diff --git a/.gitignore b/.gitignore index 2afefa6..348f0ff 100644 --- a/.gitignore +++ b/.gitignore @@ -10,4 +10,17 @@ __pycache__/ .env raspi/result/prediction_visual.png *.pt -.venv/ \ No newline at end of file +.venv/ + +# data directory +data/ +data/* + +# files and directories for AI agents +CLAUDE.md +docs/ +docs/* +work-agents/ +work-agents/* +.claude/ +.claude/* diff --git a/pyproject.toml b/pyproject.toml index f4d7656..e798433 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -4,4 +4,17 @@ version = "0.1.0" description = "Add your description here" readme = "README.md" requires-python = ">=3.12" -dependencies = [] +dependencies = [ + "lapx>=0.9.4", + "matplotlib>=3.11.0", + "numpy>=2.4.6", + "opencv-python>=4.13.0.92", + "pandas>=3.0.3", + "seaborn>=0.13.2", + "ultralytics>=8.4.72", +] + +[dependency-groups] +dev = [ + "pytest>=9.1.1", +] diff --git a/raspi/roi-counter/README.md b/raspi/roi-counter/README.md new file mode 100644 index 0000000..2e85604 --- /dev/null +++ b/raspi/roi-counter/README.md @@ -0,0 +1,120 @@ +# roi-counter + +ROI内を通過する車両の進行度 `s` を用いて入庫・出庫を判定するカウントシステム． + +## ディレクトリ構造 + +``` +roi-counter/ +├── src/ # コアモジュール +│ ├── roi.py # ROI判定・y範囲取得 +│ ├── progress.py # 進行度 s の計算 +│ ├── tracker.py # 車両状態データクラス +│ ├── counter.py # 状態機械・入出庫カウント +│ └── visualizer.py # フレーム描画 +├── scripts/ +│ ├── 00_convert_fps.py # FPS変換 +│ ├── 01_show_roi.py # ROI確認（静止フレーム） +│ ├── 02_run_analysis.py # 1動画の詳細分析 +│ ├── 03_sweep_params.py # 1動画 × 閾値スイープ +│ └── 04_multi_video_mae.py # 複数動画 × 閾値 → MAE +├── analysis/ +│ └── 01_visualize_threshold_sweep.py # スイープ結果の可視化 +├── tests/ # ユニットテスト +└── main.py # 本番推論 +``` + +## パラメータ（各スクリプト先頭でハードコード） + +| パラメータ | 説明 | +|---|---| +| `VIDEO_SOURCE` | 動画ファイルパスまたはカメラインデックス（`0` 等） | +| `ROI_POINTS` | ROIの4頂点（画素座標，左上から時計回り） | +| `S_LOW` | 入口側バンドの上限（`s < S_LOW` → 入口側） | +| `S_HIGH` | 奥側バンドの下限（`s > S_HIGH` → 奥側） | +| `VEHICLE_CLASSES` | 検出対象クラス（COCO: `2`=car, `7`=truck） | + +## scripts/ 各スクリプトの用途と入力 + +### 00_convert_fps.py +指定動画のFPSを落として同ディレクトリに `{stem}_fixed{ext}` で出力する． + +**入力**: `VIDEO_SOURCE`（動画ファイルパス） + +--- + +### 01_show_roi.py +動画の指定秒数地点のフレームにグリッド・ROI・バンドラインを描画して確認する． + +**入力**: `VIDEO_SOURCE`，`ROI_POINTS`，`S_LOW`，`S_HIGH` + +**出力**: `data/outputs/roi_check.png` + +--- + +### 02_run_analysis.py +1動画を処理し，車両ごとの軌跡・フレームごとの処理時間・アノテーション動画を出力する． + +**入力**: `VIDEO_SOURCE`，`ROI_POINTS`，`S_LOW`，`S_HIGH` + +**出力**: `data/outputs/{EXP_NAME}/{stem}_{timestamp}/` +``` +├── result.json # カウント結果・処理時間サマリー +├── vehicles.csv # track_id ごとの s_history・状態 +├── frames.csv # フレームごとの処理時間 +└── annotated.mp4 # 可視化済み動画 +``` + +--- + +### 03_sweep_params.py +1動画に対して `S_LOW_RANGE × S_HIGH_RANGE` の全組み合わせを実行し，Count Error を記録する． + +**入力**: +- `VIDEO_SOURCE`（動画ファイルパス） +- `GT_PATH`（グランドトゥルース JSON）またはファイル名から自動導出（`{stem}_gt.json`） +- `ROI_POINTS`，`S_LOW_RANGE`，`S_HIGH_RANGE` + +**GT JSONフォーマット**（`data/inputs/{stem}_gt.json`）: +```json +{"in": 29, "out": 2} +``` + +**出力**: `data/outputs/{EXP_NAME}/sweep_{timestamp}/results.csv` +``` +s_low, s_high, count_in, count_out, gt_in, gt_out, count_error, elapsed_ms, mean_frame_ms, max_frame_ms +``` + +--- + +### 04_multi_video_mae.py +複数動画にわたって `S_LOW_LIST × S_HIGH_LIST` の組み合わせを実行し，MAEを算出する． + +**入力**: `GT_DIR` 配下の設定 JSON（1動画につき1ファイル） + +**設定 JSONフォーマット**（`data/inputs/configs/{name}.json`）: +```json +{ + "video": "data/movies/IMG_2788_fixed.MOV", + "roi": [[630, 770], [1270, 770], [1530, 1000], [390, 1000]], + "in": 29, + "out": 2 +} +``` + +**出力**: `data/outputs/{EXP_NAME}/mae_{timestamp}/` +``` +├── results.csv # 動画 × パラメータごとの詳細 +└── mae_summary.csv # パラメータごとのMAEサマリー +``` + +--- + +## analysis/ + +### 01_visualize_threshold_sweep.py +`03_sweep_params.py` の `results.csv` を読み込んでヒートマップとラインプロットを生成する． + +**入力**: `SWEEP_CSV`（`results.csv` のパス） + +**出力**: 同ディレクトリに `heatmap_count_error.png`，`line_s_low.png`，`line_s_high.png`，`heatmap_elapsed_ms.png` diff --git a/raspi/roi-counter/analysis/01_visualize_threshold_sweep.py b/raspi/roi-counter/analysis/01_visualize_threshold_sweep.py new file mode 100644 index 0000000..21fc23d --- /dev/null +++ b/raspi/roi-counter/analysis/01_visualize_threshold_sweep.py @@ -0,0 +1,76 @@ +import sys +from pathlib import Path + +import matplotlib.pyplot as plt +import pandas as pd +import seaborn as sns + +# ── params ────────────────────────────────────────────────────────────────── +SWEEP_CSV = "data/outputs/exp1_2788_fixed/sweep_20260621_191909/results.csv" +# ──────────────────────────────────────────────────────────────────────────── + + +def main() -> None: + csv_path = Path(SWEEP_CSV) + if not csv_path.exists(): + print(f"[ERROR] file not found: {csv_path}") + sys.exit(1) + + df = pd.read_csv(csv_path) + out_dir = csv_path.parent + + if df["count_error"].isna().all(): + print("[WARN] count_error is all NaN (no GT file). Visualizing elapsed_ms only.") + + # ── heatmap: Count Error ─────────────────────────────────────────────── + if not df["count_error"].isna().all(): + pivot = df.pivot(index="s_low", columns="s_high", values="count_error") + fig, ax = plt.subplots(figsize=(8, 6)) + sns.heatmap(pivot, annot=True, fmt=".0f", cmap="YlOrRd_r", ax=ax) + ax.set_title("Count Error (lower is better)") + ax.set_xlabel("S_HIGH") + ax.set_ylabel("S_LOW") + fig.tight_layout() + fig.savefig(out_dir / "heatmap_count_error.png", dpi=150) + plt.close(fig) + print(f"saved: {out_dir / 'heatmap_count_error.png'}") + + # ── line: S_LOW ─────────────────────────────────────────────────── + mean_by_slow = df.groupby("s_low")["count_error"].mean() + fig, ax = plt.subplots() + ax.plot(mean_by_slow.index, mean_by_slow.values, marker="o") + ax.set_title("S_LOW vs Count Error (mean over S_HIGH)") + ax.set_xlabel("S_LOW") + ax.set_ylabel("Count Error (mean)") + fig.tight_layout() + fig.savefig(out_dir / "line_s_low.png", dpi=150) + plt.close(fig) + print(f"saved: {out_dir / 'line_s_low.png'}") + + # ── line: S_HIGH ────────────────────────────────────────────────── + mean_by_shigh = df.groupby("s_high")["count_error"].mean() + fig, ax = plt.subplots() + ax.plot(mean_by_shigh.index, mean_by_shigh.values, marker="o") + ax.set_title("S_HIGH vs Count Error (mean over S_LOW)") + ax.set_xlabel("S_HIGH") + ax.set_ylabel("Count Error (mean)") + fig.tight_layout() + fig.savefig(out_dir / "line_s_high.png", dpi=150) + plt.close(fig) + print(f"saved: {out_dir / 'line_s_high.png'}") + + # ── heatmap: elapsed_ms ──────────────────────────────────────────────── + pivot_t = df.pivot(index="s_low", columns="s_high", values="elapsed_ms") + fig, ax = plt.subplots(figsize=(8, 6)) + sns.heatmap(pivot_t, annot=True, fmt=".0f", cmap="Blues", ax=ax) + ax.set_title("elapsed_ms") + ax.set_xlabel("S_HIGH") + ax.set_ylabel("S_LOW") + fig.tight_layout() + fig.savefig(out_dir / "heatmap_elapsed_ms.png", dpi=150) + plt.close(fig) + print(f"saved: {out_dir / 'heatmap_elapsed_ms.png'}") + + +if __name__ == "__main__": + main() diff --git a/raspi/roi-counter/main.py b/raspi/roi-counter/main.py new file mode 100644 index 0000000..2266ed3 --- /dev/null +++ b/raspi/roi-counter/main.py @@ -0,0 +1,71 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parent)) + +import cv2 +from ultralytics import YOLO + +from src.counter import Counter +from src.roi import get_roi_y_range, is_in_roi +from src.progress import calc_s +from src.visualizer import draw_band_lines, draw_bbox_with_info, draw_counts, draw_roi + +# ── パラメータ ────────────────────────────────────────────────────────────── +VIDEO_SOURCE: str | int = "data/inputs/xxxx.mov" + +ROI_POINTS = [ + (100, 100), + (300, 100), + (300, 300), + (100, 300), +] +S_LOW = 0.25 +S_HIGH = 0.75 +VEHICLE_CLASSES = [2, 7] # COCO: 2=car, 7=truck +# ──────────────────────────────────────────────────────────────────────────── + + +def main() -> None: + model = YOLO("yolov8s.pt") + cap = cv2.VideoCapture(VIDEO_SOURCE) + if not cap.isOpened(): + print(f"[ERROR] 入力を開けません: {VIDEO_SOURCE}") + sys.exit(1) + + counter = Counter(S_LOW, S_HIGH) + y_min, y_max = get_roi_y_range(ROI_POINTS) + + while cap.isOpened(): + ret, frame = cap.read() + if not ret: + break + + results = model.track(frame, persist=True, verbose=False, classes=VEHICLE_CLASSES) + boxes = results[0].boxes + + if boxes.id is not None: + for xyxy, tid in zip(boxes.xyxy.cpu().numpy(), boxes.id.cpu().numpy()): + x1, y1, x2, y2 = map(int, xyxy) + cx, cy = (x1 + x2) / 2, float(y2) + if not is_in_roi((cx, cy), ROI_POINTS): + continue + s = calc_s(cy, y_min, y_max) + track_id = int(tid) + counter.update(track_id, s) + state = counter.tracks[track_id].state + draw_bbox_with_info(frame, (x1, y1, x2, y2), track_id, s, state) + + draw_roi(frame, ROI_POINTS) + draw_band_lines(frame, ROI_POINTS, y_min, y_max, S_LOW, S_HIGH) + draw_counts(frame, counter.count_in, counter.count_out) + cv2.imshow("roi-counter", frame) + if cv2.waitKey(1) & 0xFF == ord("q"): + break + + cap.release() + cv2.destroyAllWindows() + print(f"入庫: {counter.count_in} 出庫: {counter.count_out}") + + +if __name__ == "__main__": + main() diff --git a/raspi/roi-counter/scripts/00_convert_fps.py b/raspi/roi-counter/scripts/00_convert_fps.py new file mode 100644 index 0000000..5890d68 --- /dev/null +++ b/raspi/roi-counter/scripts/00_convert_fps.py @@ -0,0 +1,55 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +import cv2 + +# ── パラメータ ────────────────────────────────────────────────────────────── +VIDEO_SOURCE = "data/inputs/IMG_2787.MOV" +TARGET_FPS = 20.0 +# ──────────────────────────────────────────────────────────────────────────── + + +def main() -> None: + src = Path(VIDEO_SOURCE) + out_path = src.with_name(src.stem + "_fixed" + src.suffix) + + cap = cv2.VideoCapture(str(src)) + if not cap.isOpened(): + print(f"[ERROR] 動画を開けません: {src}") + sys.exit(1) + + src_fps = cap.get(cv2.CAP_PROP_FPS) + w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + total_frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT)) + + print(f"入力: {src} ({src_fps:.2f} fps, {w}x{h}, {total_frames}フレーム)") + print(f"出力: {out_path} ({TARGET_FPS} fps)") + + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + writer = cv2.VideoWriter(str(out_path), fourcc, TARGET_FPS, (w, h)) + + # 元FPSとターゲットFPSの比率でフレームを間引く + step = src_fps / TARGET_FPS + next_idx = 0.0 + frame_idx = 0 + written = 0 + + while cap.isOpened(): + ret, frame = cap.read() + if not ret: + break + if frame_idx >= next_idx: + writer.write(frame) + next_idx += step + written += 1 + frame_idx += 1 + + cap.release() + writer.release() + print(f"完了: {written}フレーム書き込み") + + +if __name__ == "__main__": + main() diff --git a/raspi/roi-counter/scripts/01_show_roi.py b/raspi/roi-counter/scripts/01_show_roi.py new file mode 100644 index 0000000..32dad50 --- /dev/null +++ b/raspi/roi-counter/scripts/01_show_roi.py @@ -0,0 +1,73 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +import cv2 + +from src.roi import get_roi_y_range +from src.visualizer import draw_roi, draw_band_lines + +# ── パラメータ ────────────────────────────────────────────────────────────── +VIDEO_SOURCE: str | int = "data/inputs/IMG_2788_fixed.MOV" +SEEK_SEC = 5.0 # 表示するフレームの秒数 + +ROI_POINTS = [ + (630, 770), + (1270, 770), + (1530, 1000), + (390, 1000), +] +S_LOW = 0.15 +S_HIGH = 0.60 +# ──────────────────────────────────────────────────────────────────────────── + +OUTPUT_PATH = Path("data/outputs/roi_check.png") + + +def draw_grid(frame, step: int = 100) -> None: + h, w = frame.shape[:2] + for x in range(0, w, step): + cv2.line(frame, (x, 0), (x, h), (200, 200, 200), 1) + cv2.putText(frame, str(x), (x + 2, 12), + cv2.FONT_HERSHEY_SIMPLEX, 0.35, (200, 200, 200), 1) + for y in range(0, h, step): + cv2.line(frame, (0, y), (w, y), (200, 200, 200), 1) + cv2.putText(frame, str(y), (2, y + 12), + cv2.FONT_HERSHEY_SIMPLEX, 0.35, (200, 200, 200), 1) + + +def main() -> None: + cap = cv2.VideoCapture(VIDEO_SOURCE) + if not cap.isOpened(): + print(f"[ERROR] 動画を開けません: {VIDEO_SOURCE}") + sys.exit(1) + + cap.set(cv2.CAP_PROP_POS_MSEC, SEEK_SEC * 1000) + ret, frame = cap.read() + cap.release() + + if not ret: + print(f"[ERROR] {SEEK_SEC}秒地点のフレームを取得できません") + sys.exit(1) + + draw_grid(frame) + draw_roi(frame, ROI_POINTS) + y_min, y_max = get_roi_y_range(ROI_POINTS) + draw_band_lines(frame, ROI_POINTS, y_min, y_max, S_LOW, S_HIGH) + cv2.putText(frame, f"y_min={y_min:.0f} y_max={y_max:.0f}", + (10, frame.shape[0] - 10), + cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 0), 2) + + OUTPUT_PATH.parent.mkdir(parents=True, exist_ok=True) + cv2.imwrite(str(OUTPUT_PATH), frame) + print(f"保存: {OUTPUT_PATH}") + + cv2.imshow("ROI Check", frame) + while True: + if cv2.waitKey(1) & 0xFF == ord("q"): + break + cv2.destroyAllWindows() + + +if __name__ == "__main__": + main() diff --git a/raspi/roi-counter/scripts/02_run_analysis.py b/raspi/roi-counter/scripts/02_run_analysis.py new file mode 100644 index 0000000..1515606 --- /dev/null +++ b/raspi/roi-counter/scripts/02_run_analysis.py @@ -0,0 +1,132 @@ +import json +import sys +import time +from datetime import datetime +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +import cv2 +import pandas as pd +from ultralytics import YOLO + +from src.counter import Counter +from src.roi import get_roi_y_range, is_in_roi +from src.progress import calc_s +from src.visualizer import draw_band_lines, draw_bbox_with_info, draw_counts, draw_roi + +# ── パラメータ ────────────────────────────────────────────────────────────── +VIDEO_SOURCE: str | int = "data/inputs/IMG_2788.MOV" +EXP_NAME = "" # 空文字 → data/outputs/ 直下 + +ROI_POINTS = [ + (630, 770), + (1270, 770), + (1530, 1000), + (390, 1000), +] +S_LOW = 0.25 +S_HIGH = 0.75 +VEHICLE_CLASSES = [2, 7] # COCO: 2=car, 7=truck +# ──────────────────────────────────────────────────────────────────────────── + +WEBCAM_FPS = 30.0 + + +def resolve_output_dir(video_source: str | int, exp_name: str) -> Path: + stem = Path(str(video_source)).stem if isinstance(video_source, str) else "webcam" + ts = datetime.now().strftime("%Y%m%d_%H%M%S") + base = Path("data/outputs") / exp_name if exp_name else Path("data/outputs") + return base / f"{stem}_{ts}" + + +def main() -> None: + out_dir = resolve_output_dir(VIDEO_SOURCE, EXP_NAME) + out_dir.mkdir(parents=True, exist_ok=True) + + model = YOLO("yolov8s.pt") + cap = cv2.VideoCapture(VIDEO_SOURCE) + if not cap.isOpened(): + print(f"[ERROR] 入力を開けません: {VIDEO_SOURCE}") + sys.exit(1) + + fps = cap.get(cv2.CAP_PROP_FPS) or WEBCAM_FPS + w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + fourcc = cv2.VideoWriter_fourcc(*"mp4v") + writer = cv2.VideoWriter(str(out_dir / "annotated.mp4"), fourcc, fps, (w, h)) + + counter = Counter(S_LOW, S_HIGH) + y_min, y_max = get_roi_y_range(ROI_POINTS) + + frame_records = [] + frame_idx = 0 + + while cap.isOpened(): + ret, frame = cap.read() + if not ret: + break + + t_start = time.perf_counter() + results = model.track(frame, persist=True, verbose=False, classes=VEHICLE_CLASSES) + boxes = results[0].boxes + + if boxes.id is not None: + for xyxy, tid in zip(boxes.xyxy.cpu().numpy(), boxes.id.cpu().numpy()): + x1, y1, x2, y2 = map(int, xyxy) + cx, cy = (x1 + x2) / 2, float(y2) + if not is_in_roi((cx, cy), ROI_POINTS): + continue + s = calc_s(cy, y_min, y_max) + track_id = int(tid) + counter.update(track_id, s) + state = counter.tracks[track_id].state + draw_bbox_with_info(frame, (x1, y1, x2, y2), track_id, s, state) + + frame_ms = (time.perf_counter() - t_start) * 1000 + frame_records.append({"frame_index": frame_idx, "frame_ms": frame_ms}) + + draw_roi(frame, ROI_POINTS) + draw_band_lines(frame, ROI_POINTS, y_min, y_max, S_LOW, S_HIGH) + draw_counts(frame, counter.count_in, counter.count_out) + writer.write(frame) + cv2.imshow("02_run_analysis", frame) + if cv2.waitKey(1) & 0xFF == ord("q"): + break + + frame_idx += 1 + + cap.release() + writer.release() + cv2.destroyAllWindows() + + frame_ms_list = [r["frame_ms"] for r in frame_records] + result = { + "count_in": counter.count_in, + "count_out": counter.count_out, + "total_frames": frame_idx, + "mean_frame_ms": sum(frame_ms_list) / len(frame_ms_list) if frame_ms_list else 0, + "max_frame_ms": max(frame_ms_list) if frame_ms_list else 0, + "total_ms": sum(frame_ms_list), + "s_low": S_LOW, + "s_high": S_HIGH, + } + (out_dir / "result.json").write_text(json.dumps(result, indent=2, ensure_ascii=False)) + + vehicles = [ + { + "track_id": t.track_id, + "counted_as": t.counted_as, + "state": t.state.value, + "s_history": json.dumps(t.s_history), + } + for t in counter.get_all_tracks() + ] + pd.DataFrame(vehicles).to_csv(out_dir / "vehicles.csv", index=False) + pd.DataFrame(frame_records).to_csv(out_dir / "frames.csv", index=False) + + print(f"入庫: {counter.count_in} 出庫: {counter.count_out}") + print(f"出力: {out_dir}") + + +if __name__ == "__main__": + main() diff --git a/raspi/roi-counter/scripts/03_sweep_params.py b/raspi/roi-counter/scripts/03_sweep_params.py new file mode 100644 index 0000000..3f36cd1 --- /dev/null +++ b/raspi/roi-counter/scripts/03_sweep_params.py @@ -0,0 +1,128 @@ +""" +02_run_analysis.py のコア処理ループを流用し，S_LOW × S_HIGH の全組み合わせを実行して +Count Error を results.csv に記録する．（ファイル入力専用） +""" +import json +import sys +import time +from datetime import datetime +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +import pandas as pd +from ultralytics import YOLO +import cv2 + +from src.counter import Counter +from src.roi import get_roi_y_range, is_in_roi +from src.progress import calc_s + +# ── パラメータ ────────────────────────────────────────────────────────────── +VIDEO_SOURCE = "data/inputs/IMG_2788_fixed.MOV" # ファイル専用 +GT_PATH = "data/inputs/IMG_2788_gt.json" # 空文字の場合は VIDEO_SOURCE から自動導出 +EXP_NAME = "exp1_2788_fixed" + +ROI_POINTS = [ + (630, 770), + (1270, 770), + (1530, 1000), + (390, 1000), +] +S_LOW_RANGE = [0.10, 0.15, 0.20, 0.25, 0.30, 0.35, 0.40] +S_HIGH_RANGE = [0.60, 0.65, 0.70, 0.75, 0.80, 0.85, 0.90] +VEHICLE_CLASSES = [2, 7] # COCO: 2=car, 7=truck +# ──────────────────────────────────────────────────────────────────────────── + + +def load_gt(video_source: str, gt_path_str: str) -> dict: + if gt_path_str: + gt_path = Path(gt_path_str) + else: + gt_path = Path(video_source).parent / (Path(video_source).stem + "_gt.json") + if not gt_path.exists(): + print(f"[WARN] GT ファイルが見つかりません: {gt_path}") + return {"in": None, "out": None} + return json.loads(gt_path.read_text()) + + +def run_once(model: YOLO, video_source: str, roi_points, y_min: float, y_max: float, + s_low: float, s_high: float) -> dict: + cap = cv2.VideoCapture(video_source) + counter = Counter(s_low, s_high) + frame_times = [] + + while cap.isOpened(): + ret, frame = cap.read() + if not ret: + break + t0 = time.perf_counter() + results = model.track(frame, persist=True, verbose=False, classes=VEHICLE_CLASSES) + boxes = results[0].boxes + if boxes.id is not None: + for xyxy, tid in zip(boxes.xyxy.cpu().numpy(), boxes.id.cpu().numpy()): + x1, _, x2, y2 = map(int, xyxy) + cx, cy = (x1 + x2) / 2, float(y2) + if not is_in_roi((cx, cy), roi_points): + continue + counter.update(int(tid), calc_s(cy, y_min, y_max)) + frame_times.append((time.perf_counter() - t0) * 1000) + + cap.release() + return { + "count_in": counter.count_in, + "count_out": counter.count_out, + "elapsed_ms": sum(frame_times), + "mean_frame_ms": sum(frame_times) / len(frame_times) if frame_times else 0, + "max_frame_ms": max(frame_times) if frame_times else 0, + } + + +def main() -> None: + ts = datetime.now().strftime("%Y%m%d_%H%M%S") + base = Path("data/outputs") / EXP_NAME if EXP_NAME else Path("data/outputs") + out_dir = base / f"sweep_{ts}" + out_dir.mkdir(parents=True, exist_ok=True) + csv_path = out_dir / "results.csv" + + gt = load_gt(VIDEO_SOURCE, GT_PATH) + gt_in = gt.get("in") + gt_out = gt.get("out") + + y_min, y_max = get_roi_y_range(ROI_POINTS) + model = YOLO("yolov8s.pt") + + total = len(S_LOW_RANGE) * len(S_HIGH_RANGE) + done = 0 + rows = [] + + for s_low in S_LOW_RANGE: + for s_high in S_HIGH_RANGE: + if s_low >= s_high: + continue + res = run_once(model, VIDEO_SOURCE, ROI_POINTS, y_min, y_max, s_low, s_high) + count_error = None + if gt_in is not None and gt_out is not None: + count_error = abs(res["count_in"] - gt_in) + abs(res["count_out"] - gt_out) + row = { + "s_low": s_low, + "s_high": s_high, + "count_in": res["count_in"], + "count_out": res["count_out"], + "gt_in": gt_in, + "gt_out": gt_out, + "count_error": count_error, + "elapsed_ms": res["elapsed_ms"], + "mean_frame_ms": res["mean_frame_ms"], + "max_frame_ms": res["max_frame_ms"], + } + rows.append(row) + pd.DataFrame(rows).to_csv(csv_path, index=False) + done += 1 + print(f"[{done}/{total}] s_low={s_low:.2f} s_high={s_high:.2f} " + f"IN={res['count_in']} OUT={res['count_out']} err={count_error}") + + print(f"\n出力: {csv_path}") + + +if __name__ == "__main__": + main() diff --git a/raspi/roi-counter/scripts/04_multi_video_mae.py b/raspi/roi-counter/scripts/04_multi_video_mae.py new file mode 100644 index 0000000..fc39c5b --- /dev/null +++ b/raspi/roi-counter/scripts/04_multi_video_mae.py @@ -0,0 +1,148 @@ +""" +複数動画にわたるMAEを計算するスクリプト． +GT_DIR 配下の各 JSON（video・roi・in・out を含む）を読み込み， +PARAM_LIST の (s_low, s_high) ごとに全動画を処理してMAEを算出する． +""" +import json +import sys +import time +from datetime import datetime +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +import cv2 +import itertools +import pandas as pd +from ultralytics import YOLO + +from src.counter import Counter +from src.roi import get_roi_y_range, is_in_roi +from src.progress import calc_s + +# ── パラメータ ────────────────────────────────────────────────────────────── +GT_DIR = "data/inputs/configs" # 動画設定JSONのディレクトリ +EXP_NAME = "exp1_mae" + +S_LOW_LIST = [0.10, 0.15, 0.20, 0.25, 0.30, 0.35, 0.40] +S_HIGH_LIST = [0.60, 0.65] +VEHICLE_CLASSES = [2, 7] # COCO: 2=car, 7=truck +# ──────────────────────────────────────────────────────────────────────────── + + +def load_configs(gt_dir: str) -> list[dict]: + configs = [] + for p in sorted(Path(gt_dir).glob("*.json")): + cfg = json.loads(p.read_text()) + for key in ("video", "roi", "in", "out"): + if key not in cfg: + print(f"[WARN] {p.name} に '{key}' がありません．スキップします．") + break + else: + configs.append(cfg) + if not configs: + print(f"[ERROR] {gt_dir} に有効なJSONが見つかりません") + sys.exit(1) + return configs + + +def run_once(model: YOLO, video_source: str, roi_points: list, + s_low: float, s_high: float) -> dict: + cap = cv2.VideoCapture(video_source) + if not cap.isOpened(): + print(f"[ERROR] 動画を開けません: {video_source}") + return {"count_in": 0, "count_out": 0, + "elapsed_ms": 0, "mean_frame_ms": 0, "max_frame_ms": 0} + + y_min, y_max = get_roi_y_range(roi_points) + counter = Counter(s_low, s_high) + frame_times = [] + + while cap.isOpened(): + ret, frame = cap.read() + if not ret: + break + t0 = time.perf_counter() + results = model.track(frame, persist=True, verbose=False, classes=VEHICLE_CLASSES) + boxes = results[0].boxes + if boxes.id is not None: + for xyxy, tid in zip(boxes.xyxy.cpu().numpy(), boxes.id.cpu().numpy()): + x1, _, x2, y2 = map(int, xyxy) + cx, cy = (x1 + x2) / 2, float(y2) + if not is_in_roi((cx, cy), roi_points): + continue + counter.update(int(tid), calc_s(cy, y_min, y_max)) + frame_times.append((time.perf_counter() - t0) * 1000) + + cap.release() + return { + "count_in": counter.count_in, + "count_out": counter.count_out, + "elapsed_ms": sum(frame_times), + "mean_frame_ms": sum(frame_times) / len(frame_times) if frame_times else 0, + "max_frame_ms": max(frame_times) if frame_times else 0, + } + + +def main() -> None: + ts = datetime.now().strftime("%Y%m%d_%H%M%S") + base = Path("data/outputs") / EXP_NAME if EXP_NAME else Path("data/outputs") + out_dir = base / f"mae_{ts}" + out_dir.mkdir(parents=True, exist_ok=True) + + configs = load_configs(GT_DIR) + param_list = list(itertools.product(S_LOW_LIST, S_HIGH_LIST)) + print(f"動画数: {len(configs)} パラメータ組み合わせ: {len(param_list)}") + + model = YOLO("yolov8s.pt") + detail_rows = [] + summary_rows = [] + + for s_low, s_high in param_list: + errors = [] + elapsed_list = [] + + for cfg in configs: + video = cfg["video"] + roi = [tuple(p) for p in cfg["roi"]] + gt_in = cfg["in"] + gt_out = cfg["out"] + + print(f" [{s_low:.2f}/{s_high:.2f}] {Path(video).name} ...", end=" ", flush=True) + res = run_once(model, video, roi, s_low, s_high) + count_error = abs(res["count_in"] - gt_in) + abs(res["count_out"] - gt_out) + errors.append(count_error) + elapsed_list.append(res["elapsed_ms"]) + + detail_rows.append({ + "s_low": s_low, + "s_high": s_high, + "video": Path(video).name, + "count_in": res["count_in"], + "count_out": res["count_out"], + "gt_in": gt_in, + "gt_out": gt_out, + "count_error": count_error, + "mean_frame_ms": res["mean_frame_ms"], + "max_frame_ms": res["max_frame_ms"], + "elapsed_ms": res["elapsed_ms"], + }) + print(f"IN={res['count_in']} OUT={res['count_out']} err={count_error}") + + mae = sum(errors) / len(errors) + summary_rows.append({ + "s_low": s_low, + "s_high": s_high, + "mae": mae, + "mean_elapsed_ms": sum(elapsed_list) / len(elapsed_list), + }) + print(f" → MAE={mae:.2f}\n") + + # 逐次書き込み + pd.DataFrame(detail_rows).to_csv(out_dir / "results.csv", index=False) + pd.DataFrame(summary_rows).to_csv(out_dir / "mae_summary.csv", index=False) + + print(f"出力: {out_dir}") + + +if __name__ == "__main__": + main() diff --git a/raspi/roi-counter/src/__init__.py b/raspi/roi-counter/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/raspi/roi-counter/src/counter.py b/raspi/roi-counter/src/counter.py new file mode 100644 index 0000000..b9f09cc --- /dev/null +++ b/raspi/roi-counter/src/counter.py @@ -0,0 +1,40 @@ +from typing import Dict, List + +from .tracker import VehicleState, VehicleTrack + + +class Counter: + def __init__(self, s_low: float = 0.25, s_high: float = 0.75): + self.s_low = s_low + self.s_high = s_high + self.tracks: Dict[int, VehicleTrack] = {} + self.count_in = 0 + self.count_out = 0 + + def update(self, track_id: int, s: float) -> None: + if track_id not in self.tracks: + self.tracks[track_id] = VehicleTrack(track_id=track_id) + + track = self.tracks[track_id] + track.s_history.append(s) + + if track.state == VehicleState.UNKNOWN: + if s < self.s_low: + track.state = VehicleState.IN_CANDIDATE + elif s > self.s_high: + track.state = VehicleState.OUT_CANDIDATE + + elif track.state == VehicleState.IN_CANDIDATE: + if s > self.s_high: + track.state = VehicleState.COUNTED + track.counted_as = "IN" + self.count_in += 1 + + elif track.state == VehicleState.OUT_CANDIDATE: + if s < self.s_low: + track.state = VehicleState.COUNTED + track.counted_as = "OUT" + self.count_out += 1 + + def get_all_tracks(self) -> List[VehicleTrack]: + return list(self.tracks.values()) diff --git a/raspi/roi-counter/src/progress.py b/raspi/roi-counter/src/progress.py new file mode 100644 index 0000000..0d73c74 --- /dev/null +++ b/raspi/roi-counter/src/progress.py @@ -0,0 +1,9 @@ +def calc_s(y: float, y_min: float, y_max: float) -> float: + """ + s = (y_max - y) / (y_max - y_min) + y=y_max（ROI下端=道路側） → s=0.0 + y=y_min（ROI上端=駐車場側） → s=1.0 + """ + if y_max == y_min: + return 0.0 + return (y_max - y) / (y_max - y_min) diff --git a/raspi/roi-counter/src/roi.py b/raspi/roi-counter/src/roi.py new file mode 100644 index 0000000..15e60be --- /dev/null +++ b/raspi/roi-counter/src/roi.py @@ -0,0 +1,13 @@ +import cv2 +import numpy as np +from typing import List, Tuple + + +def is_in_roi(point: Tuple[float, float], roi_points: List[Tuple[int, int]]) -> bool: + contour = np.array(roi_points, dtype=np.float32) + return cv2.pointPolygonTest(contour, point, False) >= 0 + + +def get_roi_y_range(roi_points: List[Tuple[int, int]]) -> Tuple[float, float]: + ys = [p[1] for p in roi_points] + return float(min(ys)), float(max(ys)) diff --git a/raspi/roi-counter/src/tracker.py b/raspi/roi-counter/src/tracker.py new file mode 100644 index 0000000..741ff2f --- /dev/null +++ b/raspi/roi-counter/src/tracker.py @@ -0,0 +1,18 @@ +from dataclasses import dataclass, field +from enum import Enum +from typing import List, Optional + + +class VehicleState(Enum): + UNKNOWN = "UNKNOWN" + IN_CANDIDATE = "IN_CANDIDATE" + OUT_CANDIDATE = "OUT_CANDIDATE" + COUNTED = "COUNTED" + + +@dataclass +class VehicleTrack: + track_id: int + state: VehicleState = VehicleState.UNKNOWN + s_history: List[float] = field(default_factory=list) + counted_as: Optional[str] = None # "IN" | "OUT" diff --git a/raspi/roi-counter/src/visualizer.py b/raspi/roi-counter/src/visualizer.py new file mode 100644 index 0000000..dbf0780 --- /dev/null +++ b/raspi/roi-counter/src/visualizer.py @@ -0,0 +1,67 @@ +from typing import List, Tuple + +import cv2 +import numpy as np + +from .tracker import VehicleState + +_STATE_COLORS = { + VehicleState.UNKNOWN: (128, 128, 128), + VehicleState.IN_CANDIDATE: (0, 255, 0), + VehicleState.OUT_CANDIDATE: (0, 0, 255), + VehicleState.COUNTED: (255, 165, 0), +} + + +def draw_roi(frame, roi_points: List[Tuple[int, int]], + color=(0, 255, 0), thickness: int = 2) -> None: + pts = np.array(roi_points, dtype=np.int32) + cv2.polylines(frame, [pts], isClosed=True, color=color, thickness=thickness) + for i, (x, y) in enumerate(roi_points): + cv2.circle(frame, (x, y), 5, color, -1) + cv2.putText(frame, str(i), (x + 8, y - 8), + cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2) + + +def draw_bbox_with_info(frame, bbox: Tuple[int, int, int, int], + track_id: int, s: float, state: VehicleState) -> None: + x1, y1, x2, y2 = bbox + color = _STATE_COLORS.get(state, (255, 255, 255)) + cv2.rectangle(frame, (x1, y1), (x2, y2), color, 2) + label = f"ID:{track_id} s:{s:.2f} {state.value}" + cv2.putText(frame, label, (x1, y1 - 8), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 2) + + +def draw_band_lines(frame, roi_points: List[Tuple[int, int]], + y_min: float, y_max: float, + s_low: float, s_high: float) -> None: + """ROI内に s_low・s_high の横ラインを描画する．""" + def _x_at_y(p1, p2, y): + x1, y1 = p1; x2, y2 = p2 + if y1 == y2: + return None + t = (y - y1) / (y2 - y1) + return x1 + t * (x2 - x1) if 0 <= t <= 1 else None + + n = len(roi_points) + for s, color, label in [ + (s_low, (0, 200, 0), f"s_low={s_low}"), + (s_high, (0, 0, 200), f"s_high={s_high}"), + ]: + y = y_max - s * (y_max - y_min) + xs = [x for i in range(n) + if (x := _x_at_y(roi_points[i], roi_points[(i + 1) % n], y)) is not None] + if len(xs) >= 2: + x_left, x_right = int(min(xs)), int(max(xs)) + y_int = int(y) + cv2.line(frame, (x_left, y_int), (x_right, y_int), color, 2) + cv2.putText(frame, label, (x_left + 5, y_int - 6), + cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 2) + + +def draw_counts(frame, count_in: int, count_out: int) -> None: + cv2.putText(frame, f"IN: {count_in}", (10, 30), + cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 255, 0), 2) + cv2.putText(frame, f"OUT: {count_out}", (10, 70), + cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 0, 255), 2) diff --git a/raspi/roi-counter/tests/test_counter.py b/raspi/roi-counter/tests/test_counter.py new file mode 100644 index 0000000..4e5be1f --- /dev/null +++ b/raspi/roi-counter/tests/test_counter.py @@ -0,0 +1,54 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +from src.counter import Counter +from src.tracker import VehicleState + + +def test_entry_counted(): + c = Counter(s_low=0.25, s_high=0.75) + for s in [0.1, 0.3, 0.5, 0.8]: + c.update(1, s) + assert c.count_in == 1 + assert c.count_out == 0 + assert c.tracks[1].counted_as == "IN" + + +def test_exit_counted(): + c = Counter(s_low=0.25, s_high=0.75) + for s in [0.9, 0.6, 0.3, 0.1]: + c.update(1, s) + assert c.count_out == 1 + assert c.count_in == 0 + assert c.tracks[1].counted_as == "OUT" + + +def test_no_count_if_turned_back(): + c = Counter(s_low=0.25, s_high=0.75) + for s in [0.1, 0.3, 0.5, 0.3, 0.2]: + c.update(1, s) + assert c.count_in == 0 + assert c.count_out == 0 + assert c.tracks[1].state == VehicleState.IN_CANDIDATE + + +def test_no_duplicate_count(): + c = Counter(s_low=0.25, s_high=0.75) + for s in [0.1, 0.8]: + c.update(1, s) + assert c.count_in == 1 + c.update(1, 0.9) + assert c.count_in == 1 + + +def test_starts_in_central_band(): + # 中央バンドから開始し奥側バンドに達した場合 + # → UNKNOWN のまま中央を通過し，奥側で OUT_CANDIDATE に遷移する + # → 入口側バンドに到達しない限りカウントされない + c = Counter(s_low=0.25, s_high=0.75) + for s in [0.5, 0.8]: + c.update(1, s) + assert c.count_in == 0 + assert c.count_out == 0 + assert c.tracks[1].state == VehicleState.OUT_CANDIDATE diff --git a/raspi/roi-counter/tests/test_progress.py b/raspi/roi-counter/tests/test_progress.py new file mode 100644 index 0000000..086f43c --- /dev/null +++ b/raspi/roi-counter/tests/test_progress.py @@ -0,0 +1,21 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +from src.progress import calc_s + + +def test_s_at_y_max(): + assert calc_s(300.0, 100.0, 300.0) == 0.0 + + +def test_s_at_y_min(): + assert calc_s(100.0, 100.0, 300.0) == 1.0 + + +def test_s_midpoint(): + assert abs(calc_s(200.0, 100.0, 300.0) - 0.5) < 1e-9 + + +def test_zero_division_guard(): + assert calc_s(100.0, 100.0, 100.0) == 0.0 diff --git a/raspi/roi-counter/tests/test_roi.py b/raspi/roi-counter/tests/test_roi.py new file mode 100644 index 0000000..2361b27 --- /dev/null +++ b/raspi/roi-counter/tests/test_roi.py @@ -0,0 +1,25 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +from src.roi import is_in_roi, get_roi_y_range + +ROI = [(100, 100), (300, 100), (300, 300), (100, 300)] + + +def test_point_inside_roi(): + assert is_in_roi((200.0, 200.0), ROI) is True + + +def test_point_outside_roi(): + assert is_in_roi((50.0, 50.0), ROI) is False + + +def test_point_on_boundary(): + assert is_in_roi((100.0, 100.0), ROI) is True + + +def test_get_roi_y_range(): + y_min, y_max = get_roi_y_range(ROI) + assert y_min == 100.0 + assert y_max == 300.0 diff --git a/raspi/roi-counter/tests/test_tracker.py b/raspi/roi-counter/tests/test_tracker.py new file mode 100644 index 0000000..777e6db --- /dev/null +++ b/raspi/roi-counter/tests/test_tracker.py @@ -0,0 +1,19 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +from src.tracker import VehicleState, VehicleTrack + + +def test_initial_state(): + t = VehicleTrack(track_id=1) + assert t.state == VehicleState.UNKNOWN + assert t.s_history == [] + assert t.counted_as is None + + +def test_s_history_independent(): + t1 = VehicleTrack(track_id=1) + t2 = VehicleTrack(track_id=2) + t1.s_history.append(0.1) + assert t2.s_history == [] diff --git a/raspi/roi-counter/tests/test_visualizer.py b/raspi/roi-counter/tests/test_visualizer.py new file mode 100644 index 0000000..e72da5a --- /dev/null +++ b/raspi/roi-counter/tests/test_visualizer.py @@ -0,0 +1,46 @@ +import sys +from pathlib import Path +sys.path.insert(0, str(Path(__file__).parents[1])) + +import numpy as np + +from src.tracker import VehicleState +from src.visualizer import draw_band_lines, draw_bbox_with_info, draw_counts, draw_roi + +ROI = [(100, 100), (300, 100), (300, 200), (100, 200)] + + +def make_frame(): + return np.zeros((300, 400, 3), dtype=np.uint8) + + +def test_draw_roi_no_error(): + draw_roi(make_frame(), ROI) + + +def test_draw_band_lines_no_error(): + draw_band_lines(make_frame(), ROI, 100.0, 200.0, 0.25, 0.75) + + +def test_draw_band_lines_draws_on_frame(): + frame = make_frame() + draw_band_lines(frame, ROI, 100.0, 200.0, 0.25, 0.75) + assert frame.sum() > 0 + + +def test_draw_band_lines_s_low_y(): + # s_low=0.25 → y = 200 - 0.25*(200-100) = 175 + # s_high=0.75 → y = 200 - 0.75*(200-100) = 125 + # 両ラインが描画されたあとにフレームが変化していることを確認 + frame = make_frame() + draw_band_lines(frame, ROI, 100.0, 200.0, 0.25, 0.75) + assert frame[175, 200].sum() > 0 # s_low ライン上のピクセル + assert frame[125, 200].sum() > 0 # s_high ライン上のピクセル + + +def test_draw_counts_no_error(): + draw_counts(make_frame(), 3, 1) + + +def test_draw_bbox_with_info_no_error(): + draw_bbox_with_info(make_frame(), (50, 50, 150, 150), 1, 0.5, VehicleState.IN_CANDIDATE) diff --git a/uv.lock b/uv.lock index eccd5e4..e487672 100644 --- a/uv.lock +++ b/uv.lock @@ -1,8 +1,1411 @@ version = 1 -revision = 2 +revision = 3 requires-python = ">=3.12" +resolution-markers = [ + "python_full_version >= '3.14' and sys_platform == 'win32'", + "python_full_version >= '3.14' and sys_platform == 'emscripten'", + "python_full_version >= '3.14' and sys_platform != 'emscripten' and sys_platform != 'win32'", + 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