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
printHelp()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
main(int argc,char ** argv)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
Args()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
read(int argc,char ** argv)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
App(const Args & s)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
run()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
handleKey(char key)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
hogWorkBegin()437 inline void App::hogWorkBegin() { hog_work_begin = getTickCount(); }
438
hogWorkEnd()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
hogWorkFps() const446 inline string App::hogWorkFps() const
447 {
448 stringstream ss;
449 ss << hog_work_fps;
450 return ss.str();
451 }
452
453
workBegin()454 inline void App::workBegin() { work_begin = getTickCount(); }
455
workEnd()456 inline void App::workEnd()
457 {
458 int64 delta = getTickCount() - work_begin;
459 double freq = getTickFrequency();
460 work_fps = freq / delta;
461 }
462
workFps() const463 inline string App::workFps() const
464 {
465 stringstream ss;
466 ss << work_fps;
467 return ss.str();
468 }
469