bool camera<Tdata>::start_recording(uint window_id, const char *name)
{
wid = window_id;
record_cnt = 0;
if (name)
recording_name = name;
// add timestamp to name
recording_name += "_";
recording_name += tstamp();
// create directory
mkdir_full(recording_name);
return true;
}
std::string detection_thread<T>::
get_output_directory(configuration &conf) {
std::string s;
if (conf.exists("output_dir")) s << conf.get_string("output_dir");
else s << conf.get_string("current_dir");
if (conf.exists("detections_dir"))
s << conf.get_string("detections_dir");
else {
s << "/detections";
if (conf.exists_true("nms")) s << "_" << tstamp();
}
s << "/";
mkdir_full(s);
return s;
}
void detection_thread<T>::execute() {
try {
bool display = false;
#ifdef __GUI__
display = conf.exists_true("display")
&& conf.exists_true("display_threads");
bool mindisplay = conf.exists_true("minimal_display");
bool save_video = conf.exists_true("save_video");
bool display_states = conf.exists_true("display_states");
uint wid = 0; // window id
uint wid_states = 0; // window id
#endif
uint display_sleep = conf.try_get_uint("display_sleep", 0);
// if (!display && save_video) {
// // we still want to output images but not show them
// display = true;
// #ifdef __GUI__
// set_gui_silent();
// #endif
// }
// load network and weights in a forward-only parameter
parameter<T> theparam;
theparam.set_forward_only();
idx<ubyte> classes(1,1);
//try { // try loading classes names but do not stop upon failure
load_matrix<ubyte>(classes, conf.get_cstring("classes"));
// } catch(std::string &err) {
// merr << "warning: " << err;
// merr << std::endl;
// }
std::vector<std::string> sclasses = ubyteidx_to_stringvector(classes);
answer_module<T> *ans = create_answer<T,T,T>(conf, classes.dim(0));
uint noutputs = ans->get_nfeatures();
intg thick = -1;
module_1_1<T> *net = create_network<T>(theparam, conf, thick, noutputs,
"arch", this->_id);
// loading weights
if (conf.exists("weights")) { // manual weights
// concatenate weights if multiple ones
std::vector<std::string> w =
string_to_stringvector(conf.get_string("weights"));
mout << "Loading weights from: " << w << std::endl;
theparam.load_x(w);
// permute weights by blocks
if (conf.exists("weights_permutation")) {
std::string sblocks = conf.get_string("weights_blocks");
std::string spermut = conf.get_string("weights_permutation");
std::vector<intg> blocks = string_to_intgvector(sblocks.c_str());
std::vector<uint> permut = string_to_uintvector(spermut.c_str());
theparam.permute_x(blocks, permut);
}
} else {
if (conf.exists_true("manual_load")) { // manual load
eblwarn("\"weights\" variable not defined, loading manually "
<< "if manual_load defined");
manually_load_network(*((layers<T>*)net), conf);
} else { // random weights
int seed = dynamic_init_drand();
eblwarn("No weights to load, randomizing weights with seed " << seed);
forget_param_linear fgp(1, 0.5, seed);
net->forget(fgp);
}
}
DEBUGMEM_PRETTY("before detection");
// detector
detector<T> detect(*net, sclasses, ans, NULL, NULL, mout, merr);
init_detector(detect, conf, outdir, silent);
// keep pointer to detector
pdetect = &detect;
bootstrapping<T> boot(conf);
// when a bbox file is given, ignore the processing, load the pre-computed
// bboxes and feed them to the nms (non-maximum suppression).
bboxes boxes(bbox_all, NULL, mout, merr);
boxes.print_saving_type(); // inform user how we save boxes
bool precomputed_boxes = false;
if (conf.exists("bbox_file")) {
precomputed_boxes = true;
std::string bbfile = conf.get_string("bbox_file");
boxes.load_eblearn(bbfile);
}
bool bmask_class = false;
if (conf.exists("mask_class"))
bmask_class = detect.set_mask_class(conf.get_cstring("mask_class"));
std::string viddir = outdir;
viddir += "video/";
mkdir_full(viddir);
// gui
#ifdef __GUI__
uint display_wmax = conf.try_get_uint("display_max_width", 3000);
T display_min = (T) conf.try_get_double("display_min", -1.7);
T display_max = (T) conf.try_get_double("display_max", 1.7);
T display_in_max = (T) conf.try_get_double("display_in_max", 255);
T display_in_min = (T) conf.try_get_double("display_in_min", 0);
float display_transp = conf.try_get_float("display_bb_transparency", 0);
uint qstep1 = conf.try_get_uint("qstep1", 0);
uint qheight1 = conf.try_get_uint("qheight1", 0);
uint qwidth1 = conf.try_get_uint("qwidth1", 0);
uint qstep2 = conf.try_get_uint("qstep2", 0);
uint qheight2 = conf.try_get_uint("qheight2", 0);
uint qwidth2 = conf.try_get_uint("qwidth2", 0);
module_1_1_gui netgui;
wid_states = display_states ? new_window("network states"):0;
night_mode();
std::string title = "EBLearn detector: ";
title += _name;
if (display) {
wid = new_window(title.c_str());
mout << "displaying in window " << wid << std::endl;
night_mode();
}
float zoom = conf.try_get_float("display_zoom", 1);
bool bbox_show_conf = !conf.exists_false("bbox_show_conf");
bool bbox_show_class = !conf.exists_false("bbox_show_class");
detector_gui<T>
dgui(conf.try_get_uint("show_extracted", 0),
conf.exists_bool("queue1"), qstep1, qheight1,
qwidth1, conf.exists_bool("queue2"), qstep2, qheight2, qwidth2,
bbox_show_class, bbox_show_conf);
if (bmask_class)
dgui.set_mask_class(conf.get_cstring("mask_class"),
(T) conf.try_get_double("mask_threshold", 0));
#endif
// timing variables
timer tpass, toverall;
long ms;
// loop
toverall.start();
// we're ready
bavailable = true;
while(!this->_stop) {
// wait until a new image is made available
while (!in_updated && !_stop) {
millisleep(1);
}
tpass.restart();
if (_stop) break ;
// we got a new frame, reset new frame flag
in_updated = false; // no need to lock mutex
// check if this frame should be skipped
if (boot.skip_frame(frame_name)) {
skip_frame();
continue ;
} else if (!frame_loaded) {
uframe = load_image<ubyte>(frame_fullname);
mout << "loaded image " << frame_fullname << std::endl;
}
if (!silent) mout << "processing " << frame_name << std::endl;
// check frame is correctly allocated, if not, allocate.
if (frame.order() != uframe.order())
frame = idx<T>(uframe.get_idxdim());
else if (frame.get_idxdim() != uframe.get_idxdim())
frame.resize(uframe.get_idxdim());
// copy frame
idx_copy(uframe, frame);
// run detector
if (!display) { // fprop without display
if (precomputed_boxes) {
try {
bboxes *bb = boxes.get_group(frame_name);
idxdim d = boxes.get_group_dims(frame_name);
d.insert_dim(0, 1);
bboxes pruned;
detect.init(d);
detect.fprop_nms(*bb, pruned);
copy_bboxes(pruned); // make a copy of bounding boxes
// resize frame so that caller knows the size of the frame
idxdim framedim = frame.get_idxdim();
if (d.dim(1) == -1 || d.dim(2) == -1)
eblerror("pre-computed boxes must contain full image size, "
<< "but found: " << d);
framedim.setdim(0, d.dim(1));
framedim.setdim(1, d.dim(2));
frame.resize(framedim);
} catch(eblexception &e) {
#ifdef __NOEXCEPTIONS__
merr << "exception" << std::endl;
#else
merr << e << std::endl;
#endif
}
} else {
try {
mout << "starting processing of frame " << frame_name << std::endl;
bboxes &bb = detect.fprop(frame, frame_name.c_str(), frame_id);
copy_bboxes(bb); // make a copy of bounding boxes
} catch(ebl::eblexception &e) { // detection failed
#ifdef __NOEXCEPTIONS__
eblwarn("detection failed");
#else
eblwarn("detection failed: " << e);
#endif
clear_bboxes();
}
}
}
#ifdef __GUI__
else { // fprop and display
if (precomputed_boxes) eblerror("not implemented for nms only (TODO)");
disable_window_updates();
select_window(wid);
clear_window();
std::string title = _name;
title << ": " << frame_name;
set_window_title(title.c_str());
// clear_resize_window();
try {
if (mindisplay) {
bboxes &bb =
dgui.display(detect, frame, frame_name.c_str(), frame_id,
0, 0, zoom, display_min, display_max,
wid, _name.c_str(), display_transp);
copy_bboxes(bb); // make a copy of bounding boxes
} else {
// extract & display boxes
bboxes &bb =
dgui.display_inputs_outputs(detect, frame, frame_name.c_str(),
frame_id, 0, 0, zoom,
display_min, display_max, wid,
_name.c_str(),
display_in_min, display_in_max,
display_transp, display_wmax);
// make a copy of bounding boxes
copy_bboxes(bb);
}
} catch(ebl::eblexception &e) { // detection failed
eblwarn("detection failed: " << e);
clear_bboxes();
}
enable_window_updates();
}
if (display_states) {
dgui.display_current(detect, frame, wid_states, NULL, zoom);
select_window(wid);
}
if (save_video && display) {
std::string fname = viddir;
fname += frame_name;
save_window(fname.c_str());
if (!silent) mout << "saved " << fname << std::endl;
}
#endif
if (!silent)
mout << "processing done for frame " << frame_name << std::endl;
// bootstrapping
if (conf.exists_true("bootstrapping")) {
boot.fprop(detect, frame_name);
// add multiple scales if positives and scales are defined
if (conf.exists("gt_scales") && boot.extract_positives()) {
std::vector<double> scales =
string_to_doublevector(conf.get_cstring("gt_scales"));
for (uint s = 0; s < scales.size(); ++s) {
double f = scales[s];
// downsample input by f
detect.set_resolution(f);
detect.init(frame.get_idxdim(), frame_name.c_str());
detect.fprop(frame, frame_name.c_str(), frame_id);
boot.fprop(detect, frame_name, false, f);
}
detect.set_scaling_original();
detect.init(frame.get_idxdim(), frame_name.c_str());
}
copy_bootstrapping(boot.get_all(), boot.get_bball());
#ifdef __GUI__
// display groundtruth
if (conf.exists_true("display_bootstrapping"))
dgui.display_groundtruth(detect, frame, boot.get_gtall(),
boot.get_gtclean(), boot.get_gtrest(),
boot.get_bbpos(), boot.get_bbneg(),
boot.get_pos(), boot.get_neg(), 0, 0, zoom,
display_min, display_max);
#endif
}
total_saved = detect.get_total_saved();
ms = tpass.elapsed_milliseconds();
if (!silent) {
mout << bbs.pretty_short(detect.get_labels());
mout << "processing=" << ms << " ms ("
<< tpass.elapsed() << ")" << std::endl;
}
DEBUGMEM_PRETTY("after detection");
// switch 'updated' flag on to warn we just added new data
set_out_updated();
// display sleep
if (display_sleep > 0) {
mout << "sleeping for " << display_sleep << "ms." << std::endl;
millisleep(display_sleep);
}
if (conf.exists("save_max") &&
detect.get_total_saved() > conf.get_uint("save_max"))
break ; // limit number of detection saves
}
mout << "detection finished. Execution time: " << toverall.elapsed()<<std::endl;
// free variables
if (net) delete net;
if (ans) delete ans;
} eblcatcherror();
}
string copy_prepare(string appfolder, string operation, string foldername, string fw_folder, string app)
{
DIR *dp;
struct dirent *dirp;
int findex=0, mountblind=0, numfiles_total=0, numfiles_current=1, j=0, i=0, showprogress=0;
double copy_totalsize=0, copy_currentsize=0, source_size=0, dest_size=0, freespace_size=0;
string source_paths[100], dest_paths[100], check_paths[100];
string check_path, sourcefile, destfile, filename, dest, source, title;
string *files_list = NULL, *final_list_source = NULL, *final_list_dest = NULL; //Pointer for an array to hold the filenames.
string ret="";
if (operation=="backup")
{
check_path=appfolder+"/apps/"+app+"/"+fw_folder;
dp = opendir (check_path.c_str());
if (dp == NULL) return "Cannot open directory "+check_path;
while ( (dirp = readdir(dp) ) )
{
if ( strcmp(dirp->d_name, ".") != 0 && strcmp(dirp->d_name, "..") != 0 && strcmp(dirp->d_name, "") != 0)
{
if (dirp->d_type == DT_DIR)
{
check_paths[findex]=check_path+"/"+dirp->d_name;
source_paths[findex]=correct_path(dirp->d_name,2);
dest_paths[findex]=appfolder+"/backups/"+foldername+"/"+dirp->d_name;
if (source_paths[findex].find("dev_blind")!=string::npos) mountblind=1;
findex++;
}
//check zip files
}
}
closedir(dp);
title="Backing up files ...";
}
else if (operation=="restore")
{
check_path=appfolder+"/backups/"+foldername;
dp = opendir (check_path.c_str());
if (dp == NULL) return "Cannot open directory "+check_path;
while ( (dirp = readdir(dp) ) )
{
if ( strcmp(dirp->d_name, ".") != 0 && strcmp(dirp->d_name, "..") != 0 && strcmp(dirp->d_name, "") != 0 && dirp->d_type == DT_DIR)
{
source_paths[findex]=check_path + "/" + dirp->d_name;
dest_paths[findex]=correct_path(dirp->d_name,2);
if (dest_paths[findex].find("dev_blind")!=string::npos) mountblind=1;
findex++;
}
}
closedir(dp);
title="Restoring files ...";
}
else if (operation=="install")
{
check_path=appfolder+"/apps/"+app+"/"+fw_folder;
dp = opendir (check_path.c_str());
if (dp == NULL) return "Cannot open directory "+check_path;
while ( (dirp = readdir(dp) ) )
{
if ( strcmp(dirp->d_name, ".") != 0 && strcmp(dirp->d_name, "..") != 0 && strcmp(dirp->d_name, "") != 0 && dirp->d_type == DT_DIR)
{
source_paths[findex]=check_path + "/" + dirp->d_name;
dest_paths[findex]=correct_path(dirp->d_name,2);
if (dest_paths[findex].find("dev_blind")!=string::npos) mountblind=1;
findex++;
}
//check zip files
}
closedir(dp);
title="Copying files ...";
}
if (mountblind==1)
{
if (is_dev_blind_mounted()!=0) mount_dev_blind();
if (is_dev_blind_mounted()!=0) return "Dev_blind not mounted!";
if (exists("/dev_flash/vsh/resource/explore/xmb/xmbmp.cfg")!=0) create_file("/dev_blind/vsh/resource/explore/xmb/xmbmp.cfg");
}
//count files
final_list_source = new string[5000];
final_list_dest = new string[5000];
for(j=0;j<findex;j++)
{
if (operation=="backup") check_path=check_paths[j];
else check_path=source_paths[j];
//Mess.Dialog(MSG_OK,("check_path: "+check_path).c_str());
files_list=recursiveListing(check_path);
i=0;
while (strcmp(files_list[i].c_str(),"") != 0)
{
files_list[i].replace(files_list[i].find(check_path), check_path.size()+1, "");
sourcefile=source_paths[j]+"/"+files_list[i];
destfile=dest_paths[j]+"/"+files_list[i];
//Mess.Dialog(MSG_OK,(operation+"\nsource: "+sourcefile+"\ndest:"+destfile).c_str());
if (!(operation=="backup" && exists(sourcefile.c_str())!=0))
{
copy_totalsize+=get_filesize(sourcefile.c_str());
final_list_source[numfiles_total]=sourcefile;
final_list_dest[numfiles_total]=destfile;
filename=final_list_source[i].substr(final_list_source[i].find_last_of("/")+1);
source=final_list_source[i].substr(0,final_list_source[i].find_last_of("/")+1);
dest=final_list_dest[i].substr(0,final_list_dest[i].find_last_of("/")+1);
//Mess.Dialog(MSG_OK,(operation+"\nsource: "+final_list_source[numfiles_total]+"\ndest:"+final_list_dest[numfiles_total]).c_str());
if (dest.find("dev_blind")!=string::npos) mountblind=1;
numfiles_total+=1;
}
i++;
}
}
//only show progress bar if total size bigger than 512KB
if (copy_totalsize < 1048576/2) showprogress=-1;
//copy files
i=0;
if (showprogress==0) Mess.SingleProgressBarDialog(title.c_str(), "Processing files...");
while (strcmp(final_list_source[i].c_str(),"") != 0)
{
sourcefile=final_list_source[i];
destfile=final_list_dest[i];
source_size=get_filesize(sourcefile.c_str());
dest_size=get_filesize(destfile.c_str());
filename=final_list_source[i].substr(final_list_source[i].find_last_of("/")+1);
source=final_list_source[i].substr(0,final_list_source[i].find_last_of("/")+1);
dest=final_list_dest[i].substr(0,final_list_dest[i].find_last_of("/")+1);
freespace_size=get_free_space(dest.c_str())+dest_size;
if (source_size >= freespace_size)
{
if (showprogress==0) Mess.ProgressBarDialogAbort();
return "Not enough space to copy the file ("+filename+") to destination path ("+dest+").";
}
else
{
if (mkdir_full(dest)!=0)
{
if (showprogress==0) Mess.ProgressBarDialogAbort();
return "Could not create directory ("+dest+").";
}
ret=copy_file(title, source.c_str(), dest.c_str(), filename.c_str(),source_size, copy_currentsize, copy_totalsize, numfiles_current, numfiles_total,0,showprogress);
if (ret != "")
{
if (showprogress==0) Mess.ProgressBarDialogAbort();
return ret;
}
}
copy_currentsize=copy_currentsize+source_size;
numfiles_current++;
i++;
}
if (showprogress==0) Mess.ProgressBarDialogAbort();
//check files
i=0;
copy_currentsize=0;
numfiles_current=1;
title="Checking files ...";
if (showprogress==0) Mess.SingleProgressBarDialog(title.c_str(), "Processing files...");
while (strcmp(final_list_source[i].c_str(),"") != 0)
{
sourcefile=final_list_source[i];
destfile=final_list_dest[i];
source_size=get_filesize(sourcefile.c_str());
filename=final_list_source[i].substr(final_list_source[i].find_last_of("/")+1);
source=final_list_source[i].substr(0,final_list_source[i].find_last_of("/")+1);
dest=final_list_dest[i].substr(0,final_list_dest[i].find_last_of("/")+1);
ret=copy_file(title, source.c_str(), dest.c_str(), filename.c_str(),source_size, copy_currentsize, copy_totalsize, numfiles_current, numfiles_total,1,showprogress);
if (ret != "")
{
if (showprogress==0) Mess.ProgressBarDialogAbort();
return ret;
}
copy_currentsize=copy_currentsize+source_size;
numfiles_current++;
i++;
}
if (showprogress==0) Mess.ProgressBarDialogAbort();
return "";
}
MAIN_QTHREAD(int, argc, char **, argv) { // macro to enable multithreaded gui
#else
int main(int argc, char **argv) { // regular main without gui
#endif
try {
// check input parameters
if ((argc != 2) && (argc != 3) ) {
cerr << "wrong number of parameters." << endl;
cerr << "usage: objdetect <config file> [directory or file]" << endl;
return -1;
}
#ifdef __LINUX__
feenableexcept(FE_DIVBYZERO | FE_INVALID); // enable float exceptions
#endif
ipp_init(1); // limit IPP (if available) to 1 core
// load configuration
configuration conf(argv[1], true, true, false);
if (!conf.exists("root2")) {
string dir;
dir << dirname(argv[1]) << "/";
cout << "Looking for trained files in: " << dir << endl;
conf.set("root2", dir.c_str());
conf.set("current_dir", dir.c_str());
}
conf.resolve();
if (conf.exists_true("show_conf")) conf.pretty();
bool color = conf.exists_bool("color");
uint norm_size = conf.get_uint("normalization_size");
Tnet threshold = (Tnet) conf.get_double("threshold");
bool display = false;
bool display_states= false;
bool mindisplay = false;
uint display_sleep = 0;
bool save_video = false;
string cam_type = conf.get_string("camera");
int height = -1;
int width = -1;
if (conf.exists("input_height")) height = conf.get_int("input_height");
if (conf.exists("input_width")) width = conf.get_int("input_width");
bool input_random = conf.exists_true("input_random");
uint npasses = 1;
char next_on_key = 0;
uint wid = 0; // window id
uint wid_states = 0; // window id
string outdir = "out_";
if (conf.exists("next_on_key")) {
next_on_key = conf.get_char("next_on_key");
cout << "Press " << next_on_key << " to process next frame." << endl;
}
outdir += tstamp();
outdir += "/";
cout << "Saving outputs to " << outdir << endl;
// load network and weights
parameter<fs(Tnet)> theparam;
idx<ubyte> classes(1,1);
try {
load_matrix<ubyte>(classes, conf.get_cstring("classes"));
} catch(string &err) { cerr << "warning: " << err << endl; }
vector<string> sclasses = ubyteidx_to_stringvector(classes);
answer_module<SFUNC2(Tnet)> *ans =
create_answer<SFUNC2(Tnet)>(conf, classes.dim(0));
uint noutputs = ans->get_nfeatures();
module_1_1<SFUNC(Tnet)> *net =
create_network<SFUNC(Tnet)>(theparam, conf, noutputs);
// loading weights
if (!conf.exists("weights")) { // manual weights
cerr << "warning: \"weights\" variable not defined, loading manually "
<< "if manual_load defined" << endl;
if (conf.exists_true("manual_load"))
manually_load_network(*((layers<SFUNC(Tnet)>*)net), conf);
} else { // multiple-file weights
// concatenate weights if multiple ones
vector<string> w =
string_to_stringvector(conf.get_string("weights"));
cout << "Loading weights from: " << w << endl;
theparam.load_x(w);
}
// detector
detector<fs(Tnet)> detect(*net, sclasses, *ans, NULL, NULL);
// multi-scaling parameters
double maxs = conf.exists("max_scale")?conf.get_double("max_scale") : 1.0;
double mins = conf.exists("min_scale")?conf.get_double("min_scale") : 1.0;
t_scaling scaling_type = SCALES_STEP;
vector<idxdim> scales;
if (conf.exists("scaling_type"))
scaling_type = (t_scaling) conf.get_uint("scaling_type");
switch (scaling_type) {
case MANUAL:
if (!conf.exists("scales"))
eblerror("expected \"scales\" variable to be defined in manual mode");
scales = string_to_idxdimvector(conf.get_cstring("scales"));
detect.set_resolutions(scales);
break ;
case ORIGINAL: detect.set_scaling_original(); break ;
case SCALES_STEP:
detect.set_resolutions(conf.get_double("scaling"), maxs, mins);
break ;
case SCALES_STEP_UP:
detect.set_resolutions(conf.get_double("scaling"), maxs, mins);
detect.set_scaling_type(scaling_type);
break ;
default:
detect.set_scaling_type(scaling_type);
}
// optimize memory usage by using only 2 buffers for entire flow
SBUF<Tnet> input(1, 1, 1), output(1, 1, 1);
if (!conf.exists_false("mem_optimization"))
detect.set_mem_optimization(input, output, true);
// zero padding
float hzpad = 0, wzpad = 0;
if (conf.exists("hzpad")) hzpad = conf.get_float("hzpad");
if (conf.exists("wzpad")) wzpad = conf.get_float("wzpad");
detect.set_zpads(hzpad, wzpad);
bool bmask_class = false;
if (conf.exists("mask_class"))
bmask_class = detect.set_mask_class(conf.get_cstring("mask_class"));
if (conf.exists("input_min")) // limit inputs size
detect.set_min_resolution(conf.get_uint("input_min"));
if (conf.exists("input_max")) // limit inputs size
detect.set_max_resolution(conf.get_uint("input_max"));
detect.set_silent();
if (conf.exists_bool("save_detections")) {
string detdir = outdir;
detdir += "detections";
detdir = detect.set_save(detdir);
if (conf.exists("save_max_per_frame"))
detect.set_save_max_per_frame(conf.get_uint("save_max_per_frame"));
}
// nms
detect.set_cluster_nms(conf.exists_true("cluster_nms"));
detect.set_scaler_mode(conf.exists_true("scaler_mode"));
if (conf.exists("nms"))
detect.set_pruning((t_pruning)conf.get_uint("nms"),
conf.exists("min_hcenter_dist") ?
conf.get_float("min_hcenter_dist") : 0.0,
conf.exists("min_wcenter_dist") ?
conf.get_float("min_wcenter_dist") : 0.0,
conf.exists("bbox_max_overlap") ?
conf.get_float("bbox_max_overlap") : 1.0,
conf.exists_true("share_parts"),
conf.exists("threshold2") ?
(Tnet) conf.get_float("threshold2") : 0.0,
conf.exists("bbox_max_center_dist") ?
conf.get_float("bbox_max_center_dist") : 0.0,
conf.exists("bbox_max_center_dist2") ?
conf.get_float("bbox_max_center_dist2") : 0.0,
conf.exists("bbox_max_wcenter_dist") ?
conf.get_float("bbox_max_wcenter_dist") : 0.0,
conf.exists("bbox_max_wcenter_dist2") ?
conf.get_float("bbox_max_wcenter_dist2") : 0.0,
conf.exists("min_wcenter_dist2") ?
conf.get_float("min_wcenter_dist2") : 0.0,
conf.exists("bbox_max_overlap2") ?
conf.get_float("bbox_max_overlap2") : 0.0,
conf.exists_true("mean_bb"),
conf.exists("same_scale_mhd") ?
conf.get_float("same_scale_mhd") : 0.0,
conf.exists("same_scale_mwd") ?
conf.get_float("same_scale_mwd") : 0.0,
conf.exists("min_scale_pred") ?
conf.get_float("min_scale_pred") : 0.0,
conf.exists("max_scale_pred") ?
conf.get_float("max_scale_pred") : 0.0
);
if (conf.exists("bbox_hfactor") && conf.exists("bbox_wfactor"))
detect.set_bbox_factors(conf.get_float("bbox_hfactor"),
conf.get_float("bbox_wfactor"),
conf.exists("bbox_woverh") ?
conf.get_float("bbox_woverh") : 1.0,
conf.exists("bbox_hfactor2") ?
conf.get_float("bbox_hfactor2") : 1.0,
conf.exists("bbox_wfactor2") ?
conf.get_float("bbox_wfactor2") : 1.0);
if (conf.exists("max_object_hratio"))
detect.set_max_object_hratio(conf.get_double("max_object_hratio"));
if (conf.exists("net_min_height") && conf.exists("net_min_width"))
detect.set_min_input(conf.get_int("net_min_height"),
conf.get_int("net_min_width"));
if (conf.exists("smoothing"))
detect.set_smoothing(conf.get_uint("smoothing"));
if (conf.exists("background_name"))
detect.set_bgclass(conf.get_cstring("background_name"));
// image search can be configured with a search pattern
const char *fpattern = IMAGE_PATTERN_MAT;
if (conf.exists("file_pattern"))
fpattern = conf.get_cstring("file_pattern");
// initialize camera (opencv, directory, shmem or video)
idx<ubyte> frame;
camera<ubyte> *cam = NULL, *cam2 = NULL;
if (!strcmp(cam_type.c_str(), "directory")) {
string dir;
if (argc >= 3) // read input dir from command line
dir = argv[2];
else if (conf.exists("input_dir"))
dir = conf.get_string("input_dir");
// given list
list<string> files;
if (conf.exists("input_list")) {
files = string_to_stringlist(conf.get_string("input_list"));
cam = new camera_directory<ubyte>(dir.c_str(), height, width,
input_random, npasses,
std::cout, std::cerr,
fpattern, &files);
} else // given directory only
cam = new camera_directory<ubyte>(dir.c_str(), height, width,
input_random, npasses,
std::cout, std::cerr,
fpattern, &files);
} else if (!strcmp(cam_type.c_str(), "opencv"))
cam = new camera_opencv<ubyte>(-1, height, width);
#ifdef __LINUX__
else if (!strcmp(cam_type.c_str(), "v4l2"))
cam = new camera_v4l2<ubyte>(conf.get_cstring("device"),
height, width,
conf.exists_true("camera_grayscale"));
#endif
else if (!strcmp(cam_type.c_str(), "shmem"))
cam = new camera_shmem<ubyte>("shared-mem", height, width);
else if (!strcmp(cam_type.c_str(), "video")) {
if (argc >= 3)
cam = new camera_video<ubyte>
(argv[2], height, width, conf.get_uint("input_video_sstep"),
conf.get_uint("input_video_max_duration"));
else eblerror("expected 2nd argument");
} else eblerror("unknown camera type");
// a camera directory may be used first, then switching to regular cam
if (conf.exists_bool("precamera"))
cam2 = new camera_directory<ubyte>(conf.get_cstring("precamdir"),
height, width);
// answer variables & initializations
vector<bbox*> bboxes;
vector<bbox*>::iterator ibboxes;
ostringstream answer_fname;
mkdir_full(outdir);
answer_fname << outdir << "bbox.txt";
// open file
ofstream fp(answer_fname.str().c_str());
if (!fp) {
cerr << "failed to open " << answer_fname.str() << endl;
eblerror("open failed");
}
// gui
#ifdef __GUI__
display = conf.exists_bool("display");
mindisplay = conf.exists_bool("minimal_display");
display_sleep = conf.get_uint("display_sleep");
display_states = conf.exists_bool("display_states");
save_video = conf.exists_bool("save_video");
uint qstep1 = 0, qheight1 = 0, qwidth1 = 0,
qheight2 = 0, qwidth2 = 0, qstep2 = 0;
if (conf.exists_bool("queue1")) {
qstep1 = conf.get_uint("qstep1");
qheight1 = conf.get_uint("qheight1");
qwidth1 = conf.get_uint("qwidth1"); }
if (conf.exists_bool("queue2")) {
qstep2 = conf.get_uint("qstep2");
qheight2 = conf.get_uint("qheight2");
qwidth2 = conf.get_uint("qwidth2"); }
module_1_1_gui netgui;
wid_states = display_states ? new_window("network states"):0;
night_mode();
wid = display ? new_window("eblearn object recognition") : 0;
night_mode();
float zoom = 1;
detector_gui<fs(Tnet)> dgui(conf.exists_bool("queue1"), qstep1, qheight1,
qwidth1, conf.exists_bool("queue2"), qstep2,
qheight2, qwidth2);
if (bmask_class)
dgui.set_mask_class(conf.get_cstring("mask_class"),
(Tnet) conf.get_double("mask_threshold"));
if (save_video) {
string viddir = outdir;
viddir += "video";
cam->start_recording(wid, viddir.c_str());
}
#endif
// timing variables
timer tpass, toverall;
long ms;
// loop
toverall.start();
while(!cam->empty()) {
// get a new frame
tpass.restart();
// if the pre-camera is defined use it until empty
if (cam2 && !cam2->empty())
frame = cam2->grab();
else // empty pre-camera, use regular camera
frame = cam->grab();
string frame_name = cam->frame_name();
// run detector
if (!display) { // fprop without display
bboxes = detect.fprop(frame, threshold, frame_name.c_str());
}
#ifdef __GUI__
else { // fprop and display
disable_window_updates();
clear_window();
if (mindisplay)
bboxes = dgui.display(detect, frame, threshold, frame_name.c_str(),
0, 0, zoom, (Tnet)0, (Tnet)255, wid);
else
bboxes =
dgui.display_inputs_outputs(detect, frame, threshold,
frame_name.c_str(), 0, 0, zoom,
(Tnet)-1.1, (Tnet)1.1, wid);
enable_window_updates();
if (display_states) {
dgui.display_current(detect, frame, wid_states);
select_window(wid);
}
if (save_video)
cam->record_frame();
}
#endif
ms = tpass.elapsed_milliseconds();
cout << "processing: " << ms << " ms." << endl;
cout << "fps: " << cam->fps() << endl;
// save bounding boxes
for (ibboxes = bboxes.begin(); ibboxes != bboxes.end(); ++ibboxes) {
fp << cam->frame_name() << " " << (*ibboxes)->class_id << " "
<< (*ibboxes)->confidence << " ";
fp << (*ibboxes)->w0 << " " << (*ibboxes)->h0 << " ";
fp << (*ibboxes)->w0 + (*ibboxes)->width << " ";
fp << (*ibboxes)->h0 + (*ibboxes)->height << endl;
}
// sleep display
if (display_sleep > 0) {
cout << "sleeping for " << display_sleep << "ms." << endl;
millisleep(display_sleep);
}
if (conf.exists("save_max") &&
detect.get_total_saved() > conf.get_uint("save_max")) {
cout << "Reached max number of detections, exiting." << endl;
break ; // limit number of detection saves
}
}
cout << "Execution time: " << toverall.elapsed_minutes() <<" mins" <<endl;
if (save_video)
cam->stop_recording(conf.exists_bool("use_original_fps") ?
cam->fps() : conf.get_uint("save_video_fps"));
// free variables
if (net) delete net;
if (cam) delete cam;
// close files
fp.close();
#ifdef __GUI__
if (!conf.exists_true("no_gui_quit")) {
cout << "Closing windows..." << endl;
quit_gui(); // close all windows
cout << "Windows closed." << endl;
}
#endif
} eblcatcherror();
return 0;
}
NOCONSOLE_MAIN_QTHREAD(int, argc, char**, argv) {
#else
MAIN_QTHREAD(int, argc, char**, argv) {
#endif /* NOCONSOLE */
#else
int main(int argc, char **argv) {
ERROR_MSG("QT not found, install and recompile.");
#endif /* __GUI__ */
try {
if (!parse_args(argc, argv))
return -1;
// variables
range.push_back(-1.0); // default range min
range.push_back(1.0); // default range max
string conf_fname, diff_fname;
// show mat images
list<string> *argmats = new list<string>();
list<string>::iterator i;
for (int i = 1; i < argc; ++i) {
// check for options
try {
if (!strcmp(argv[i], "-conf")) {
++i; if (i >= argc) throw 0;
conf_fname = argv[i];
} else if (!strcmp(argv[i], "-diff")) {
++i; if (i >= argc) throw 0;
diff_fname = argv[i];
} else if (!strcmp(argv[i], "-zoom")) {
++i; if (i >= argc) throw 0;
zoom = (float) atof(argv[i]);
} else if (!strcmp(argv[i], "-maxwidth")) {
++i; if (i >= argc) throw 0;
maxwidth = (int) atoi(argv[i]);
} else if (!strcmp(argv[i], "-video")) {
video = true;
} else if (!strcmp(argv[i], "-print")) {
print = true;
} else if (!strcmp(argv[i], "-interleaved")) {
interleaved = true;
} else if (!strcmp(argv[i], "-save_individually")) {
save_individually = true;
} else if (!strcmp(argv[i], "-filename")) {
show_filename = true;
} else if (!strcmp(argv[i], "-range")) {
range.clear();
++i; if (i >= argc) throw 0;
string s = argv[i];
int k = 0;
while (s.size()) {
uint j;
for (j = 0; j < s.size(); ++j)
if (s[j] == ',')
break ;
string s0 = s.substr(0, j);
if (j >= s.size())
s = "";
else
s = s.substr(j + 1, s.size());
range.push_back(atof(s0.c_str()));
k++;
}
cout << "Fixing input range to " << range[0] << " .. "
<< range[1] << endl;
fixed_range = true;
}
// enqueue file names
else {
cout << argv[i] << endl;
argmats->push_back(argv[i]);
}
} catch (int err) {
cerr << "input error: ";
switch (err) {
case 0: cerr << "expecting string after " << argv[i-1]; break;
case 1: cerr << "expecting integer after " << argv[i-1]; break;
case 2: cerr << "unknown parameter " << argv[i-1]; break;
case 3: cerr << "unknown channel mode " << argv[i-1]; break;
default: cerr << "undefined error";
}
cerr << endl << endl;
return false;
}
}
// load configuration in conf mode
if (conf_fname.size() > 0) {
conf = new configuration(conf_fname);
if (!conf->exists("root2")) {
string dir = dirname(conf_fname.c_str());
cout << "Looking for trained files in: " << dir << endl;
conf->set("root2", dir.c_str());
conf->resolve();
}
// enable auto range by default in conf mode
if (!fixed_range)
autorange = true;
}
// diff mode, just print matrices differences
if (!diff_fname.empty()) {
i = argmats->begin();
idx<double> m1 = load_matrix<double>((*i).c_str());
idx<double> m2 = load_matrix<double>(diff_fname);
if (!m1.same_dim(m2.get_idxdim())) {
eblerror("cannot compare matrices of different dimensions " << m1
<< " and " << m2);
return -1;
}
idx_sub(m1, m2);
double sum = idx_sum(m1);
cout << "sum(m1 - m2) = " << sum << endl;
return 0;
}
// display first matrix/image
i = argmats->begin();
if (!video) {
if (!load_display(i, true, argmats)) {
ERROR_MSG("failed to load image(s)");
return -1;
}
}
// explore working directory for more images only if a
// single file was passed
if (argmats->size() == 1)
explore = true;
#ifdef __GUI__
#ifdef __BOOST__
// list all other mat files in image directory
string dir = argv[1];
string imgname, tmpname;
size_t pos = dir.find_last_of('/');
if (pos == string::npos) {
imgname = dir;
dir = "./";
} else { // it contains a directory
imgname = dir.substr(pos + 1, dir.size() - pos + 1);
dir = dir.substr(0, pos);
}
list<string> *mats = argmats;
if (explore)
mats = find_fullfiles(dir, IMAGE_PATTERN_MAT,
NULL, true, false);
// video mode
if (video) {
string out;
out << "video_" << tstamp();
mkdir_full(out);
uint j = 0;
for (i = mats->begin(); i != mats->end(); ++i, ++j) {
cout << "video mode: displaying " << *i << endl;
if (!load_display(i, true, mats)) {
ERROR_MSG("failed to load image(s)");
return -1;
}
millisleep(3000);
ostringstream fname;
fname << out << "/" << setfill('0') << setw(4) << j << "_"
<< ebl::basename(i->c_str()) << ".png";
save_window(fname.str().c_str());
cout << "video mode: saved " << fname.str() << endl;
}
} else { // interactive mode
if ((mats) && (mats->size() >= 1)) {
// find current position in this list
for (i = mats->begin(); i != mats->end(); ++i) {
tmpname = ebl::basename(i->c_str());
if (!imgname.compare(tmpname))
break ;
}
if (i == mats->end())
i = mats->begin();
// loop and wait for key pressed
while (1) {
millisleep(50);
int key = gui.pop_key_pressed();
// next/previous images only if not everuything is already displayed
if (mats->size() > nh * nw) {
if ((key == Qt::Key_Space) || (key == Qt::Key_Right)) {
// show next image
for (uint k = 0; k < nw * nh; ++k) {
i++;
if (i == mats->end()) {
i = mats->begin();
}
}
load_display(i, true, mats);
} else if ((key == Qt::Key_Backspace) || (key == Qt::Key_Left)) {
// show previous image
for (uint k = 0; k < nw * nh; ++k) {
if (i == mats->begin())
i = mats->end();
i--;
}
load_display(i, true, mats);
}
}
if (key == Qt::Key_I) {
// show info
show_info = !show_info;
if (show_info)
show_help = false;
load_display(i, false, mats);
} else if (key == Qt::Key_A) {
// enable autorange
autorange = !autorange;
if (autorange)
cout << "Enabling automatic input range." << endl;
else
cout << "Disabling automatic input range." << endl;
load_display(i, false, mats);
} else if (key == Qt::Key_H) {
// show help
show_help = !show_help;
if (show_help)
show_info = false;
load_display(i, false, mats);
} else if (key == Qt::Key_Y) {
// increase number of images shown on height axis
if (nh * nw < mats->size())
nh++;
load_display(i, false, mats);
} else if (key == Qt::Key_T) {
// decrease number of images shown on height axis
nh = (std::max)((uint) 1, nh - 1);
load_display(i, false, mats);
} else if (key == Qt::Key_X) {
// increase number of images shown on width axis
if (nh * nw < mats->size())
nw++;
load_display(i, false, mats);
} else if (key == Qt::Key_Z) {
// decrease number of images shown on width axis
nw = (std::max)((uint) 1, nw - 1);
load_display(i, false, mats);
} else if (key == Qt::Key_0) {
// show only channel 0
chans = 0;
load_display(i, false, mats);
cout << "Showing channel 0 only." << endl;
} else if (key == Qt::Key_1) {
// show only channel 1
chans = 1;
load_display(i, false, mats);
cout << "Showing channel 1 only." << endl;
} else if (key == Qt::Key_2) {
// show only channel 2
chans = 2;
load_display(i, false, mats);
cout << "Showing channel 2 only." << endl;
} else if (key == Qt::Key_9) {
// show all channels
chans = -1;
load_display(i, false, mats);
cout << "Showing alls channel." << endl;
}
}
}
}
// free objects
if (mats) delete mats;
#endif /* __BOOST__ */
#endif /* __GUI__ */
if (argmats) delete argmats;
if (conf) delete conf;
} catch(string &err) {
ERROR_MSG(err.c_str());
}
millisleep(500); // TODO: this lets time for window to open, fix this issue
return 0;
}
MAIN_QTHREAD(int, argc, char **, argv) { // macro to enable multithreaded gui
#else
int main(int argc, char **argv) { // regular main without gui
#endif
try {
// check input parameters
if ((argc != 2) && (argc != 3) ) {
cerr << "warning: wrong number of parameters." << endl;
cerr << "usage: detect <config file> [directory or file]" << endl;
// return -1;
}
#ifdef __LINUX__
feenableexcept(FE_DIVBYZERO | FE_INVALID); // enable float exceptions
#endif
// load configuration
configuration conf(argv[1], true, true, false);
if (conf.exists_true("fixed_randomization"))
cout << "Using fixed seed: " << fixed_init_drand() << endl;
else
cout << "Using random seed: " << dynamic_init_drand(argc, argv) << endl;
if (!conf.exists("root2") || !conf.exists("current_dir")) {
string dir;
dir << dirname(argv[1]) << "/";
cout << "Looking for trained files in: " << dir << endl;
conf.set("root2", dir.c_str());
conf.set("current_dir", dir.c_str());
}
conf.set("run_type", "detect"); // tell conf that we are in detect mode
conf.resolve(); // manual call to resolving variable
bool silent = conf.exists_true("silent");
if (conf.exists_true("show_conf") && !silent) conf.pretty();
// output synchronization
bool sync = conf.exists_true("sync_outputs");
mutex out_mutex;
mutex_ostream mutout(std::cout, &out_mutex, "Thread M");
mutex_ostream muterr(std::cerr, &out_mutex, "Thread M");
ostream &mout = sync ? mutout : cout;
ostream &merr = sync ? muterr : cerr;
bootstrapping<t_net> boot(conf);
// output dir
string outdir = detection_thread<t_net>::get_output_directory(conf);
mout << "Saving outputs to " << outdir << endl;
// save conf to output dir
string cname = outdir;
cname << filename(argv[1]);
if (conf.write(cname.c_str()))
mout << "Wrote configuration to " << cname << endl;
// load classes of network
idx<ubyte> classes(1,1);
vector<string> sclasses;
try { // try loading classes names but do not stop upon failure
load_matrix<ubyte>(classes, conf.get_cstring("classes"));
} catch(string &err) { merr << "warning: " << err << endl; }
sclasses = ubyteidx_to_stringvector(classes);
t_bbox_saving bbsaving = bbox_none;
if (conf.exists("bbox_saving"))
bbsaving = (t_bbox_saving) conf.get_int("bbox_saving");
bboxes boxes(bbsaving, &outdir, mout, merr);
uint ipp_cores = 1;
if (conf.exists("ipp_cores")) ipp_cores = conf.get_uint("ipp_cores");
ipp_init(ipp_cores); // limit IPP (if available) to 1 core
bool save_video = conf.exists_true("save_video");
bool save_detections = conf.exists_true("save_detections");
int height = -1;
int width = -1;
if (conf.exists("input_height")) height = conf.get_int("input_height");
if (conf.exists("input_width")) width = conf.get_int("input_width");
bool input_random = conf.exists_true("input_random");
uint npasses = 1;
char next_on_key = 0;
if (conf.exists("next_on_key")) {
next_on_key = conf.get_char("next_on_key");
mout << "Press " << next_on_key << " to process next frame." << endl;
}
uint skip_frames = conf.try_get_uint("skip_frames", 0);
if (conf.exists("input_npasses"))
npasses = conf.get_uint("input_npasses");
string viddir;
if (save_video) {
viddir << outdir << "video/";
mkdir_full(viddir);
}
bool precomputed_boxes = conf.exists("bbox_file");
uint save_bbox_period = conf.try_get_uint("save_bbox_period", 500);
idxdim crop(1, 1, 1);
if (conf.exists("input_crop"))
crop = string_to_idxdim(conf.get_string("input_crop"));
string cam_type;
#ifdef __LINUX__ // default camera for linux if not defined
cam_type = "v4l2";
#endif
if (conf.exists("camera"))
cam_type = conf.get_string("camera");
// allocate threads
uint nthreads = 1;
bool updated = false;
idx<ubyte> detframe; // frame returned by detection thread
uint frame_id = 0;
svector<midx<t_net> > all_samples, samples; // extracted samples
bboxes all_bbsamples, bbsamples; // boxes corresponding to samples
if (conf.exists("nthreads"))
nthreads = (std::max)((uint) 1, conf.get_uint("nthreads"));
list<detection_thread<t_net>*> threads;
list<detection_thread<t_net>*>::iterator ithreads;
idx<uint> total_saved(nthreads);
idx_clear(total_saved);
mout << "Initializing " << nthreads << " detection threads." << endl;
for (uint i = 0; i < nthreads; ++i) {
detection_thread<t_net> *dt =
new detection_thread<t_net>(conf, &out_mutex, NULL, NULL, sync);
threads.push_back(dt);
dt->start();
}
// image search can be configured with a search pattern
const char *fpattern = IMAGE_PATTERN_MAT;
if (conf.exists("file_pattern"))
fpattern = conf.get_cstring("file_pattern");
// initialize camera (opencv, directory, shmem or video)
idx<ubyte> frame(std::max(height, 1), std::max(width, 1), 3);
camera<ubyte> *cam = NULL, *cam2 = NULL;
if (!strcmp(cam_type.c_str(), "directory")) {
string dir;
if (argc >= 3) // read input dir from command line
dir = argv[2];
else if (conf.exists("input_dir"))
dir = conf.get_string("input_dir");
// given list
list<string> files;
if (conf.exists("input_list")) {
files = string_to_stringlist(conf.get_string("input_list"));
cam = new camera_directory<ubyte>(dir.c_str(), height, width,
input_random, npasses, mout, merr,
fpattern, &files);
} else // given directory only
cam = new camera_directory<ubyte>(dir.c_str(), height, width,
input_random, npasses, mout, merr,
fpattern, &files);
} else if (!strcmp(cam_type.c_str(), "opencv"))
cam = new camera_opencv<ubyte>(-1, height, width);
#ifdef __LINUX__
else if (!strcmp(cam_type.c_str(), "v4l2"))
cam = new camera_v4l2<ubyte>(conf.get_cstring("device"),
height, width,
conf.exists_true("camera_grayscale"),
conf.exists_true("camera_rgb"));
else if (!strcmp(cam_type.c_str(), "mac"))
cam = new camera_mac<ubyte>(conf.get_cstring("device"),
height, width,
conf.exists_true("camera_grayscale"),
conf.exists_true("camera_rgb"));
else if (!strcmp(cam_type.c_str(), "mcams")) {
vector<string> devices = conf.get_all_strings("device");
cam = new camera_mcams<ubyte>(conf, devices, height, width,
conf.exists_true("camera_grayscale"),
conf.exists_true("camera_rgb"));
}
#endif
#ifdef __KINECT__
else if (!strcmp(cam_type.c_str(), "kinect"))
cam = new camera_kinect<ubyte>(height, width);
#endif
else if (!strcmp(cam_type.c_str(), "shmem"))
cam = new camera_shmem<ubyte>("shared-mem", height, width);
else if (!strcmp(cam_type.c_str(), "video")) {
if (argc >= 3)
cam = new camera_video<ubyte>
(argv[2], height, width, conf.get_uint("input_video_sstep"),
conf.get_uint("input_video_max_duration"));
else eblerror("expected 2nd argument");
} else if (!strcmp(cam_type.c_str(), "datasource")) {
cam = new camera_datasource<ubyte,int>(conf);
} else eblerror("unknown camera type, set \"camera\" in your .conf");
// a camera directory may be used first, then switching to regular cam
if (conf.exists_true("precamera"))
cam2 = new camera_directory<ubyte>(conf.get_cstring("precamdir"),
height, width, input_random,
npasses, mout, merr, fpattern);
if (conf.exists_true("camera_grayscale")) cam->set_grayscale();
if (conf.exists_true("silent")) cam->set_silent();
// answer variables & initializations
bboxes bb;
// gui
#ifdef __GUI__
bool bkey_msg = false; // display key message
bool display = conf.exists_bool("display");
bool show_parts = conf.exists_true("show_parts");
bool bbox_show_conf = !conf.exists_false("bbox_show_conf");
bool bbox_show_class = !conf.exists_false("bbox_show_class");
// mindisplay = conf.exists_bool("minimal_display");
uint display_sleep = 0;
if (conf.exists("display_sleep"))
display_sleep = conf.get_uint("display_sleep");
// display_states = conf.exists_bool("display_states");
// uint qstep1 = 0, qheight1 = 0, qwidth1 = 0,
// qheight2 = 0, qwidth2 = 0, qstep2 = 0;
// if (conf.exists_bool("queue1")) {
// qstep1 = conf.get_uint("qstep1");
// qheight1 = conf.get_uint("qheight1");
// qwidth1 = conf.get_uint("qwidth1"); }
// if (conf.exists_bool("queue2")) {
// qstep2 = conf.get_uint("qstep2");
// qheight2 = conf.get_uint("qheight2");
// qwidth2 = conf.get_uint("qwidth2"); }
// wid_states = display_states ? new_window("network states"):0;
// night_mode();
uint wid = display ? new_window("eblearn object recognition") : 0;
night_mode();
float display_transp = 0.0;
if (conf.exists("display_bb_transparency"))
display_transp = conf.get_float("display_bb_transparency");
detector_gui<t_net> dgui(conf.exists_true("show_extracted"));
#endif
// timing variables
timer tpass, toverall, tstop;
uint cnt = 0;
bool stop = false, finished = false;
// loop
toverall.start();
while (!finished) {
// check for results and send new image for each thread
uint i = 0;
finished = true;
for (ithreads = threads.begin();
ithreads != threads.end(); ++ithreads, ++i) {
// do nothing if thread is finished already
if ((*ithreads)->finished()) continue ;
finished = false; // a thread is not finished
string processed_fname;
uint processed_id = 0;
// retrieve new data if present
bool skipped = false;
updated = (*ithreads)->get_data
(bb, detframe, *(total_saved.idx_ptr() + i), processed_fname,
&processed_id, &samples, &bbsamples, &skipped);
if (skipped) cnt++; // a new skipped frame was received
// save bounding boxes
if (updated) {
idxdim d(detframe);
if (boot.activated()) bb.clear();
if (bbsaving != bbox_none) {
if (!silent)
mout << "Adding " << bb.size() << " boxes into new group: "
<< processed_fname << " with id " << processed_id << endl;
boxes.new_group(d, &processed_fname, processed_id);
boxes.add(bb, d, &processed_fname, processed_id);
if (cnt % save_bbox_period == 0) boxes.save();
// avoid sample accumulation if not using bootstrapping
if (boot.activated())
mout << "Received " << samples.size()
<< " bootstrapping samples." << endl;
}
if (conf.exists_true("bootstrapping_save")) {
all_samples.push_back_new(samples);
all_bbsamples.push_back_new(bbsamples);
}
// datasource mode, check and log answers
if (dynamic_cast<camera_datasource<ubyte,int>*>(cam)) {
camera_datasource<ubyte,int>* dscam =
(camera_datasource<ubyte,int>*) cam;
dscam->log_answers(bb);
}
cnt++;
// display processed frame
#ifdef __GUI__
if (display) {
select_window(wid);
disable_window_updates();
clear_resize_window();
set_window_title(processed_fname.c_str());
uint h = 0, w = 0;
// display frame with resulting boxes
dgui.display_minimal
(detframe, bb, ((*ithreads)->pdetect ?
(*ithreads)->pdetect->get_labels() : sclasses),
h, w, 1, 0, 255, wid, show_parts, display_transp,
bbox_show_class, bbox_show_conf, &bbsamples);
// display extracted samples
if (boot.activated()) {
dgui.display_preprocessed
(samples, bbsamples, ((*ithreads)->pdetect ?
(*ithreads)->pdetect->get_labels() : sclasses),
h, w, 1, -1, 1);
}
enable_window_updates();
if (save_video && display) {
string fname;
fname << viddir << processed_fname;
save_window(fname.c_str());
if (!silent) mout << "saved " << fname << endl;
}
}
// sleep display
if (display_sleep > 0) {
mout << "sleeping for " << display_sleep << "ms." << endl;
millisleep(display_sleep);
}
#endif
if (!silent) {
// output info
uint k = cnt, tot = cam->size() - cnt; // progress variables
if (conf.exists("save_max")) tot = conf.get_uint("save_max");
if (!silent) {
if (save_detections) {
mout << "total_saved=" << idx_sum(total_saved);
if (conf.exists("save_max")) mout << " / " << tot;
mout << endl;
}
}
if (boot.activated())
mout << "total_bootstrapping=" << all_samples.size() << endl;
mout << "remaining=" << (cam->size() - cnt)
<< " elapsed=" << toverall.elapsed();
if (cam->size() > 0)
mout << " ETA=" << toverall.eta(cnt, cam->size());
if (conf.exists("save_max") && save_detections) {
k = idx_sum(total_saved);
mout << " save_max_ETA=" << toverall.eta(k, tot);
}
mout << endl;
mout << "i=" << cnt << " processing: " << tpass.elapsed_ms()
<< " fps: " << cam->fps() << endl;
// save progress
if (!conf.exists_false("save_progress"))
job::write_progress(k, tot);
}
}
// check if ready
if ((*ithreads)->available()) {
if (stop)
(*ithreads)->ask_stop(); // stop but let thread finish
else {
// grab a new frame if available
if (cam->empty()) {
stop = true;
tstop.start(); // start countdown timer
(*ithreads)->ask_stop(); // ask this thread to stop
millisleep(50);
} else {
#ifdef __GUI__
int key = gui.pop_key_pressed();
// if thread has already received data, wait for next key
if ((*ithreads)->fed() && next_on_key) {
if ((int)next_on_key != key && (int)next_on_key != key + 32) {
if (!bkey_msg)
mout << "Press " << next_on_key
<< " to process next frame." << endl;
bkey_msg = true;
continue ; // pause until key is pressed
} else {
mout << "Key pressed (" << key
<< ") allowing next frame to process." << endl;
bkey_msg = false;
tpass.restart();
}
}
#endif
bool frame_grabbed = false;
frame_id = cam->frame_id();
// if the pre-camera is defined use it until empty
if (cam2 && !cam2->empty())
frame = cam2->grab();
else { // empty pre-camera, use regular camera
if (skip_frames > 0)
cam->skip(skip_frames); // skip frames if skip_frames > 0
if (cam->empty()) continue ;
if (precomputed_boxes && !save_video)
cam->next(); // move to next frame but without grabbing
else if (dynamic_cast<camera_directory<ubyte>*>(cam)) {
cam->grab_filename(); // just get the filename, no data
} else { // actually grab the frame
frame = cam->grab();
frame_grabbed = true;
// cropping
if (crop.nelements() > crop.order()) {
cout << "cropping frame from " << frame;
for (uint i = 0; i < crop.order(); ++i)
if (crop.dim(i) > 1)
frame = frame.narrow(i, crop.dim(i), 0);
cout << " to " << frame << endl;
}
}
}
// send new frame to this thread
string ffname = cam->frame_fullname();
string fname = cam->frame_name();
if (frame_grabbed) {
while (!(*ithreads)->set_data(frame, ffname, fname, frame_id))
millisleep(5);
} else {
while (!(*ithreads)->set_data(ffname, fname, frame_id))
millisleep(5);
}
// we just sent a new frame
tpass.restart();
}
}
}
}
if ((conf.exists("save_max") && !stop &&
idx_sum(total_saved) > conf.get_uint("save_max"))
|| (boot.activated()
&& (intg) all_samples.size() > boot.max_size())) {
mout << "Reached max number of detections, exiting." << endl;
stop = true; // limit number of detection saves
tstop.start(); // start countdown timer
}
// sleep a bit between each iteration
millisleep(5);
// check if stop countdown reached 0
if (stop && tstop.elapsed_minutes() >= 20) {
cerr << "threads did not all return 20 min after request, stopping"
<< endl;
break ; // program too long to stop, force exit
}
}
// saving boxes
if (bbsaving != bbox_none) boxes.save();
mout << "Execution time: " << toverall.elapsed() << endl;
if (save_video)
cam->stop_recording(conf.exists_bool("use_original_fps") ?
cam->fps() : conf.get_uint("save_video_fps"),
outdir.c_str());
// saving bootstrapping
if (conf.exists_true("bootstrapping_save") && boot.activated())
boot.save_dataset(all_samples, all_bbsamples, outdir, classes);
// free variables
if (cam) delete cam;
for (ithreads = threads.begin(); ithreads != threads.end(); ++ithreads) {
if (!(*ithreads)->finished())
(*ithreads)->stop(); // stop thread without waiting
delete *ithreads;
}
#ifdef __GUI__
if (!conf.exists_true("no_gui_quit") && !conf.exists("next_on_key")) {
mout << "Closing windows..." << endl;
quit_gui(); // close all windows
mout << "Windows closed." << endl;
}
#endif
job::write_finished(); // declare job finished
mout << "Detection finished." << endl;
// evaluation of bbox
if (conf.exists_true("evaluate") && conf.exists("evaluate_cmd")) {
string cmd;
cmd << "cd " << outdir << " && " << conf.get_string("evaluate_cmd");
int res = std::system(cmd.c_str());
if (res != 0)
cerr << "bbox evaluation failed with command " << cmd << endl;
}
} eblcatcherror();
return 0;
}
