtype: String,
|
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}
|
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|
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fn main() -> Result<()> {
|
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tracing_subscriber::fmt()
|
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.with_env_filter(tracing_subscriber::EnvFilter::from_default_env())
|
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.with_timer(tracing_subscriber::fmt::time::ChronoLocal::rfc_3339())
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.init();
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let args: Args = argh::from_env();
|
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// build YOLOv8
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let yolo_config = Config::yolo_detect()
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.with_scale(Scale::N)
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.with_version(8.into())
|
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.with_model_device(args.device.parse()?)
|
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.retain_classes(&[0]) // keep person class only
|
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.with_class_confs(&[0.5])
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.commit()?;
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let mut yolo = YOLO::new(yolo_config)?;
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// build RTMPose
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let config = match args.scale.as_str() {
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"m" => Config::rtmw_133_m(),
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"l" => Config::rtmw_133_l(),
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"x" => Config::rtmw_133_x(),
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_ => todo!(),
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}
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.with_model_dtype(args.dtype.parse()?)
|
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.with_model_device(args.device.parse()?)
|
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.with_model_file("/HDD/zhangj/PROJECTS/e/mmml/rtmw-133-m-q4.onnx")
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.commit()?;
|
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let mut rtmpose = RTMPose::new(config)?;
|
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|
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// build annotator
|
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let annotator = Annotator::default()
|
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.with_hbb_style(Style::hbb().with_draw_fill(true))
|
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.with_keypoint_style(
|
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Style::keypoint()
|
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.with_radius(2)
|
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.with_skeleton((SKELETON_COCO_65, SKELETON_COLOR_COCO_65).into())
|
||||
.show_id(false)
|
||||
.show_confidence(false)
|
||||
.show_name(false),
|
||||
);
|
||||
|
||||
// build dataloader
|
||||
let dl = DataLoader::new(&args.source)?.with_batch(1).build()?;
|
||||
|
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// iterate
|
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for xs in &dl {
|
||||
// YOLO infer
|
||||
let ys_det = yolo.forward(&xs)?;
|
||||
|
||||
// RTMPose infer
|
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for (x, y_det) in xs.iter().zip(ys_det.iter()) {
|
||||
let y = rtmpose.forward(x, y_det.hbbs())?;
|
||||
|
||||
// Annotate
|
||||
annotator.annotate(x, &y)?.save(format!(
|
||||
"{}.jpg",
|
||||
usls::Dir::Current
|
||||
.base_dir_with_subs(&["runs", rtmpose.spec()])?
|
||||
.join(usls::timestamp(None))
|
||||
.display(),
|
||||
))?
|
||||
}
|
||||
}
|
||||
|
||||
// summary
|
||||
yolo.summary();
|
||||
rtmpose.summary();
|
||||
|
||||
Ok(())
|
||||
}
|
||||
@ -1,3 +1,188 @@
|
||||
/// A comprehensive list of keypoints used in the COCO-133 person pose estimation model.
|
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/// The keypoints are organized into several groups:
|
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/// - Body keypoints (23 points):
|
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/// - Face features (nose, eyes, ears)
|
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/// - Body joints (shoulders, elbows, wrists, hips, knees, ankles)
|
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/// - Foot details (toes and heels)
|
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/// - Face landmarks (68 points):
|
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/// - Detailed facial features numbered from face-0 to face-67
|
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/// - Hand keypoints (21 points per hand):
|
||||
/// - Left hand joints (wrist and fingers)
|
||||
/// - Right hand joints (wrist and fingers)
|
||||
pub const NAMES_COCO_133: [&str; 133] = [
|
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// Body keypoints (0-22)
|
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"nose",
|
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"left_eye",
|
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"right_eye",
|
||||
"left_ear",
|
||||
"right_ear",
|
||||
"left_shoulder",
|
||||
"right_shoulder",
|
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"left_elbow",
|
||||
"right_elbow",
|
||||
"left_wrist",
|
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"right_wrist",
|
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"left_hip",
|
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"right_hip",
|
||||
"left_knee",
|
||||
"right_knee",
|
||||
"left_ankle",
|
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"right_ankle",
|
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"left_big_toe",
|
||||
"left_small_toe",
|
||||
"left_heel",
|
||||
"right_big_toe",
|
||||
"right_small_toe",
|
||||
"right_heel",
|
||||
// Face landmarks (23-90)
|
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"face-0",
|
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"face-1",
|
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"face-2",
|
||||
"face-3",
|
||||
"face-4",
|
||||
"face-5",
|
||||
"face-6",
|
||||
"face-7",
|
||||
"face-8",
|
||||
"face-9",
|
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"face-10",
|
||||
"face-11",
|
||||
"face-12",
|
||||
"face-13",
|
||||
"face-14",
|
||||
"face-15",
|
||||
"face-16",
|
||||
"face-17",
|
||||
"face-18",
|
||||
"face-19",
|
||||
"face-20",
|
||||
"face-21",
|
||||
"face-22",
|
||||
"face-23",
|
||||
"face-24",
|
||||
"face-25",
|
||||
"face-26",
|
||||
"face-27",
|
||||
"face-28",
|
||||
"face-29",
|
||||
"face-30",
|
||||
"face-31",
|
||||
"face-32",
|
||||
"face-33",
|
||||
"face-34",
|
||||
"face-35",
|
||||
"face-36",
|
||||
"face-37",
|
||||
"face-38",
|
||||
"face-39",
|
||||
"face-40",
|
||||
"face-41",
|
||||
"face-42",
|
||||
"face-43",
|
||||
"face-44",
|
||||
"face-45",
|
||||
"face-46",
|
||||
"face-47",
|
||||
"face-48",
|
||||
"face-49",
|
||||
"face-50",
|
||||
"face-51",
|
||||
"face-52",
|
||||
"face-53",
|
||||
"face-54",
|
||||
"face-55",
|
||||
"face-56",
|
||||
"face-57",
|
||||
"face-58",
|
||||
"face-59",
|
||||
"face-60",
|
||||
"face-61",
|
||||
"face-62",
|
||||
"face-63",
|
||||
"face-64",
|
||||
"face-65",
|
||||
"face-66",
|
||||
"face-67",
|
||||
// Left hand keypoints (91-111)
|
||||
"left_hand_root",
|
||||
"left_thumb1",
|
||||
"left_thumb2",
|
||||
"left_thumb3",
|
||||
"left_thumb4",
|
||||
"left_forefinger1",
|
||||
"left_forefinger2",
|
||||
"left_forefinger3",
|
||||
"left_forefinger4",
|
||||
"left_middle_finger1",
|
||||
"left_middle_finger2",
|
||||
"left_middle_finger3",
|
||||
"left_middle_finger4",
|
||||
"left_ring_finger1",
|
||||
"left_ring_finger2",
|
||||
"left_ring_finger3",
|
||||
"left_ring_finger4",
|
||||
"left_pinky_finger1",
|
||||
"left_pinky_finger2",
|
||||
"left_pinky_finger3",
|
||||
"left_pinky_finger4",
|
||||
// Right hand keypoints (112-132)
|
||||
"right_hand_root",
|
||||
"right_thumb1",
|
||||
"right_thumb2",
|
||||
"right_thumb3",
|
||||
"right_thumb4",
|
||||
"right_forefinger1",
|
||||
"right_forefinger2",
|
||||
"right_forefinger3",
|
||||
"right_forefinger4",
|
||||
"right_middle_finger1",
|
||||
"right_middle_finger2",
|
||||
"right_middle_finger3",
|
||||
"right_middle_finger4",
|
||||
"right_ring_finger1",
|
||||
"right_ring_finger2",
|
||||
"right_ring_finger3",
|
||||
"right_ring_finger4",
|
||||
"right_pinky_finger1",
|
||||
"right_pinky_finger2",
|
||||
"right_pinky_finger3",
|
||||
"right_pinky_finger4",
|
||||
];
|
||||
|
||||
/// Hand keypoint labels used in hand pose estimation with 21 points.
|
||||
/// The keypoints are organized by fingers:
|
||||
/// - Wrist (1 point)
|
||||
/// - Thumb (4 points)
|
||||
/// - Forefinger/Index (4 points)
|
||||
/// - Middle finger (4 points)
|
||||
/// - Ring finger (4 points)
|
||||
/// - Pinky finger (4 points)
|
||||
///
|
||||
/// Each finger (except wrist) has 4 keypoints representing joints from base to tip
|
||||
pub const NAMES_HAND_21: [&str; 21] = [
|
||||
"wrist", // Central point
|
||||
"thumb1", // Thumb base
|
||||
"thumb2", // Thumb joint 1
|
||||
"thumb3", // Thumb joint 2
|
||||
"thumb4", // Thumb tip
|
||||
"forefinger1", // Index finger base
|
||||
"forefinger2", // Index finger joint 1
|
||||
"forefinger3", // Index finger joint 2
|
||||
"forefinger4", // Index finger tip
|
||||
"middle_finger1", // Middle finger base
|
||||
"middle_finger2", // Middle finger joint 1
|
||||
"middle_finger3", // Middle finger joint 2
|
||||
"middle_finger4", // Middle finger tip
|
||||
"ring_finger1", // Ring finger base
|
||||
"ring_finger2", // Ring finger joint 1
|
||||
"ring_finger3", // Ring finger joint 2
|
||||
"ring_finger4", // Ring finger tip
|
||||
"pinky_finger1", // Pinky finger base
|
||||
"pinky_finger2", // Pinky finger joint 1
|
||||
"pinky_finger3", // Pinky finger joint 2
|
||||
"pinky_finger4", // Pinky finger tip
|
||||
];
|
||||
|
||||
/// A comprehensive list of 4585 object categories used in the YOLOE model.
|
||||
/// A comprehensive list of 4585 object categories used in the YOLOE object detection model.
|
||||
pub static NAMES_YOLOE_4585: [&str; 4585] = [
|
||||
@ -4724,6 +4909,59 @@ pub const NAMES_COCO_KEYPOINTS_17: [&str; 17] = [
|
||||
"right_ankle",
|
||||
];
|
||||
|
||||
/// A constant array containing the 26 keypoint labels used in the HALPE human pose estimation model.
|
||||
///
|
||||
/// These keypoints are organized into several anatomical groups:
|
||||
/// - **Head Region**
|
||||
/// - nose, eyes (left/right), ears (left/right), head
|
||||
/// - **Upper Body**
|
||||
/// - shoulders (left/right), elbows (left/right), wrists (left/right), neck
|
||||
/// - **Core Body**
|
||||
/// - hips (left/right + central hip)
|
||||
/// - **Lower Body**
|
||||
/// - knees (left/right), ankles (left/right)
|
||||
/// - **Feet**
|
||||
/// - big toes (left/right), small toes (left/right), heels (left/right)
|
||||
///
|
||||
/// This model extends the standard COCO 17-keypoint format by adding:
|
||||
/// - Additional head keypoint (separate from nose)
|
||||
/// - Neck keypoint
|
||||
/// - Central hip point
|
||||
/// - Detailed foot keypoints (toes and heels)
|
||||
///
|
||||
/// The keypoints follow a consistent naming convention:
|
||||
/// - Paired body parts are prefixed with "left_" or "right_"
|
||||
/// - All labels use lowercase and underscores
|
||||
/// - Generic point names for central points (e.g., "head", "neck", "hip")
|
||||
pub const NAMES_HALPE_KEYPOINTS_26: [&str; 26] = [
|
||||
"nose",
|
||||
"left_eye",
|
||||
"right_eye",
|
||||
"left_ear",
|
||||
"right_ear",
|
||||
"left_shoulder",
|
||||
"right_shoulder",
|
||||
"left_elbow",
|
||||
"right_elbow",
|
||||
"left_wrist",
|
||||
"right_wrist",
|
||||
"left_hip",
|
||||
"right_hip",
|
||||
"left_knee",
|
||||
"right_knee",
|
||||
"left_ankle",
|
||||
"right_ankle",
|
||||
"head",
|
||||
"neck",
|
||||
"hip",
|
||||
"left_big_toe",
|
||||
"right_big_toe",
|
||||
"left_small_toe",
|
||||
"right_small_toe",
|
||||
"left_heel",
|
||||
"right_heel",
|
||||
];
|
||||
|
||||
/// COCO dataset object detection labels with 80 categories.
|
||||
///
|
||||
/// A widely-used set of object categories for general object detection, including:
|
||||
|
||||
@ -97,7 +97,6 @@ impl Processor {
|
||||
pub fn process_images(&mut self, xs: &[Image]) -> Result<X> {
|
||||
let (mut x, images_transform_info) = self.par_resize(xs)?;
|
||||
self.images_transform_info = images_transform_info;
|
||||
|
||||
if self.do_normalize {
|
||||
x = x.normalize(0., 255.)?;
|
||||
}
|
||||
|
||||
9
src/models/dwpose/README.md
Normal file
9
src/models/dwpose/README.md
Normal file
@ -0,0 +1,9 @@
|
||||
# DWPose: Effective Whole-body Pose Estimation with Two-stages Distillation
|
||||
|
||||
## Official Repository
|
||||
|
||||
The official repository can be found on: [GitHub](https://github.com/IDEA-Research/DWPose)
|
||||
|
||||
## Example
|
||||
|
||||
Refer to the [example](../../../examples/dwpose)
|
||||
22
src/models/dwpose/config.rs
Normal file
22
src/models/dwpose/config.rs
Normal file
@ -0,0 +1,22 @@
|
||||
/// Model configuration for `DWPose`
|
||||
impl crate::Config {
|
||||
pub fn dwpose_133_t() -> Self {
|
||||
Self::rtmpose_133().with_model_file("dwpose-133-t.onnx")
|
||||
}
|
||||
|
||||
pub fn dwpose_133_s() -> Self {
|
||||
Self::rtmpose_133().with_model_file("dwpose-133-s.onnx")
|
||||
}
|
||||
|
||||
pub fn dwpose_133_m() -> Self {
|
||||
Self::rtmpose_133().with_model_file("dwpose-133-m.onnx")
|
||||
}
|
||||
|
||||
pub fn dwpose_133_l() -> Self {
|
||||
Self::rtmpose_133().with_model_file("dwpose-133-l.onnx")
|
||||
}
|
||||
|
||||
pub fn dwpose_133_l_384() -> Self {
|
||||
Self::rtmpose_133().with_model_file("dwpose-133-l-384.onnx")
|
||||
}
|
||||
}
|
||||
1
src/models/dwpose/mod.rs
Normal file
1
src/models/dwpose/mod.rs
Normal file
@ -0,0 +1 @@
|
||||
mod config;
|
||||
@ -10,6 +10,7 @@ mod deit;
|
||||
mod depth_anything;
|
||||
mod depth_pro;
|
||||
mod dinov2;
|
||||
mod dwpose;
|
||||
mod fast;
|
||||
mod fastvit;
|
||||
mod florence2;
|
||||
@ -26,6 +27,8 @@ mod rfdetr;
|
||||
mod rmbg;
|
||||
mod rtdetr;
|
||||
mod rtmo;
|
||||
mod rtmpose;
|
||||
mod rtmw;
|
||||
mod sam;
|
||||
mod sam2;
|
||||
mod sapiens;
|
||||
@ -54,6 +57,7 @@ pub use rfdetr::*;
|
||||
pub use rmbg::*;
|
||||
pub use rtdetr::*;
|
||||
pub use rtmo::*;
|
||||
pub use rtmpose::*;
|
||||
pub use sam::*;
|
||||
pub use sam2::*;
|
||||
pub use sapiens::*;
|
||||
|
||||
@ -13,6 +13,7 @@ impl crate::Config {
|
||||
.with_nk(17)
|
||||
.with_class_confs(&[0.3])
|
||||
.with_keypoint_confs(&[0.5])
|
||||
.with_keypoint_names(&crate::NAMES_COCO_KEYPOINTS_17)
|
||||
}
|
||||
|
||||
pub fn rtmo_t() -> Self {
|
||||
|
||||
@ -16,6 +16,7 @@ pub struct RTMO {
|
||||
processor: Processor,
|
||||
confs: DynConf,
|
||||
kconfs: DynConf,
|
||||
names: Vec<String>,
|
||||
}
|
||||
|
||||
impl RTMO {
|
||||
@ -28,6 +29,7 @@ impl RTMO {
|
||||
engine.try_width().unwrap_or(&512.into()).opt(),
|
||||
engine.ts().clone(),
|
||||
);
|
||||
let names: Vec<String> = config.keypoint_names().to_vec();
|
||||
let nk = config.nk().unwrap_or(17);
|
||||
let confs = DynConf::new(config.class_confs(), 1);
|
||||
let kconfs = DynConf::new(config.keypoint_confs(), nk);
|
||||
@ -45,6 +47,7 @@ impl RTMO {
|
||||
processor,
|
||||
confs,
|
||||
kconfs,
|
||||
names,
|
||||
})
|
||||
}
|
||||
|
||||
@ -119,10 +122,17 @@ impl RTMO {
|
||||
if c < self.kconfs[i] {
|
||||
kpts_.push(Keypoint::default());
|
||||
} else {
|
||||
kpts_.push(Keypoint::default().with_id(i).with_confidence(c).with_xy(
|
||||
x.max(0.0f32).min(width_original as _),
|
||||
y.max(0.0f32).min(height_original as _),
|
||||
));
|
||||
let mut kpt_ =
|
||||
Keypoint::default().with_id(i).with_confidence(c).with_xy(
|
||||
x.max(0.0f32).min(width_original as _),
|
||||
y.max(0.0f32).min(height_original as _),
|
||||
);
|
||||
|
||||
if !self.names.is_empty() {
|
||||
kpt_ = kpt_.with_name(&self.names[i]);
|
||||
}
|
||||
|
||||
kpts_.push(kpt_);
|
||||
}
|
||||
}
|
||||
y_kpts.push(kpts_);
|
||||
|
||||
9
src/models/rtmpose/README.md
Normal file
9
src/models/rtmpose/README.md
Normal file
@ -0,0 +1,9 @@
|
||||
# RTMPose: Real-Time Multi-Person Pose Estimation toolkit based on MMPose
|
||||
|
||||
## Official Repository
|
||||
|
||||
The official repository can be found on: [GitHub](https://github.com/open-mmlab/mmpose/tree/dev-1.x/projects/rtmpose)
|
||||
|
||||
## Example
|
||||
|
||||
Refer to the [example](../../../examples/rtmpose)
|
||||
79
src/models/rtmpose/config.rs
Normal file
79
src/models/rtmpose/config.rs
Normal file
@ -0,0 +1,79 @@
|
||||
/// Model configuration for `RTMPose`
|
||||
impl crate::Config {
|
||||
pub fn rtmpose() -> Self {
|
||||
Self::default()
|
||||
.with_name("rtmpose")
|
||||
.with_model_ixx(0, 0, 1.into())
|
||||
.with_model_ixx(0, 1, 3.into())
|
||||
.with_model_ixx(0, 2, 256.into())
|
||||
.with_model_ixx(0, 3, 192.into())
|
||||
.with_image_mean(&[123.675, 116.28, 103.53])
|
||||
.with_image_std(&[58.395, 57.12, 57.375])
|
||||
.with_normalize(false)
|
||||
.with_keypoint_confs(&[0.35])
|
||||
}
|
||||
|
||||
pub fn rtmpose_17() -> Self {
|
||||
Self::rtmpose()
|
||||
.with_nk(17)
|
||||
.with_keypoint_names(&crate::NAMES_COCO_KEYPOINTS_17)
|
||||
}
|
||||
|
||||
pub fn rtmpose_17_t() -> Self {
|
||||
Self::rtmpose_17().with_model_file("rtmpose-17-t.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_17_s() -> Self {
|
||||
Self::rtmpose_17().with_model_file("rtmpose-17-s.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_17_m() -> Self {
|
||||
Self::rtmpose_17().with_model_file("rtmpose-17-m.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_17_l() -> Self {
|
||||
Self::rtmpose_17().with_model_file("rtmpose-17-l.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_17_l_384() -> Self {
|
||||
Self::rtmpose_17().with_model_file("rtmpose-17-l-384.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_17_x() -> Self {
|
||||
Self::rtmpose_17().with_model_file("rtmpose-17-x.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_26() -> Self {
|
||||
Self::rtmpose()
|
||||
.with_nk(26)
|
||||
.with_keypoint_names(&crate::NAMES_HALPE_KEYPOINTS_26)
|
||||
}
|
||||
|
||||
pub fn rtmpose_26_t() -> Self {
|
||||
Self::rtmpose_26().with_model_file("rtmpose-26-t.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_26_s() -> Self {
|
||||
Self::rtmpose_26().with_model_file("rtmpose-26-s.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_26_m() -> Self {
|
||||
Self::rtmpose_26().with_model_file("rtmpose-26-m.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_26_m_384() -> Self {
|
||||
Self::rtmpose_26().with_model_file("rtmpose-26-m-384.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_26_l() -> Self {
|
||||
Self::rtmpose_26().with_model_file("rtmpose-26-l.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_26_l_384() -> Self {
|
||||
Self::rtmpose_26().with_model_file("rtmpose-26-l-384.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmpose_26_x() -> Self {
|
||||
Self::rtmpose_26().with_model_file("rtmpose-26-x.onnx")
|
||||
}
|
||||
}
|
||||
369
src/models/rtmpose/impl.rs
Normal file
369
src/models/rtmpose/impl.rs
Normal file
@ -0,0 +1,369 @@
|
||||
use aksr::Builder;
|
||||
use anyhow::Result;
|
||||
use ndarray::s;
|
||||
use rayon::prelude::*;
|
||||
use std::f32::consts::PI;
|
||||
|
||||
use crate::{elapsed, Config, DynConf, Engine, Hbb, Image, Keypoint, Processor, Ts, Xs, Y};
|
||||
|
||||
struct CentersAndScales {
|
||||
pub centers: Vec<Keypoint>,
|
||||
pub scales: Vec<Keypoint>,
|
||||
}
|
||||
|
||||
#[derive(Builder, Debug)]
|
||||
pub struct RTMPose {
|
||||
engine: Engine,
|
||||
height: usize,
|
||||
width: usize,
|
||||
batch: usize,
|
||||
ts: Ts,
|
||||
spec: String,
|
||||
processor: Processor,
|
||||
nk: usize,
|
||||
kconfs: DynConf,
|
||||
names: Vec<String>,
|
||||
simcc_split_ratio: f32,
|
||||
}
|
||||
|
||||
impl RTMPose {
|
||||
pub fn new(config: Config) -> Result<Self> {
|
||||
let engine = Engine::try_from_config(&config.model)?;
|
||||
let spec = engine.spec().to_string();
|
||||
let (batch, height, width, ts) = (
|
||||
engine.batch().opt(),
|
||||
engine.try_height().unwrap_or(&256.into()).opt(),
|
||||
engine.try_width().unwrap_or(&192.into()).opt(),
|
||||
engine.ts().clone(),
|
||||
);
|
||||
let nk = config.nk().unwrap_or(17);
|
||||
let kconfs = DynConf::new(config.keypoint_confs(), nk);
|
||||
let names = config.keypoint_names().to_vec();
|
||||
let simcc_split_ratio = 2.0;
|
||||
let processor = Processor::try_from_config(&config.processor)?
|
||||
.with_image_width(width as _)
|
||||
.with_image_height(height as _);
|
||||
|
||||
Ok(Self {
|
||||
engine,
|
||||
height,
|
||||
width,
|
||||
batch,
|
||||
ts,
|
||||
spec,
|
||||
processor,
|
||||
nk,
|
||||
kconfs,
|
||||
names,
|
||||
simcc_split_ratio,
|
||||
})
|
||||
}
|
||||
|
||||
fn preprocess_one(
|
||||
img: &Image,
|
||||
hbb: Option<&Hbb>,
|
||||
model_input_size: (usize, usize),
|
||||
) -> Result<(Image, CentersAndScales)> {
|
||||
let hbb = if let Some(hbb) = hbb {
|
||||
hbb
|
||||
} else {
|
||||
&Hbb::from_xyxy(0.0, 0.0, img.width() as f32, img.height() as f32)
|
||||
};
|
||||
let (center, scale) = Self::hbb2cs(hbb, 1.25);
|
||||
let (resized_img, scale) = Self::top_down_affine(
|
||||
(model_input_size.0 as i32, model_input_size.1 as i32),
|
||||
&scale,
|
||||
¢er,
|
||||
img,
|
||||
)?;
|
||||
|
||||
Ok((
|
||||
resized_img,
|
||||
CentersAndScales {
|
||||
centers: vec![center],
|
||||
scales: vec![scale],
|
||||
},
|
||||
))
|
||||
}
|
||||
|
||||
fn preprocess(&mut self, x: &Image, hbbs: Option<&[Hbb]>) -> Result<(Xs, CentersAndScales)> {
|
||||
let results: Result<Vec<_>> = match hbbs {
|
||||
None | Some(&[]) => vec![Self::preprocess_one(x, None, (self.width, self.height))]
|
||||
.into_iter()
|
||||
.collect(),
|
||||
Some(hbbs) => hbbs
|
||||
.par_iter()
|
||||
.map(|hbb| Self::preprocess_one(x, Some(hbb), (self.width, self.height)))
|
||||
.collect(),
|
||||
};
|
||||
let (processed_images, centers_and_scales): (Vec<_>, Vec<_>) = results?.into_iter().unzip();
|
||||
let mut centerss = Vec::new();
|
||||
let mut scaless = Vec::new();
|
||||
for cs in centers_and_scales {
|
||||
centerss.extend(cs.centers);
|
||||
scaless.extend(cs.scales);
|
||||
}
|
||||
// TODO
|
||||
let x = self.processor.process_images(&processed_images)?;
|
||||
|
||||
// Update batch size
|
||||
self.batch = match hbbs {
|
||||
None | Some(&[]) => 1,
|
||||
Some(hbbs) => hbbs.len(),
|
||||
};
|
||||
|
||||
Ok((
|
||||
x.into(),
|
||||
CentersAndScales {
|
||||
centers: centerss,
|
||||
scales: scaless,
|
||||
},
|
||||
))
|
||||
}
|
||||
|
||||
fn inference(&mut self, xs: Xs) -> Result<Xs> {
|
||||
self.engine.run(xs)
|
||||
}
|
||||
|
||||
pub fn forward(&mut self, x: &Image, hbbs: Option<&[Hbb]>) -> Result<Y> {
|
||||
let (ys, centers_and_scales) =
|
||||
elapsed!("preprocess", self.ts, { self.preprocess(x, hbbs)? });
|
||||
let ys = elapsed!("inference", self.ts, { self.inference(ys)? });
|
||||
let y = elapsed!("postprocess", self.ts, {
|
||||
self.postprocess(ys, centers_and_scales)?
|
||||
});
|
||||
|
||||
Ok(y)
|
||||
}
|
||||
|
||||
fn postprocess(&mut self, xs: Xs, centers_and_scales: CentersAndScales) -> Result<Y> {
|
||||
// Update nk
|
||||
self.nk = xs[0].shape()[1];
|
||||
|
||||
let simcc_x_array = &xs[0];
|
||||
let simcc_y_array = &xs[1];
|
||||
let y_kpts: Vec<Vec<Keypoint>> = (0..self.batch)
|
||||
.into_par_iter()
|
||||
.map(|batch_idx| {
|
||||
let mut keypoints = Vec::new();
|
||||
let center = ¢ers_and_scales.centers[batch_idx];
|
||||
let scale = ¢ers_and_scales.scales[batch_idx];
|
||||
for kpt_idx in 0..self.nk {
|
||||
let simcc_x_slice = simcc_x_array.slice(s![batch_idx, kpt_idx, ..]);
|
||||
let simcc_y_slice = simcc_y_array.slice(s![batch_idx, kpt_idx, ..]);
|
||||
let (x_loc, max_val_x) = Self::argmax_and_max(&simcc_x_slice);
|
||||
let (y_loc, max_val_y) = Self::argmax_and_max(&simcc_y_slice);
|
||||
let confidence = 0.5 * (max_val_x + max_val_y);
|
||||
let mut x = x_loc as f32 / self.simcc_split_ratio;
|
||||
let mut y = y_loc as f32 / self.simcc_split_ratio;
|
||||
|
||||
// keypoints = keypoints / model_input_size * scale + center - scale / 2
|
||||
let keypoint = if confidence > self.kconfs[kpt_idx] {
|
||||
x = x / self.width as f32 * scale.x() + center.x() - scale.x() / 2.0;
|
||||
y = y / self.height as f32 * scale.y() + center.y() - scale.y() / 2.0;
|
||||
|
||||
let mut kpt = Keypoint::from((x, y))
|
||||
.with_confidence(confidence)
|
||||
.with_id(kpt_idx);
|
||||
|
||||
if !self.names.is_empty() {
|
||||
kpt = kpt.with_name(&self.names[kpt_idx]);
|
||||
}
|
||||
kpt
|
||||
} else {
|
||||
Keypoint::default()
|
||||
};
|
||||
|
||||
keypoints.push(keypoint);
|
||||
}
|
||||
|
||||
keypoints
|
||||
})
|
||||
.collect();
|
||||
|
||||
Ok(Y::default().with_keypointss(&y_kpts))
|
||||
}
|
||||
|
||||
pub fn summary(&mut self) {
|
||||
self.ts.summary();
|
||||
}
|
||||
|
||||
fn argmax_and_max(arr: &ndarray::ArrayView1<f32>) -> (usize, f32) {
|
||||
let mut max_idx = 0;
|
||||
let mut max_val = arr[0];
|
||||
|
||||
for (idx, &val) in arr.iter().enumerate() {
|
||||
if val > max_val {
|
||||
max_val = val;
|
||||
max_idx = idx;
|
||||
}
|
||||
}
|
||||
|
||||
(max_idx, max_val)
|
||||
}
|
||||
|
||||
fn hbb2cs(hbb: &Hbb, padding: f32) -> (Keypoint, Keypoint) {
|
||||
let (x1, y1, x2, y2) = hbb.xyxy();
|
||||
(
|
||||
((x1 + x2) * 0.5, (y1 + y2) * 0.5).into(),
|
||||
((x2 - x1) * padding, (y2 - y1) * padding).into(),
|
||||
)
|
||||
}
|
||||
|
||||
fn get_warp_matrix(
|
||||
center: &Keypoint,
|
||||
scale: &Keypoint,
|
||||
rot: f32,
|
||||
output_size: (i32, i32),
|
||||
shift: (f32, f32),
|
||||
inv: bool,
|
||||
) -> Vec<f32> {
|
||||
fn get_3rd_point(a: &Keypoint, b: &Keypoint) -> Keypoint {
|
||||
let direction = Keypoint::new(a.x() - b.x(), a.y() - b.y());
|
||||
(b.x() - direction.y(), b.y() + direction.x()).into()
|
||||
}
|
||||
|
||||
let shift = Keypoint::new(shift.0, shift.1);
|
||||
let src_w = scale.x();
|
||||
let dst_w = output_size.0 as f32;
|
||||
let dst_h = output_size.1 as f32;
|
||||
let rot_rad = rot * PI / 180.0;
|
||||
let src_dir = Keypoint::new(0.0, src_w * -0.5).rotate(rot_rad);
|
||||
let dst_dir = Keypoint::new(0.0, dst_w * -0.5);
|
||||
let src_0 = Keypoint::new(
|
||||
center.x() + scale.x() * shift.x(),
|
||||
center.y() + scale.y() * shift.y(),
|
||||
);
|
||||
let src_1 = Keypoint::new(
|
||||
center.x() + src_dir.x() + scale.x() * shift.x(),
|
||||
center.y() + src_dir.y() + scale.y() * shift.y(),
|
||||
);
|
||||
let src_2 = get_3rd_point(&src_0, &src_1);
|
||||
let dst_0 = Keypoint::new(dst_w * 0.5, dst_h * 0.5);
|
||||
let dst_1 = Keypoint::new(dst_w * 0.5 + dst_dir.x(), dst_h * 0.5 + dst_dir.y());
|
||||
let dst_2 = get_3rd_point(&dst_0, &dst_1);
|
||||
let (src_points, dst_points) = if inv {
|
||||
(vec![&dst_0, &dst_1, &dst_2], vec![&src_0, &src_1, &src_2])
|
||||
} else {
|
||||
(vec![&src_0, &src_1, &src_2], vec![&dst_0, &dst_1, &dst_2])
|
||||
};
|
||||
|
||||
let x1 = src_points[0].x();
|
||||
let y1 = src_points[0].y();
|
||||
let x2 = src_points[1].x();
|
||||
let y2 = src_points[1].y();
|
||||
let x3 = src_points[2].x();
|
||||
let y3 = src_points[2].y();
|
||||
|
||||
let u1 = dst_points[0].x();
|
||||
let v1 = dst_points[0].y();
|
||||
let u2 = dst_points[1].x();
|
||||
let v2 = dst_points[1].y();
|
||||
let u3 = dst_points[2].x();
|
||||
let v3 = dst_points[2].y();
|
||||
|
||||
let det = x1 * (y2 - y3) + x2 * (y3 - y1) + x3 * (y1 - y2);
|
||||
|
||||
if det.abs() < 1e-6 {
|
||||
return vec![1.0, 0.0, 0.0, 0.0, 1.0, 0.0];
|
||||
}
|
||||
|
||||
let m00 = (u1 * (y2 - y3) + u2 * (y3 - y1) + u3 * (y1 - y2)) / det;
|
||||
let m01 = (x1 * (u3 - u2) + x2 * (u1 - u3) + x3 * (u2 - u1)) / det;
|
||||
let m02 =
|
||||
(x1 * (y2 * u3 - y3 * u2) + x2 * (y3 * u1 - y1 * u3) + x3 * (y1 * u2 - y2 * u1)) / det;
|
||||
let m10 = (v1 * (y2 - y3) + v2 * (y3 - y1) + v3 * (y1 - y2)) / det;
|
||||
let m11 = (x1 * (v2 - v3) + x2 * (v3 - v1) + x3 * (v1 - v2)) / det;
|
||||
let m12 =
|
||||
(x1 * (y2 * v3 - y3 * v2) + x2 * (y3 * v1 - y1 * v3) + x3 * (y1 * v2 - y2 * v1)) / det;
|
||||
|
||||
vec![m00, m01, m02, m10, m11, m12]
|
||||
}
|
||||
|
||||
fn warp_affine(img: &Image, warp_mat: &[f32], output_size: (i32, i32)) -> Result<Image> {
|
||||
let (width, height) = output_size;
|
||||
let mut result_data = vec![0u8; (height * width * 3) as usize];
|
||||
let img_rgb = img.to_rgb8();
|
||||
let (img_w, img_h) = img_rgb.dimensions();
|
||||
|
||||
let m00 = warp_mat[0];
|
||||
let m01 = warp_mat[1];
|
||||
let m02 = warp_mat[2];
|
||||
let m10 = warp_mat[3];
|
||||
let m11 = warp_mat[4];
|
||||
let m12 = warp_mat[5];
|
||||
|
||||
let det = m00 * m11 - m01 * m10;
|
||||
if det.abs() < 1e-6 {
|
||||
return Image::from_u8s(&result_data, width as u32, height as u32);
|
||||
}
|
||||
|
||||
let inv_det = 1.0 / det;
|
||||
let inv_m00 = m11 * inv_det;
|
||||
let inv_m01 = -m01 * inv_det;
|
||||
let inv_m10 = -m10 * inv_det;
|
||||
let inv_m11 = m00 * inv_det;
|
||||
let inv_m02 = (m01 * m12 - m11 * m02) * inv_det;
|
||||
let inv_m12 = (m10 * m02 - m00 * m12) * inv_det;
|
||||
let img_data = img_rgb.as_raw();
|
||||
|
||||
for y in 0..height {
|
||||
for x in 0..width {
|
||||
let dst_x = x as f32;
|
||||
let dst_y = y as f32;
|
||||
let src_x = inv_m00 * dst_x + inv_m01 * dst_y + inv_m02;
|
||||
let src_y = inv_m10 * dst_x + inv_m11 * dst_y + inv_m12;
|
||||
let x0 = src_x.floor() as i32;
|
||||
let y0 = src_y.floor() as i32;
|
||||
let x1 = x0 + 1;
|
||||
let y1 = y0 + 1;
|
||||
if x0 >= 0 && x1 < img_w as i32 && y0 >= 0 && y1 < img_h as i32 {
|
||||
let dx = src_x - x0 as f32;
|
||||
let dy = src_y - y0 as f32;
|
||||
let dst_idx = ((y * width + x) * 3) as usize;
|
||||
|
||||
for c in 0..3 {
|
||||
let src_idx_00 = ((y0 as u32 * img_w + x0 as u32) * 3 + c as u32) as usize;
|
||||
let src_idx_01 = ((y0 as u32 * img_w + x1 as u32) * 3 + c as u32) as usize;
|
||||
let src_idx_10 = ((y1 as u32 * img_w + x0 as u32) * 3 + c as u32) as usize;
|
||||
let src_idx_11 = ((y1 as u32 * img_w + x1 as u32) * 3 + c as u32) as usize;
|
||||
let p00 = img_data[src_idx_00] as f32;
|
||||
let p01 = img_data[src_idx_01] as f32;
|
||||
let p10 = img_data[src_idx_10] as f32;
|
||||
let p11 = img_data[src_idx_11] as f32;
|
||||
let interpolated = p00 * (1.0 - dx) * (1.0 - dy)
|
||||
+ p01 * dx * (1.0 - dy)
|
||||
+ p10 * (1.0 - dx) * dy
|
||||
+ p11 * dx * dy;
|
||||
|
||||
result_data[dst_idx + c] = interpolated.round() as u8;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Image::from_u8s(&result_data, width as u32, height as u32)
|
||||
}
|
||||
|
||||
fn top_down_affine(
|
||||
input_size: (i32, i32),
|
||||
scale: &Keypoint,
|
||||
center: &Keypoint,
|
||||
img: &Image,
|
||||
) -> Result<(Image, Keypoint)> {
|
||||
let (w, h) = input_size;
|
||||
let aspect_ratio = w as f32 / h as f32;
|
||||
let b_w = scale.x();
|
||||
let b_h = scale.y();
|
||||
let scale = if b_w > b_h * aspect_ratio {
|
||||
Keypoint::new(b_w, b_w / aspect_ratio)
|
||||
} else {
|
||||
Keypoint::new(b_h * aspect_ratio, b_h)
|
||||
};
|
||||
let rot = 0.0;
|
||||
let warp_mat = Self::get_warp_matrix(center, &scale, rot, (w, h), (0.0, 0.0), false);
|
||||
let img = Self::warp_affine(img, &warp_mat, (w, h))?;
|
||||
|
||||
Ok((img, scale))
|
||||
}
|
||||
}
|
||||
4
src/models/rtmpose/mod.rs
Normal file
4
src/models/rtmpose/mod.rs
Normal file
@ -0,0 +1,4 @@
|
||||
mod config;
|
||||
mod r#impl;
|
||||
|
||||
pub use r#impl::*;
|
||||
9
src/models/rtmw/README.md
Normal file
9
src/models/rtmw/README.md
Normal file
@ -0,0 +1,9 @@
|
||||
# RTMW: Real-Time Multi-Person 2D and 3D Whole-body Pose Estimation
|
||||
|
||||
## Official Repository
|
||||
|
||||
The official paper can be found on: [arxiv](https://arxiv.org/abs/2407.08634)
|
||||
|
||||
## Example
|
||||
|
||||
Refer to the [example](../../../examples/rtmw)
|
||||
24
src/models/rtmw/config.rs
Normal file
24
src/models/rtmw/config.rs
Normal file
@ -0,0 +1,24 @@
|
||||
/// Model configuration for `RTMW`
|
||||
impl crate::Config {
|
||||
pub fn rtmpose_133() -> Self {
|
||||
Self::rtmpose()
|
||||
.with_nk(133)
|
||||
.with_keypoint_names(&crate::NAMES_COCO_133)
|
||||
}
|
||||
|
||||
pub fn rtmw_133_m() -> Self {
|
||||
Self::rtmpose_133().with_model_file("rtmw-133-m.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmw_133_m_384() -> Self {
|
||||
Self::rtmpose_133().with_model_file("rtmw-133-m-384.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmw_133_l() -> Self {
|
||||
Self::rtmpose_133().with_model_file("rtmw-133-l.onnx")
|
||||
}
|
||||
|
||||
pub fn rtmw_133_x() -> Self {
|
||||
Self::rtmpose_133().with_model_file("rtmw-133-x.onnx")
|
||||
}
|
||||
}
|
||||
1
src/models/rtmw/mod.rs
Normal file
1
src/models/rtmw/mod.rs
Normal file
@ -0,0 +1 @@
|
||||
mod config;
|
||||
@ -104,6 +104,12 @@ impl Keypoint {
|
||||
self.x + self.y
|
||||
}
|
||||
|
||||
pub fn rotate(&self, angle_rad: f32) -> Self {
|
||||
let sn = angle_rad.sin();
|
||||
let cs = angle_rad.cos();
|
||||
(cs * self.x - sn * self.y, sn * self.x + cs * self.y).into()
|
||||
}
|
||||
|
||||
/// Calculates the perpendicular distance from the current keypoint (`self`)
|
||||
/// to a line segment defined by two other keypoints (`start` and `end`).
|
||||
pub fn perpendicular_distance(&self, start: &Self, end: &Self) -> f32 {
|
||||
|
||||
@ -142,3 +142,297 @@ pub const SKELETON_COLOR_COCO_19: [Color; 19] = [
|
||||
Color(0x00ff00ff),
|
||||
Color(0x00ff00ff),
|
||||
];
|
||||
|
||||
/// Defines the keypoint connections for the HALPE person skeleton with 27 connections.
|
||||
/// Each tuple (a, b) represents a connection between keypoint indices a and b.
|
||||
/// The connections define the following body parts:
|
||||
/// - Upper body:
|
||||
/// - Head and neck connections
|
||||
/// - Shoulders to elbows to wrists
|
||||
/// - Torso:
|
||||
/// - Neck to hip
|
||||
/// - Shoulders to neck
|
||||
/// - Lower body:
|
||||
/// - Hip to knees to ankles
|
||||
/// - Ankles to toes and heels
|
||||
pub const SKELETON_HALPE_27: [(usize, usize); 27] = [
|
||||
(15, 13), // left_ankle -> left_knee
|
||||
(13, 11), // left_knee -> left_hip
|
||||
(11, 19), // left_hip -> hip
|
||||
(16, 14), // right_ankle -> right_knee
|
||||
(14, 12), // right_knee -> right_hip
|
||||
(12, 19), // right_hip -> hip
|
||||
(17, 18), // head -> neck
|
||||
(18, 19), // neck -> hip
|
||||
(18, 5), // neck -> left_shoulder
|
||||
(5, 7), // left_shoulder -> left_elbow
|
||||
(7, 9), // left_elbow -> left_wrist
|
||||
(18, 6), // neck -> right_shoulder
|
||||
(6, 8), // right_shoulder -> right_elbow
|
||||
(8, 10), // right_elbow -> right_wrist
|
||||
(1, 2), // left_eye -> right_eye
|
||||
(0, 1), // nose -> left_eye
|
||||
(0, 2), // nose -> right_eye
|
||||
(1, 3), // left_eye -> left_ear
|
||||
(2, 4), // right_eye -> right_ear
|
||||
(3, 5), // left_ear -> left_shoulder
|
||||
(4, 6), // right_ear -> right_shoulder
|
||||
(15, 20), // left_ankle -> left_big_toe
|
||||
(15, 22), // left_ankle -> left_small_toe
|
||||
(15, 24), // left_ankle -> left_heel
|
||||
(16, 21), // right_ankle -> right_big_toe
|
||||
(16, 23), // right_ankle -> right_small_toe
|
||||
(16, 25), // right_ankle -> right_heel
|
||||
];
|
||||
|
||||
/// Defines colors for visualizing each connection in the HALPE person skeleton.
|
||||
/// Colors are grouped by body parts and sides:
|
||||
/// - Blue (0x3399ff): Face and central connections (eyes, neck to hip)
|
||||
/// - Green (0x00ff00): Left side limbs and extremities
|
||||
/// - Orange (0xff8000): Right side limbs and extremities
|
||||
pub const SKELETON_COLOR_HALPE_27: [Color; 27] = [
|
||||
Color(0x00ff00ff), // left_ankle -> left_knee
|
||||
Color(0x00ff00ff), // left_knee -> left_hip
|
||||
Color(0x00ff00ff), // left_hip -> hip
|
||||
Color(0xff8000ff), // right_ankle -> right_knee
|
||||
Color(0xff8000ff), // right_knee -> right_hip
|
||||
Color(0xff8000ff), // right_hip -> hip
|
||||
Color(0x3399ffff), // head -> neck
|
||||
Color(0x3399ffff), // neck -> hip
|
||||
Color(0x00ff00ff), // neck -> left_shoulder
|
||||
Color(0x00ff00ff), // left_shoulder -> left_elbow
|
||||
Color(0x00ff00ff), // left_elbow -> left_wrist
|
||||
Color(0xff8000ff), // neck -> right_shoulder
|
||||
Color(0xff8000ff), // right_shoulder -> right_elbow
|
||||
Color(0xff8000ff), // right_elbow -> right_wrist
|
||||
Color(0x3399ffff), // left_eye -> right_eye
|
||||
Color(0x3399ffff), // nose -> left_eye
|
||||
Color(0x3399ffff), // nose -> right_eye
|
||||
Color(0x3399ffff), // left_eye -> left_ear
|
||||
Color(0x3399ffff), // right_eye -> right_ear
|
||||
Color(0x3399ffff), // left_ear -> left_shoulder
|
||||
Color(0x3399ffff), // right_ear -> right_shoulder
|
||||
Color(0x00ff00ff), // left_ankle -> left_big_toe
|
||||
Color(0x00ff00ff), // left_ankle -> left_small_toe
|
||||
Color(0x00ff00ff), // left_ankle -> left_heel
|
||||
Color(0xff8000ff), // right_ankle -> right_big_toe
|
||||
Color(0xff8000ff), // right_ankle -> right_small_toe
|
||||
Color(0xff8000ff), // right_ankle -> right_heel
|
||||
];
|
||||
|
||||
/// Defines the keypoint connections for the hand skeleton with 20 connections.
|
||||
/// Each tuple (a, b) represents a connection between keypoint indices a and b.
|
||||
/// The connections define the following parts:
|
||||
/// - Thumb: wrist -> thumb1 -> thumb2 -> thumb3 -> thumb4
|
||||
/// - Index: wrist -> forefinger1 -> forefinger2 -> forefinger3 -> forefinger4
|
||||
/// - Middle: wrist -> middle_finger1 -> middle_finger2 -> middle_finger3 -> middle_finger4
|
||||
/// - Ring: wrist -> ring_finger1 -> ring_finger2 -> ring_finger3 -> ring_finger4
|
||||
/// - Pinky: wrist -> pinky_finger1 -> pinky_finger2 -> pinky_finger3 -> pinky_finger4
|
||||
pub const SKELETON_HAND_21: [(usize, usize); 20] = [
|
||||
(0, 1), // wrist -> thumb1
|
||||
(1, 2), // thumb1 -> thumb2
|
||||
(2, 3), // thumb2 -> thumb3
|
||||
(3, 4), // thumb3 -> thumb4
|
||||
(0, 5), // wrist -> forefinger1
|
||||
(5, 6), // forefinger1 -> forefinger2
|
||||
(6, 7), // forefinger2 -> forefinger3
|
||||
(7, 8), // forefinger3 -> forefinger4
|
||||
(0, 9), // wrist -> middle_finger1
|
||||
(9, 10), // middle_finger1 -> middle_finger2
|
||||
(10, 11), // middle_finger2 -> middle_finger3
|
||||
(11, 12), // middle_finger3 -> middle_finger4
|
||||
(0, 13), // wrist -> ring_finger1
|
||||
(13, 14), // ring_finger1 -> ring_finger2
|
||||
(14, 15), // ring_finger2 -> ring_finger3
|
||||
(15, 16), // ring_finger3 -> ring_finger4
|
||||
(0, 17), // wrist -> pinky_finger1
|
||||
(17, 18), // pinky_finger1 -> pinky_finger2
|
||||
(18, 19), // pinky_finger2 -> pinky_finger3
|
||||
(19, 20), // pinky_finger3 -> pinky_finger4
|
||||
];
|
||||
|
||||
/// Defines colors for visualizing each connection in the hand skeleton.
|
||||
/// Colors are grouped by fingers:
|
||||
/// - Thumb: Orange (0xff8000)
|
||||
/// - Index: Pink (0xff99ff)
|
||||
/// - Middle: Light Blue (0x66b2ff)
|
||||
/// - Ring: Red (0xff3333)
|
||||
/// - Pinky: Green (0x00ff00)
|
||||
pub const SKELETON_COLOR_HAND_21: [Color; 20] = [
|
||||
Color(0xff8000ff), // wrist -> thumb1
|
||||
Color(0xff8000ff), // thumb1 -> thumb2
|
||||
Color(0xff8000ff), // thumb2 -> thumb3
|
||||
Color(0xff8000ff), // thumb3 -> thumb4
|
||||
Color(0xff99ffff), // wrist -> forefinger1
|
||||
Color(0xff99ffff), // forefinger1 -> forefinger2
|
||||
Color(0xff99ffff), // forefinger2 -> forefinger3
|
||||
Color(0xff99ffff), // forefinger3 -> forefinger4
|
||||
Color(0x66b2ffff), // wrist -> middle_finger1
|
||||
Color(0x66b2ffff), // middle_finger1 -> middle_finger2
|
||||
Color(0x66b2ffff), // middle_finger2 -> middle_finger3
|
||||
Color(0x66b2ffff), // middle_finger3 -> middle_finger4
|
||||
Color(0xff3333ff), // wrist -> ring_finger1
|
||||
Color(0xff3333ff), // ring_finger1 -> ring_finger2
|
||||
Color(0xff3333ff), // ring_finger2 -> ring_finger3
|
||||
Color(0xff3333ff), // ring_finger3 -> ring_finger4
|
||||
Color(0x00ff00ff), // wrist -> pinky_finger1
|
||||
Color(0x00ff00ff), // pinky_finger1 -> pinky_finger2
|
||||
Color(0x00ff00ff), // pinky_finger2 -> pinky_finger3
|
||||
Color(0x00ff00ff), // pinky_finger3 -> pinky_finger4
|
||||
];
|
||||
|
||||
/// Defines the keypoint connections for the COCO-133 person skeleton with 65 connections.
|
||||
/// Each tuple (a, b) represents a connection between keypoint indices a and b.
|
||||
/// The connections define the following parts:
|
||||
/// - Body parts: shoulders, elbows, wrists, hips, knees, ankles, toes
|
||||
/// - Face: detailed face landmarks
|
||||
/// - Hands: detailed finger joints for both hands
|
||||
pub const SKELETON_COCO_65: [(usize, usize); 65] = [
|
||||
(15, 13), // left_ankle -> left_knee
|
||||
(13, 11), // left_knee -> left_hip
|
||||
(16, 14), // right_ankle -> right_knee
|
||||
(14, 12), // right_knee -> right_hip
|
||||
(11, 12), // left_hip -> right_hip
|
||||
(5, 11), // left_shoulder -> left_hip
|
||||
(6, 12), // right_shoulder -> right_hip
|
||||
(5, 6), // left_shoulder -> right_shoulder
|
||||
(5, 7), // left_shoulder -> left_elbow
|
||||
(6, 8), // right_shoulder -> right_elbow
|
||||
(7, 9), // left_elbow -> left_wrist
|
||||
(8, 10), // right_elbow -> right_wrist
|
||||
(1, 2), // left_eye -> right_eye
|
||||
(0, 1), // nose -> left_eye
|
||||
(0, 2), // nose -> right_eye
|
||||
(1, 3), // left_eye -> left_ear
|
||||
(2, 4), // right_eye -> right_ear
|
||||
(3, 5), // left_ear -> left_shoulder
|
||||
(4, 6), // right_ear -> right_shoulder
|
||||
(15, 17), // left_ankle -> left_big_toe
|
||||
(15, 18), // left_ankle -> left_small_toe
|
||||
(15, 19), // left_ankle -> left_heel
|
||||
(16, 20), // right_ankle -> right_big_toe
|
||||
(16, 21), // right_ankle -> right_small_toe
|
||||
(16, 22), // right_ankle -> right_heel
|
||||
(91, 92), // left_hand_root -> left_thumb1
|
||||
(92, 93), // left_thumb1 -> left_thumb2
|
||||
(93, 94), // left_thumb2 -> left_thumb3
|
||||
(94, 95), // left_thumb3 -> left_thumb4
|
||||
(91, 96), // left_hand_root -> left_forefinger1
|
||||
(96, 97), // left_forefinger1 -> left_forefinger2
|
||||
(97, 98), // left_forefinger2 -> left_forefinger3
|
||||
(98, 99), // left_forefinger3 -> left_forefinger4
|
||||
(91, 100), // left_hand_root -> left_middle_finger1
|
||||
(100, 101), // left_middle_finger1 -> left_middle_finger2
|
||||
(101, 102), // left_middle_finger2 -> left_middle_finger3
|
||||
(102, 103), // left_middle_finger3 -> left_middle_finger4
|
||||
(91, 104), // left_hand_root -> left_ring_finger1
|
||||
(104, 105), // left_ring_finger1 -> left_ring_finger2
|
||||
(105, 106), // left_ring_finger2 -> left_ring_finger3
|
||||
(106, 107), // left_ring_finger3 -> left_ring_finger4
|
||||
(91, 108), // left_hand_root -> left_pinky_finger1
|
||||
(108, 109), // left_pinky_finger1 -> left_pinky_finger2
|
||||
(109, 110), // left_pinky_finger2 -> left_pinky_finger3
|
||||
(110, 111), // left_pinky_finger3 -> left_pinky_finger4
|
||||
(112, 113), // right_hand_root -> right_thumb1
|
||||
(113, 114), // right_thumb1 -> right_thumb2
|
||||
(114, 115), // right_thumb2 -> right_thumb3
|
||||
(115, 116), // right_thumb3 -> right_thumb4
|
||||
(112, 117), // right_hand_root -> right_forefinger1
|
||||
(117, 118), // right_forefinger1 -> right_forefinger2
|
||||
(118, 119), // right_forefinger2 -> right_forefinger3
|
||||
(119, 120), // right_forefinger3 -> right_forefinger4
|
||||
(112, 121), // right_hand_root -> right_middle_finger1
|
||||
(121, 122), // right_middle_finger1 -> right_middle_finger2
|
||||
(122, 123), // right_middle_finger2 -> right_middle_finger3
|
||||
(123, 124), // right_middle_finger3 -> right_middle_finger4
|
||||
(112, 125), // right_hand_root -> right_ring_finger1
|
||||
(125, 126), // right_ring_finger1 -> right_ring_finger2
|
||||
(126, 127), // right_ring_finger2 -> right_ring_finger3
|
||||
(127, 128), // right_ring_finger3 -> right_ring_finger4
|
||||
(112, 129), // right_hand_root -> right_pinky_finger1
|
||||
(129, 130), // right_pinky_finger1 -> right_pinky_finger2
|
||||
(130, 131), // right_pinky_finger2 -> right_pinky_finger3
|
||||
(131, 132), // right_pinky_finger3 -> right_pinky_finger4
|
||||
];
|
||||
|
||||
/// Defines colors for visualizing each connection in the COCO-133 person skeleton.
|
||||
/// Colors are grouped by body parts:
|
||||
/// - Blue (0x3399ff): Face and central body connections
|
||||
/// - Green (0x00ff00): Left side body parts
|
||||
/// - Orange (0xff8000): Right side body parts
|
||||
///
|
||||
/// For hands:
|
||||
/// - Orange (0xff8000): Thumb
|
||||
/// - Pink (0xff99ff): Index finger
|
||||
/// - Light Blue (0x66b2ff): Middle finger
|
||||
/// - Red (0xff3333): Ring finger
|
||||
/// - Green (0x00ff00): Pinky finger
|
||||
pub const SKELETON_COLOR_COCO_65: [Color; 65] = [
|
||||
Color(0x00ff00ff), // left_ankle -> left_knee
|
||||
Color(0x00ff00ff), // left_knee -> left_hip
|
||||
Color(0xff8000ff), // right_ankle -> right_knee
|
||||
Color(0xff8000ff), // right_knee -> right_hip
|
||||
Color(0x3399ffff), // left_hip -> right_hip
|
||||
Color(0x3399ffff), // left_shoulder -> left_hip
|
||||
Color(0x3399ffff), // right_shoulder -> right_hip
|
||||
Color(0x3399ffff), // left_shoulder -> right_shoulder
|
||||
Color(0x00ff00ff), // left_shoulder -> left_elbow
|
||||
Color(0xff8000ff), // right_shoulder -> right_elbow
|
||||
Color(0x00ff00ff), // left_elbow -> left_wrist
|
||||
Color(0xff8000ff), // right_elbow -> right_wrist
|
||||
Color(0x3399ffff), // left_eye -> right_eye
|
||||
Color(0x3399ffff), // nose -> left_eye
|
||||
Color(0x3399ffff), // nose -> right_eye
|
||||
Color(0x3399ffff), // left_eye -> left_ear
|
||||
Color(0x3399ffff), // right_eye -> right_ear
|
||||
Color(0x3399ffff), // left_ear -> left_shoulder
|
||||
Color(0x3399ffff), // right_ear -> right_shoulder
|
||||
Color(0x00ff00ff), // left_ankle -> left_big_toe
|
||||
Color(0x00ff00ff), // left_ankle -> left_small_toe
|
||||
Color(0x00ff00ff), // left_ankle -> left_heel
|
||||
Color(0xff8000ff), // right_ankle -> right_big_toe
|
||||
Color(0xff8000ff), // right_ankle -> right_small_toe
|
||||
Color(0xff8000ff), // right_ankle -> right_heel
|
||||
// Left hand
|
||||
Color(0xff8000ff), // left_thumb connections
|
||||
Color(0xff8000ff),
|
||||
Color(0xff8000ff),
|
||||
Color(0xff8000ff),
|
||||
Color(0xff99ffff), // left_forefinger connections
|
||||
Color(0xff99ffff),
|
||||
Color(0xff99ffff),
|
||||
Color(0xff99ffff),
|
||||
Color(0x66b2ffff), // left_middle_finger connections
|
||||
Color(0x66b2ffff),
|
||||
Color(0x66b2ffff),
|
||||
Color(0x66b2ffff),
|
||||
Color(0xff3333ff), // left_ring_finger connections
|
||||
Color(0xff3333ff),
|
||||
Color(0xff3333ff),
|
||||
Color(0xff3333ff),
|
||||
Color(0x00ff00ff), // left_pinky_finger connections
|
||||
Color(0x00ff00ff),
|
||||
Color(0x00ff00ff),
|
||||
Color(0x00ff00ff),
|
||||
// Right hand
|
||||
Color(0xff8000ff), // right_thumb connections
|
||||
Color(0xff8000ff),
|
||||
Color(0xff8000ff),
|
||||
Color(0xff8000ff),
|
||||
Color(0xff99ffff), // right_forefinger connections
|
||||
Color(0xff99ffff),
|
||||
Color(0xff99ffff),
|
||||
Color(0xff99ffff),
|
||||
Color(0x66b2ffff), // right_middle_finger connections
|
||||
Color(0x66b2ffff),
|
||||
Color(0x66b2ffff),
|
||||
Color(0x66b2ffff),
|
||||
Color(0xff3333ff), // right_ring_finger connections
|
||||
Color(0xff3333ff),
|
||||
Color(0xff3333ff),
|
||||
Color(0xff3333ff),
|
||||
Color(0x00ff00ff), // right_pinky_finger connections
|
||||
Color(0x00ff00ff),
|
||||
Color(0x00ff00ff),
|
||||
Color(0x00ff00ff),
|
||||
];
|
||||
|
||||
Reference in New Issue
Block a user