diff --git a/examples/6lbr/angstrom/control b/examples/6lbr/angstrom/control
index 6284f9791f..4ac64b969f 100644
--- a/examples/6lbr/angstrom/control
+++ b/examples/6lbr/angstrom/control
@@ -1,5 +1,5 @@
Package: cetic-6lbr
-Version: 1.3.2
+Version: 1.5.0
Architecture: armv7a
Maintainer: CETIC <6lbr@cetic.be>
Section: network
diff --git a/examples/6lbr/debian/changelog b/examples/6lbr/debian/changelog
index 68fd6da7f9..bf72ed2347 100644
--- a/examples/6lbr/debian/changelog
+++ b/examples/6lbr/debian/changelog
@@ -1,3 +1,65 @@
+cetic-6lbr (1.5.0) unstable; urgency=low
+
+ * Features
+ Multicast routing
+ RPL Non-Storing mode
+ DAO-Ack support
+ AdaptiveSec integration
+ TSCH SLIP-Radio support
+ Rebased on latest Contiki (11-Oct-2017)
+
+ -- 6lbr-team <6lbr@cetic.be> Thu, 14 Nov 2017 12:30:10 +0100
+
+cetic-6lbr (1.4.2) unstable; urgency=low
+
+ * Features
+ Multi SLIP-Radio support
+ Add CRC for SLIP-Radio
+ Runtime configuration of NUD
+ Add Per-Node statistics
+ Add set PAN ID command in slip radio
+ Add RPL hooks and delayed RPL initialisation
+ Replace abbreviations in status pages
+ New demo framework and demos for the main features of 6LBR
+ * Bugfixes
+ 6lbr.ip4 is not updated when using DHCP
+ SLIP retransmit callback not scheduled
+ Node tree graph is sometimes corrupted
+ TCP RST are observed on BBB and RPi
+ Buffer overflow when saving 6lbr.ip
+ gettimeofday() is still used in handle_fd()
+ Loss of access to web server due to wrong source address selection
+ Global repair is not properly triggered at BR startup
+ Infinite loop in node config
+
+ -- 6lbr-team <6lbr@cetic.be> Fri, 24 Nov 2017 9:30:10 +0100
+
+cetic-6lbr (1.4.1) unstable; urgency=low
+
+ * Features
+ Node info export
+ Improved multi-dodag support
+ Better endianness detection
+ TinyDTLS stability fixes
+ Slip-radio configuration
+ Add Slip-radio retries
+ Non-root support
+ Improved plugin build and support
+ * Platform
+ CC26xx/CC13xx full support
+ Cooja support
+ OpenWRT feed
+ * Bugfixes
+ Fix anti-replay flag inversion
+ Fix max rank increase
+ Fix loss of address in SmartBridge mode
+ Fix route deletion after time update
+ Fix random crashes in udp-server
+ Fix uip_buf buffer overflow and packet with wrong size
+ Fix PAN-ID configuration on CC2538/CC26xx/CC13xx
+
+ -- 6lbr-team <6lbr@cetic.be> Thu, 22 Dec 2016 13:15:40 +0100
+
cetic-6lbr (1.4.0) unstable; urgency=low
* Features
diff --git a/examples/6lbr/project-conf.h b/examples/6lbr/project-conf.h
index a2fc25d280..50da6c1b62 100644
--- a/examples/6lbr/project-conf.h
+++ b/examples/6lbr/project-conf.h
@@ -213,11 +213,11 @@
/* Do not change lines below */
/*------------------------------------------------------------------*/
+#define CETIC_6LBR_VERSION "1.5.0"
+
/* Activate CETIC 6LBR specific code in Contiki */
#define CETIC_6LBR 1
-#define CETIC_6LBR_VERSION "1.5.x"
-
#define CETIC_6LBR_ETH_EXT_A 0xFF
#define CETIC_6LBR_ETH_EXT_B 0xFF
diff --git a/notebooks/video_predictor_example.ipynb b/notebooks/video_predictor_example.ipynb
new file mode 100644
index 0000000000..2a5f74f66e
--- /dev/null
+++ b/notebooks/video_predictor_example.ipynb
@@ -0,0 +1,1156 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "id": "3c3b1c46-9f5c-41c1-9101-85db8709ec0d",
+ "metadata": {
+ "id": "3c3b1c46-9f5c-41c1-9101-85db8709ec0d"
+ },
+ "outputs": [],
+ "source": [
+ "# Copyright (c) Meta Platforms, Inc. and affiliates."
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "6e7a0db5-7f04-4845-8b11-684fe6e9f7f2",
+ "metadata": {
+ "id": "6e7a0db5-7f04-4845-8b11-684fe6e9f7f2"
+ },
+ "source": [
+ "# Video segmentation with SAM 2"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "73ba7875-35e5-478b-b8ba-4b48e121dec7",
+ "metadata": {
+ "id": "73ba7875-35e5-478b-b8ba-4b48e121dec7"
+ },
+ "source": [
+ "This notebook shows how to use SAM 2 for interactive segmentation in videos. It will cover the following:\n",
+ "\n",
+ "- adding clicks (or box) on a frame to get and refine _masklets_ (spatio-temporal masks)\n",
+ "- propagating clicks (or box) to get _masklets_ throughout the video\n",
+ "- segmenting and tracking multiple objects at the same time\n",
+ "\n",
+ "We use the terms _segment_ or _mask_ to refer to the model prediction for an object on a single frame, and _masklet_ to refer to the spatio-temporal masks across the entire video."
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "a887b90f-6576-4ef8-964e-76d3a156ccb6",
+ "metadata": {
+ "id": "a887b90f-6576-4ef8-964e-76d3a156ccb6"
+ },
+ "source": [
+ "\n",
+ " ![\"Open](\"https://colab.research.google.com/assets/colab-badge.svg\")
\n",
+ ""
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "26616201-06df-435b-98fd-ad17c373bb4a",
+ "metadata": {
+ "id": "26616201-06df-435b-98fd-ad17c373bb4a"
+ },
+ "source": [
+ "## Environment Set-up"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "8491a127-4c01-48f5-9dc5-f148a9417fdf",
+ "metadata": {
+ "id": "8491a127-4c01-48f5-9dc5-f148a9417fdf"
+ },
+ "source": [
+ "If running locally using jupyter, first install `sam2` in your environment using the [installation instructions](https://github.com/facebookresearch/sam2#installation) in the repository.\n",
+ "\n",
+ "If running from Google Colab, set `using_colab=True` below and run the cell. In Colab, be sure to select 'GPU' under 'Edit'->'Notebook Settings'->'Hardware accelerator'. Note that it's recommended to use **A100 or L4 GPUs when running in Colab** (T4 GPUs might also work, but could be slow and might run out of memory in some cases)."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "id": "f74c53be-aab1-46b9-8c0b-068b52ef5948",
+ "metadata": {
+ "id": "f74c53be-aab1-46b9-8c0b-068b52ef5948"
+ },
+ "outputs": [],
+ "source": [
+ "using_colab = True"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "d824a4b2-71f3-4da3-bfc7-3249625e6730",
+ "metadata": {
+ "id": "d824a4b2-71f3-4da3-bfc7-3249625e6730",
+ "outputId": "75533e67-dbc1-4f41-cfcc-8c58b6b2973a",
+ "colab": {
+ "base_uri": "https://localhost:8080/"
+ }
+ },
+ "outputs": [
+ {
+ "output_type": "stream",
+ "name": "stdout",
+ "text": [
+ "PyTorch version: 2.8.0+cu126\n",
+ "Torchvision version: 0.23.0+cu126\n",
+ "CUDA is available: False\n",
+ "Requirement already satisfied: opencv-python in /usr/local/lib/python3.12/dist-packages (4.12.0.88)\n",
+ "Requirement already satisfied: matplotlib in /usr/local/lib/python3.12/dist-packages (3.10.0)\n",
+ "Requirement already satisfied: numpy<2.3.0,>=2 in /usr/local/lib/python3.12/dist-packages (from opencv-python) (2.0.2)\n",
+ "Requirement already satisfied: contourpy>=1.0.1 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (1.3.3)\n",
+ "Requirement already satisfied: cycler>=0.10 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (0.12.1)\n",
+ "Requirement already satisfied: fonttools>=4.22.0 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (4.59.2)\n",
+ "Requirement already satisfied: kiwisolver>=1.3.1 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (1.4.9)\n",
+ "Requirement already satisfied: packaging>=20.0 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (25.0)\n",
+ "Requirement already satisfied: pillow>=8 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (11.3.0)\n",
+ "Requirement already satisfied: pyparsing>=2.3.1 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (3.2.3)\n",
+ "Requirement already satisfied: python-dateutil>=2.7 in /usr/local/lib/python3.12/dist-packages (from matplotlib) (2.9.0.post0)\n",
+ "Requirement already satisfied: six>=1.5 in /usr/local/lib/python3.12/dist-packages (from python-dateutil>=2.7->matplotlib) (1.17.0)\n",
+ "Collecting git+https://github.com/facebookresearch/sam2.git\n",
+ " Cloning https://github.com/facebookresearch/sam2.git to /tmp/pip-req-build-jjwg63u9\n",
+ " Running command git clone --filter=blob:none --quiet https://github.com/facebookresearch/sam2.git /tmp/pip-req-build-jjwg63u9\n",
+ " Resolved https://github.com/facebookresearch/sam2.git to commit 2b90b9f5ceec907a1c18123530e92e794ad901a4\n"
+ ]
+ }
+ ],
+ "source": [
+ "if using_colab:\n",
+ " import torch\n",
+ " import torchvision\n",
+ " print(\"PyTorch version:\", torch.__version__)\n",
+ " print(\"Torchvision version:\", torchvision.__version__)\n",
+ " print(\"CUDA is available:\", torch.cuda.is_available())\n",
+ " import sys\n",
+ " !{sys.executable} -m uv pip install opencv-python matplotlib\n",
+ " !{sys.executable} -m uv pip install 'git+https://github.com/facebookresearch/sam2.git'\n",
+ "\n",
+ " !mkdir -p videos\n",
+ " !wget -P videos https://dl.fbaipublicfiles.com/segment_anything_2/assets/bedroom.zip\n",
+ " !unzip -d videos videos/bedroom.zip\n",
+ "\n",
+ " !mkdir -p ../checkpoints/\n",
+ " !wget -P ../checkpoints/ https://dl.fbaipublicfiles.com/segment_anything_2/092824/sam2.1_hiera_large.pt"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "22e6aa9d-487f-4207-b657-8cff0902343e",
+ "metadata": {
+ "id": "22e6aa9d-487f-4207-b657-8cff0902343e"
+ },
+ "source": [
+ "## Set-up"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "e5318a85-5bf7-4880-b2b3-15e4db24d796",
+ "metadata": {
+ "id": "e5318a85-5bf7-4880-b2b3-15e4db24d796"
+ },
+ "outputs": [],
+ "source": [
+ "import os\n",
+ "# if using Apple MPS, fall back to CPU for unsupported ops\n",
+ "os.environ[\"PYTORCH_ENABLE_MPS_FALLBACK\"] = \"1\"\n",
+ "import numpy as np\n",
+ "import torch\n",
+ "import matplotlib.pyplot as plt\n",
+ "from PIL import Image"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "08ba49d8-8c22-4eba-a2ab-46eee839287f",
+ "metadata": {
+ "id": "08ba49d8-8c22-4eba-a2ab-46eee839287f"
+ },
+ "outputs": [],
+ "source": [
+ "# select the device for computation\n",
+ "if torch.cuda.is_available():\n",
+ " device = torch.device(\"cuda\")\n",
+ "elif torch.backends.mps.is_available():\n",
+ " device = torch.device(\"mps\")\n",
+ "else:\n",
+ " device = torch.device(\"cpu\")\n",
+ "print(f\"using device: {device}\")\n",
+ "\n",
+ "if device.type == \"cuda\":\n",
+ " # use bfloat16 for the entire notebook\n",
+ " torch.autocast(\"cuda\", dtype=torch.bfloat16).__enter__()\n",
+ " # turn on tfloat32 for Ampere GPUs (https://pytorch.org/docs/stable/notes/cuda.html#tensorfloat-32-tf32-on-ampere-devices)\n",
+ " if torch.cuda.get_device_properties(0).major >= 8:\n",
+ " torch.backends.cuda.matmul.allow_tf32 = True\n",
+ " torch.backends.cudnn.allow_tf32 = True\n",
+ "elif device.type == \"mps\":\n",
+ " print(\n",
+ " \"\\nSupport for MPS devices is preliminary. SAM 2 is trained with CUDA and might \"\n",
+ " \"give numerically different outputs and sometimes degraded performance on MPS. \"\n",
+ " \"See e.g. https://github.com/pytorch/pytorch/issues/84936 for a discussion.\"\n",
+ " )"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "ae8e0779-751f-4224-9b04-ed0f0b406500",
+ "metadata": {
+ "id": "ae8e0779-751f-4224-9b04-ed0f0b406500"
+ },
+ "source": [
+ "### Loading the SAM 2 video predictor"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "f5f3245e-b4d6-418b-a42a-a67e0b3b5aec",
+ "metadata": {
+ "id": "f5f3245e-b4d6-418b-a42a-a67e0b3b5aec"
+ },
+ "outputs": [],
+ "source": [
+ "from sam2.build_sam import build_sam2_video_predictor\n",
+ "\n",
+ "sam2_checkpoint = \"../checkpoints/sam2.1_hiera_large.pt\"\n",
+ "model_cfg = \"configs/sam2.1/sam2.1_hiera_l.yaml\"\n",
+ "\n",
+ "predictor = build_sam2_video_predictor(model_cfg, sam2_checkpoint, device=device)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "1a5320fe-06d7-45b8-b888-ae00799d07fa",
+ "metadata": {
+ "id": "1a5320fe-06d7-45b8-b888-ae00799d07fa"
+ },
+ "outputs": [],
+ "source": [
+ "def show_mask(mask, ax, obj_id=None, random_color=False):\n",
+ " if random_color:\n",
+ " color = np.concatenate([np.random.random(3), np.array([0.6])], axis=0)\n",
+ " else:\n",
+ " cmap = plt.get_cmap(\"tab10\")\n",
+ " cmap_idx = 0 if obj_id is None else obj_id\n",
+ " color = np.array([*cmap(cmap_idx)[:3], 0.6])\n",
+ " h, w = mask.shape[-2:]\n",
+ " mask_image = mask.reshape(h, w, 1) * color.reshape(1, 1, -1)\n",
+ " ax.imshow(mask_image)\n",
+ "\n",
+ "\n",
+ "def show_points(coords, labels, ax, marker_size=200):\n",
+ " pos_points = coords[labels==1]\n",
+ " neg_points = coords[labels==0]\n",
+ " ax.scatter(pos_points[:, 0], pos_points[:, 1], color='green', marker='*', s=marker_size, edgecolor='white', linewidth=1.25)\n",
+ " ax.scatter(neg_points[:, 0], neg_points[:, 1], color='red', marker='*', s=marker_size, edgecolor='white', linewidth=1.25)\n",
+ "\n",
+ "\n",
+ "def show_box(box, ax):\n",
+ " x0, y0 = box[0], box[1]\n",
+ " w, h = box[2] - box[0], box[3] - box[1]\n",
+ " ax.add_patch(plt.Rectangle((x0, y0), w, h, edgecolor='green', facecolor=(0, 0, 0, 0), lw=2))"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "f22aa751-b7cd-451e-9ded-fb98bf4bdfad",
+ "metadata": {
+ "id": "f22aa751-b7cd-451e-9ded-fb98bf4bdfad"
+ },
+ "source": [
+ "#### Select an example video"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "1c4c6af6-e18d-4939-beaf-2bc00f94a724",
+ "metadata": {
+ "id": "1c4c6af6-e18d-4939-beaf-2bc00f94a724"
+ },
+ "source": [
+ "We assume that the video is stored as a list of JPEG frames with filenames like `.jpg`.\n",
+ "\n",
+ "For your custom videos, you can extract their JPEG frames using ffmpeg (https://ffmpeg.org/) as follows:\n",
+ "```\n",
+ "ffmpeg -i .mp4 -q:v 2 -start_number 0 /'%05d.jpg'\n",
+ "```\n",
+ "where `-q:v` generates high-quality JPEG frames and `-start_number 0` asks ffmpeg to start the JPEG file from `00000.jpg`."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "b94c87ca-fd1a-4011-9609-e8be1cbe3230",
+ "metadata": {
+ "id": "b94c87ca-fd1a-4011-9609-e8be1cbe3230"
+ },
+ "outputs": [],
+ "source": [
+ "# `video_dir` a directory of JPEG frames with filenames like `.jpg`\n",
+ "video_dir = \"./videos/bedroom\"\n",
+ "\n",
+ "# scan all the JPEG frame names in this directory\n",
+ "frame_names = [\n",
+ " p for p in os.listdir(video_dir)\n",
+ " if os.path.splitext(p)[-1] in [\".jpg\", \".jpeg\", \".JPG\", \".JPEG\"]\n",
+ "]\n",
+ "frame_names.sort(key=lambda p: int(os.path.splitext(p)[0]))\n",
+ "\n",
+ "# take a look the first video frame\n",
+ "frame_idx = 0\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[frame_idx])))"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "dff46b10-c17a-4a26-8004-8c6d80806b0a",
+ "metadata": {
+ "id": "dff46b10-c17a-4a26-8004-8c6d80806b0a"
+ },
+ "source": [
+ "#### Initialize the inference state"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "f594ac71-a6b9-461d-af27-500fa1d1a420",
+ "metadata": {
+ "id": "f594ac71-a6b9-461d-af27-500fa1d1a420"
+ },
+ "source": [
+ "SAM 2 requires stateful inference for interactive video segmentation, so we need to initialize an **inference state** on this video.\n",
+ "\n",
+ "During initialization, it loads all the JPEG frames in `video_path` and stores their pixels in `inference_state` (as shown in the progress bar below)."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "8967aed3-eb82-4866-b8df-0f4743255c2c",
+ "metadata": {
+ "id": "8967aed3-eb82-4866-b8df-0f4743255c2c"
+ },
+ "outputs": [],
+ "source": [
+ "inference_state = predictor.init_state(video_path=video_dir)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "edb1f3f6-d74d-4016-934c-8d2a14d1a543",
+ "metadata": {
+ "id": "edb1f3f6-d74d-4016-934c-8d2a14d1a543"
+ },
+ "source": [
+ "### Example 1: Segment & track one object"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "aa2d3127-67b2-45d2-9f32-8fe3e10dc5eb",
+ "metadata": {
+ "id": "aa2d3127-67b2-45d2-9f32-8fe3e10dc5eb"
+ },
+ "source": [
+ "Note: if you have run any previous tracking using this `inference_state`, please reset it first via `reset_state`.\n",
+ "\n",
+ "(The cell below is just for illustration; it's not needed to call `reset_state` here as this `inference_state` is just freshly initialized above.)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "d2646a1d-3401-438c-a653-55e0e56b7d9d",
+ "metadata": {
+ "id": "d2646a1d-3401-438c-a653-55e0e56b7d9d"
+ },
+ "outputs": [],
+ "source": [
+ "predictor.reset_state(inference_state)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "26aeb04d-8cba-4f57-95da-6e5a1796003e",
+ "metadata": {
+ "id": "26aeb04d-8cba-4f57-95da-6e5a1796003e"
+ },
+ "source": [
+ "#### Step 1: Add a first click on a frame"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "695c7749-b523-4691-aad0-7558c5d1d68c",
+ "metadata": {
+ "id": "695c7749-b523-4691-aad0-7558c5d1d68c"
+ },
+ "source": [
+ "To get started, let's try to segment the child on the left.\n",
+ "\n",
+ "Here we make a **positive click** at (x, y) = (210, 350) with label `1`, by sending their coordinates and labels into the `add_new_points_or_box` API.\n",
+ "\n",
+ "Note: label `1` indicates a *positive click (to add a region)* while label `0` indicates a *negative click (to remove a region)*."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "3e749bab-0f36-4173-bf8d-0c20cd5214b3",
+ "metadata": {
+ "id": "3e749bab-0f36-4173-bf8d-0c20cd5214b3"
+ },
+ "outputs": [],
+ "source": [
+ "ann_frame_idx = 0 # the frame index we interact with\n",
+ "ann_obj_id = 1 # give a unique id to each object we interact with (it can be any integers)\n",
+ "\n",
+ "# Let's add a positive click at (x, y) = (210, 350) to get started\n",
+ "points = np.array([[210, 350]], dtype=np.float32)\n",
+ "# for labels, `1` means positive click and `0` means negative click\n",
+ "labels = np.array([1], np.int32)\n",
+ "_, out_obj_ids, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " points=points,\n",
+ " labels=labels,\n",
+ ")\n",
+ "\n",
+ "# show the results on the current (interacted) frame\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_points(points, labels, plt.gca())\n",
+ "show_mask((out_mask_logits[0] > 0.0).cpu().numpy(), plt.gca(), obj_id=out_obj_ids[0])"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "89457875-93fa-40ed-b6dc-4e1c971a27f9",
+ "metadata": {
+ "id": "89457875-93fa-40ed-b6dc-4e1c971a27f9"
+ },
+ "source": [
+ "#### Step 2: Add a second click to refine the prediction"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "a75eb21b-1413-452c-827b-a04093c30c78",
+ "metadata": {
+ "id": "a75eb21b-1413-452c-827b-a04093c30c78"
+ },
+ "source": [
+ "Hmm, it seems that although we wanted to segment the child on the left, the model predicts the mask for only the shorts -- this can happen since there is ambiguity from a single click about what the target object should be. We can refine the mask on this frame via another positive click on the child's shirt.\n",
+ "\n",
+ "Here we make a **second positive click** at (x, y) = (250, 220) with label `1` to expand the mask.\n",
+ "\n",
+ "Note: we need to send **all the clicks and their labels** (i.e. not just the last click) when calling `add_new_points_or_box`."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "e1ab3ec7-2537-4158-bf98-3d0977d8908d",
+ "metadata": {
+ "id": "e1ab3ec7-2537-4158-bf98-3d0977d8908d"
+ },
+ "outputs": [],
+ "source": [
+ "ann_frame_idx = 0 # the frame index we interact with\n",
+ "ann_obj_id = 1 # give a unique id to each object we interact with (it can be any integers)\n",
+ "\n",
+ "# Let's add a 2nd positive click at (x, y) = (250, 220) to refine the mask\n",
+ "# sending all clicks (and their labels) to `add_new_points_or_box`\n",
+ "points = np.array([[210, 350], [250, 220]], dtype=np.float32)\n",
+ "# for labels, `1` means positive click and `0` means negative click\n",
+ "labels = np.array([1, 1], np.int32)\n",
+ "_, out_obj_ids, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " points=points,\n",
+ " labels=labels,\n",
+ ")\n",
+ "\n",
+ "# show the results on the current (interacted) frame\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_points(points, labels, plt.gca())\n",
+ "show_mask((out_mask_logits[0] > 0.0).cpu().numpy(), plt.gca(), obj_id=out_obj_ids[0])"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "df4ab457-d91d-4ac8-b350-fbcd549fd3fd",
+ "metadata": {
+ "id": "df4ab457-d91d-4ac8-b350-fbcd549fd3fd"
+ },
+ "source": [
+ "With this 2nd refinement click, now we get a segmentation mask of the entire child on frame 0."
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "f52015ac-1b7b-4c59-bca3-c2b28484cf46",
+ "metadata": {
+ "id": "f52015ac-1b7b-4c59-bca3-c2b28484cf46"
+ },
+ "source": [
+ "#### Step 3: Propagate the prompts to get the masklet across the video"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "30b025bd-cd58-4bfb-9572-c8d2fd0a02ef",
+ "metadata": {
+ "id": "30b025bd-cd58-4bfb-9572-c8d2fd0a02ef"
+ },
+ "source": [
+ "To get the masklet throughout the entire video, we propagate the prompts using the `propagate_in_video` API."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "ab45e932-b0d5-4983-9718-6ee77d1ac31b",
+ "metadata": {
+ "id": "ab45e932-b0d5-4983-9718-6ee77d1ac31b"
+ },
+ "outputs": [],
+ "source": [
+ "# run propagation throughout the video and collect the results in a dict\n",
+ "video_segments = {} # video_segments contains the per-frame segmentation results\n",
+ "for out_frame_idx, out_obj_ids, out_mask_logits in predictor.propagate_in_video(inference_state):\n",
+ " video_segments[out_frame_idx] = {\n",
+ " out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy()\n",
+ " for i, out_obj_id in enumerate(out_obj_ids)\n",
+ " }\n",
+ "\n",
+ "# render the segmentation results every few frames\n",
+ "vis_frame_stride = 30\n",
+ "plt.close(\"all\")\n",
+ "for out_frame_idx in range(0, len(frame_names), vis_frame_stride):\n",
+ " plt.figure(figsize=(6, 4))\n",
+ " plt.title(f\"frame {out_frame_idx}\")\n",
+ " plt.imshow(Image.open(os.path.join(video_dir, frame_names[out_frame_idx])))\n",
+ " for out_obj_id, out_mask in video_segments[out_frame_idx].items():\n",
+ " show_mask(out_mask, plt.gca(), obj_id=out_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "3e801b70-72df-4a72-b3fe-84f145e5e3f6",
+ "metadata": {
+ "id": "3e801b70-72df-4a72-b3fe-84f145e5e3f6"
+ },
+ "source": [
+ "#### Step 4: Add new prompts to further refine the masklet"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "478958ab-29b4-4a75-bba4-adb1b03d0a2b",
+ "metadata": {
+ "id": "478958ab-29b4-4a75-bba4-adb1b03d0a2b"
+ },
+ "source": [
+ "It appears that in the output masklet above, there are some small imperfections in boundary details on frame 150.\n",
+ "\n",
+ "With SAM 2 we can fix the model predictions interactively. We can add a **negative click** at (x, y) = (82, 415) on this frame with label `0` to refine the masklet. Here we call the `add_new_points_or_box` API with a different `frame_idx` argument to indicate the frame index we want to refine."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "1a572ea9-5b7e-479c-b30c-93c38b121131",
+ "metadata": {
+ "id": "1a572ea9-5b7e-479c-b30c-93c38b121131"
+ },
+ "outputs": [],
+ "source": [
+ "ann_frame_idx = 150 # further refine some details on this frame\n",
+ "ann_obj_id = 1 # give a unique id to the object we interact with (it can be any integers)\n",
+ "\n",
+ "# show the segment before further refinement\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx} -- before refinement\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_mask(video_segments[ann_frame_idx][ann_obj_id], plt.gca(), obj_id=ann_obj_id)\n",
+ "\n",
+ "# Let's add a negative click on this frame at (x, y) = (82, 415) to refine the segment\n",
+ "points = np.array([[82, 410]], dtype=np.float32)\n",
+ "# for labels, `1` means positive click and `0` means negative click\n",
+ "labels = np.array([0], np.int32)\n",
+ "_, _, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " points=points,\n",
+ " labels=labels,\n",
+ ")\n",
+ "\n",
+ "# show the segment after the further refinement\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx} -- after refinement\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_points(points, labels, plt.gca())\n",
+ "show_mask((out_mask_logits > 0.0).cpu().numpy(), plt.gca(), obj_id=ann_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "50a3950a-acf1-435c-bd64-94297267b5e9",
+ "metadata": {
+ "id": "50a3950a-acf1-435c-bd64-94297267b5e9"
+ },
+ "source": [
+ "#### Step 5: Propagate the prompts (again) to get the masklet across the video"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "b1954ecf-c2ec-4f9c-8d10-c4f527a10cd2",
+ "metadata": {
+ "id": "b1954ecf-c2ec-4f9c-8d10-c4f527a10cd2"
+ },
+ "source": [
+ "Let's get an updated masklet for the entire video. Here we call `propagate_in_video` again to propagate all the prompts after adding the new refinement click above."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "baa96690-4a38-4a24-aa17-fd2f4db0e232",
+ "metadata": {
+ "id": "baa96690-4a38-4a24-aa17-fd2f4db0e232"
+ },
+ "outputs": [],
+ "source": [
+ "# run propagation throughout the video and collect the results in a dict\n",
+ "video_segments = {} # video_segments contains the per-frame segmentation results\n",
+ "for out_frame_idx, out_obj_ids, out_mask_logits in predictor.propagate_in_video(inference_state):\n",
+ " video_segments[out_frame_idx] = {\n",
+ " out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy()\n",
+ " for i, out_obj_id in enumerate(out_obj_ids)\n",
+ " }\n",
+ "\n",
+ "# render the segmentation results every few frames\n",
+ "vis_frame_stride = 30\n",
+ "plt.close(\"all\")\n",
+ "for out_frame_idx in range(0, len(frame_names), vis_frame_stride):\n",
+ " plt.figure(figsize=(6, 4))\n",
+ " plt.title(f\"frame {out_frame_idx}\")\n",
+ " plt.imshow(Image.open(os.path.join(video_dir, frame_names[out_frame_idx])))\n",
+ " for out_obj_id, out_mask in video_segments[out_frame_idx].items():\n",
+ " show_mask(out_mask, plt.gca(), obj_id=out_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "607507e3-6a2b-4fd7-944c-2371bdab9d01",
+ "metadata": {
+ "id": "607507e3-6a2b-4fd7-944c-2371bdab9d01"
+ },
+ "source": [
+ "The segments now look good on all frames."
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "2502bb5a-3e1f-43d0-9f58-33f8676fff0d",
+ "metadata": {
+ "id": "2502bb5a-3e1f-43d0-9f58-33f8676fff0d"
+ },
+ "source": [
+ "### Example 2: Segment an object using box prompt"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "8e2d26c8-0432-48c6-997e-4a3b77bb5f6d",
+ "metadata": {
+ "id": "8e2d26c8-0432-48c6-997e-4a3b77bb5f6d"
+ },
+ "source": [
+ "Note: if you have run any previous tracking using this `inference_state`, please reset it first via `reset_state`."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "6dbe9183-abbb-4283-b0cb-d24f3d7beb34",
+ "metadata": {
+ "id": "6dbe9183-abbb-4283-b0cb-d24f3d7beb34"
+ },
+ "outputs": [],
+ "source": [
+ "predictor.reset_state(inference_state)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "ceb6eae9-0f4c-434f-8089-a46c9ca59da5",
+ "metadata": {
+ "id": "ceb6eae9-0f4c-434f-8089-a46c9ca59da5"
+ },
+ "source": [
+ "In addition to using clicks as inputs, SAM 2 also supports segmenting and tracking objects in a video via **bounding boxes**.\n",
+ "\n",
+ "In the example below, we segment the child on the right using a **box prompt** of (x_min, y_min, x_max, y_max) = (300, 0, 500, 400) on frame 0 as input into the `add_new_points_or_box` API."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "1cbfb273-4e14-495b-bd89-87a8baf52ae7",
+ "metadata": {
+ "id": "1cbfb273-4e14-495b-bd89-87a8baf52ae7"
+ },
+ "outputs": [],
+ "source": [
+ "ann_frame_idx = 0 # the frame index we interact with\n",
+ "ann_obj_id = 4 # give a unique id to each object we interact with (it can be any integers)\n",
+ "\n",
+ "# Let's add a box at (x_min, y_min, x_max, y_max) = (300, 0, 500, 400) to get started\n",
+ "box = np.array([300, 0, 500, 400], dtype=np.float32)\n",
+ "_, out_obj_ids, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " box=box,\n",
+ ")\n",
+ "\n",
+ "# show the results on the current (interacted) frame\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_box(box, plt.gca())\n",
+ "show_mask((out_mask_logits[0] > 0.0).cpu().numpy(), plt.gca(), obj_id=out_obj_ids[0])"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "bd3f9ba7-bf4d-47e5-9b02-8a424cab42cc",
+ "metadata": {
+ "id": "bd3f9ba7-bf4d-47e5-9b02-8a424cab42cc"
+ },
+ "source": [
+ "Here, SAM 2 gets a pretty good segmentation mask of the entire child, even though the input bounding box is not perfectly tight around the object.\n",
+ "\n",
+ "Similar to the previous example, if the returned mask from is not perfect when using a box prompt, we can also further **refine** the output using positive or negative clicks. To illustrate this, here we make a **positive click** at (x, y) = (460, 60) with label `1` to expand the segment around the child's hair.\n",
+ "\n",
+ "Note: to refine the segmentation mask from a box prompt, we need to send **both the original box input and all subsequent refinement clicks and their labels** when calling `add_new_points_or_box`."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "54906315-ab4c-4088-b866-4c22134d5b66",
+ "metadata": {
+ "id": "54906315-ab4c-4088-b866-4c22134d5b66"
+ },
+ "outputs": [],
+ "source": [
+ "ann_frame_idx = 0 # the frame index we interact with\n",
+ "ann_obj_id = 4 # give a unique id to each object we interact with (it can be any integers)\n",
+ "\n",
+ "# Let's add a positive click at (x, y) = (460, 60) to refine the mask\n",
+ "points = np.array([[460, 60]], dtype=np.float32)\n",
+ "# for labels, `1` means positive click and `0` means negative click\n",
+ "labels = np.array([1], np.int32)\n",
+ "# note that we also need to send the original box input along with\n",
+ "# the new refinement click together into `add_new_points_or_box`\n",
+ "box = np.array([300, 0, 500, 400], dtype=np.float32)\n",
+ "_, out_obj_ids, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " points=points,\n",
+ " labels=labels,\n",
+ " box=box,\n",
+ ")\n",
+ "\n",
+ "# show the results on the current (interacted) frame\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_box(box, plt.gca())\n",
+ "show_points(points, labels, plt.gca())\n",
+ "show_mask((out_mask_logits[0] > 0.0).cpu().numpy(), plt.gca(), obj_id=out_obj_ids[0])"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "73128cd6-dbfa-49f7-8d79-1a8e19835f7f",
+ "metadata": {
+ "id": "73128cd6-dbfa-49f7-8d79-1a8e19835f7f"
+ },
+ "source": [
+ "Then, to get the masklet throughout the entire video, we propagate the prompts using the `propagate_in_video` API."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "9cd90557-a0dc-442e-b091-9c74c831bef8",
+ "metadata": {
+ "id": "9cd90557-a0dc-442e-b091-9c74c831bef8"
+ },
+ "outputs": [],
+ "source": [
+ "# run propagation throughout the video and collect the results in a dict\n",
+ "video_segments = {} # video_segments contains the per-frame segmentation results\n",
+ "for out_frame_idx, out_obj_ids, out_mask_logits in predictor.propagate_in_video(inference_state):\n",
+ " video_segments[out_frame_idx] = {\n",
+ " out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy()\n",
+ " for i, out_obj_id in enumerate(out_obj_ids)\n",
+ " }\n",
+ "\n",
+ "# render the segmentation results every few frames\n",
+ "vis_frame_stride = 30\n",
+ "plt.close(\"all\")\n",
+ "for out_frame_idx in range(0, len(frame_names), vis_frame_stride):\n",
+ " plt.figure(figsize=(6, 4))\n",
+ " plt.title(f\"frame {out_frame_idx}\")\n",
+ " plt.imshow(Image.open(os.path.join(video_dir, frame_names[out_frame_idx])))\n",
+ " for out_obj_id, out_mask in video_segments[out_frame_idx].items():\n",
+ " show_mask(out_mask, plt.gca(), obj_id=out_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "e023f91f-0cc5-4980-ae8e-a13c5749112b",
+ "metadata": {
+ "id": "e023f91f-0cc5-4980-ae8e-a13c5749112b"
+ },
+ "source": [
+ "Note that in addition to clicks or boxes, SAM 2 also supports directly using a **mask prompt** as input via the `add_new_mask` method in the `SAM2VideoPredictor` class. This can be helpful in e.g. semi-supervised VOS evaluations (see [tools/vos_inference.py](https://github.com/facebookresearch/sam2/blob/main/tools/vos_inference.py) for an example)."
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "da018be8-a4ae-4943-b1ff-702c2b89cb68",
+ "metadata": {
+ "id": "da018be8-a4ae-4943-b1ff-702c2b89cb68"
+ },
+ "source": [
+ "### Example 3: Segment multiple objects simultaneously"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "dea6c04c-3072-4876-b394-879321a48c4a",
+ "metadata": {
+ "id": "dea6c04c-3072-4876-b394-879321a48c4a"
+ },
+ "source": [
+ "Note: if you have run any previous tracking using this `inference_state`, please reset it first via `reset_state`."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "29b874c8-9f39-42d3-a667-54a0bd696410",
+ "metadata": {
+ "id": "29b874c8-9f39-42d3-a667-54a0bd696410"
+ },
+ "outputs": [],
+ "source": [
+ "predictor.reset_state(inference_state)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "48f3f7e6-4821-468c-84e4-f3a0435c9149",
+ "metadata": {
+ "id": "48f3f7e6-4821-468c-84e4-f3a0435c9149"
+ },
+ "source": [
+ "#### Step 1: Add two objects on a frame"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "95158714-86d7-48a9-8365-b213f97cc9ca",
+ "metadata": {
+ "id": "95158714-86d7-48a9-8365-b213f97cc9ca"
+ },
+ "source": [
+ "SAM 2 can also segment and track two or more objects at the same time. One way, of course, is to do them one by one. However, it would be more efficient to batch them together (e.g. so that we can share the image features between objects to reduce computation costs).\n",
+ "\n",
+ "This time, let's focus on object parts and segment **the shirts of both childen** in this video. Here we add prompts for these two objects and assign each of them a unique object id."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "e22d896d-3cd5-4fa0-9230-f33e217035dc",
+ "metadata": {
+ "id": "e22d896d-3cd5-4fa0-9230-f33e217035dc"
+ },
+ "outputs": [],
+ "source": [
+ "prompts = {} # hold all the clicks we add for visualization"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "59d9ac57-b14a-4237-828d-927e422c518b",
+ "metadata": {
+ "id": "59d9ac57-b14a-4237-828d-927e422c518b"
+ },
+ "source": [
+ "Add the first object (the left child's shirt) with a **positive click** at (x, y) = (200, 300) on frame 0.\n",
+ "\n",
+ "We assign it to object id `2` (it can be arbitrary integers, and only needs to be unique for each object to track), which is passed to the `add_new_points_or_box` API to distinguish the object we are clicking upon."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "d13432fc-f467-44d8-adfe-3e0c488046b7",
+ "metadata": {
+ "id": "d13432fc-f467-44d8-adfe-3e0c488046b7"
+ },
+ "outputs": [],
+ "source": [
+ "ann_frame_idx = 0 # the frame index we interact with\n",
+ "ann_obj_id = 2 # give a unique id to each object we interact with (it can be any integers)\n",
+ "\n",
+ "# Let's add a positive click at (x, y) = (200, 300) to get started on the first object\n",
+ "points = np.array([[200, 300]], dtype=np.float32)\n",
+ "# for labels, `1` means positive click and `0` means negative click\n",
+ "labels = np.array([1], np.int32)\n",
+ "prompts[ann_obj_id] = points, labels\n",
+ "_, out_obj_ids, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " points=points,\n",
+ " labels=labels,\n",
+ ")\n",
+ "\n",
+ "# show the results on the current (interacted) frame\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_points(points, labels, plt.gca())\n",
+ "for i, out_obj_id in enumerate(out_obj_ids):\n",
+ " show_points(*prompts[out_obj_id], plt.gca())\n",
+ " show_mask((out_mask_logits[i] > 0.0).cpu().numpy(), plt.gca(), obj_id=out_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "1bbbd51b-e1e2-4c36-99ec-1d9a1b49b0cd",
+ "metadata": {
+ "id": "1bbbd51b-e1e2-4c36-99ec-1d9a1b49b0cd"
+ },
+ "source": [
+ "Hmm, this time we just want to select the child's shirt, but the model predicts the mask for the entire child. Let's refine the prediction with a **negative click** at (x, y) = (275, 175)."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "95ecf61d-662b-4f98-ae62-46557b219842",
+ "metadata": {
+ "id": "95ecf61d-662b-4f98-ae62-46557b219842"
+ },
+ "outputs": [],
+ "source": [
+ "# add the first object\n",
+ "ann_frame_idx = 0 # the frame index we interact with\n",
+ "ann_obj_id = 2 # give a unique id to each object we interact with (it can be any integers)\n",
+ "\n",
+ "# Let's add a 2nd negative click at (x, y) = (275, 175) to refine the first object\n",
+ "# sending all clicks (and their labels) to `add_new_points_or_box`\n",
+ "points = np.array([[200, 300], [275, 175]], dtype=np.float32)\n",
+ "# for labels, `1` means positive click and `0` means negative click\n",
+ "labels = np.array([1, 0], np.int32)\n",
+ "prompts[ann_obj_id] = points, labels\n",
+ "_, out_obj_ids, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " points=points,\n",
+ " labels=labels,\n",
+ ")\n",
+ "\n",
+ "# show the results on the current (interacted) frame\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_points(points, labels, plt.gca())\n",
+ "for i, out_obj_id in enumerate(out_obj_ids):\n",
+ " show_points(*prompts[out_obj_id], plt.gca())\n",
+ " show_mask((out_mask_logits[i] > 0.0).cpu().numpy(), plt.gca(), obj_id=out_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "194718c1-734d-446c-a3ef-361057de2f31",
+ "metadata": {
+ "id": "194718c1-734d-446c-a3ef-361057de2f31"
+ },
+ "source": [
+ "After the 2nd negative click, now we get the left child's shirt as our first object.\n",
+ "\n",
+ "Let's move on to the second object (the right child's shirt) with a positive click at (x, y) = (400, 150) on frame 0. Here we assign object id `3` to this second object (it can be arbitrary integers, and only needs to be unique for each object to track).\n",
+ "\n",
+ "Note: when there are multiple objects, the `add_new_points_or_box` API will return a list of masks for each object."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "86ca1bde-62a4-40e6-98e4-15606441e52f",
+ "metadata": {
+ "id": "86ca1bde-62a4-40e6-98e4-15606441e52f"
+ },
+ "outputs": [],
+ "source": [
+ "ann_frame_idx = 0 # the frame index we interact with\n",
+ "ann_obj_id = 3 # give a unique id to each object we interact with (it can be any integers)\n",
+ "\n",
+ "# Let's now move on to the second object we want to track (giving it object id `3`)\n",
+ "# with a positive click at (x, y) = (400, 150)\n",
+ "points = np.array([[400, 150]], dtype=np.float32)\n",
+ "# for labels, `1` means positive click and `0` means negative click\n",
+ "labels = np.array([1], np.int32)\n",
+ "prompts[ann_obj_id] = points, labels\n",
+ "\n",
+ "# `add_new_points_or_box` returns masks for all objects added so far on this interacted frame\n",
+ "_, out_obj_ids, out_mask_logits = predictor.add_new_points_or_box(\n",
+ " inference_state=inference_state,\n",
+ " frame_idx=ann_frame_idx,\n",
+ " obj_id=ann_obj_id,\n",
+ " points=points,\n",
+ " labels=labels,\n",
+ ")\n",
+ "\n",
+ "# show the results on the current (interacted) frame on all objects\n",
+ "plt.figure(figsize=(9, 6))\n",
+ "plt.title(f\"frame {ann_frame_idx}\")\n",
+ "plt.imshow(Image.open(os.path.join(video_dir, frame_names[ann_frame_idx])))\n",
+ "show_points(points, labels, plt.gca())\n",
+ "for i, out_obj_id in enumerate(out_obj_ids):\n",
+ " show_points(*prompts[out_obj_id], plt.gca())\n",
+ " show_mask((out_mask_logits[i] > 0.0).cpu().numpy(), plt.gca(), obj_id=out_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "a1f7add8-d577-4597-ae2f-654b8c7b05e0",
+ "metadata": {
+ "id": "a1f7add8-d577-4597-ae2f-654b8c7b05e0"
+ },
+ "source": [
+ "This time the model predicts the mask of the shirt we want to track in just one click. Nice!"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "448733b8-ea8b-4078-995f-b676c3b558ba",
+ "metadata": {
+ "id": "448733b8-ea8b-4078-995f-b676c3b558ba"
+ },
+ "source": [
+ "#### Step 2: Propagate the prompts to get masklets across the video"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "60bd73de-d669-41c8-b6ba-943883f0caa2",
+ "metadata": {
+ "id": "60bd73de-d669-41c8-b6ba-943883f0caa2"
+ },
+ "source": [
+ "Now, we propagate the prompts for both objects to get their masklets throughout the video.\n",
+ "\n",
+ "Note: when there are multiple objects, the `propagate_in_video` API will return a list of masks for each object."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "17737191-d62b-4611-b2c6-6d0418a9ab74",
+ "metadata": {
+ "id": "17737191-d62b-4611-b2c6-6d0418a9ab74"
+ },
+ "outputs": [],
+ "source": [
+ "# run propagation throughout the video and collect the results in a dict\n",
+ "video_segments = {} # video_segments contains the per-frame segmentation results\n",
+ "for out_frame_idx, out_obj_ids, out_mask_logits in predictor.propagate_in_video(inference_state):\n",
+ " video_segments[out_frame_idx] = {\n",
+ " out_obj_id: (out_mask_logits[i] > 0.0).cpu().numpy()\n",
+ " for i, out_obj_id in enumerate(out_obj_ids)\n",
+ " }\n",
+ "\n",
+ "# render the segmentation results every few frames\n",
+ "vis_frame_stride = 30\n",
+ "plt.close(\"all\")\n",
+ "for out_frame_idx in range(0, len(frame_names), vis_frame_stride):\n",
+ " plt.figure(figsize=(6, 4))\n",
+ " plt.title(f\"frame {out_frame_idx}\")\n",
+ " plt.imshow(Image.open(os.path.join(video_dir, frame_names[out_frame_idx])))\n",
+ " for out_obj_id, out_mask in video_segments[out_frame_idx].items():\n",
+ " show_mask(out_mask, plt.gca(), obj_id=out_obj_id)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "18a0b9d7-c78f-432b-afb0-11f2ea5b652a",
+ "metadata": {
+ "id": "18a0b9d7-c78f-432b-afb0-11f2ea5b652a"
+ },
+ "source": [
+ "Looks like both children's shirts are well segmented in this video.\n",
+ "\n",
+ "Now you can try SAM 2 on your own videos and use cases!"
+ ]
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Python 3 (ipykernel)",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.10.14"
+ },
+ "colab": {
+ "provenance": []
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
\ No newline at end of file