void processImage(Detector& detector, Mat &image) {
if (!image.empty()) {
cout << "Detecting objects on image ... ";
Scene scene = detector.describe(image);
vector<Detection> detections = detector.detect(scene);
cout << "[DONE]" << endl;
BOOST_FOREACH(Detection d, detections) {
drawDetection(image, d);
}
TEST(SoftCascadeDetector, detectSeparate)
{
std::string xml = cvtest::TS::ptr()->get_data_path() + "cascadeandhog/cascades/inria_caltech-17.01.2013.xml";
Detector cascade;
cv::FileStorage fs(xml, cv::FileStorage::READ);
ASSERT_TRUE(cascade.load(fs.getFirstTopLevelNode()));
cv::Mat colored = cv::imread(cvtest::TS::ptr()->get_data_path() + "cascadeandhog/images/image_00000000_0.png");
ASSERT_FALSE(colored.empty());
cv::Mat rects, confs;
cascade.detect(colored, cv::noArray(), rects, confs);
ASSERT_EQ(719, confs.cols);
}
TEST(SoftCascadeDetector, detectEmptyRoi)
{
std::string xml = cvtest::TS::ptr()->get_data_path() + "cascadeandhog/cascades/inria_caltech-17.01.2013.xml";
Detector cascade;
cv::FileStorage fs(xml, cv::FileStorage::READ);
ASSERT_TRUE(cascade.load(fs.getFirstTopLevelNode()));
cv::Mat colored = cv::imread(cvtest::TS::ptr()->get_data_path() + "cascadeandhog/images/image_00000000_0.png");
ASSERT_FALSE(colored.empty());
std::vector<Detection> objects;
cascade.detect(colored, cv::Mat::zeros(colored.size(), CV_8UC1), objects);
ASSERT_EQ(0, (int)objects.size());
}
TEST(SoftCascadeDetector, detectRoi)
{
std::string xml = cvtest::TS::ptr()->get_data_path() + "cascadeandhog/cascades/inria_caltech-17.01.2013.xml";
Detector cascade;
cv::FileStorage fs(xml, cv::FileStorage::READ);
ASSERT_TRUE(cascade.load(fs.getFirstTopLevelNode()));
cv::Mat colored = cv::imread(cvtest::TS::ptr()->get_data_path() + "cascadeandhog/images/image_00000000_0.png");
ASSERT_FALSE(colored.empty());
std::vector<Detection> objects;
std::vector<cv::Rect> rois;
rois.push_back(cv::Rect(0, 0, 640, 480));
cascade.detect(colored, rois, objects);
ASSERT_EQ(719, (int)objects.size());
}
// ./bin/test_detector /home/gmanfred/devel/ros/Vision_pipeline_new/icaro/hand_detect/cascades/palm.xml
int main (int argc, char** argv) {
Detector det (argv[1]);
VideoCapture cap(0); // open the default camera
if(!cap.isOpened()) // check if we succeeded
return 1;
Mat edges;
namedWindow("hand",1);
for(;;) {
Mat frame;
cap >> frame; // get a new frame from camera
vector<Rect> hands;
hands = det.detect (frame);
draw (frame, hands);
imshow("hand", frame);
if(waitKey(30) >= 0) break;
}
return 0;
}
int main( int argc, const char** argv )
{
string country;
string benchmarkName;
string inDir;
string outDir;
Mat frame;
//Check if user specify image to process
if(argc == 5)
{
country = argv[1];
benchmarkName = argv[2];
inDir = argv[3];
outDir = argv[4];
}
else
{
printf("Use:\n\t%s [country] [benchmark name] [img input dir] [results output dir]\n",argv[0]);
printf("\tex: %s us speed ./speed/usimages ./speed\n",argv[0]);
printf("\n");
printf("\ttest names are: speed, segocr, detection\n\n" );
return 0;
}
if (DirectoryExists(inDir.c_str()) == false)
{
printf("Input dir does not exist\n");
return 0;
}
if (DirectoryExists(outDir.c_str()) == false)
{
printf("Output dir does not exist\n");
return 0;
}
vector<string> files = getFilesInDir(inDir.c_str());
sort( files.begin(), files.end(), stringCompare );
if (benchmarkName.compare("segocr") == 0)
{
Config* config = new Config(country);
config->setDebug(false);
config->skipDetection = true;
AlprImpl alpr(country);
alpr.config = config;
for (int i = 0; i< files.size(); i++)
{
if (hasEnding(files[i], ".png") || hasEnding(files[i], ".jpg"))
{
string fullpath = inDir + "/" + files[i];
frame = cv::imread(fullpath.c_str());
cv::Rect roi;
roi.x = 0;
roi.y = 0;
roi.width = frame.cols;
roi.height = frame.rows;
vector<Rect> rois;
rois.push_back(roi);
AlprResults results = alpr.recognize(frame, rois);
char statecode[3];
statecode[0] = files[i][0];
statecode[1] = files[i][1];
statecode[2] = '\0';
string statecodestr(statecode);
if (results.plates.size() == 1)
cout << files[i] << "," << statecode << "," << results.plates[0].bestPlate.characters << endl;
else if (results.plates.size() == 0)
cout << files[i] << "," << statecode << "," << endl;
else if (results.plates.size() > 1)
cout << files[i] << "," << statecode << ",???+" << endl;
imshow("Current LP", frame);
waitKey(5);
}
}
delete config;
}
else if (benchmarkName.compare("detection") == 0)
{
Config config(country);
Detector* plateDetector = createDetector(&config);
for (int i = 0; i< files.size(); i++)
{
if (hasEnding(files[i], ".png") || hasEnding(files[i], ".jpg"))
{
string fullpath = inDir + "/" + files[i];
frame = imread( fullpath.c_str() );
vector<PlateRegion> regions = plateDetector->detect(frame);
imshow("Current LP", frame);
waitKey(5);
}
}
delete plateDetector;
}
else if (benchmarkName.compare("speed") == 0)
{
// Benchmarks speed of region detection, plate analysis, and OCR
timespec startTime;
timespec endTime;
Config config(country);
config.setDebug(false);
AlprImpl alpr(country);
alpr.config->setDebug(false);
alpr.setDetectRegion(true);
Detector* plateDetector = createDetector(&config);
OCR ocr(&config);
vector<double> endToEndTimes;
vector<double> regionDetectionTimes;
vector<double> stateIdTimes;
vector<double> lpAnalysisPositiveTimes;
vector<double> lpAnalysisNegativeTimes;
vector<double> ocrTimes;
vector<double> postProcessTimes;
for (int i = 0; i< files.size(); i++)
{
if (hasEnding(files[i], ".png") || hasEnding(files[i], ".jpg"))
{
cout << "Image: " << files[i] << endl;
string fullpath = inDir + "/" + files[i];
frame = imread( fullpath.c_str() );
getTimeMonotonic(&startTime);
vector<Rect> regionsOfInterest;
regionsOfInterest.push_back(Rect(0, 0, frame.cols, frame.rows));
alpr.recognize(frame, regionsOfInterest);
getTimeMonotonic(&endTime);
double endToEndTime = diffclock(startTime, endTime);
cout << " -- End to End recognition time: " << endToEndTime << "ms." << endl;
endToEndTimes.push_back(endToEndTime);
getTimeMonotonic(&startTime);
vector<PlateRegion> regions = plateDetector->detect(frame);
getTimeMonotonic(&endTime);
double regionDetectionTime = diffclock(startTime, endTime);
cout << " -- Region detection time: " << regionDetectionTime << "ms." << endl;
regionDetectionTimes.push_back(regionDetectionTime);
for (int z = 0; z < regions.size(); z++)
{
PipelineData pipeline_data(frame, regions[z].rect, &config);
getTimeMonotonic(&startTime);
//stateDetector.detect(&pipeline_data);
getTimeMonotonic(&endTime);
double stateidTime = diffclock(startTime, endTime);
cout << "\tRegion " << z << ": State ID time: " << stateidTime << "ms." << endl;
stateIdTimes.push_back(stateidTime);
getTimeMonotonic(&startTime);
LicensePlateCandidate lp(&pipeline_data);
lp.recognize();
getTimeMonotonic(&endTime);
double analysisTime = diffclock(startTime, endTime);
cout << "\tRegion " << z << ": Analysis time: " << analysisTime << "ms." << endl;
if (!pipeline_data.disqualified)
{
lpAnalysisPositiveTimes.push_back(analysisTime);
getTimeMonotonic(&startTime);
ocr.performOCR(&pipeline_data);
getTimeMonotonic(&endTime);
double ocrTime = diffclock(startTime, endTime);
cout << "\tRegion " << z << ": OCR time: " << ocrTime << "ms." << endl;
ocrTimes.push_back(ocrTime);
getTimeMonotonic(&startTime);
ocr.postProcessor.analyze("", 25);
getTimeMonotonic(&endTime);
double postProcessTime = diffclock(startTime, endTime);
cout << "\tRegion " << z << ": PostProcess time: " << postProcessTime << "ms." << endl;
postProcessTimes.push_back(postProcessTime);
}
else
{
lpAnalysisNegativeTimes.push_back(analysisTime);
}
}
waitKey(5);
}
}
cout << endl << "---------------------" << endl;
cout << "End to End Time Statistics:" << endl;
outputStats(endToEndTimes);
cout << endl;
cout << "Region Detection Time Statistics:" << endl;
outputStats(regionDetectionTimes);
cout << endl;
cout << "State ID Time Statistics:" << endl;
outputStats(stateIdTimes);
cout << endl;
cout << "Positive Region Analysis Time Statistics:" << endl;
outputStats(lpAnalysisPositiveTimes);
cout << endl;
cout << "Negative Region Analysis Time Statistics:" << endl;
outputStats(lpAnalysisNegativeTimes);
cout << endl;
cout << "OCR Time Statistics:" << endl;
outputStats(ocrTimes);
cout << endl;
cout << "Post Processing Time Statistics:" << endl;
outputStats(postProcessTimes);
cout << endl;
}
else if (benchmarkName.compare("endtoend") == 0)
{
EndToEndTest e2eTest(inDir, outDir);
e2eTest.runTest(country, files);
}
}
int main(int argc, const char * argv[]) {
// VideoCapture cap(1); // open the default camera
// if(!cap.isOpened()) // check if we succeeded
// return -1;
#ifdef ENABLE_BLUEFOX
BlueFoxCam* cam = new BlueFoxCam();
#else //default opencv camera
CvCapture* capture = cvCreateCameraCapture(-1);
if (!capture)
return -1;
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_WIDTH, WIDTH);
cvSetCaptureProperty( capture, CV_CAP_PROP_FRAME_HEIGHT, HEIGHT);
cvSetCaptureProperty( capture, CV_CAP_PROP_FPS, 60);
#endif
LowPassFilter* lpf = new LowPassFilter(100, 0);
Detector* detector;
try{
detector = new Detector("../haarcascades/haarcascade_frontalface_alt.xml",
"../haarcascades/haarcascade_profileface.xml", "../haarcascades/haarcascade_eye.xml", SCALEFACTOR);
}catch(runtime_error e){
cout << e.what() << endl;
}
SleepDetector sd(SCALEFACTOR);
Mat frame(HEIGHT, WIDTH, CV_8UC3);
Mat scaled;
// namedWindow("Acquisition");
// namedWindow("Elaboration", WINDOW_NORMAL);
// resizeWindow("Elaboration", WIDTH, HEIGHT);
// namedWindow("Debug", WINDOW_NORMAL);
//resizeWindow("Debug", 300, 300);
Face prevface;
//prevface.eyes.push_back(Rect(0,0,0,0));
VideoStreamServer vss(SRV_ADDR, SRV_PORT);
for(;;)
{
#ifdef BLUEFOX_CAM
try{
cam->getImage(frame.data);
}catch(runtime_error e){
cout << e.what() << endl;
}
#else //default opencv camera
frame = cvarrToMat(cvQueryFrame(capture), true);
#endif //BLUEFOX_CAM
detector->prepareImage(frame, scaled, prevface.face);
if(prevface.eye.x){ //eye already detected, so perform track only
//detector.display(prevface, frame);
if(prevface.eyeOpen == 2){
this_thread::sleep_for(std::chrono::milliseconds(100));
if(lpf->Perform_digital(sd.isOpen(prevface.eyetpl, SleepDetector::SD_ADAPTIVE_THRESHOLDING)? 2 : 0) == 0){
cout << "Beep!----------------------------------------------------" << endl;
}
}else
prevface.eyeOpen = lpf->Perform_digital(sd.isOpen(prevface.eyetpl, SleepDetector::SD_ADAPTIVE_THRESHOLDING)? 2 : 0);
sd.display(frame, prevface.eye.tl());
//imshow("Elaboration", prevface.eyetpl);
detector->trackEye(scaled, prevface);
}
else //eye not yet detected
{
lpf->Perform_analog(1);
detector->detect(scaled, prevface);
}
detector->display(prevface, frame);
// imshow("Aquisition", frame);
if(vss.isRunning()){
vss.queueFrame(frame);
}
if(waitKey(10) >= 0) break;
}
vss.stop();
// deinitialize camera
#ifdef ENABLE_BLUEFOX
delete cam;
#endif
delete detector;
delete lpf;
return 0;
}
int main(int argc, char** argv)
{
CommandLineParser parser(argc, argv, keys);
parser.about("This sample demonstrates the use ot the HoG descriptor.");
if (parser.has("help"))
{
parser.printMessage();
return 0;
}
int camera = parser.get<int>("camera");
string file = parser.get<string>("video");
if (!parser.check())
{
parser.printErrors();
return 1;
}
VideoCapture cap;
if (file.empty())
cap.open(camera);
else
{
file = samples::findFileOrKeep(file);
cap.open(file);
}
if (!cap.isOpened())
{
cout << "Can not open video stream: '" << (file.empty() ? "<camera>" : file) << "'" << endl;
return 2;
}
cout << "Press 'q' or <ESC> to quit." << endl;
cout << "Press <space> to toggle between Default and Daimler detector" << endl;
Detector detector;
Mat frame;
for (;;)
{
cap >> frame;
if (frame.empty())
{
cout << "Finished reading: empty frame" << endl;
break;
}
int64 t = getTickCount();
vector<Rect> found = detector.detect(frame);
t = getTickCount() - t;
// show the window
{
ostringstream buf;
buf << "Mode: " << detector.modeName() << " ||| "
<< "FPS: " << fixed << setprecision(1) << (getTickFrequency() / (double)t);
putText(frame, buf.str(), Point(10, 30), FONT_HERSHEY_PLAIN, 2.0, Scalar(0, 0, 255), 2, LINE_AA);
}
for (vector<Rect>::iterator i = found.begin(); i != found.end(); ++i)
{
Rect &r = *i;
detector.adjustRect(r);
rectangle(frame, r.tl(), r.br(), cv::Scalar(0, 255, 0), 2);
}
imshow("People detector", frame);
// interact with user
const char key = (char)waitKey(30);
if (key == 27 || key == 'q') // ESC
{
cout << "Exit requested" << endl;
break;
}
else if (key == ' ')
{
detector.toggleMode();
}
}
return 0;
}
int main()
{
// Aquila::WaveFile wav("../../odonnell_you_go_girl.wav");
// Aquila::WaveFile wav("../../harvey_super_cool.wav");
//Aquila::WaveFile wav("../../miller_larry.wav");
// Aquila::WaveFile wav("../../carlin_pc.wav");
// Aquila::WaveFile wav("../../ireland_ouch.wav");
// Aquila::WaveFile wav("../../mbi04w1.wav");
// Aquila::WaveFile wav("../kabanos.wav");
// Aquila::WaveFile wav("../../dbi03kaban.wav");
// Aquila::WaveFile wav("../../dbi09w1short.wav");
// Aquila::WaveFile wav("../../mbi04zapam.wav");
// Aquila::WaveFile wav("../../mbi04poprzedni.wav");
// Aquila::WaveFile wav("../../eastwood_lawyers.wav");
// Aquila::WaveFile wav("../../mbi02w1.wav");
// Aquila::WaveFile wav("../../mbi04w1.wav");
// Aquila::WaveFile wav("../../dbi03w1s14.wav");
Aquila::WaveFile wav("../../mwr35w1s14.wav");
std::cout << "Filename: " << wav.getFilename();
std::cout << "\nLength: " << wav.getAudioLength() << " ms";
std::cout << "\nSample frequency: " << wav.getSampleFrequency() << " Hz";
std::cout << "\nChannels: " << wav.getChannelsNum();
std::cout << "\nByte rate: " << wav.getBytesPerSec()/1024 << " kB/s";
std::cout << "\nBits per sample: " << wav.getBitsPerSample() << "b";
std::cout << "\nSamples: " << wav.getSampleFrequency()*wav.getAudioLength()/1000 << " samples\n";
// for (int i = 0; i <wav.getSamplesCount() ; ++i) {
// std::cout<<wav.sample(i)<<" ";
// }
// VAD *vad = new VADImp();
// vad->detect(wav,1);
//
// ResultPlotter *result = new ResultPlotter();
// result->plot(wav);
EnergyBasedDetector *detector = new EnergyBasedDetector();
detector->detect(wav);
Detector detectorSFF;
detectorSFF.detect(wav);
NewDetector detectorSFFNew;
detectorSFFNew.detect(wav);
// AquilaFft spectrum(wav.getSamplesCount());
// const SampleType* x = wav.toArray();
// SpectrumType mySpectrum;
// mySpectrum = spectrum.fft(x);
//
// //writing to file to plot results
// system("touch spectrum");
// //otwieram plik do zapisu
// ofstream file2("spectrum");
// if(file2){
// for (size_t i = 0; i< mySpectrum.size() ; i++) {
// file2 << mySpectrum.at(i) << endl;
// }
// file2.close();
// } else{
// cout<<"BLAD: nie mozna otworzyc pliku"<<endl;
// }
return 0;
}
int main( int argc, char** argv )
{
ofstream fout;
ofstream dbout;
fout.open("people.csv", ofstream::out);
dbout.open("db.dat", ofstream::out); //format: <classname> \n <filename> \n <id> <code>
double t;
int ms;
if (argc < 2)
{
fprintf(stderr, "Usage: exportCode <path_to_input_image_dir> <isDetect>\n");
exit(1);
}
Detector detector;
Classifier classifier;
mkdir(argv[2], S_IRWXU);
DIR *pDIR;
struct dirent *entry;
struct stat buf;
pDIR = opendir(argv[1]);
if(( pDIR=opendir(argv[1])) == NULL){
std::cout<<"cannot open input dir"<<std::endl;
exit(1);
}
entry = readdir(pDIR);
int id = 1;
while(entry != NULL)
{
if(0 != strcmp( ".", entry->d_name) && //Skip these dir
0 != strcmp( "..", entry->d_name) )
{
char * name = entry->d_name;
stat(name, &buf);
std::cout << name<<std::endl;
std::string s2 = name;
fout<<id<<','<<name<<',';
int goodCount = 0;
DIR* pDIR2;
std::string s3 = argv[1];
std::string origin_path = s3 + '/' + s2;
pDIR2 = opendir(origin_path.data());
struct dirent *entry2;
entry2 = readdir(pDIR2);
while(entry2 != NULL){
if(0 != strcmp( ".", entry2->d_name) && 0 != strcmp( "..", entry2->d_name) )
{
//std::cout<<"\t"<<entry2->d_name<<std::endl;
std::string img_origin_path = origin_path + '/' + entry2->d_name;
Mat src;
if (atoi(argv[2])==1)
src = detector.detect(img_origin_path.data());
else
src = imread(img_origin_path.data());
Mat img;
if (src.empty()){
entry2 = readdir(pDIR2);
continue;
}
goodCount++;
if (src.channels() == 3 || src.channels() == 4){
cvtColor(src, img, CV_RGB2GRAY);
}
else if (src.channels() == 1){
img = src;
}
else{
cout<<"channel error: "<<src.channels()<<endl;
entry2 = readdir(pDIR2);
continue;
}
float* code = classifier.encodeImg(img);
dbout<<entry->d_name<<endl;
dbout<<entry2->d_name<<endl;
dbout<<id<<" ";
for (int i = 0; i < classifier.getCodeDimension(); i++){
dbout<<code[i]<<" ";
}
dbout<<endl;
delete [] code;
code = NULL;
}
entry2 = readdir(pDIR2);
}
fout<<goodCount<<endl;
id++;
closedir(pDIR2);
}
entry = readdir(pDIR); //Next file in directory
}
closedir(pDIR);
fout.close();
}
TEST_CYCLE()
{
cascade.detect(colored, cv::noArray(), objectBoxes);
}
