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@ -103,6 +103,20 @@ Install also the Python dependencies for the HTTP server, the MLX90640 plugin an
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[sudo] pip install 'platypush[http,tensorflow,mlx90640]'
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```
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Tensorflow may also require some additional dependencies installable via `apt-get`:
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```shell
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[sudo] apt-get install python3-numpy \
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libatlas-base-dev \
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libblas-dev \
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liblapack-dev \
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python3-dev \
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gfortran \
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python3-setuptools \
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python3-scipy \
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python3-h5py
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```
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Heading to your computer (we'll be using it for building the model that will be used on the RaspberryPi), install
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OpenCV, Tensorflow and Jupyter and my utilities for handling images:
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@ -119,10 +133,10 @@ OpenCV, Tensorflow and Jupyter and my utilities for handling images:
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# Clone my repository with the image and training utilities
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# and the Jupyter notebooks that we'll use for training.
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git clone https://github.com/BlackLight/imgdetect-utils
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git clone https://github.com/BlackLight/imgdetect-utils ~/projects/imgdetect-utils
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```
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## Capturing phase
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## Capture phase
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Now that you’ve got all the hardware and software in place, it’s time to start capturing frames with your camera and use
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them to train your model. First, configure
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@ -152,7 +166,7 @@ curl -XPOST -H 'Content-Type: application/json' -d '
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"output_file":"~/snap.png",
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"scale_factor":20
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}
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}' -a 'username:password' http://localhost:8008/execute
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}' -u 'username:password' http://localhost:8008/execute
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```
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If everything went well, the thermal picture should be stored under `~/snap.png`. In my case it looks like this while
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@ -180,7 +194,7 @@ cron.ThermalCameraSnapshotCron:
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actions:
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- action: camera.ir.mlx90640.capture
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args:
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output_file: "${__import__(’datetime’).datetime.now().strftime(’/your/img/folder/%Y-%m-%d_%H-%M-%S.jpg’)}"
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output_file: "${__import__(’datetime’).datetime.now().strftime(’/home/pi/datasets/people_detect/images/%Y-%m-%d_%H-%M-%S.jpg’)}"
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grayscale: true
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```
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@ -189,7 +203,6 @@ Or directly as a Python script under e.g. `~/.config/platypush/thermal.py` (make
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```python
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from datetime import datetime
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from platypush.config import Config
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from platypush.cron import cron
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from platypush.utils import run
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@ -197,15 +210,14 @@ from platypush.utils import run
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@cron('* * * * *')
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def take_thermal_picture(**context):
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run('camera.ir.mlx90640.capture', grayscale=True,
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output_file=datetime.now().strftime('/your/img/folder/%Y-%m-%d_%H-%m-%S.jpg'))
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output_file=datetime.now().strftime('/home/pi/datasets/people_detect/images/%Y-%m-%d_%H-%m-%S.jpg'))
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```
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The images will be stored under `/your/img/folder` in the format
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`YYYY-mm-dd_HH-MM-SS.jpg`. No scale factor is applied — even if the images will
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be tiny we’ll only need them to train our model. Also, we’ll convert the images
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to grayscale — the neural network will be lighter and actually more accurate,
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as it will only have to rely on one variable per pixel without being tricked by
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RGB combinations.
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The images will be stored under `/home/pi/datasets/people_detect/images` (make sure that the directory exists before starting
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the service) in the format `YYYY-mm-dd_HH-MM-SS.jpg`. No scale factor is applied — even if the images will be tiny we’ll
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only need them to train our model. Also, we’ll convert the images to grayscale — the neural network will be lighter and
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actually more accurate, as it will only have to rely on one variable per pixel without being tricked by RGB
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combinations.
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Restart Platypush and verify that every minute a new picture is created under
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your images directory. Let it run for a few hours or days until you’re happy
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@ -219,38 +231,39 @@ enough variety to achieve accuracy levels above 99%.
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Once you’re happy with the number of samples you’ve taken, copy the images over
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to the machine you’ll be using to train your model (they should be all small
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JPEG files weighing under 500 bytes each). Copy them to the folder where you
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have cloned my `imgdetect-utils` repository:
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JPEG files weighing under 500 bytes each). Copy them to your local machine:
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```shell
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BASEDIR=~/git_tree/imgdetect-utils
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# This directory will contain your raw images
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IMGDIR=$BASEDIR/datasets/ir/images
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# This directory will contain the raw numpy training
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# data parsed from the images
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DATADIR=$BASEDIR/datasets/ir/data
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mkdir -p $IMGDIR
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mkdir -p $DATADIR
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BASEDIR=~/datasets/people_detect
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mkdir -p "$BASEDIR"
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# Copy the images
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scp pi@raspberry:/your/img/folder/*.jpg $IMGDIR
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scp -r pi@raspberry:/home/pi/datasets/people_detect ~
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IMGDIR="$BASEDIR/images"
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# This directory will contain the raw numpy training
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# data parsed from the images (useful if you want to
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# re-train the model without having to reprocess all
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# the images)
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DATADIR="$BASEDIR/data"
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mkdir -p "$IMGDIR"
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mkdir -p "$DATADIR"
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# Create the labels for the images. Each label is a
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# directory under $IMGDIR
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mkdir $IMGDIR/negative
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mkdir $IMGDIR/positive
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mkdir "$IMGDIR/negative"
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mkdir "$IMGDIR/positive"
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```
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Once the images have been copied and the directories for the labels created,
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Once the images have been copied, and the directories for the labels created,
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run the `label.py` script provided in the repository to interactively label the
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images:
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```shell
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cd $BASEDIR
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python utils/label.py -d $IMGDIR --scale-factor 10
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UTILS_DIR=~/projects/imgdetect-utils
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cd "$UTILS_DIR"
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python utils/label.py -d "$IMGDIR" --scale-factor 10
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```
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Each image will open in a new window and you can label it by typing either 1
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@ -270,27 +283,18 @@ Jupyter notebook is provided under `notebooks/ir` and it should be
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relatively self-explanatory:
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```python
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### Import stuff
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import os
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import sys
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import numpy as np
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import matplotlib.pyplot as plt
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import tensorflow as tf
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from tensorflow import keras
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######
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# Change this with the directory where you cloned the imgdetect-utils repo
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basedir = os.path.join(os.path.expanduser('~'), 'git_tree', 'imgdetect-utils')
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sys.path.append(os.path.join(basedir))
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from src.image_helpers import plot_images_grid, create_dataset_files
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from src.train_helpers import load_data, plot_results, export_model
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from tensorflow.keras.preprocessing.image import ImageDataGenerator
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# Define the dataset directory - replace it with the path on your local
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# machine where you have stored the previously labelled dataset.
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dataset_dir = os.path.join(basedir, 'datasets', 'ir')
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dataset_dir = os.path.join(os.path.expanduser('~'), 'datasets', 'people_detect')
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# Define the size of the input images. In the case of an
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# MLX90640 it will be (24, 32) for horizontal images and
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@ -302,136 +306,252 @@ batch_size = 64
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# Number of training epochs
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epochs = 5
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######
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# The Tensorflow model and properties file will be stored here
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tf_model_dir = os.path.join(basedir, 'models', 'ir', 'tensorflow')
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tf_model_file = os.path.join(tf_model_dir, 'ir.pb')
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tf_properties_file = os.path.join(tf_model_dir, 'ir.json')
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# Instantiate a generator that puts 30% of the images into the validation set
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# and normalizes their pixel values between 0 and 1
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generator = ImageDataGenerator(rescale=1./255, validation_split=0.3)
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# Base directory that contains your training images and dataset files
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dataset_base_dir = os.path.join(basedir, 'datasets', 'ir')
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dataset_dir = os.path.join(dataset_base_dir, 'data')
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train_data = generator.flow_from_directory(dataset_dir,
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target_size=image_size,
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batch_size=batch_size,
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subset='training',
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class_mode='categorical',
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color_mode='grayscale')
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# Store your thermal camera images here
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img_dir = os.path.join(dataset_base_dir, 'images')
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### Create model directories
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os.makedirs(tf_model_dir, mode=0o775, exist_ok=True)
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### Create a dataset files from the available images
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dataset_files = create_dataset_files(img_dir, dataset_dir,
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split_size=1000,
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num_threads=1,
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resize=input_size)
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### Or load existing .npz dataset files
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dataset_files = [os.path.join(dataset_dir, f)
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for f in os.listdir(dataset_dir)
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if os.path.isfile(os.path.join(dataset_dir, f))
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and f.endswith('.npz')]
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### Get the training and test set randomly out of the dataset with a split of 70/30
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train_set, test_set, classes = load_data(*dataset_files, split_percentage=0.7)
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print('Loaded {} training images and {} test images. Classes: {}'.format(
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train_set.shape[0], test_set.shape[0], classes))
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# Example output:
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# Loaded 623 training images and 267 test images. Classes: ['negative' 'positive']
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# Extract training set and test set images and labels
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train_images = np.asarray([item[0] for item in train_set])
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train_labels = np.asarray([item[1] for item in train_set])
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test_images = np.asarray([item[0] for item in test_set])
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test_labels = np.asarray([item[1] for item in test_set])
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### Inspect the first 25 images in the training set
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plot_images_grid(images=train_images, labels=train_labels,
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classes=classes, rows=5, cols=5)
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### Declare the model
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# - Flatten input
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# - Layer 1: 50% the number of pixels per image (RELU activation)
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# - Layer 2: 20% the number of pixels per image (RELU activation)
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# - Layer 3: as many neurons as the output labels
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# (in this case 2: negative, positive) (Softmax activation)
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model = keras.Sequential([
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keras.layers.Flatten(input_shape=train_images[0].shape),
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keras.layers.Dense(int(0.5 * train_images.shape[1] * train_images.shape[2]),
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activation=tf.nn.relu),
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keras.layers.Dense(int(0.2 * train_images.shape[1] * train_images.shape[2]),
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activation=tf.nn.relu),
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keras.layers.Dense(len(classes), activation=tf.nn.softmax)
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])
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### Compile the model
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# - Loss function:This measures how accurate the model is during training. We
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# want to minimize this function to "steer" the model in the right direction.
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# - Optimizer: This is how the model is updated based on the data it sees and
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# its loss function.
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# - Metrics: Used to monitor the training and testing steps. The following
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# example uses accuracy, the fraction of the images that are correctly classified.
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model.compile(optimizer='adam',
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loss='sparse_categorical_crossentropy',
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metrics=['accuracy'])
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### Train the model
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model.fit(train_images, train_labels, epochs=3)
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# Example output:
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# Epoch 1/3 623/623 [======] - 0s 487us/sample - loss: 0.2672 - acc: 0.8860
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# Epoch 2/3 623/623 [======] - 0s 362us/sample - loss: 0.0247 - acc: 0.9936
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# Epoch 3/3 623/623 [======] - 0s 373us/sample - loss: 0.0083 - acc: 0.9984
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### Evaluate accuracy against the test set
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test_loss, test_acc = model.evaluate(test_images, test_labels)
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print('Test accuracy:', test_acc)
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# Example output:
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# 267/267 [======] - 0s 243us/sample - loss: 0.0096 - acc: 0.9963
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# Test accuracy: 0.9962547
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### Make predictions on the test set
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predictions = model.predict(test_images)
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# Plot a grid of 36 images and show expected vs. predicted values
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plot_results(images=test_images, labels=test_labels,
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classes=classes, predictions=predictions,
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rows=9, cols=4)
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### Export as a Tensorflow model
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export_model(model, tf_model_file,
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properties_file=tf_properties_file,
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classes=classes,
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input_size=input_size)
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test_data = generator.flow_from_directory(dataset_dir,
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target_size=image_size,
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batch_size=batch_size,
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subset='validation',
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class_mode='categorical',
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color_mode='grayscale')
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```
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If you managed to execute the whole notebook correctly you’ll have a file named
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`ir.pb` under `models/ir/tensorflow`. That’s your Tensorflow model file, you can
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now copy it over to the RaspberryPi and use it to do predictions:
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After initializing the generators, let's take a look at a sample of 25 images from the training set together with their
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labels:
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```python
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index_to_label = {
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index: label
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for label, index in train_data.class_indices.items()
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}
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plt.figure(figsize=(10, 10))
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batch = train_data.next()
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for i in range(min(25, len(batch[0]))):
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img = batch[0][i]
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label = index_to_label[np.argmax(batch[1][i])]
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plt.subplot(5, 5, i+1)
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plt.xticks([])
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plt.yticks([])
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plt.grid(False)
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# Note the np.squeeze call - matplotlib can't
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# process grayscale images unless the extra
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# 1-sized dimension is removed.
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plt.imshow(np.squeeze(img))
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plt.xlabel(label)
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plt.show()
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```
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You should see an image like this:
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Let's now declare a model and train it on the given training set:
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```python
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model = keras.Sequential([
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# Layer 1: flatten the input images
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keras.layers.Flatten(input_shape=image_size),
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# Layer 2: fully-connected layer with 80% the neurons as the input images
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# and RELU activation function
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keras.layers.Dense(round(0.8 * image_size[0] * image_size[1]),
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activation=tf.nn.relu),
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# Layer 2: fully-connected layer with 30% the neurons as the input images
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# and RELU activation function
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keras.layers.Dense(round(0.3 * image_size[0] * image_size[1]),
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activation=tf.nn.relu),
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# Layer 3: fully-connected layer with as many units as the output labels
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# and Softmax activation function
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keras.layers.Dense(len(train_data.class_indices),
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activation=tf.nn.softmax)
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])
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# Compile the model for classification, use the Adam optimizer and pick
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# accuracy as optimization metric
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model.compile(loss='categorical_crossentropy',
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optimizer='adam',
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metrics=['accuracy'])
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# Train the model in batches
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history = model.fit(
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train_data,
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steps_per_epoch=train_data.samples/batch_size,
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validation_data=test_data,
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validation_steps=test_data.samples/batch_size,
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epochs=epochs
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)
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# Example output:
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# Epoch 1/5 loss: 0.2529 - accuracy: 0.9196 - val_loss: 0.0543 - val_accuracy: 0.9834
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# Epoch 2/5 loss: 0.0572 - accuracy: 0.9801 - val_loss: 0.0213 - val_accuracy: 0.9967
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# Epoch 3/5 loss: 0.0254 - accuracy: 0.9915 - val_loss: 0.0080 - val_accuracy: 1.0000
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# Epoch 4/5 loss: 0.0117 - accuracy: 0.9979 - val_loss: 0.0053 - val_accuracy: 0.9967
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# Epoch 5/5 loss: 0.0058 - accuracy: 1.0000 - val_loss: 0.0046 - val_accuracy: 0.9983
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```
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We can now see how the accuracy of the model progressed over the iteration:
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```python
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epochs = history.epoch
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accuracy = history.history['accuracy']
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fig = plt.figure()
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plot = fig.add_subplot()
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plot.set_xlabel('epoch')
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plot.set_ylabel('accuracy')
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plot.plot(epochs, accuracy)
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```
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The output should look like this:
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By constraining the problem properly (i.e. translating "detect people in an image" to "infer the presence of people by
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telling if there are more white halos than usual in a small grayscale image") we have indeed managed to achieve high
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levels of accuracy both on the training and validation set despite using a relatively small dataset.
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## Deploying the model
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Once you are happy with the model, it's time to save it so it can be deployed to your RaspberryPi for real-time
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predictions:
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```python
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def model_save(model, target, labels=None, overwrite=True):
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import json
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import pathlib
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# Check if we should save it like a .h5/.pb file or as a directory
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model_dir = pathlib.Path(target)
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if str(target).endswith('.h5') or \
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str(target).endswith('.pb'):
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model_dir = model_dir.parent
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# Create the model directory if it doesn't exist
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pathlib.Path(model_dir).mkdir(parents=True, exist_ok=True)
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# Save the Tensorflow model using the .save method
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model.save(target, overwrite=overwrite)
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# Save the label names of your model in a separate JSON file
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if labels:
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labels_file = os.path.join(model_dir, 'labels.json')
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with open(labels_file, 'w') as f:
|
||||
f.write(json.dumps(list(labels)))
|
||||
|
||||
model_dir = os.path.expanduser('~/models/people_detect')
|
||||
model_save(model, model_dir,
|
||||
labels=train_data.class_indices.keys(), overwrite=True)
|
||||
```
|
||||
|
||||
If you managed to execute the whole notebook then you’ll have your model saved under `~/models/people_detect`.
|
||||
You can now copy it over to the RaspberryPi and use it to do predictions (first create `~/models` on the RaspberryPi
|
||||
if it's not available already):
|
||||
|
||||
```shell
|
||||
scp $BASEDIR/models/ir/tensorflow/ir.pb pi@raspberry:/home/pi/models
|
||||
scp -r ~/models/people_detect pi@raspberry:/home/pi/models
|
||||
```
|
||||
|
||||
## Detect people in the room
|
||||
|
||||
Once the Tensorflow model has been deployed to the RaspberryPi you can replace the
|
||||
previous cronjob that stores pictures at regular intervals with a cronjob that captures
|
||||
pictures and feeds them to the previously trained model
|
||||
Once the Tensorflow model has been deployed to the RaspberryPi you can quickly test how it performs against some
|
||||
pictures taken on the device using
|
||||
the [`tensorflow.predict`](https://platypush.readthedocs.io/en/latest/platypush/plugins/tensorflow.html#platypush.plugins.tensorflow.TensorflowPlugin.predict)
|
||||
method:
|
||||
|
||||
```shell
|
||||
curl -XPOST -u 'user:pass' -H 'Content-Type: application/json' -d '
|
||||
{
|
||||
"type":"request",
|
||||
"action":"tensorflow.predict",
|
||||
"args": {
|
||||
"inputs": "~/datasets/people_detect/positive/some_image.jpg",
|
||||
"model": "~/models/people_detect"
|
||||
}
|
||||
}' http://your-raspberry-pi:8008/execute
|
||||
```
|
||||
|
||||
Expected output:
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "<response-id>",
|
||||
"type": "response",
|
||||
"target": "http",
|
||||
"origin": "raspberrypi",
|
||||
"response": {
|
||||
"output": {
|
||||
"model": "~/models/people_detect",
|
||||
"outputs": [
|
||||
{
|
||||
"negative": 0,
|
||||
"positive": 1
|
||||
}
|
||||
],
|
||||
"predictions": [
|
||||
"positive"
|
||||
]
|
||||
},
|
||||
"errors": []
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
Once the structure of the response is clear, we can replace the previous cronjob that stores pictures at regular
|
||||
intervals with a new one that captures pictures and feeds them to the previously trained model to make predictions (I'll
|
||||
use a Python script stored under `~/.config/platypush/scripts` in this case, but it will also work with a cron defined
|
||||
in YAML in `config.yaml`) and, for example, turns on the lights when presence is detected and turns them off when
|
||||
presence is no longer detected (I'll use
|
||||
the [`light.hue`](https://platypush.readthedocs.io/en/latest/platypush/plugins/light.hue.html) plugin in this example):
|
||||
|
||||
```python
|
||||
import os
|
||||
from platypush.context import get_plugin
|
||||
from platypush.cron import cron
|
||||
|
||||
|
||||
@cron('* * * * * */30')
|
||||
def check_presence(**context):
|
||||
# Get plugins by name
|
||||
camera = get_plugin('camera.ir.mlx90640')
|
||||
tensorflow = get_plugin('tensorflow')
|
||||
lights = get_plugin('light.hue')
|
||||
|
||||
image_file = '/tmp/frame.jpg'
|
||||
model_file = os.path.expanduser('~/models/people_detect/saved_model.h5')
|
||||
camera.capture_image(
|
||||
image_file=image_file, grayscale=True)
|
||||
|
||||
prediction = tensorflow.predict(
|
||||
inputs=image_file, model=model_file)['predictions'][0]
|
||||
|
||||
if prediction == 'positive':
|
||||
lights.on()
|
||||
else:
|
||||
lights.off()
|
||||
```
|
||||
|
||||
Restart the service and let it run. Every 30 seconds the cron will run, take a picture, check if people are detected in
|
||||
that picture and turn the lights on/off accordingly.
|
||||
|
||||
## What's next?
|
||||
|
||||
That’s your call! Feel free to experiment with more elaborate rules, for example to change the status of the music/video
|
||||
playing in the room when someone enters, using Platypush media plugins. Or say a custom good morning text when you first
|
||||
enter the room in the morning. Or build your own surveillance system to track the presence of people when you’re not at
|
||||
home. Or enhance the model to detect also the number of people in the room, not only the presence. Or you can combine it
|
||||
with an optical flow sensor, distance sensor, laser range sensor or optical camera (platypush provides plugins for many
|
||||
of them) to build an even more robust system that also detects and tracks movements or proximity to the sensor, and so
|
||||
on.
|
||||
|
|
|
|||
Loading…
Reference in New Issue