diff options
Diffstat (limited to 'tracker-neuralnet/ftnoir_tracker_neuralnet.cpp')
| -rw-r--r-- | tracker-neuralnet/ftnoir_tracker_neuralnet.cpp | 123 |
1 files changed, 109 insertions, 14 deletions
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp index 00f3f281..f849f4e1 100644 --- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp +++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp @@ -16,7 +16,6 @@ #include <opencv2/imgcodecs.hpp> #include "compat/timer.hpp" #include <omp.h> -#include <stdexcept> #ifdef _MSC_VER # pragma warning(disable : 4702) @@ -31,6 +30,8 @@ #include <algorithm> #include <chrono> #include <string> +#include <stdexcept> + // Some demo code for onnx // https://github.com/microsoft/onnxruntime/blob/master/csharp/test/Microsoft.ML.OnnxRuntime.EndToEndTests.Capi/C_Api_Sample.cpp @@ -59,6 +60,35 @@ float sigmoid(float x) } +cv::Rect make_crop_rect_for_aspect(const cv::Size &size, int aspect_w, int aspect_h) +{ + auto [w, h] = size; + if ( w*aspect_h > aspect_w*h ) + { + // Image is too wide + const int new_w = (aspect_w*h)/aspect_h; + return cv::Rect((w - new_w)/2, 0, new_w, h); + } + else + { + const int new_h = (aspect_h*w)/aspect_w; + return cv::Rect(0, (h - new_h)/2, w, new_h); + } +} + +cv::Rect make_crop_rect_multiple_of(const cv::Size &size, int multiple) +{ + const int new_w = (size.width / multiple) * multiple; + const int new_h = (size.height / multiple) * multiple; + return cv::Rect( + (size.width-new_w)/2, + (size.height-new_h)/2, + new_w, + new_h + ); +} + + template<class T> cv::Rect_<T> squarize(const cv::Rect_<T> &r) { @@ -752,7 +782,6 @@ module_status neuralnet_tracker::start_tracker(QFrame* videoframe) videoframe->setLayout(&*layout); videoWidget->show(); num_threads = settings.num_threads; - cv::setNumThreads(num_threads); start(); return status_ok(); } @@ -774,8 +803,7 @@ bool neuralnet_tracker::load_and_initialize_model() auto opts = Ort::SessionOptions{}; // Do thread settings here do anything? // There is a warning which says to control number of threads via - // openmp settings. Which is what we do. omp_set_num_threads directly - // before running the inference pass. + // openmp settings. Which is what we do. opts.SetIntraOpNumThreads(num_threads); opts.SetInterOpNumThreads(1); allocator_info = Ort::MemoryInfo::CreateCpu(OrtArenaAllocator, OrtMemTypeDefault); @@ -800,6 +828,8 @@ bool neuralnet_tracker::load_and_initialize_model() bool neuralnet_tracker::open_camera() { + int rint = std::clamp(*settings.resolution, 0, (int)std::size(resolution_choices)-1); + resolution_tuple res = resolution_choices[rint]; int fps = enum_to_fps(settings.force_fps); QMutexLocker l(&camera_mtx); @@ -811,9 +841,11 @@ bool neuralnet_tracker::open_camera() video::impl::camera::info args {}; - args.width = 320; - args.height = 240; - + if (res.width) + { + args.width = res.width; + args.height = res.height; + } if (fps) args.fps = fps; @@ -844,8 +876,34 @@ void neuralnet_tracker::set_intrinsics() } +class GuardedThreadCountSwitch +{ + int old_num_threads_cv = 1; + int old_num_threads_omp = 1; + public: + GuardedThreadCountSwitch(int num_threads) + { + old_num_threads_cv = cv::getNumThreads(); + old_num_threads_omp = omp_get_num_threads(); + omp_set_num_threads(num_threads); + cv::setNumThreads(num_threads); + } + + ~GuardedThreadCountSwitch() + { + omp_set_num_threads(old_num_threads_omp); + cv::setNumThreads(old_num_threads_cv); + } + + GuardedThreadCountSwitch(const GuardedThreadCountSwitch&) = delete; + GuardedThreadCountSwitch& operator=(const GuardedThreadCountSwitch&) = delete; +}; + + void neuralnet_tracker::run() { + GuardedThreadCountSwitch switch_num_threads_to(num_threads); + if (!open_camera()) return; @@ -870,7 +928,8 @@ void neuralnet_tracker::run() continue; } - auto color = cv::Mat(img.height, img.width, CV_8UC(img.channels), (void*)img.data, img.stride); + auto color = prepare_input_image(img); + color.copyTo(frame); switch (img.channels) @@ -890,13 +949,8 @@ void neuralnet_tracker::run() set_intrinsics(); - const auto nt = omp_get_num_threads(); - omp_set_num_threads(num_threads); - detect(); - omp_set_num_threads(nt); - if (frame.rows > 0) videoWidget->update_image(frame); @@ -907,6 +961,33 @@ void neuralnet_tracker::run() } +cv::Mat neuralnet_tracker::prepare_input_image(const video::frame& frame) +{ + auto img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, frame.stride); + + // Crop if aspect ratio is not 4:3 + if (img.rows*4 != img.cols*3) + { + img = img(make_crop_rect_for_aspect(img.size(), 4, 3)); + } + + img = img(make_crop_rect_multiple_of(img.size(), 4)); + + if (img.cols > 640) + { + cv::pyrDown(img, downsized_original_images_[0]); + img = downsized_original_images_[0]; + } + if (img.cols > 640) + { + cv::pyrDown(img, downsized_original_images_[1]); + img = downsized_original_images_[1]; + } + + return img; +} + + void neuralnet_tracker::update_fps(double dt) { const double alpha = dt/(dt + RC); @@ -965,6 +1046,18 @@ void neuralnet_dialog::make_fps_combobox() } } +void neuralnet_dialog::make_resolution_combobox() +{ + int k=0; + for (const auto [w, h] : resolution_choices) + { + const QString s = (w == 0) + ? tr("Default") + : QString::number(w) + " x " + QString::number(h); + ui.resolution->addItem(s, k++); + } +} + neuralnet_dialog::neuralnet_dialog() : trans_calib(1, 2) @@ -972,7 +1065,7 @@ neuralnet_dialog::neuralnet_dialog() : ui.setupUi(this); make_fps_combobox(); - tie_setting(settings.force_fps, ui.cameraFPS); + make_resolution_combobox(); for (const auto& str : video::camera_names()) ui.cameraName->addItem(str); @@ -987,6 +1080,8 @@ neuralnet_dialog::neuralnet_dialog() : tie_setting(settings.use_mjpeg, ui.use_mjpeg); tie_setting(settings.roi_zoom, ui.roiZoom); tie_setting(settings.num_threads, ui.threadCount); + tie_setting(settings.resolution, ui.resolution); + tie_setting(settings.force_fps, ui.cameraFPS); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); |