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330 lines
13 KiB
Python
330 lines
13 KiB
Python
import cv2 as cv
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import argparse
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import numpy as np
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import sys
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import time
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from threading import Thread
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if sys.version_info[0] == 2:
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import Queue as queue
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else:
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import queue
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from common import *
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from tf_text_graph_common import readTextMessage
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from tf_text_graph_ssd import createSSDGraph
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from tf_text_graph_faster_rcnn import createFasterRCNNGraph
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backends = (cv.dnn.DNN_BACKEND_DEFAULT, cv.dnn.DNN_BACKEND_HALIDE, cv.dnn.DNN_BACKEND_INFERENCE_ENGINE, cv.dnn.DNN_BACKEND_OPENCV,
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cv.dnn.DNN_BACKEND_VKCOM, cv.dnn.DNN_BACKEND_CUDA)
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targets = (cv.dnn.DNN_TARGET_CPU, cv.dnn.DNN_TARGET_OPENCL, cv.dnn.DNN_TARGET_OPENCL_FP16, cv.dnn.DNN_TARGET_MYRIAD, cv.dnn.DNN_TARGET_HDDL,
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cv.dnn.DNN_TARGET_VULKAN, cv.dnn.DNN_TARGET_CUDA, cv.dnn.DNN_TARGET_CUDA_FP16)
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parser = argparse.ArgumentParser(add_help=False)
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parser.add_argument('--zoo', default=os.path.join(os.path.dirname(os.path.abspath(__file__)), 'models.yml'),
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help='An optional path to file with preprocessing parameters.')
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parser.add_argument('--input', help='Path to input image or video file. Skip this argument to capture frames from a camera.')
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parser.add_argument('--out_tf_graph', default='graph.pbtxt',
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help='For models from TensorFlow Object Detection API, you may '
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'pass a .config file which was used for training through --config '
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'argument. This way an additional .pbtxt file with TensorFlow graph will be created.')
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parser.add_argument('--framework', choices=['caffe', 'tensorflow', 'torch', 'darknet', 'dldt'],
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help='Optional name of an origin framework of the model. '
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'Detect it automatically if it does not set.')
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parser.add_argument('--thr', type=float, default=0.5, help='Confidence threshold')
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parser.add_argument('--nms', type=float, default=0.4, help='Non-maximum suppression threshold')
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parser.add_argument('--backend', choices=backends, default=cv.dnn.DNN_BACKEND_DEFAULT, type=int,
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help="Choose one of computation backends: "
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"%d: automatically (by default), "
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"%d: Halide language (http://halide-lang.org/), "
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"%d: Intel's Deep Learning Inference Engine (https://software.intel.com/openvino-toolkit), "
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"%d: OpenCV implementation, "
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"%d: VKCOM, "
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"%d: CUDA" % backends)
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parser.add_argument('--target', choices=targets, default=cv.dnn.DNN_TARGET_CPU, type=int,
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help='Choose one of target computation devices: '
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'%d: CPU target (by default), '
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'%d: OpenCL, '
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'%d: OpenCL fp16 (half-float precision), '
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'%d: NCS2 VPU, '
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'%d: HDDL VPU, '
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'%d: Vulkan, '
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'%d: CUDA, '
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'%d: CUDA fp16 (half-float preprocess)' % targets)
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parser.add_argument('--async', type=int, default=0,
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dest='asyncN',
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help='Number of asynchronous forwards at the same time. '
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'Choose 0 for synchronous mode')
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args, _ = parser.parse_known_args()
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add_preproc_args(args.zoo, parser, 'object_detection')
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parser = argparse.ArgumentParser(parents=[parser],
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description='Use this script to run object detection deep learning networks using OpenCV.',
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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args = parser.parse_args()
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args.model = findFile(args.model)
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args.config = findFile(args.config)
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args.classes = findFile(args.classes)
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# If config specified, try to load it as TensorFlow Object Detection API's pipeline.
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config = readTextMessage(args.config)
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if 'model' in config:
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print('TensorFlow Object Detection API config detected')
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if 'ssd' in config['model'][0]:
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print('Preparing text graph representation for SSD model: ' + args.out_tf_graph)
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createSSDGraph(args.model, args.config, args.out_tf_graph)
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args.config = args.out_tf_graph
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elif 'faster_rcnn' in config['model'][0]:
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print('Preparing text graph representation for Faster-RCNN model: ' + args.out_tf_graph)
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createFasterRCNNGraph(args.model, args.config, args.out_tf_graph)
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args.config = args.out_tf_graph
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# Load names of classes
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classes = None
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if args.classes:
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with open(args.classes, 'rt') as f:
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classes = f.read().rstrip('\n').split('\n')
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# Load a network
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net = cv.dnn.readNet(cv.samples.findFile(args.model), cv.samples.findFile(args.config), args.framework)
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net.setPreferableBackend(args.backend)
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net.setPreferableTarget(args.target)
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outNames = net.getUnconnectedOutLayersNames()
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confThreshold = args.thr
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nmsThreshold = args.nms
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def postprocess(frame, outs):
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frameHeight = frame.shape[0]
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frameWidth = frame.shape[1]
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def drawPred(classId, conf, left, top, right, bottom):
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# Draw a bounding box.
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cv.rectangle(frame, (left, top), (right, bottom), (0, 255, 0))
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label = '%.2f' % conf
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# Print a label of class.
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if classes:
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assert(classId < len(classes))
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label = '%s: %s' % (classes[classId], label)
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labelSize, baseLine = cv.getTextSize(label, cv.FONT_HERSHEY_SIMPLEX, 0.5, 1)
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top = max(top, labelSize[1])
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cv.rectangle(frame, (left, top - labelSize[1]), (left + labelSize[0], top + baseLine), (255, 255, 255), cv.FILLED)
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cv.putText(frame, label, (left, top), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0))
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layerNames = net.getLayerNames()
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lastLayerId = net.getLayerId(layerNames[-1])
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lastLayer = net.getLayer(lastLayerId)
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classIds = []
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confidences = []
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boxes = []
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if lastLayer.type == 'DetectionOutput':
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# Network produces output blob with a shape 1x1xNx7 where N is a number of
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# detections and an every detection is a vector of values
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# [batchId, classId, confidence, left, top, right, bottom]
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for out in outs:
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for detection in out[0, 0]:
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confidence = detection[2]
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if confidence > confThreshold:
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left = int(detection[3])
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top = int(detection[4])
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right = int(detection[5])
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bottom = int(detection[6])
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width = right - left + 1
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height = bottom - top + 1
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if width <= 2 or height <= 2:
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left = int(detection[3] * frameWidth)
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top = int(detection[4] * frameHeight)
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right = int(detection[5] * frameWidth)
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bottom = int(detection[6] * frameHeight)
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width = right - left + 1
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height = bottom - top + 1
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classIds.append(int(detection[1]) - 1) # Skip background label
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confidences.append(float(confidence))
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boxes.append([left, top, width, height])
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elif lastLayer.type == 'Region':
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# Network produces output blob with a shape NxC where N is a number of
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# detected objects and C is a number of classes + 4 where the first 4
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# numbers are [center_x, center_y, width, height]
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for out in outs:
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for detection in out:
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scores = detection[5:]
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classId = np.argmax(scores)
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confidence = scores[classId]
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if confidence > confThreshold:
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center_x = int(detection[0] * frameWidth)
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center_y = int(detection[1] * frameHeight)
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width = int(detection[2] * frameWidth)
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height = int(detection[3] * frameHeight)
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left = int(center_x - width / 2)
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top = int(center_y - height / 2)
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classIds.append(classId)
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confidences.append(float(confidence))
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boxes.append([left, top, width, height])
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else:
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print('Unknown output layer type: ' + lastLayer.type)
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exit()
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# NMS is used inside Region layer only on DNN_BACKEND_OPENCV for another backends we need NMS in sample
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# or NMS is required if number of outputs > 1
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if len(outNames) > 1 or lastLayer.type == 'Region' and args.backend != cv.dnn.DNN_BACKEND_OPENCV:
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indices = []
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classIds = np.array(classIds)
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boxes = np.array(boxes)
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confidences = np.array(confidences)
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unique_classes = set(classIds)
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for cl in unique_classes:
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class_indices = np.where(classIds == cl)[0]
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conf = confidences[class_indices]
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box = boxes[class_indices].tolist()
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nms_indices = cv.dnn.NMSBoxes(box, conf, confThreshold, nmsThreshold)
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nms_indices = nms_indices[:, 0] if len(nms_indices) else []
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indices.extend(class_indices[nms_indices])
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else:
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indices = np.arange(0, len(classIds))
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for i in indices:
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box = boxes[i]
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left = box[0]
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top = box[1]
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width = box[2]
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height = box[3]
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drawPred(classIds[i], confidences[i], left, top, left + width, top + height)
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# Process inputs
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winName = 'Deep learning object detection in OpenCV'
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cv.namedWindow(winName, cv.WINDOW_NORMAL)
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def callback(pos):
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global confThreshold
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confThreshold = pos / 100.0
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cv.createTrackbar('Confidence threshold, %', winName, int(confThreshold * 100), 99, callback)
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cap = cv.VideoCapture(cv.samples.findFileOrKeep(args.input) if args.input else 0)
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class QueueFPS(queue.Queue):
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def __init__(self):
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queue.Queue.__init__(self)
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self.startTime = 0
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self.counter = 0
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def put(self, v):
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queue.Queue.put(self, v)
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self.counter += 1
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if self.counter == 1:
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self.startTime = time.time()
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def getFPS(self):
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return self.counter / (time.time() - self.startTime)
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process = True
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#
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# Frames capturing thread
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#
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framesQueue = QueueFPS()
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def framesThreadBody():
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global framesQueue, process
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while process:
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hasFrame, frame = cap.read()
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if not hasFrame:
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break
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framesQueue.put(frame)
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#
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# Frames processing thread
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#
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processedFramesQueue = queue.Queue()
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predictionsQueue = QueueFPS()
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def processingThreadBody():
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global processedFramesQueue, predictionsQueue, args, process
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futureOutputs = []
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while process:
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# Get a next frame
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frame = None
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try:
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frame = framesQueue.get_nowait()
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if args.asyncN:
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if len(futureOutputs) == args.asyncN:
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frame = None # Skip the frame
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else:
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framesQueue.queue.clear() # Skip the rest of frames
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except queue.Empty:
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pass
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if not frame is None:
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frameHeight = frame.shape[0]
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frameWidth = frame.shape[1]
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# Create a 4D blob from a frame.
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inpWidth = args.width if args.width else frameWidth
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inpHeight = args.height if args.height else frameHeight
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blob = cv.dnn.blobFromImage(frame, size=(inpWidth, inpHeight), swapRB=args.rgb, ddepth=cv.CV_8U)
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processedFramesQueue.put(frame)
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# Run a model
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net.setInput(blob, scalefactor=args.scale, mean=args.mean)
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if net.getLayer(0).outputNameToIndex('im_info') != -1: # Faster-RCNN or R-FCN
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frame = cv.resize(frame, (inpWidth, inpHeight))
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net.setInput(np.array([[inpHeight, inpWidth, 1.6]], dtype=np.float32), 'im_info')
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if args.asyncN:
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futureOutputs.append(net.forwardAsync())
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else:
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outs = net.forward(outNames)
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predictionsQueue.put(np.copy(outs))
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while futureOutputs and futureOutputs[0].wait_for(0):
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out = futureOutputs[0].get()
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predictionsQueue.put(np.copy([out]))
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del futureOutputs[0]
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framesThread = Thread(target=framesThreadBody)
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framesThread.start()
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processingThread = Thread(target=processingThreadBody)
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processingThread.start()
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#
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# Postprocessing and rendering loop
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#
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while cv.waitKey(1) < 0:
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try:
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# Request prediction first because they put after frames
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outs = predictionsQueue.get_nowait()
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frame = processedFramesQueue.get_nowait()
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postprocess(frame, outs)
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# Put efficiency information.
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if predictionsQueue.counter > 1:
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label = 'Camera: %.2f FPS' % (framesQueue.getFPS())
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cv.putText(frame, label, (0, 15), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0))
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label = 'Network: %.2f FPS' % (predictionsQueue.getFPS())
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cv.putText(frame, label, (0, 30), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0))
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label = 'Skipped frames: %d' % (framesQueue.counter - predictionsQueue.counter)
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cv.putText(frame, label, (0, 45), cv.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0))
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cv.imshow(winName, frame)
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except queue.Empty:
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pass
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process = False
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framesThread.join()
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processingThread.join()
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