1 #include <iostream> 2 #include <fstream> 3 #include <string> 4 #include <sstream> 5 #include <iomanip> 6 #include <stdexcept> 7 #include <opencv2/core/utility.hpp> 8 #include "opencv2/cudaobjdetect.hpp" 9 #include "opencv2/highgui.hpp" 10 #include "opencv2/objdetect.hpp" 11 #include "opencv2/imgproc.hpp" 12 13 using namespace std; 14 using namespace cv; 15 16 bool help_showed = false; 17 18 class Args 19 { 20 public: 21 Args(); 22 static Args read(int argc, char** argv); 23 24 string src; 25 bool src_is_video; 26 bool src_is_camera; 27 int camera_id; 28 29 bool write_video; 30 string dst_video; 31 double dst_video_fps; 32 33 bool make_gray; 34 35 bool resize_src; 36 int width, height; 37 38 double scale; 39 int nlevels; 40 int gr_threshold; 41 42 double hit_threshold; 43 bool hit_threshold_auto; 44 45 int win_width; 46 int win_stride_width, win_stride_height; 47 48 bool gamma_corr; 49 }; 50 51 52 class App 53 { 54 public: 55 App(const Args& s); 56 void run(); 57 58 void handleKey(char key); 59 60 void hogWorkBegin(); 61 void hogWorkEnd(); 62 string hogWorkFps() const; 63 64 void workBegin(); 65 void workEnd(); 66 string workFps() const; 67 68 string message() const; 69 70 private: 71 App operator=(App&); 72 73 Args args; 74 bool running; 75 76 bool use_gpu; 77 bool make_gray; 78 double scale; 79 int gr_threshold; 80 int nlevels; 81 double hit_threshold; 82 bool gamma_corr; 83 84 int64 hog_work_begin; 85 double hog_work_fps; 86 87 int64 work_begin; 88 double work_fps; 89 }; 90 91 static void printHelp() 92 { 93 cout << "Histogram of Oriented Gradients descriptor and detector sample.\n" 94 << "\nUsage: hog_gpu\n" 95 << " (<image>|--video <vide>|--camera <camera_id>) # frames source\n" 96 << " [--make_gray <true/false>] # convert image to gray one or not\n" 97 << " [--resize_src <true/false>] # do resize of the source image or not\n" 98 << " [--width <int>] # resized image width\n" 99 << " [--height <int>] # resized image height\n" 100 << " [--hit_threshold <double>] # classifying plane distance threshold (0.0 usually)\n" 101 << " [--scale <double>] # HOG window scale factor\n" 102 << " [--nlevels <int>] # max number of HOG window scales\n" 103 << " [--win_width <int>] # width of the window (48 or 64)\n" 104 << " [--win_stride_width <int>] # distance by OX axis between neighbour wins\n" 105 << " [--win_stride_height <int>] # distance by OY axis between neighbour wins\n" 106 << " [--gr_threshold <int>] # merging similar rects constant\n" 107 << " [--gamma_correct <int>] # do gamma correction or not\n" 108 << " [--write_video <bool>] # write video or not\n" 109 << " [--dst_video <path>] # output video path\n" 110 << " [--dst_video_fps <double>] # output video fps\n"; 111 help_showed = true; 112 } 113 114 int main(int argc, char** argv) 115 { 116 try 117 { 118 Args args; 119 if (argc < 2) 120 { 121 printHelp(); 122 args.camera_id = 0; 123 args.src_is_camera = true; 124 } 125 else 126 { 127 args = Args::read(argc, argv); 128 if (help_showed) 129 return -1; 130 } 131 App app(args); 132 app.run(); 133 } 134 catch (const Exception& e) { return cout << "error: " << e.what() << endl, 1; } 135 catch (const exception& e) { return cout << "error: " << e.what() << endl, 1; } 136 catch(...) { return cout << "unknown exception" << endl, 1; } 137 return 0; 138 } 139 140 141 Args::Args() 142 { 143 src_is_video = false; 144 src_is_camera = false; 145 camera_id = 0; 146 147 write_video = false; 148 dst_video_fps = 24.; 149 150 make_gray = false; 151 152 resize_src = false; 153 width = 640; 154 height = 480; 155 156 scale = 1.05; 157 nlevels = 13; 158 gr_threshold = 8; 159 hit_threshold = 1.4; 160 hit_threshold_auto = true; 161 162 win_width = 48; 163 win_stride_width = 8; 164 win_stride_height = 8; 165 166 gamma_corr = true; 167 } 168 169 170 Args Args::read(int argc, char** argv) 171 { 172 Args args; 173 for (int i = 1; i < argc; i++) 174 { 175 if (string(argv[i]) == "--make_gray") args.make_gray = (string(argv[++i]) == "true"); 176 else if (string(argv[i]) == "--resize_src") args.resize_src = (string(argv[++i]) == "true"); 177 else if (string(argv[i]) == "--width") args.width = atoi(argv[++i]); 178 else if (string(argv[i]) == "--height") args.height = atoi(argv[++i]); 179 else if (string(argv[i]) == "--hit_threshold") 180 { 181 args.hit_threshold = atof(argv[++i]); 182 args.hit_threshold_auto = false; 183 } 184 else if (string(argv[i]) == "--scale") args.scale = atof(argv[++i]); 185 else if (string(argv[i]) == "--nlevels") args.nlevels = atoi(argv[++i]); 186 else if (string(argv[i]) == "--win_width") args.win_width = atoi(argv[++i]); 187 else if (string(argv[i]) == "--win_stride_width") args.win_stride_width = atoi(argv[++i]); 188 else if (string(argv[i]) == "--win_stride_height") args.win_stride_height = atoi(argv[++i]); 189 else if (string(argv[i]) == "--gr_threshold") args.gr_threshold = atoi(argv[++i]); 190 else if (string(argv[i]) == "--gamma_correct") args.gamma_corr = (string(argv[++i]) == "true"); 191 else if (string(argv[i]) == "--write_video") args.write_video = (string(argv[++i]) == "true"); 192 else if (string(argv[i]) == "--dst_video") args.dst_video = argv[++i]; 193 else if (string(argv[i]) == "--dst_video_fps") args.dst_video_fps = atof(argv[++i]); 194 else if (string(argv[i]) == "--help") printHelp(); 195 else if (string(argv[i]) == "--video") { args.src = argv[++i]; args.src_is_video = true; } 196 else if (string(argv[i]) == "--camera") { args.camera_id = atoi(argv[++i]); args.src_is_camera = true; } 197 else if (args.src.empty()) args.src = argv[i]; 198 else throw runtime_error((string("unknown key: ") + argv[i])); 199 } 200 return args; 201 } 202 203 204 App::App(const Args& s) 205 { 206 cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice()); 207 208 args = s; 209 cout << "\nControls:\n" 210 << "\tESC - exit\n" 211 << "\tm - change mode GPU <-> CPU\n" 212 << "\tg - convert image to gray or not\n" 213 << "\t1/q - increase/decrease HOG scale\n" 214 << "\t2/w - increase/decrease levels count\n" 215 << "\t3/e - increase/decrease HOG group threshold\n" 216 << "\t4/r - increase/decrease hit threshold\n" 217 << endl; 218 219 use_gpu = true; 220 make_gray = args.make_gray; 221 scale = args.scale; 222 gr_threshold = args.gr_threshold; 223 nlevels = args.nlevels; 224 225 if (args.hit_threshold_auto) 226 args.hit_threshold = args.win_width == 48 ? 1.4 : 0.; 227 hit_threshold = args.hit_threshold; 228 229 gamma_corr = args.gamma_corr; 230 231 if (args.win_width != 64 && args.win_width != 48) 232 args.win_width = 64; 233 234 cout << "Scale: " << scale << endl; 235 if (args.resize_src) 236 cout << "Resized source: (" << args.width << ", " << args.height << ")\n"; 237 cout << "Group threshold: " << gr_threshold << endl; 238 cout << "Levels number: " << nlevels << endl; 239 cout << "Win width: " << args.win_width << endl; 240 cout << "Win stride: (" << args.win_stride_width << ", " << args.win_stride_height << ")\n"; 241 cout << "Hit threshold: " << hit_threshold << endl; 242 cout << "Gamma correction: " << gamma_corr << endl; 243 cout << endl; 244 } 245 246 247 void App::run() 248 { 249 running = true; 250 cv::VideoWriter video_writer; 251 252 Size win_size(args.win_width, args.win_width * 2); //(64, 128) or (48, 96) 253 Size win_stride(args.win_stride_width, args.win_stride_height); 254 255 cv::Ptr<cv::cuda::HOG> gpu_hog = cv::cuda::HOG::create(win_size); 256 cv::HOGDescriptor cpu_hog(win_size, Size(16, 16), Size(8, 8), Size(8, 8), 9); 257 258 // Create HOG descriptors and detectors here 259 Mat detector = gpu_hog->getDefaultPeopleDetector(); 260 261 gpu_hog->setSVMDetector(detector); 262 cpu_hog.setSVMDetector(detector); 263 264 while (running) 265 { 266 VideoCapture vc; 267 Mat frame; 268 269 if (args.src_is_video) 270 { 271 vc.open(args.src.c_str()); 272 if (!vc.isOpened()) 273 throw runtime_error(string("can't open video file: " + args.src)); 274 vc >> frame; 275 } 276 else if (args.src_is_camera) 277 { 278 vc.open(args.camera_id); 279 if (!vc.isOpened()) 280 { 281 stringstream msg; 282 msg << "can't open camera: " << args.camera_id; 283 throw runtime_error(msg.str()); 284 } 285 vc >> frame; 286 } 287 else 288 { 289 frame = imread(args.src); 290 if (frame.empty()) 291 throw runtime_error(string("can't open image file: " + args.src)); 292 } 293 294 Mat img_aux, img, img_to_show; 295 cuda::GpuMat gpu_img; 296 297 // Iterate over all frames 298 while (running && !frame.empty()) 299 { 300 workBegin(); 301 302 // Change format of the image 303 if (make_gray) cvtColor(frame, img_aux, COLOR_BGR2GRAY); 304 else if (use_gpu) cvtColor(frame, img_aux, COLOR_BGR2BGRA); 305 else frame.copyTo(img_aux); 306 307 // Resize image 308 if (args.resize_src) resize(img_aux, img, Size(args.width, args.height)); 309 else img = img_aux; 310 img_to_show = img; 311 312 vector<Rect> found; 313 314 // Perform HOG classification 315 hogWorkBegin(); 316 if (use_gpu) 317 { 318 gpu_img.upload(img); 319 gpu_hog->setNumLevels(nlevels); 320 gpu_hog->setHitThreshold(hit_threshold); 321 gpu_hog->setWinStride(win_stride); 322 gpu_hog->setScaleFactor(scale); 323 gpu_hog->setGroupThreshold(gr_threshold); 324 gpu_hog->detectMultiScale(gpu_img, found); 325 } 326 else 327 { 328 cpu_hog.nlevels = nlevels; 329 cpu_hog.detectMultiScale(img, found, hit_threshold, win_stride, 330 Size(0, 0), scale, gr_threshold); 331 } 332 hogWorkEnd(); 333 334 // Draw positive classified windows 335 for (size_t i = 0; i < found.size(); i++) 336 { 337 Rect r = found[i]; 338 rectangle(img_to_show, r.tl(), r.br(), Scalar(0, 255, 0), 3); 339 } 340 341 if (use_gpu) 342 putText(img_to_show, "Mode: GPU", Point(5, 25), FONT_HERSHEY_SIMPLEX, 1., Scalar(255, 100, 0), 2); 343 else 344 putText(img_to_show, "Mode: CPU", Point(5, 25), FONT_HERSHEY_SIMPLEX, 1., Scalar(255, 100, 0), 2); 345 putText(img_to_show, "FPS (HOG only): " + hogWorkFps(), Point(5, 65), FONT_HERSHEY_SIMPLEX, 1., Scalar(255, 100, 0), 2); 346 putText(img_to_show, "FPS (total): " + workFps(), Point(5, 105), FONT_HERSHEY_SIMPLEX, 1., Scalar(255, 100, 0), 2); 347 imshow("opencv_gpu_hog", img_to_show); 348 349 if (args.src_is_video || args.src_is_camera) vc >> frame; 350 351 workEnd(); 352 353 if (args.write_video) 354 { 355 if (!video_writer.isOpened()) 356 { 357 video_writer.open(args.dst_video, VideoWriter::fourcc('x','v','i','d'), args.dst_video_fps, 358 img_to_show.size(), true); 359 if (!video_writer.isOpened()) 360 throw std::runtime_error("can't create video writer"); 361 } 362 363 if (make_gray) cvtColor(img_to_show, img, COLOR_GRAY2BGR); 364 else cvtColor(img_to_show, img, COLOR_BGRA2BGR); 365 366 video_writer << img; 367 } 368 369 handleKey((char)waitKey(3)); 370 } 371 } 372 } 373 374 375 void App::handleKey(char key) 376 { 377 switch (key) 378 { 379 case 27: 380 running = false; 381 break; 382 case 'm': 383 case 'M': 384 use_gpu = !use_gpu; 385 cout << "Switched to " << (use_gpu ? "CUDA" : "CPU") << " mode\n"; 386 break; 387 case 'g': 388 case 'G': 389 make_gray = !make_gray; 390 cout << "Convert image to gray: " << (make_gray ? "YES" : "NO") << endl; 391 break; 392 case '1': 393 scale *= 1.05; 394 cout << "Scale: " << scale << endl; 395 break; 396 case 'q': 397 case 'Q': 398 scale /= 1.05; 399 cout << "Scale: " << scale << endl; 400 break; 401 case '2': 402 nlevels++; 403 cout << "Levels number: " << nlevels << endl; 404 break; 405 case 'w': 406 case 'W': 407 nlevels = max(nlevels - 1, 1); 408 cout << "Levels number: " << nlevels << endl; 409 break; 410 case '3': 411 gr_threshold++; 412 cout << "Group threshold: " << gr_threshold << endl; 413 break; 414 case 'e': 415 case 'E': 416 gr_threshold = max(0, gr_threshold - 1); 417 cout << "Group threshold: " << gr_threshold << endl; 418 break; 419 case '4': 420 hit_threshold+=0.25; 421 cout << "Hit threshold: " << hit_threshold << endl; 422 break; 423 case 'r': 424 case 'R': 425 hit_threshold = max(0.0, hit_threshold - 0.25); 426 cout << "Hit threshold: " << hit_threshold << endl; 427 break; 428 case 'c': 429 case 'C': 430 gamma_corr = !gamma_corr; 431 cout << "Gamma correction: " << gamma_corr << endl; 432 break; 433 } 434 } 435 436 437 inline void App::hogWorkBegin() { hog_work_begin = getTickCount(); } 438 439 inline void App::hogWorkEnd() 440 { 441 int64 delta = getTickCount() - hog_work_begin; 442 double freq = getTickFrequency(); 443 hog_work_fps = freq / delta; 444 } 445 446 inline string App::hogWorkFps() const 447 { 448 stringstream ss; 449 ss << hog_work_fps; 450 return ss.str(); 451 } 452 453 454 inline void App::workBegin() { work_begin = getTickCount(); } 455 456 inline void App::workEnd() 457 { 458 int64 delta = getTickCount() - work_begin; 459 double freq = getTickFrequency(); 460 work_fps = freq / delta; 461 } 462 463 inline string App::workFps() const 464 { 465 stringstream ss; 466 ss << work_fps; 467 return ss.str(); 468 } 469
