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darknet/src/yolo_console_dll.cpp

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#include <iostream>
#include <iomanip>
#include <string>
#include <vector>
#include <queue>
#include <fstream>
#include <thread>
#include <future>
#include <atomic>
#include <mutex> // std::mutex, std::unique_lock
#include <cmath>
// It makes sense only for video-Camera (not for video-File)
// To use - uncomment the following line. Optical-flow is supported only by OpenCV 3.x - 4.x
//#define TRACK_OPTFLOW
//#define GPU
// To use 3D-stereo camera ZED - uncomment the following line. ZED_SDK should be installed.
//#define ZED_STEREO
#include "yolo_v2_class.hpp" // imported functions from DLL
#ifdef OPENCV
#ifdef ZED_STEREO
#include <sl/Camera.hpp>
#if ZED_SDK_MAJOR_VERSION == 2
#define ZED_STEREO_2_COMPAT_MODE
#endif
#undef GPU // avoid conflict with sl::MEM::GPU
#ifdef ZED_STEREO_2_COMPAT_MODE
#pragma comment(lib, "sl_core64.lib")
#pragma comment(lib, "sl_input64.lib")
#endif
#pragma comment(lib, "sl_zed64.lib")
float getMedian(std::vector<float> &v) {
size_t n = v.size() / 2;
std::nth_element(v.begin(), v.begin() + n, v.end());
return v[n];
}
std::vector<bbox_t> get_3d_coordinates(std::vector<bbox_t> bbox_vect, cv::Mat xyzrgba)
{
bool valid_measure;
int i, j;
const unsigned int R_max_global = 10;
std::vector<bbox_t> bbox3d_vect;
for (auto &cur_box : bbox_vect) {
const unsigned int obj_size = std::min(cur_box.w, cur_box.h);
const unsigned int R_max = std::min(R_max_global, obj_size / 2);
int center_i = cur_box.x + cur_box.w * 0.5f, center_j = cur_box.y + cur_box.h * 0.5f;
std::vector<float> x_vect, y_vect, z_vect;
for (int R = 0; R < R_max; R++) {
for (int y = -R; y <= R; y++) {
for (int x = -R; x <= R; x++) {
i = center_i + x;
j = center_j + y;
sl::float4 out(NAN, NAN, NAN, NAN);
if (i >= 0 && i < xyzrgba.cols && j >= 0 && j < xyzrgba.rows) {
cv::Vec4f &elem = xyzrgba.at<cv::Vec4f>(j, i); // x,y,z,w
out.x = elem[0];
out.y = elem[1];
out.z = elem[2];
out.w = elem[3];
}
valid_measure = std::isfinite(out.z);
if (valid_measure)
{
x_vect.push_back(out.x);
y_vect.push_back(out.y);
z_vect.push_back(out.z);
}
}
}
}
if (x_vect.size() * y_vect.size() * z_vect.size() > 0)
{
cur_box.x_3d = getMedian(x_vect);
cur_box.y_3d = getMedian(y_vect);
cur_box.z_3d = getMedian(z_vect);
}
else {
cur_box.x_3d = NAN;
cur_box.y_3d = NAN;
cur_box.z_3d = NAN;
}
bbox3d_vect.emplace_back(cur_box);
}
return bbox3d_vect;
}
cv::Mat slMat2cvMat(sl::Mat &input) {
int cv_type = -1; // Mapping between MAT_TYPE and CV_TYPE
if(input.getDataType() ==
#ifdef ZED_STEREO_2_COMPAT_MODE
sl::MAT_TYPE_32F_C4
#else
sl::MAT_TYPE::F32_C4
#endif
) {
cv_type = CV_32FC4;
} else cv_type = CV_8UC4; // sl::Mat used are either RGBA images or XYZ (4C) point clouds
return cv::Mat(input.getHeight(), input.getWidth(), cv_type, input.getPtr<sl::uchar1>(
#ifdef ZED_STEREO_2_COMPAT_MODE
sl::MEM::MEM_CPU
#else
sl::MEM::CPU
#endif
));
}
cv::Mat zed_capture_rgb(sl::Camera &zed) {
sl::Mat left;
zed.retrieveImage(left);
cv::Mat left_rgb;
cv::cvtColor(slMat2cvMat(left), left_rgb, CV_RGBA2RGB);
return left_rgb;
}
cv::Mat zed_capture_3d(sl::Camera &zed) {
sl::Mat cur_cloud;
zed.retrieveMeasure(cur_cloud,
#ifdef ZED_STEREO_2_COMPAT_MODE
sl::MEASURE_XYZ
#else
sl::MEASURE::XYZ
#endif
);
return slMat2cvMat(cur_cloud).clone();
}
static sl::Camera zed; // ZED-camera
#else // ZED_STEREO
std::vector<bbox_t> get_3d_coordinates(std::vector<bbox_t> bbox_vect, cv::Mat xyzrgba) {
return bbox_vect;
}
#endif // ZED_STEREO
#include <opencv2/opencv.hpp> // C++
#include <opencv2/core/version.hpp>
#ifndef CV_VERSION_EPOCH // OpenCV 3.x and 4.x
#include <opencv2/videoio/videoio.hpp>
#define OPENCV_VERSION CVAUX_STR(CV_VERSION_MAJOR)"" CVAUX_STR(CV_VERSION_MINOR)"" CVAUX_STR(CV_VERSION_REVISION)
#ifndef USE_CMAKE_LIBS
#pragma comment(lib, "opencv_world" OPENCV_VERSION ".lib")
#ifdef TRACK_OPTFLOW
/*
#pragma comment(lib, "opencv_cudaoptflow" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_cudaimgproc" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_core" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_imgproc" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
*/
#endif // TRACK_OPTFLOW
#endif // USE_CMAKE_LIBS
#else // OpenCV 2.x
#define OPENCV_VERSION CVAUX_STR(CV_VERSION_EPOCH)"" CVAUX_STR(CV_VERSION_MAJOR)"" CVAUX_STR(CV_VERSION_MINOR)
#ifndef USE_CMAKE_LIBS
#pragma comment(lib, "opencv_core" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_imgproc" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_video" OPENCV_VERSION ".lib")
#endif // USE_CMAKE_LIBS
#endif // CV_VERSION_EPOCH
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
int current_det_fps = -1, int current_cap_fps = -1)
{
int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };
for (auto &i : result_vec) {
cv::Scalar color = obj_id_to_color(i.obj_id);
cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 2);
if (obj_names.size() > i.obj_id) {
std::string obj_name = obj_names[i.obj_id];
if (i.track_id > 0) obj_name += " - " + std::to_string(i.track_id);
cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
int max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
max_width = std::max(max_width, (int)i.w + 2);
//max_width = std::max(max_width, 283);
std::string coords_3d;
if (!std::isnan(i.z_3d)) {
std::stringstream ss;
ss << std::fixed << std::setprecision(2) << "x:" << i.x_3d << "m y:" << i.y_3d << "m z:" << i.z_3d << "m ";
coords_3d = ss.str();
cv::Size const text_size_3d = getTextSize(ss.str(), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, 1, 0);
int const max_width_3d = (text_size_3d.width > i.w + 2) ? text_size_3d.width : (i.w + 2);
if (max_width_3d > max_width) max_width = max_width_3d;
}
cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 1, 0), std::max((int)i.y - 35, 0)),
cv::Point2f(std::min((int)i.x + max_width, mat_img.cols - 1), std::min((int)i.y, mat_img.rows - 1)),
color, CV_FILLED, 8, 0);
putText(mat_img, obj_name, cv::Point2f(i.x, i.y - 16), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(0, 0, 0), 2);
if(!coords_3d.empty()) putText(mat_img, coords_3d, cv::Point2f(i.x, i.y-1), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cv::Scalar(0, 0, 0), 1);
}
}
if (current_det_fps >= 0 && current_cap_fps >= 0) {
std::string fps_str = "FPS detection: " + std::to_string(current_det_fps) + " FPS capture: " + std::to_string(current_cap_fps);
putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
}
}
#endif // OPENCV
void show_console_result(std::vector<bbox_t> const result_vec, std::vector<std::string> const obj_names, int frame_id = -1) {
if (frame_id >= 0) std::cout << " Frame: " << frame_id << std::endl;
for (auto &i : result_vec) {
if (obj_names.size() > i.obj_id) std::cout << obj_names[i.obj_id] << " - ";
std::cout << "obj_id = " << i.obj_id << ", x = " << i.x << ", y = " << i.y
<< ", w = " << i.w << ", h = " << i.h
<< std::setprecision(3) << ", prob = " << i.prob << std::endl;
}
}
std::vector<std::string> objects_names_from_file(std::string const filename) {
std::ifstream file(filename);
std::vector<std::string> file_lines;
if (!file.is_open()) return file_lines;
for(std::string line; getline(file, line);) file_lines.push_back(line);
std::cout << "object names loaded \n";
return file_lines;
}
template<typename T>
class send_one_replaceable_object_t {
const bool sync;
std::atomic<T *> a_ptr;
public:
void send(T const& _obj) {
T *new_ptr = new T;
*new_ptr = _obj;
if (sync) {
while (a_ptr.load()) std::this_thread::sleep_for(std::chrono::milliseconds(3));
}
std::unique_ptr<T> old_ptr(a_ptr.exchange(new_ptr));
}
T receive() {
std::unique_ptr<T> ptr;
do {
while(!a_ptr.load()) std::this_thread::sleep_for(std::chrono::milliseconds(3));
ptr.reset(a_ptr.exchange(NULL));
} while (!ptr);
T obj = *ptr;
return obj;
}
bool is_object_present() {
return (a_ptr.load() != NULL);
}
send_one_replaceable_object_t(bool _sync) : sync(_sync), a_ptr(NULL)
{}
};
int main(int argc, char *argv[])
{
std::string names_file = "data/coco.names";
std::string cfg_file = "cfg/yolov3.cfg";
std::string weights_file = "yolov3.weights";
std::string filename;
if (argc > 4) { //voc.names yolo-voc.cfg yolo-voc.weights test.mp4
names_file = argv[1];
cfg_file = argv[2];
weights_file = argv[3];
filename = argv[4];
}
else if (argc > 1) filename = argv[1];
float const thresh = (argc > 5) ? std::stof(argv[5]) : 0.2;
Detector detector(cfg_file, weights_file);
auto obj_names = objects_names_from_file(names_file);
std::string out_videofile = "result.avi";
bool const save_output_videofile = false; // true - for history
bool const send_network = false; // true - for remote detection
bool const use_kalman_filter = false; // true - for stationary camera
bool detection_sync = true; // true - for video-file
#ifdef TRACK_OPTFLOW // for slow GPU
detection_sync = false;
Tracker_optflow tracker_flow;
//detector.wait_stream = true;
#endif // TRACK_OPTFLOW
while (true)
{
std::cout << "input image or video filename: ";
if(filename.size() == 0) std::cin >> filename;
if (filename.size() == 0) break;
try {
#ifdef OPENCV
preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
bool show_small_boxes = false;
std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
std::string const protocol = filename.substr(0, 7);
if (file_ext == "avi" || file_ext == "mp4" || file_ext == "mjpg" || file_ext == "mov" || // video file
protocol == "rtmp://" || protocol == "rtsp://" || protocol == "http://" || protocol == "https:/" || // video network stream
filename == "zed_camera" || file_ext == "svo" || filename == "web_camera") // ZED stereo camera
{
if (protocol == "rtsp://" || protocol == "http://" || protocol == "https:/" || filename == "zed_camera" || filename == "web_camera")
detection_sync = false;
cv::Mat cur_frame;
std::atomic<int> fps_cap_counter(0), fps_det_counter(0);
std::atomic<int> current_fps_cap(0), current_fps_det(0);
std::atomic<bool> exit_flag(false);
std::chrono::steady_clock::time_point steady_start, steady_end;
int video_fps = 25;
bool use_zed_camera = false;
track_kalman_t track_kalman;
#ifdef ZED_STEREO
sl::InitParameters init_params;
init_params.depth_minimum_distance = 0.5;
#ifdef ZED_STEREO_2_COMPAT_MODE
init_params.depth_mode = sl::DEPTH_MODE_ULTRA;
init_params.camera_resolution = sl::RESOLUTION_HD720;// sl::RESOLUTION_HD1080, sl::RESOLUTION_HD720
init_params.coordinate_units = sl::UNIT_METER;
init_params.camera_buffer_count_linux = 2;
if (file_ext == "svo") init_params.svo_input_filename.set(filename.c_str());
#else
init_params.depth_mode = sl::DEPTH_MODE::ULTRA;
init_params.camera_resolution = sl::RESOLUTION::HD720;// sl::RESOLUTION::HD1080, sl::RESOLUTION::HD720
init_params.coordinate_units = sl::UNIT::METER;
if (file_ext == "svo") init_params.input.setFromSVOFile(filename.c_str());
#endif
//init_params.sdk_cuda_ctx = (CUcontext)detector.get_cuda_context();
init_params.sdk_gpu_id = detector.cur_gpu_id;
if (filename == "zed_camera" || file_ext == "svo") {
std::cout << "ZED 3D Camera " << zed.open(init_params) << std::endl;
if (!zed.isOpened()) {
std::cout << " Error: ZED Camera should be connected to USB 3.0. And ZED_SDK should be installed. \n";
getchar();
return 0;
}
cur_frame = zed_capture_rgb(zed);
use_zed_camera = true;
}
#endif // ZED_STEREO
cv::VideoCapture cap;
if (filename == "web_camera") {
cap.open(0);
cap >> cur_frame;
} else if (!use_zed_camera) {
cap.open(filename);
cap >> cur_frame;
}
#ifdef CV_VERSION_EPOCH // OpenCV 2.x
video_fps = cap.get(CV_CAP_PROP_FPS);
#else
video_fps = cap.get(cv::CAP_PROP_FPS);
#endif
cv::Size const frame_size = cur_frame.size();
//cv::Size const frame_size(cap.get(CV_CAP_PROP_FRAME_WIDTH), cap.get(CV_CAP_PROP_FRAME_HEIGHT));
std::cout << "\n Video size: " << frame_size << std::endl;
cv::VideoWriter output_video;
if (save_output_videofile)
#ifdef CV_VERSION_EPOCH // OpenCV 2.x
output_video.open(out_videofile, CV_FOURCC('D', 'I', 'V', 'X'), std::max(35, video_fps), frame_size, true);
#else
output_video.open(out_videofile, cv::VideoWriter::fourcc('D', 'I', 'V', 'X'), std::max(35, video_fps), frame_size, true);
#endif
struct detection_data_t {
cv::Mat cap_frame;
std::shared_ptr<image_t> det_image;
std::vector<bbox_t> result_vec;
cv::Mat draw_frame;
bool new_detection;
uint64_t frame_id;
bool exit_flag;
cv::Mat zed_cloud;
std::queue<cv::Mat> track_optflow_queue;
detection_data_t() : exit_flag(false), new_detection(false) {}
};
const bool sync = detection_sync; // sync data exchange
send_one_replaceable_object_t<detection_data_t> cap2prepare(sync), cap2draw(sync),
prepare2detect(sync), detect2draw(sync), draw2show(sync), draw2write(sync), draw2net(sync);
std::thread t_cap, t_prepare, t_detect, t_post, t_draw, t_write, t_network;
// capture new video-frame
if (t_cap.joinable()) t_cap.join();
t_cap = std::thread([&]()
{
uint64_t frame_id = 0;
detection_data_t detection_data;
do {
detection_data = detection_data_t();
#ifdef ZED_STEREO
if (use_zed_camera) {
while (zed.grab() !=
#ifdef ZED_STEREO_2_COMPAT_MODE
sl::SUCCESS
#else
sl::ERROR_CODE::SUCCESS
#endif
) std::this_thread::sleep_for(std::chrono::milliseconds(2));
detection_data.cap_frame = zed_capture_rgb(zed);
detection_data.zed_cloud = zed_capture_3d(zed);
}
else
#endif // ZED_STEREO
{
cap >> detection_data.cap_frame;
}
fps_cap_counter++;
detection_data.frame_id = frame_id++;
if (detection_data.cap_frame.empty() || exit_flag) {
std::cout << " exit_flag: detection_data.cap_frame.size = " << detection_data.cap_frame.size() << std::endl;
detection_data.exit_flag = true;
detection_data.cap_frame = cv::Mat(frame_size, CV_8UC3);
}
if (!detection_sync) {
cap2draw.send(detection_data); // skip detection
}
cap2prepare.send(detection_data);
} while (!detection_data.exit_flag);
std::cout << " t_cap exit \n";
});
// pre-processing video frame (resize, convertion)
t_prepare = std::thread([&]()
{
std::shared_ptr<image_t> det_image;
detection_data_t detection_data;
do {
detection_data = cap2prepare.receive();
det_image = detector.mat_to_image_resize(detection_data.cap_frame);
detection_data.det_image = det_image;
prepare2detect.send(detection_data); // detection
} while (!detection_data.exit_flag);
std::cout << " t_prepare exit \n";
});
// detection by Yolo
if (t_detect.joinable()) t_detect.join();
t_detect = std::thread([&]()
{
std::shared_ptr<image_t> det_image;
detection_data_t detection_data;
do {
detection_data = prepare2detect.receive();
det_image = detection_data.det_image;
std::vector<bbox_t> result_vec;
if(det_image)
result_vec = detector.detect_resized(*det_image, frame_size.width, frame_size.height, thresh, true); // true
fps_det_counter++;
//std::this_thread::sleep_for(std::chrono::milliseconds(150));
detection_data.new_detection = true;
detection_data.result_vec = result_vec;
detect2draw.send(detection_data);
} while (!detection_data.exit_flag);
std::cout << " t_detect exit \n";
});
// draw rectangles (and track objects)
t_draw = std::thread([&]()
{
std::queue<cv::Mat> track_optflow_queue;
detection_data_t detection_data;
do {
// for Video-file
if (detection_sync) {
detection_data = detect2draw.receive();
}
// for Video-camera
else
{
// get new Detection result if present
if (detect2draw.is_object_present()) {
cv::Mat old_cap_frame = detection_data.cap_frame; // use old captured frame
detection_data = detect2draw.receive();
if (!old_cap_frame.empty()) detection_data.cap_frame = old_cap_frame;
}
// get new Captured frame
else {
std::vector<bbox_t> old_result_vec = detection_data.result_vec; // use old detections
detection_data = cap2draw.receive();
detection_data.result_vec = old_result_vec;
}
}
cv::Mat cap_frame = detection_data.cap_frame;
cv::Mat draw_frame = detection_data.cap_frame.clone();
std::vector<bbox_t> result_vec = detection_data.result_vec;
#ifdef TRACK_OPTFLOW
if (detection_data.new_detection) {
tracker_flow.update_tracking_flow(detection_data.cap_frame, detection_data.result_vec);
while (track_optflow_queue.size() > 0) {
draw_frame = track_optflow_queue.back();
result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), false);
track_optflow_queue.pop();
}
}
else {
track_optflow_queue.push(cap_frame);
result_vec = tracker_flow.tracking_flow(cap_frame, false);
}
detection_data.new_detection = true; // to correct kalman filter
#endif //TRACK_OPTFLOW
// track ID by using kalman filter
if (use_kalman_filter) {
if (detection_data.new_detection) {
result_vec = track_kalman.correct(result_vec);
}
else {
result_vec = track_kalman.predict();
}
}
// track ID by using custom function
else {
int frame_story = std::max(5, current_fps_cap.load());
result_vec = detector.tracking_id(result_vec, true, frame_story, 40);
}
if (use_zed_camera && !detection_data.zed_cloud.empty()) {
result_vec = get_3d_coordinates(result_vec, detection_data.zed_cloud);
}
//small_preview.set(draw_frame, result_vec);
//large_preview.set(draw_frame, result_vec);
draw_boxes(draw_frame, result_vec, obj_names, current_fps_det, current_fps_cap);
//show_console_result(result_vec, obj_names, detection_data.frame_id);
//large_preview.draw(draw_frame);
//small_preview.draw(draw_frame, true);
detection_data.result_vec = result_vec;
detection_data.draw_frame = draw_frame;
draw2show.send(detection_data);
if (send_network) draw2net.send(detection_data);
if (output_video.isOpened()) draw2write.send(detection_data);
} while (!detection_data.exit_flag);
std::cout << " t_draw exit \n";
});
// write frame to videofile
t_write = std::thread([&]()
{
if (output_video.isOpened()) {
detection_data_t detection_data;
cv::Mat output_frame;
do {
detection_data = draw2write.receive();
if(detection_data.draw_frame.channels() == 4) cv::cvtColor(detection_data.draw_frame, output_frame, CV_RGBA2RGB);
else output_frame = detection_data.draw_frame;
output_video << output_frame;
} while (!detection_data.exit_flag);
output_video.release();
}
std::cout << " t_write exit \n";
});
// send detection to the network
t_network = std::thread([&]()
{
if (send_network) {
detection_data_t detection_data;
do {
detection_data = draw2net.receive();
detector.send_json_http(detection_data.result_vec, obj_names, detection_data.frame_id, filename);
} while (!detection_data.exit_flag);
}
std::cout << " t_network exit \n";
});
// show detection
detection_data_t detection_data;
do {
steady_end = std::chrono::steady_clock::now();
float time_sec = std::chrono::duration<double>(steady_end - steady_start).count();
if (time_sec >= 1) {
current_fps_det = fps_det_counter.load() / time_sec;
current_fps_cap = fps_cap_counter.load() / time_sec;
steady_start = steady_end;
fps_det_counter = 0;
fps_cap_counter = 0;
}
detection_data = draw2show.receive();
cv::Mat draw_frame = detection_data.draw_frame;
//if (extrapolate_flag) {
// cv::putText(draw_frame, "extrapolate", cv::Point2f(10, 40), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(50, 50, 0), 2);
//}
cv::imshow("window name", draw_frame);
int key = cv::waitKey(3); // 3 or 16ms
if (key == 'f') show_small_boxes = !show_small_boxes;
if (key == 'p') while (true) if (cv::waitKey(100) == 'p') break;
//if (key == 'e') extrapolate_flag = !extrapolate_flag;
if (key == 27) { exit_flag = true;}
//std::cout << " current_fps_det = " << current_fps_det << ", current_fps_cap = " << current_fps_cap << std::endl;
} while (!detection_data.exit_flag);
std::cout << " show detection exit \n";
cv::destroyWindow("window name");
// wait for all threads
if (t_cap.joinable()) t_cap.join();
if (t_prepare.joinable()) t_prepare.join();
if (t_detect.joinable()) t_detect.join();
if (t_post.joinable()) t_post.join();
if (t_draw.joinable()) t_draw.join();
if (t_write.joinable()) t_write.join();
if (t_network.joinable()) t_network.join();
break;
}
else if (file_ext == "txt") { // list of image files
std::ifstream file(filename);
if (!file.is_open()) std::cout << "File not found! \n";
else
for (std::string line; file >> line;) {
std::cout << line << std::endl;
cv::Mat mat_img = cv::imread(line);
std::vector<bbox_t> result_vec = detector.detect(mat_img);
show_console_result(result_vec, obj_names);
//draw_boxes(mat_img, result_vec, obj_names);
//cv::imwrite("res_" + line, mat_img);
}
}
else { // image file
// to achive high performance for multiple images do these 2 lines in another thread
cv::Mat mat_img = cv::imread(filename);
auto det_image = detector.mat_to_image_resize(mat_img);
auto start = std::chrono::steady_clock::now();
std::vector<bbox_t> result_vec = detector.detect_resized(*det_image, mat_img.size().width, mat_img.size().height);
auto end = std::chrono::steady_clock::now();
std::chrono::duration<double> spent = end - start;
std::cout << " Time: " << spent.count() << " sec \n";
//result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
draw_boxes(mat_img, result_vec, obj_names);
cv::imshow("window name", mat_img);
show_console_result(result_vec, obj_names);
cv::waitKey(0);
}
#else // OPENCV
//std::vector<bbox_t> result_vec = detector.detect(filename);
auto img = detector.load_image(filename);
std::vector<bbox_t> result_vec = detector.detect(img);
detector.free_image(img);
show_console_result(result_vec, obj_names);
#endif // OPENCV
}
catch (std::exception &e) { std::cerr << "exception: " << e.what() << "\n"; getchar(); }
catch (...) { std::cerr << "unknown exception \n"; getchar(); }
filename.clear();
}
return 0;
}