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refactored hog, added camera support into hog_sample

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This commit is contained in:
Alexey Spizhevoy 2010-12-29 15:45:01 +00:00
parent 16bcf9b645
commit 2f13e4ce58
2 changed files with 150 additions and 148 deletions
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21
modules/gpu/include/opencv2/gpu/gpu.hpp
View File

@ -1178,21 +1178,25 @@ namespace cv
size_t getDescriptorSize() const;
size_t getBlockHistogramSize() const;
double getWinSigma() const;
void setSVMDetector(const vector<float>& detector);
bool checkDetectorSize() const;
static vector<float> getDefaultPeopleDetector();
static vector<float> getPeopleDetector_48x96();
static vector<float> getPeopleDetector_64x128();
void setSVMDetector(const vector<float>& detector);
bool checkDetectorSize() const;
void detect(const GpuMat& img, vector<Point>& found_locations, double hit_threshold=0,
Size win_stride=Size(), Size padding=Size());
void detect(const GpuMat& img, vector<Point>& found_locations,
double hit_threshold=0, Size win_stride=Size(),
Size padding=Size());
void detectMultiScale(const GpuMat& img, vector<Rect>& found_locations,
double hit_threshold=0, Size win_stride=Size(), Size padding=Size(),
double scale0=1.05, int group_threshold=2);
double hit_threshold=0, Size win_stride=Size(),
Size padding=Size(), double scale0=1.05,
int group_threshold=2);
void getDescriptors(const GpuMat& img, Size win_stride, GpuMat& descriptors,
void getDescriptors(const GpuMat& img, Size win_stride,
GpuMat& descriptors,
int descr_format=DESCR_FORMAT_COL_BY_COL);
Size win_size;
@ -1208,6 +1212,7 @@ namespace cv
protected:
void computeBlockHistograms(const GpuMat& img);
void computeGradient(const GpuMat& img, GpuMat& grad, GpuMat& qangle);
double getWinSigma() const;
static int numPartsWithin(int size, int part_size, int stride);
static Size numPartsWithin(Size size, Size part_size, Size stride);

277
samples/gpu/hog.cpp
View File

@ -12,61 +12,56 @@ using namespace cv;
//#define WRITE_VIDEO
/** Contains all properties of application (including those which can be
changed by user in runtime) */
class Settings
class Args
{
public:
/** Sets default values */
Settings();
/** Reads settings from command args */
static Settings Read(int argc, char** argv);
Args();
static Args read(int argc, char** argv);
string src;
bool src_is_video;
bool src_is_camera;
int camera_id;
bool make_gray;
bool resize_src;
double resize_src_scale;
int resized_width, resized_height;
double scale;
int nlevels;
int gr_threshold;
double hit_threshold;
int win_width;
int win_stride_width;
int win_stride_height;
int win_stride_width, win_stride_height;
bool gamma_corr;
};
/** Describes aplication logic */
class App
{
public:
/** Initializes application */
App(const Settings& s);
App(const Args& s);
void run();
/** Runs demo using OpenCV highgui module for GUI building */
void RunOpencvGui();
void handleKey(char key);
/** Processes user keybord input */
void HandleKey(char key);
void hogWorkBegin();
void hogWorkEnd();
string hogWorkFps() const;
void HogWorkBegin();
void HogWorkEnd();
double HogWorkFps() const;
void workBegin();
void workEnd();
string workFps() const;
void WorkBegin();
void WorkEnd();
double WorkFps() const;
const string GetPerformanceSummary() const;
string message() const;
private:
App operator=(App&);
Settings settings;
Args args;
bool running;
bool use_gpu;
@ -89,26 +84,29 @@ int main(int argc, char** argv)
{
try
{
cout << "Histogram of Oriented Gradients descriptor and detector sample.\n";
if (argc < 2)
{
cout << "Usage:\nhog_gpu\n"
<< " -src <path_to_the_source>\n"
<< " [-src_is_video <true/false>] # says to interp. src as img or as video\n"
<< " [-make_gray <true/false>] # convert image to gray one or not\n"
<< " [-resize_src <true/false>] # do resize of the source image or not\n"
<< " [-resize_src_scale <double>] # preprocessing image scale factor\n"
<< " [-hit_threshold <double>] # classifying plane dist. threshold (0.0 usually)\n"
<< " [-scale <double>] # HOG window scale factor\n"
<< " [-nlevels <int>] # max number of HOG window scales\n"
<< " [-win_width <int>] # width of the window (48 or 64)\n"
<< " [-win_stride_width <int>] # distance by OX axis between neighbour wins\n"
<< " [-win_stride_height <int>] # distance by OY axis between neighbour wins\n"
<< " [-gr_threshold <int>] # merging similar rects constant\n"
<< " [-gamma_corr <int>] # do gamma correction or not\n";
cout << "\nUsage: hog_gpu\n"
<< " --src <path> # it's image file by default\n"
<< " [--src-is-video <true/false>] # says to interpretate src as video\n"
<< " [--src-is-camera <true/false>] # says to interpretate src as camera\n"
<< " [--make-gray <true/false>] # convert image to gray one or not\n"
<< " [--resize-src <true/false>] # do resize of the source image or not\n"
<< " [--src-width <int>] # resized image width\n"
<< " [--src-height <int>] # resized image height\n"
<< " [--hit-threshold <double>] # classifying plane distance threshold (0.0 usually)\n"
<< " [--scale <double>] # HOG window scale factor\n"
<< " [--nlevels <int>] # max number of HOG window scales\n"
<< " [--win-width <int>] # width of the window (48 or 64)\n"
<< " [--win-stride-width <int>] # distance by OX axis between neighbour wins\n"
<< " [--win-stride-height <int>] # distance by OY axis between neighbour wins\n"
<< " [--gr-threshold <int>] # merging similar rects constant\n"
<< " [--gamma-correct <int>] # do gamma correction or not\n";
return 1;
}
App app(Settings::Read(argc, argv));
app.RunOpencvGui();
App app(Args::read(argc, argv));
app.run();
}
catch (const Exception& e) { return cout << "Error: " << e.what() << endl, 1; }
catch (const exception& e) { return cout << "Error: " << e.what() << endl, 1; }
@ -117,56 +115,63 @@ int main(int argc, char** argv)
}
Settings::Settings()
Args::Args()
{
src_is_video = false;
src_is_camera = false;
camera_id = 0;
make_gray = false;
resize_src = true;
resize_src_scale = 1.5;
resize_src = false;
resized_width = 640;
resized_height = 480;
scale = 1.05;
nlevels = 13;
gr_threshold = 8;
hit_threshold = 1.4;
win_width = 48;
win_stride_width = 8;
win_stride_height = 8;
gamma_corr = true;
}
Settings Settings::Read(int argc, char** argv)
Args Args::read(int argc, char** argv)
{
cout << "Parsing command args" << endl;
Settings settings;
Args args;
for (int i = 1; i < argc - 1; i += 2)
{
string key = argv[i];
string val = argv[i + 1];
if (key == "-src") settings.src = val;
else if (key == "-src_is_video") settings.src_is_video = (val == "true");
else if (key == "-make_gray") settings.make_gray = (val == "true");
else if (key == "-resize_src") settings.resize_src = (val == "true");
else if (key == "-resize_src_scale") settings.resize_src_scale = atof(val.c_str());
else if (key == "-hit_threshold") settings.hit_threshold = atof(val.c_str());
else if (key == "-scale") settings.scale = atof(val.c_str());
else if (key == "-nlevels") settings.nlevels = atoi(val.c_str());
else if (key == "-win_width") settings.win_width = atoi(val.c_str());
else if (key == "-win_stride_width") settings.win_stride_width = atoi(val.c_str());
else if (key == "-win_stride_height") settings.win_stride_height = atoi(val.c_str());
else if (key == "-gr_threshold") settings.gr_threshold = atoi(val.c_str());
else if (key == "-gamma_corr") settings.gamma_corr = atoi(val.c_str()) != 0;
else throw runtime_error((string("Unknown key: ") + key));
if (key == "--src") args.src = val;
else if (key == "--src-is-video") args.src_is_video = (val == "true");
else if (key == "--src-is-camera") args.src_is_camera = (val == "true");
else if (key == "--camera-id") args.camera_id = atoi(val.c_str());
else if (key == "--make-gray") args.make_gray = (val == "true");
else if (key == "--resize-src") args.resize_src = (val == "true");
else if (key == "--src-width") args.resized_width = atoi(val.c_str());
else if (key == "--src-height") args.resized_height = atoi(val.c_str());
else if (key == "--hit-threshold") args.hit_threshold = atof(val.c_str());
else if (key == "--scale") args.scale = atof(val.c_str());
else if (key == "--nlevels") args.nlevels = atoi(val.c_str());
else if (key == "--win-width") args.win_width = atoi(val.c_str());
else if (key == "--win-stride-width") args.win_stride_width = atoi(val.c_str());
else if (key == "--win-stride-height") args.win_stride_height = atoi(val.c_str());
else if (key == "--gr-threshold") args.gr_threshold = atoi(val.c_str());
else if (key == "--gamma-correct") args.gamma_corr = atoi(val.c_str()) != 0;
else throw runtime_error((string("unknown key: ") + key));
}
cout << "Command args are parsed\n";
return settings;
return args;
}
App::App(const Settings &s)
App::App(const Args& s)
{
settings = s;
args = s;
cout << "\nControls:\n"
<< "\tESC - exit\n"
<< "\tm - change mode GPU <-> CPU\n"
@ -178,79 +183,81 @@ App::App(const Settings &s)
<< endl;
use_gpu = true;
make_gray = settings.make_gray;
scale = settings.scale;
gr_threshold = settings.gr_threshold;
nlevels = settings.nlevels;
hit_threshold = settings.hit_threshold;
gamma_corr = settings.gamma_corr;
make_gray = args.make_gray;
scale = args.scale;
gr_threshold = args.gr_threshold;
nlevels = args.nlevels;
hit_threshold = args.hit_threshold;
gamma_corr = args.gamma_corr;
if (settings.win_width != 64 && settings.win_width != 48)
settings.win_width = 64;
if (args.win_width != 64 && args.win_width != 48)
args.win_width = 64;
cout << "Scale: " << scale << endl;
if (args.resize_src)
cout << "Source size: (" << args.resized_width << ", " << args.resized_height << ")\n";
cout << "Group threshold: " << gr_threshold << endl;
cout << "Levels number: " << nlevels << endl;
cout << "Win width: " << settings.win_width << endl;
cout << "Win stride: (" << settings.win_stride_width << ", " << settings.win_stride_height << ")\n";
cout << "Win width: " << args.win_width << endl;
cout << "Win stride: (" << args.win_stride_width << ", " << args.win_stride_height << ")\n";
cout << "Hit threshold: " << hit_threshold << endl;
cout << "Gamma correction: " << gamma_corr << endl;
cout << endl;
}
void App::RunOpencvGui()
void App::run()
{
running = true;
Size win_size(settings.win_width, settings.win_width * 2); //(64, 128) or (48, 96)
Size win_stride(settings.win_stride_width, settings.win_stride_height);
Size win_size(args.win_width, args.win_width * 2); //(64, 128) or (48, 96)
Size win_stride(args.win_stride_width, args.win_stride_height);
vector<float> detector;
if (win_size == Size(64, 128))
if (win_size == Size(64, 128))
detector = cv::gpu::HOGDescriptor::getPeopleDetector_64x128();
else
detector = cv::gpu::HOGDescriptor::getPeopleDetector_48x96();
// GPU's HOG classifier
cv::gpu::HOGDescriptor gpu_hog(win_size, Size(16, 16), Size(8, 8), Size(8, 8), 9,
cv::gpu::HOGDescriptor::DEFAULT_WIN_SIGMA, 0.2, gamma_corr,
cv::gpu::HOGDescriptor::DEFAULT_NLEVELS);
gpu_hog.setSVMDetector(detector);
// CPU's HOG classifier
cv::HOGDescriptor cpu_hog(win_size, Size(16, 16), Size(8, 8), Size(8, 8), 9, 1, -1,
HOGDescriptor::L2Hys, 0.2, gamma_corr, cv::HOGDescriptor::DEFAULT_NLEVELS);
gpu_hog.setSVMDetector(detector);
cpu_hog.setSVMDetector(detector);
#ifdef WRITE_VIDEO
cv::VideoWriter video_writer;
video_writer.open("output.avi", CV_FOURCC('x','v','i','d'), 24., cv::Size(640, 480), true);
if (!video_writer.isOpened())
throw std::runtime_error("can't create video writer");
#endif
// Make endless cycle from video (if src is video)
while (running)
{
VideoCapture vc;
Mat frame;
if (settings.src_is_video)
if (args.src_is_video)
{
vc.open(settings.src.c_str());
vc.open(args.src.c_str());
if (!vc.isOpened())
throw runtime_error(string("Can't open video file: " + settings.src));
throw runtime_error(string("can't open video file: " + args.src));
vc >> frame;
}
else if (args.src_is_camera)
{
vc.open(args.camera_id);
if (!vc.isOpened())
throw runtime_error(string("can't open video file: " + args.src));
vc >> frame;
}
else
{
frame = imread(settings.src);
frame = imread(args.src);
if (frame.empty())
throw runtime_error(string("Can't open image file: " + settings.src));
throw runtime_error(string("can't open image file: " + args.src));
}
Mat img_aux, img, img_to_show;
@ -259,38 +266,34 @@ void App::RunOpencvGui()
// Iterate over all frames
while (running && !frame.empty())
{
WorkBegin();
workBegin();
vector<Rect> found;
// Change format of the image (input must be 8UC3)
if (make_gray)
cvtColor(frame, img_aux, CV_BGR2GRAY);
else if (use_gpu)
cvtColor(frame, img_aux, CV_BGR2BGRA);
else
img_aux = frame;
// Change format of the image
if (make_gray) cvtColor(frame, img_aux, CV_BGR2GRAY);
else if (use_gpu) cvtColor(frame, img_aux, CV_BGR2BGRA);
else img_aux = frame;
// Resize image
if (settings.resize_src)
resize(img_aux, img, Size(int(frame.cols * settings.resize_src_scale), int(frame.rows * settings.resize_src_scale)));
else
img = img_aux;
if (args.resize_src) resize(img_aux, img, Size(args.resized_width, args.resized_height));
else img = img_aux;
img_to_show = img;
gpu_hog.nlevels = nlevels;
cpu_hog.nlevels = nlevels;
vector<Rect> found;
// Perform HOG classification
HogWorkBegin();
hogWorkBegin();
if (use_gpu)
{
gpu_img = img;
gpu_hog.detectMultiScale(gpu_img, found, hit_threshold, win_stride, Size(0, 0), scale, gr_threshold);
gpu_hog.detectMultiScale(gpu_img, found, hit_threshold, win_stride,
Size(0, 0), scale, gr_threshold);
}
else
cpu_hog.detectMultiScale(img, found, hit_threshold, win_stride, Size(0, 0), scale, gr_threshold);
HogWorkEnd();
else cpu_hog.detectMultiScale(img, found, hit_threshold, win_stride,
Size(0, 0), scale, gr_threshold);
hogWorkEnd();
// Draw positive classified windows
for (size_t i = 0; i < found.size(); i++)
@ -299,17 +302,14 @@ void App::RunOpencvGui()
rectangle(img_to_show, r.tl(), r.br(), CV_RGB(0, 255, 0), 3);
}
// Show results
putText(img_to_show, GetPerformanceSummary(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar(0, 0, 255), 2);
putText(img_to_show, "FPS (HOG only): " + hogWorkFps(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1., Scalar(255, 100, 0), 2);
putText(img_to_show, "FPS (total): " + workFps(), Point(5, 65), FONT_HERSHEY_SIMPLEX, 1., Scalar(255, 100, 0), 2);
imshow("opencv_gpu_hog", img_to_show);
HandleKey((char)waitKey(3));
handleKey((char)waitKey(3));
if (settings.src_is_video)
{
vc >> frame;
}
if (args.src_is_video || args.src_is_camera) vc >> frame;
WorkEnd();
workEnd();
#ifdef WRITE_VIDEO
cvtColor(img_to_show, img, CV_BGRA2BGR);
@ -320,7 +320,7 @@ void App::RunOpencvGui()
}
void App::HandleKey(char key)
void App::handleKey(char key)
{
switch (key)
{
@ -382,38 +382,35 @@ void App::HandleKey(char key)
}
inline void App::HogWorkBegin() { hog_work_begin = getTickCount(); }
inline void App::hogWorkBegin() { hog_work_begin = getTickCount(); }
inline void App::HogWorkEnd()
inline void App::hogWorkEnd()
{
int64 delta = getTickCount() - hog_work_begin;
double freq = getTickFrequency();
hog_work_fps = freq / delta;
}
inline double App::HogWorkFps() const { return hog_work_fps; }
inline string App::hogWorkFps() const
{
stringstream ss;
ss << hog_work_fps;
return ss.str();
}
inline void App::WorkBegin() { work_begin = getTickCount(); }
inline void App::workBegin() { work_begin = getTickCount(); }
inline void App::WorkEnd()
inline void App::workEnd()
{
int64 delta = getTickCount() - work_begin;
double freq = getTickFrequency();
work_fps = freq / delta;
}
inline double App::WorkFps() const { return work_fps; }
inline const string App::GetPerformanceSummary() const
inline string App::workFps() const
{
stringstream ss;
ss << (use_gpu ? "GPU" : "CPU") << " HOG FPS: " << setiosflags(ios::left) << setprecision(4) <<
setw(7) << HogWorkFps() << " Total FPS: " << setprecision(4) << setw(7) << WorkFps();
ss << work_fps;
return ss.str();
}