CVObjectDetection.cpp

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// Copyright (c) 2008-2019 OpenShot Studios, LLC
//
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#include <fstream>
#include <iomanip>
#include <iostream>
 
#include "CVObjectDetection.h"
#include "Exceptions.h"
 
#include "objdetectdata.pb.h"
#include <google/protobuf/util/time_util.h>
 
using namespace std;
using namespace openshot;
using google::protobuf::util::TimeUtil;
 
CVObjectDetection::CVObjectDetection(std::string processInfoJson, ProcessingController &processingController)
: processingController(&processingController), processingDevice("CPU"){
    SetJson(processInfoJson);
    confThreshold = 0.5;
    nmsThreshold = 0.1;
}
 
void CVObjectDetection::setProcessingDevice(){
    if(processingDevice == "GPU"){
        net.setPreferableBackend(cv::dnn::DNN_BACKEND_CUDA);
        net.setPreferableTarget(cv::dnn::DNN_TARGET_CUDA);
    }
    else if(processingDevice == "CPU"){
        net.setPreferableBackend(cv::dnn::DNN_BACKEND_OPENCV);
        net.setPreferableTarget(cv::dnn::DNN_TARGET_CPU);
    }
}
 
void CVObjectDetection::detectObjectsClip(openshot::Clip &video, size_t _start, size_t _end, bool process_interval)
{
 
    start = _start; end = _end;
 
    video.Open();
 
    if(error){
        return;
    }
 
    processingController->SetError(false, "");
 
    // Load names of classes
    std::ifstream ifs(classesFile.c_str());
    std::string line;
    while (std::getline(ifs, line)) classNames.push_back(line);
 
    // Load the network
    if(classesFile == "" || modelConfiguration == "" || modelWeights == "")
        return;
    net = cv::dnn::readNetFromDarknet(modelConfiguration, modelWeights);
    setProcessingDevice();
 
    size_t frame_number;
    if(!process_interval || end <= 1 || end-start == 0){
        // Get total number of frames in video
        start = (int)(video.Start() * video.Reader()->info.fps.ToFloat());
        end = (int)(video.End() * video.Reader()->info.fps.ToFloat());
    }
 
    for (frame_number = start; frame_number <= end; frame_number++)
    {
         // Stop the feature tracker process
        if(processingController->ShouldStop()){
            return;
        }
 
        std::shared_ptr<openshot::Frame> f = video.GetFrame(frame_number);
 
        // Grab OpenCV Mat image
        cv::Mat cvimage = f->GetImageCV();
 
        DetectObjects(cvimage, frame_number);
 
        // Update progress
        processingController->SetProgress(uint(100*(frame_number-start)/(end-start)));
 
    }
}
 
void CVObjectDetection::DetectObjects(const cv::Mat &frame, size_t frameId){
    // Get frame as OpenCV Mat
    cv::Mat blob;
 
    // Create a 4D blob from the frame.
    int inpWidth, inpHeight;
    inpWidth = inpHeight = 416;
 
    cv::dnn::blobFromImage(frame, blob, 1/255.0, cv::Size(inpWidth, inpHeight), cv::Scalar(0,0,0), true, false);
 
    //Sets the input to the network
    net.setInput(blob);
 
    // Runs the forward pass to get output of the output layers
    std::vector<cv::Mat> outs;
    net.forward(outs, getOutputsNames(net));
 
    // Remove the bounding boxes with low confidence
    postprocess(frame.size(), outs, frameId);
 
}
 
 
// Remove the bounding boxes with low confidence using non-maxima suppression
void CVObjectDetection::postprocess(const cv::Size &frameDims, const std::vector<cv::Mat>& outs, size_t frameId)
{
    std::vector<int> classIds;
    std::vector<float> confidences;
    std::vector<cv::Rect> boxes;
    std::vector<int> objectIds;
 
    for (size_t i = 0; i < outs.size(); ++i)
    {
        // Scan through all the bounding boxes output from the network and keep only the
        // ones with high confidence scores. Assign the box's class label as the class
        // with the highest score for the box.
        float* data = (float*)outs[i].data;
        for (int j = 0; j < outs[i].rows; ++j, data += outs[i].cols)
        {
            cv::Mat scores = outs[i].row(j).colRange(5, outs[i].cols);
            cv::Point classIdPoint;
            double confidence;
            // Get the value and location of the maximum score
            cv::minMaxLoc(scores, 0, &confidence, 0, &classIdPoint);
            if (confidence > confThreshold)
            {
                int centerX = (int)(data[0] * frameDims.width);
                int centerY = (int)(data[1] * frameDims.height);
                int width = (int)(data[2] * frameDims.width);
                int height = (int)(data[3] * frameDims.height);
                int left = centerX - width / 2;
                int top = centerY - height / 2;
 
                classIds.push_back(classIdPoint.x);
                confidences.push_back((float)confidence);
                boxes.push_back(cv::Rect(left, top, width, height));
            }
        }
    }
 
    // Perform non maximum suppression to eliminate redundant overlapping boxes with
    // lower confidences
    std::vector<int> indices;
    cv::dnn::NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, indices);
 
    // Pass boxes to SORT algorithm
    std::vector<cv::Rect> sortBoxes;
    for(auto box : boxes)
        sortBoxes.push_back(box);
    sort.update(sortBoxes, frameId, sqrt(pow(frameDims.width,2) + pow(frameDims.height, 2)), confidences, classIds);
 
    // Clear data vectors
    boxes.clear(); confidences.clear(); classIds.clear(); objectIds.clear();
    // Get SORT predicted boxes
    for(auto TBox : sort.frameTrackingResult){
        if(TBox.frame == frameId){
            boxes.push_back(TBox.box);
            confidences.push_back(TBox.confidence);
            classIds.push_back(TBox.classId);
            objectIds.push_back(TBox.id);
        }
    }
 
    // Remove boxes based on controids distance
    for(uint i = 0; i<boxes.size(); i++){
        for(uint j = i+1; j<boxes.size(); j++){
            int xc_1 = boxes[i].x + (int)(boxes[i].width/2), yc_1 = boxes[i].y + (int)(boxes[i].width/2);
            int xc_2 = boxes[j].x + (int)(boxes[j].width/2), yc_2 = boxes[j].y + (int)(boxes[j].width/2);
 
            if(fabs(xc_1 - xc_2) < 10 && fabs(yc_1 - yc_2) < 10){
                if(classIds[i] == classIds[j]){
                    if(confidences[i] >= confidences[j]){
                        boxes.erase(boxes.begin() + j);
                        classIds.erase(classIds.begin() + j);
                        confidences.erase(confidences.begin() + j);
                        objectIds.erase(objectIds.begin() + j);
                        break;
                    }
                    else{
                        boxes.erase(boxes.begin() + i);
                        classIds.erase(classIds.begin() + i);
                        confidences.erase(confidences.begin() + i);
                        objectIds.erase(objectIds.begin() + i);
                        i = 0;
                        break;
                    }
                }
            }
        }
    }
 
    // Remove boxes based in IOU score
    for(uint i = 0; i<boxes.size(); i++){
        for(uint j = i+1; j<boxes.size(); j++){
 
            if( iou(boxes[i], boxes[j])){
                if(classIds[i] == classIds[j]){
                    if(confidences[i] >= confidences[j]){
                        boxes.erase(boxes.begin() + j);
                        classIds.erase(classIds.begin() + j);
                        confidences.erase(confidences.begin() + j);
                        objectIds.erase(objectIds.begin() + j);
                        break;
                    }
                    else{
                        boxes.erase(boxes.begin() + i);
                        classIds.erase(classIds.begin() + i);
                        confidences.erase(confidences.begin() + i);
                        objectIds.erase(objectIds.begin() + i);
                        i = 0;
                        break;
                    }
                }
            }
        }
    }
 
    // Normalize boxes coordinates
    std::vector<cv::Rect_<float>> normalized_boxes;
    for(auto box : boxes){
        cv::Rect_<float> normalized_box;
        normalized_box.x = (box.x)/(float)frameDims.width;
        normalized_box.y = (box.y)/(float)frameDims.height;
        normalized_box.width = (box.width)/(float)frameDims.width;
        normalized_box.height = (box.height)/(float)frameDims.height;
        normalized_boxes.push_back(normalized_box);
    }
 
    detectionsData[frameId] = CVDetectionData(classIds, confidences, normalized_boxes, frameId, objectIds);
}
 
// Compute IOU between 2 boxes
bool CVObjectDetection::iou(cv::Rect pred_box, cv::Rect sort_box){
    // Determine the (x, y)-coordinates of the intersection rectangle
    int xA = std::max(pred_box.x, sort_box.x);
    int yA = std::max(pred_box.y, sort_box.y);
    int xB = std::min(pred_box.x + pred_box.width, sort_box.x + sort_box.width);
    int yB = std::min(pred_box.y + pred_box.height, sort_box.y + sort_box.height);
 
    // Compute the area of intersection rectangle
    int interArea = std::max(0, xB - xA + 1) * std::max(0, yB - yA + 1);
 
    // Compute the area of both the prediction and ground-truth rectangles
    int boxAArea = (pred_box.width + 1) * (pred_box.height + 1);
    int boxBArea = (sort_box.width + 1) * (sort_box.height + 1);
 
    // Compute the intersection over union by taking the intersection
    float iou = interArea / (float)(boxAArea + boxBArea - interArea);
 
    // If IOU is above this value the boxes are very close (probably a variation of the same bounding box)
    if(iou > 0.5)
        return true;
    return false;
}
 
// Get the names of the output layers
std::vector<cv::String> CVObjectDetection::getOutputsNames(const cv::dnn::Net& net)
{
    static std::vector<cv::String> names;
 
    //Get the indices of the output layers, i.e. the layers with unconnected outputs
    std::vector<int> outLayers = net.getUnconnectedOutLayers();
 
    //get the names of all the layers in the network
    std::vector<cv::String> layersNames = net.getLayerNames();
 
    // Get the names of the output layers in names
    names.resize(outLayers.size());
    for (size_t i = 0; i < outLayers.size(); ++i)
        names[i] = layersNames[outLayers[i] - 1];
    return names;
}
 
CVDetectionData CVObjectDetection::GetDetectionData(size_t frameId){
    // Check if the stabilizer info for the requested frame exists
    if ( detectionsData.find(frameId) == detectionsData.end() ) {
 
        return CVDetectionData();
    } else {
 
        return detectionsData[frameId];
    }
}
 
bool CVObjectDetection::SaveObjDetectedData(){
    // Create tracker message
    pb_objdetect::ObjDetect objMessage;
 
    //Save class names in protobuf message
    for(int i = 0; i<classNames.size(); i++){
        std::string* className = objMessage.add_classnames();
        className->assign(classNames.at(i));
    }
 
    // Iterate over all frames data and save in protobuf message
    for(std::map<size_t,CVDetectionData>::iterator it=detectionsData.begin(); it!=detectionsData.end(); ++it){
        CVDetectionData dData = it->second;
        pb_objdetect::Frame* pbFrameData;
        AddFrameDataToProto(objMessage.add_frame(), dData);
    }
 
    // Add timestamp
    *objMessage.mutable_last_updated() = TimeUtil::SecondsToTimestamp(time(NULL));
 
    {
        // Write the new message to disk.
        std::fstream output(protobuf_data_path, ios::out | ios::trunc | ios::binary);
        if (!objMessage.SerializeToOstream(&output)) {
        cerr << "Failed to write protobuf message." << endl;
        return false;
        }
    }
 
    // Delete all global objects allocated by libprotobuf.
    google::protobuf::ShutdownProtobufLibrary();
 
    return true;
 
}
 
// Add frame object detection into protobuf message.
void CVObjectDetection::AddFrameDataToProto(pb_objdetect::Frame* pbFrameData, CVDetectionData& dData) {
 
    // Save frame number and rotation
    pbFrameData->set_id(dData.frameId);
 
    for(size_t i = 0; i < dData.boxes.size(); i++){
        pb_objdetect::Frame_Box* box = pbFrameData->add_bounding_box();
 
        // Save bounding box data
        box->set_x(dData.boxes.at(i).x);
        box->set_y(dData.boxes.at(i).y);
        box->set_w(dData.boxes.at(i).width);
        box->set_h(dData.boxes.at(i).height);
        box->set_classid(dData.classIds.at(i));
        box->set_confidence(dData.confidences.at(i));
        box->set_objectid(dData.objectIds.at(i));
 
    }
}
 
// Load JSON string into this object
void CVObjectDetection::SetJson(const std::string value) {
    // Parse JSON string into JSON objects
    try
    {
        const Json::Value root = openshot::stringToJson(value);
        // Set all values that match
 
        SetJsonValue(root);
    }
    catch (const std::exception& e)
    {
        // Error parsing JSON (or missing keys)
        // throw InvalidJSON("JSON is invalid (missing keys or invalid data types)");
        std::cout<<"JSON is invalid (missing keys or invalid data types)"<<std::endl;
    }
}
 
// Load Json::Value into this object
void CVObjectDetection::SetJsonValue(const Json::Value root) {
 
    // Set data from Json (if key is found)
    if (!root["protobuf_data_path"].isNull()){
        protobuf_data_path = (root["protobuf_data_path"].asString());
    }
    if (!root["processing-device"].isNull()){
        processingDevice = (root["processing-device"].asString());
    }
    if (!root["model-config"].isNull()){
        modelConfiguration = (root["model-config"].asString());
        std::ifstream infile(modelConfiguration);
        if(!infile.good()){
            processingController->SetError(true, "Incorrect path to model config file");
            error = true;
        }
 
    }
    if (!root["model-weights"].isNull()){
        modelWeights= (root["model-weights"].asString());
        std::ifstream infile(modelWeights);
        if(!infile.good()){
            processingController->SetError(true, "Incorrect path to model weight file");
            error = true;
        }
 
    }
    if (!root["class-names"].isNull()){
        classesFile = (root["class-names"].asString());
 
        std::ifstream infile(classesFile);
        if(!infile.good()){
            processingController->SetError(true, "Incorrect path to class name file");
            error = true;
        }
 
    }
}
 
/*
||||||||||||||||||||||||||||||||||||||||||||||||||
                ONLY FOR MAKE TEST
||||||||||||||||||||||||||||||||||||||||||||||||||
*/
 
// Load protobuf data file
bool CVObjectDetection::_LoadObjDetectdData(){
    // Create tracker message
    pb_objdetect::ObjDetect objMessage;
 
    {
        // Read the existing tracker message.
        fstream input(protobuf_data_path, ios::in | ios::binary);
        if (!objMessage.ParseFromIstream(&input)) {
            cerr << "Failed to parse protobuf message." << endl;
            return false;
        }
    }
 
    // Make sure classNames and detectionsData are empty
    classNames.clear(); detectionsData.clear();
 
    // Get all classes names and assign a color to them
    for(int i = 0; i < objMessage.classnames_size(); i++){
        classNames.push_back(objMessage.classnames(i));
    }
 
    // Iterate over all frames of the saved message
    for (size_t i = 0; i < objMessage.frame_size(); i++) {
        // Create protobuf message reader
        const pb_objdetect::Frame& pbFrameData = objMessage.frame(i);
 
        // Get frame Id
        size_t id = pbFrameData.id();
 
        // Load bounding box data
        const google::protobuf::RepeatedPtrField<pb_objdetect::Frame_Box > &pBox = pbFrameData.bounding_box();
 
        // Construct data vectors related to detections in the current frame
        std::vector<int> classIds;
        std::vector<float> confidences;
        std::vector<cv::Rect_<float>> boxes;
        std::vector<int> objectIds;
 
        for(int i = 0; i < pbFrameData.bounding_box_size(); i++){
            // Get bounding box coordinates
            float x = pBox.Get(i).x(); float y = pBox.Get(i).y();
            float w = pBox.Get(i).w(); float h = pBox.Get(i).h();
            // Create OpenCV rectangle with the bouding box info
            cv::Rect_<float> box(x, y, w, h);
 
            // Get class Id (which will be assign to a class name) and prediction confidence
            int classId = pBox.Get(i).classid(); float confidence = pBox.Get(i).confidence();
            // Get object Id
            int objectId = pBox.Get(i).objectid();
 
            // Push back data into vectors
            boxes.push_back(box); classIds.push_back(classId); confidences.push_back(confidence);
        }
 
        // Assign data to object detector map
        detectionsData[id] = CVDetectionData(classIds, confidences, boxes, id, objectIds);
    }
 
    // Delete all global objects allocated by libprotobuf.
    google::protobuf::ShutdownProtobufLibrary();
 
    return true;
}