/*!
* Main function.
*/
int main(int argc, char** argv) {
OptionParser parser;
parser.parse(argc, argv, CONFIG_FILE);
po::variables_map cfg = parser.getOptions();
string sInfile = "", sOutfile = "";
// Processing flags
bool bSourceIsFile = true;
bool bDestIsFile = true;
bool bUseGPU = false;
bool bThreaded = false;
unsigned int iModelFrames = DEFAULT_MODEL_TRAINING_COUNT;
double dLearningRate = DEFAULT_LEARNING_RATE;
detectionAlgorithm algo = ALGO_MOVING;
// Source video information
unsigned int iInputWidth, iInputHeight, iInputFps;
/* OPTION READ-IN BEGIN */
if(cfg.count("help")) {
cerr << parser.getDescription() << endl;
return EXIT_SUCCESS;
}
if(cfg.count("source")) {
if(cfg["source"].as<string>() == "CAM")
bSourceIsFile = false;
else if(cfg["source"].as<string>() == "DISK")
bSourceIsFile = true;
else {
cerr << ERROR("unrecognized video source") << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("infile"))
sInfile.assign(cfg["infile"].as<string>());
if(cfg.count("destination")) {
if(cfg["destination"].as<string>() == "SCREEN") {
bDestIsFile = false;
sOutfile = "SCREEN";
} else if(cfg["destination"].as<string>() == "DISK")
bDestIsFile = true;
else {
cerr << ERROR("unrecognized output destination") << endl;
return EXIT_FAILURE;
}
}
if(bDestIsFile && cfg.count("outfile"))
sOutfile.assign(cfg["outfile"].as<string>());
if(cfg.count("modelframes")) {
iModelFrames = cfg["modelframes"].as<unsigned>();
if(iModelFrames == 0 || iModelFrames > 1000) {
cerr << ERROR("bad model frame count") << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("learnrate")) {
dLearningRate = cfg["learnrate"].as<double>();
if(dLearningRate <= 0.0 || dLearningRate >= 1.0) {
cerr << ERROR("bad model learning rate") << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("detection")) {
algo = (detectionAlgorithm)cfg["detection"].as<int>();
if(algo < ALGO_MOVING || algo > ALGO_CANDIDATESNEW) {
cerr << parser.getDescription() << endl;
return EXIT_FAILURE;
}
}
if(cfg.count("gpu"))
bUseGPU = true;
if(cfg.count("threaded"))
bThreaded = true;
/* OPTION READ-IN END */
/* FRONT END SETUP BEGIN */
VideoCapture cap;
// Try to open the video stream
if(bSourceIsFile) {
cap.open(sInfile);
} else {
cap.open(DEFAULT_CAMERA);
}
if(!cap.isOpened()) {
cerr << ERROR("could not open video source");
return EXIT_FAILURE;
}
iInputWidth = cap.get(CV_CAP_PROP_FRAME_WIDTH);
iInputHeight = cap.get(CV_CAP_PROP_FRAME_HEIGHT);
if(bSourceIsFile) {
iInputFps = 120; //cap.get(CV_CAP_PROP_FPS) * 2 + 1;
} else { // Framerate get impossible for webcam devices
iInputFps = 25;
}
cout << "VIDEO SOURCE: " << iInputWidth << "x" << iInputHeight << " @ " << iInputFps << "Hz" << endl;
/* FRONT END SETUP END */
/* BACK END SETUP BEGIN */
VideoBackend vb(bDestIsFile ? "DISK" : "SCREEN");
if(bDestIsFile)
vb.setFileParams(sOutfile, CV_FOURCC('D','I','V','X'), iInputFps, Size(iInputWidth, iInputHeight), true);
cout << "VIDEO DESTINATION: " << sOutfile << " @ DIVX codec" << endl;
/* BACK END SETUP END */
timer start, end;
double framerate_avg = INITIAL_FPS;
unsigned long long frames_processed = 1;
int displayfps = 0;
int skipframes = 0;
int key;
// This is the software pipelined implementation of the core tracking loop
if(bThreaded) {
Mat frame;
SynchronisedQueue<Mat*> readerToProcessorQ(PIPELINE_BUFFER_SIZE);
SynchronisedQueue<Mat*> processorToWriterQ(PIPELINE_BUFFER_SIZE);
ReaderThread rt(&cap, &readerToProcessorQ, iInputWidth, iInputHeight);
ProcessorThread pt(&readerToProcessorQ, &processorToWriterQ, bUseGPU, iInputWidth, iInputHeight, iModelFrames, dLearningRate, algo);
boost::thread reader(rt);
boost::thread processor(pt);
gettimeofday(&start, NULL);
while(true) {
Mat* tmp = processorToWriterQ.Dequeue();
frame = tmp->clone();
delete tmp;
vb << frame;
gettimeofday(&end, NULL);
double throughput = (double)timevaldiff(start, end);
double maxfps = 1.0/(throughput/1000.0);
if(maxfps < 1.0)
maxfps = 1.0;
framerate_avg *= frames_processed;
framerate_avg += maxfps;
frames_processed++;
framerate_avg /= frames_processed;
cout << "Instantaneous frame rate: " << maxfps << ", average frame rate: " << framerate_avg << "\r" << flush;
start = end;
if(!bDestIsFile)
if(waitKey(1) >= 0) break;
}
} else { // This is the single-threaded core tracking loop
BallDetection bd;
bd.setImageParams(iInputWidth, iInputHeight, 1);
ForegroundSegmenter fg;
fg.setImageParams(iInputWidth, iInputHeight, 1);
fg.setMaxFrames(iModelFrames);
fg.setLearningRate(dLearningRate);
fg.useGPU(bUseGPU);
// If CPU background modeling is used, train initial frames to model
if(!bUseGPU) {
for(int i = 0; i < iModelFrames; i++) {
Mat frame;
cap >> frame;
fg.addFrameToModel(frame);
}
}
Mat frame, segmentedFrame, previousImage, dbg;
bool updateBackground = true;
bool firstFrame = true;
while(1) {
uint32_t candidates[ALLOWED_CANDIDATES+1];
vector< pair<unsigned,unsigned> > cForegroundList;
// Capture current frame and measure time
gettimeofday(&start, NULL);
cap >> frame;
gettimeofday(&end, NULL);
double capture = timevaldiff(start,end);
if(skipframes > 0) {
skipframes--;
continue;
}
// In case of GPU processing, upload and prepare frame
gettimeofday(&start, NULL);
if(bUseGPU) {
fg.uploadPreprocessFrame(frame);
}
gettimeofday(&end, NULL);
double preprocess = timevaldiff(start,end);
// Update background model for every second image and measure time
gettimeofday(&start, NULL);
if(updateBackground) {
fg.addFrameToModel(frame);
}
updateBackground = !updateBackground;
gettimeofday(&end, NULL);
double backgroundadd = timevaldiff(start, end);
// Segment foreground for current frame and measure time
gettimeofday(&start, NULL);
fg.segment(frame, segmentedFrame, cForegroundList);
gettimeofday(&end, NULL);
double segmentation = timevaldiff(start, end);
// Generate low level ball candidates
gettimeofday(&start, NULL);
fg.genLowLevelCandidates(segmentedFrame, candidates);
gettimeofday(&end, NULL);
double candgen = timevaldiff(start, end);
/* THIS IS WRAPPER CODE, REMOVE ASAP */
if(bUseGPU) {
for(int y = 0; y < frame.rows; y++)
for(int x = 0; x < frame.cols; x++)
if(segmentedFrame.at<float>(y,x) == 255.0)
cForegroundList.push_back(make_pair(x,y));
}
/* THIS IS WRAPPER CODE, REMOVE ASAP */
// Detect ball among foreground objects and measure time
gettimeofday(&start, NULL);
if(!firstFrame)
bd.searchBall(segmentedFrame, frame, cForegroundList, candidates, algo);
firstFrame = false;
gettimeofday(&end, NULL);
double detection = timevaldiff(start,end);
//Display FPS if displaying FPS is enabled
if(displayfps == 1)
putText(frame, convert(framerate_avg), Point(10, 30), FONT_HERSHEY_PLAIN, 1, Scalar::all(255), 2, 8);
// Output frame to disk / screen
gettimeofday(&start, NULL);
vb << frame;
gettimeofday(&end, NULL);
double display = timevaldiff(start, end);
//Check the pressed key and act accordingly
if(!bDestIsFile) {
key = (waitKey(30)&0xFFFF);
if(key == 32) //SPACE
bd.toggleBackground(); //Change the displayed background
else if(key == 113) //Q
break; //Quit
else if(key == 115) //S
imwrite("screenshot.jpg", frame); //Save a screenshot
else if(key == 102) //F
displayfps ^= 1; //Toggle displaying of FPS
else if(key == 116) //T
skipframes = 1000; //Skip next 1000 frames
}
// For optical flow based ball detection: update motion reference frame
previousImage = segmentedFrame.clone();
bd.updatePreviousImage(&previousImage);
// cout << "Capture: " << capture << "ms, Preprocess: " << preprocess << "ms, Background Update: " << backgroundadd << "ms, Segmentation: "<< segmentation << "ms, CandidateGeneration: " << candgen << "ms, Detection: "<< detection << "ms, Display: " << display << "ms" << endl;
// Calculate maximum sustainable frame rate
double total = preprocess + backgroundadd + segmentation + detection + candgen;// + capture + display;
double maxfps = 1.0/(total/1000.0);
if(maxfps < 1.0)
maxfps = 1.0;
// Calculate momentary throughput and latency stats
framerate_avg *= frames_processed;
framerate_avg += maxfps;
frames_processed++;
framerate_avg /= frames_processed;
cout << "Instantaneous frame rate: " << maxfps << ", average frame rate: " << framerate_avg << "\r" << flush;
}
}
return 0;
}
