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Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31'

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git-subtree-dir: find-object
git-subtree-mainline: 9bd639e88c
git-subtree-split: 635efcd622
This commit is contained in:
Apoorva Gupta
2023-02-25 14:20:22 +05:30
parent 9bd639e88c 635efcd622
commit fabea45044
142 changed files with 33699 additions and 0 deletions
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find-object/app/CMakeLists.txt
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SET(headers_ui
TcpServerPool.h
)
IF(QT4_FOUND)
QT4_WRAP_CPP(moc_srcs ${headers_ui})
ELSE()
QT5_WRAP_CPP(moc_srcs ${headers_ui})
ENDIF()
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
)
IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND)
SET(LIBRARIES
${QT_LIBRARIES}
${OpenCV_LIBS}
)
if(Tcmalloc_FOUND)
SET(LIBRARIES
${LIBARIES}
${Tcmalloc_LIBRARIES}
)
endif(Tcmalloc_FOUND)
#include files
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
SET(SRC_FILES main.cpp ${moc_srcs} )
# For Apple set the icns file containing icons
IF(APPLE AND BUILD_AS_BUNDLE)
# set how it shows up in the Info.plist file
SET(MACOSX_BUNDLE_ICON_FILE ${PROJECT_NAME}.icns)
# set where in the bundle to put the icns file
SET_SOURCE_FILES_PROPERTIES(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns PROPERTIES MACOSX_PACKAGE_LOCATION Resources)
# include the icns file in the target
SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns)
ENDIF(APPLE AND BUILD_AS_BUNDLE)
# Add exe icon resource
IF(WIN32)
IF( MINGW )
# resource compilation for MinGW
ADD_CUSTOM_COMMAND( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o
COMMAND windres.exe -I${CMAKE_CURRENT_SOURCE_DIR} -i${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.rc
-o ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o )
SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o)
ELSE( MINGW )
SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc) # Error on visual studio 2008
ENDIF( MINGW )
ENDIF(WIN32)
# create an executable file
IF(APPLE AND BUILD_AS_BUNDLE)
ADD_EXECUTABLE(find_object_app MACOSX_BUNDLE ${SRC_FILES})
ELSEIF(MINGW)
ADD_EXECUTABLE(find_object_app WIN32 ${SRC_FILES})
ELSE()
ADD_EXECUTABLE(find_object_app ${SRC_FILES})
ENDIF()
# Linking with Qt libraries
TARGET_LINK_LIBRARIES(find_object_app find_object ${LIBRARIES})
IF(Qt5_FOUND)
QT5_USE_MODULES(find_object_app Widgets Core Gui Network PrintSupport)
ENDIF(Qt5_FOUND)
IF(APPLE AND BUILD_AS_BUNDLE)
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
ELSEIF(WIN32)
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_NAME})
ELSE()
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_PREFIX})
ENDIF()
#---------------------------
# Installation stuff
#---------------------------
INSTALL(TARGETS find_object_app
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
#---------------------------
# Dependencies packaging
#---------------------------
IF(APPLE AND BUILD_AS_BUNDLE)
INSTALL(CODE "execute_process(COMMAND ln -s \"../MacOS/${CMAKE_BUNDLE_NAME}\" ${PROJECT_NAME}
WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin)")
ENDIF(APPLE AND BUILD_AS_BUNDLE)
IF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME}${CMAKE_EXECUTABLE_SUFFIX}")
SET(plugin_dest_dir bin)
SET(qtconf_dest_dir bin)
IF(APPLE)
SET(plugin_dest_dir MacOS)
SET(qtconf_dest_dir Resources)
SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
ENDIF(APPLE)
# Install needed Qt plugins by copying directories from the qt installation
# One can cull what gets copied by using 'REGEX "..." EXCLUDE'
# Exclude debug libraries
IF(QT_PLUGINS_DIR)
INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats"
DESTINATION ${plugin_dest_dir}/plugins
COMPONENT runtime
REGEX ".*d4.dll" EXCLUDE
REGEX ".*d4.a" EXCLUDE)
ELSE()
#Qt5
foreach(plugin ${Qt5Gui_PLUGINS})
get_target_property(plugin_loc ${plugin} LOCATION)
get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
string(REPLACE "plugins" ";" loc_list ${plugin_dir})
list(GET loc_list 1 plugin_type)
#MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
INSTALL(FILES ${plugin_loc}
DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
COMPONENT runtime)
endforeach()
ENDIF()
# install a qt.conf file
# this inserts some cmake code into the install script to write the file
SET(QT_CONF_FILE [Paths]\nPlugins=plugins)
IF(APPLE)
SET(QT_CONF_FILE [Paths]\nPlugins=MacOS/plugins)
ENDIF(APPLE)
INSTALL(CODE "
file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
" COMPONENT runtime)
# directories to look for dependencies
SET(DIRS ${QT_LIBRARY_DIRS} ${PROJECT_SOURCE_DIR}/bin)
IF(APPLE)
SET(DIRS ${DIRS} /usr/local /usr/local/lib)
ENDIF(APPLE)
# Now the work of copying dependencies into the bundle/package
# The quotes are escaped and variables to use at install time have their $ escaped
# An alternative is the do a configure_file() on a script and use install(SCRIPT ...).
# Note that the image plugins depend on QtSvg and QtXml, and it got those copied
# over.
# To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
install(CODE "
file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/plugins/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
include(\"BundleUtilities\")
fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
" COMPONENT runtime)
ENDIF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
find-object/app/Find-Object.icns
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find-object/app/Find-Object.ifx
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find-object/app/Find-Object.rc
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IDI_ICON1 ICON DISCARDABLE "Find-Object.ico"
find-object/app/TcpServerPool.h
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/*
* TcpServerPool.h
*
* Created on: Nov 29, 2015
* Author: mathieu
*/
#ifndef TCPSERVERPOOL_H_
#define TCPSERVERPOOL_H_
#include <find_object/FindObject.h>
#include <find_object/TcpServer.h>
#include <find_object/utilite/ULogger.h>
#include <QtCore/QThread>
#include <QtCore/QSemaphore>
class FindObjectWorker : public QObject
{
Q_OBJECT;
public:
FindObjectWorker(
find_object::FindObject * sharedFindObject,
QSemaphore * sharedSemaphore,
int maxSemaphoreResources,
QObject * parent = 0) :
QObject(parent),
sharedFindObject_(sharedFindObject),
sharedSemaphore_(sharedSemaphore),
maxSemaphoreResources_(maxSemaphoreResources)
{
UASSERT(sharedFindObject != 0);
UASSERT(sharedSemaphore != 0);
UASSERT(maxSemaphoreResources > 0);
}
public Q_SLOTS:
void detect(const cv::Mat & image)
{
sharedSemaphore_->acquire(1);
UINFO("Thread %p detecting...", (void *)this->thread());
find_object::DetectionInfo info;
sharedFindObject_->detect(image, info);
Q_EMIT objectsFound(info);
sharedSemaphore_->release(1);
}
void addObjectAndUpdate(const cv::Mat & image, int id, const QString & filePath)
{
//block everyone!
sharedSemaphore_->acquire(maxSemaphoreResources_);
UINFO("Thread %p adding object %d (%s)...", (void *)this->thread(), id, filePath.toStdString().c_str());
sharedFindObject_->addObjectAndUpdate(image, id, filePath);
sharedSemaphore_->release(maxSemaphoreResources_);
}
void removeObjectAndUpdate(int id)
{
//block everyone!
sharedSemaphore_->acquire(maxSemaphoreResources_);
UINFO("Thread %p removing object %d...", (void *)this->thread(), id);
sharedFindObject_->removeObjectAndUpdate(id);
sharedSemaphore_->release(maxSemaphoreResources_);
}
Q_SIGNALS:
void objectsFound(const find_object::DetectionInfo &);
private:
find_object::FindObject * sharedFindObject_; //shared findobject
QSemaphore * sharedSemaphore_;
int maxSemaphoreResources_;
};
class TcpServerPool : public QObject
{
Q_OBJECT;
public:
TcpServerPool(find_object::FindObject * sharedFindObject, int threads, int port) :
sharedSemaphore_(threads)
{
UASSERT(sharedFindObject != 0);
UASSERT(threads>=1);
qRegisterMetaType<cv::Mat>("cv::Mat");
threadPool_.resize(threads);
for(int i=0; i<threads; ++i)
{
find_object::TcpServer * tcpServer = new find_object::TcpServer(port!=0?port++:0);
UINFO("TcpServer set on port: %d (IP=%s)",
tcpServer->getPort(),
tcpServer->getHostAddress().toString().toStdString().c_str());
threadPool_[i] = new QThread(this);
FindObjectWorker * worker = new FindObjectWorker(sharedFindObject, &sharedSemaphore_, threads);
tcpServer->moveToThread(threadPool_[i]);
worker->moveToThread(threadPool_[i]);
connect(threadPool_[i], SIGNAL(finished()), tcpServer, SLOT(deleteLater()));
connect(threadPool_[i], SIGNAL(finished()), worker, SLOT(deleteLater()));
// connect stuff:
QObject::connect(worker, SIGNAL(objectsFound(find_object::DetectionInfo)), tcpServer, SLOT(publishDetectionInfo(find_object::DetectionInfo)));
QObject::connect(tcpServer, SIGNAL(detectObject(const cv::Mat &)), worker, SLOT(detect(const cv::Mat &)));
QObject::connect(tcpServer, SIGNAL(addObject(const cv::Mat &, int, const QString &)), worker, SLOT(addObjectAndUpdate(const cv::Mat &, int, const QString &)));
QObject::connect(tcpServer, SIGNAL(removeObject(int)), worker, SLOT(removeObjectAndUpdate(int)));
threadPool_[i]->start();
}
}
virtual ~TcpServerPool()
{
for(int i=0; i<threadPool_.size(); ++i)
{
threadPool_[i]->quit();
threadPool_[i]->wait();
}
}
private:
QVector<QThread*> threadPool_;
QSemaphore sharedSemaphore_;
};
#endif /* TCPSERVERPOOL_H_ */
find-object/app/main.cpp
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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <QApplication>
#include <QtCore/QDir>
#include <QtCore/QFile>
#include <iostream>
#include <iomanip>
#include "find_object/MainWindow.h"
#include "find_object/Settings.h"
#include "find_object/FindObject.h"
#include "find_object/Camera.h"
#include "find_object/TcpServer.h"
#include "find_object/JsonWriter.h"
#include "find_object/utilite/ULogger.h"
#include "TcpServerPool.h"
bool running = true;
#ifdef WIN32
#include <windows.h>
BOOL WINAPI my_handler(DWORD signal)
{
if (signal == CTRL_C_EVENT)
{
printf("\nCtrl-C caught! Quitting application...\n");
QCoreApplication::quit();
}
return TRUE;
running = false;
}
#else
#include <signal.h>
void my_handler(int s)
{
printf("\nCtrl-C caught! Quitting application...\n");
QCoreApplication::quit();
running = false;
}
inline void Sleep(unsigned int ms)
{
struct timespec req;
struct timespec rem;
req.tv_sec = ms / 1000;
req.tv_nsec = (ms - req.tv_sec * 1000) * 1000 * 1000;
nanosleep (&req, &rem);
}
#endif
void setupQuitSignal()
{
// Catch ctrl-c to close Qt
#ifdef WIN32
if (!SetConsoleCtrlHandler(my_handler, TRUE))
{
UERROR("Could not set control (ctrl-c) handler");
}
#else
struct sigaction sigIntHandler;
sigIntHandler.sa_handler = my_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;
sigaction(SIGINT, &sigIntHandler, NULL);
#endif
}
void showUsage()
{
printf("\nUsage:\n"
#ifdef WIN32
" Find-Object.exe [options]\n"
#else
" find_object [options]\n"
#endif
"Options:\n"
" --console Don't use the GUI (by default the camera will be\n"
" started automatically). Option --objects must also be\n"
" used with valid objects.\n"
" --session \"path\" Path to a session to load (*.bin). Use \"--session_new\" to\n"
" create a session instead (will be saved to \"path\" on exit, only\n"
" on console mode).\n"
" --object \"path\" Path to an object to detect.\n"
" --objects \"path\" Directory of the objects to detect (--object is ignored).\n"
" --config \"path\" Path to configuration file (default: %s).\n"
" If set to \"\", default parameters are used\n"
" without saving modified parameters on closing.\n"
" --scene \"path\" Path to a scene image file.\n"
" --vocabulary \"path\" Path to a vocabulary file (*.yaml *.xml). Parameters \"General/invertedSearch\"\n"
" and \"General/vocabularyFixed\" will be also enabled. Ignored if \"--session\" is set.\n"
" --images_not_saved Don't keep images in RAM after the features are extracted (only\n"
" in console mode). Images won't be saved if an output session is set.\n"
" --tcp_threads # Number of TCP threads (default 1, only in --console mode). \"--General/port\" parameter should not be 0.\n"
" Port numbers start from \"General/port\" value. \"Detect\" TCP service can be\n"
" executed at the same time by multiple threads. \"Add/Remove\" TCP services\n"
" cannot be called by multiple threads, so calling these services on a port\n "
" will block all other threads on the other ports.\n"
" --debug Show debug log.\n"
" --log-time Show log with time.\n"
" --params Show all parameters.\n"
" --defaults Use default parameters (--config is ignored).\n"
" --My/Parameter \"value\" Set find-Object's parameter (look --params for parameters' name).\n"
" It will override the one in --config. Example to set 4 threads:\n"
" $ find_object --General/threads 4\n"
" --json \"path\" Path to an output JSON file (only in --console mode with --scene).\n"
" --help Show usage.\n"
, find_object::Settings::iniDefaultPath().toStdString().c_str());
exit(-1);
}
int main(int argc, char* argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintWhere(false);
ULogger::setPrintTime(false);
//////////////////////////
// parse options BEGIN
//////////////////////////
bool guiMode = true;
QString sessionPath = "";
bool sessionNew = false;
QString objectsPath = "";
QString objectPath = "";
QString scenePath = "";
QString configPath = "";
QString vocabularyPath = "";
QString jsonPath;
find_object::ParametersMap customParameters;
bool imagesSaved = true;
int tcpThreads = 1;
for(int i=1; i<argc; ++i)
{
#ifdef __APPLE__
if(QString(argv[i]).startsWith("-psn"))
{
//safely ignore
continue;
}
#endif
if(strcmp(argv[i], "-objs") == 0 ||
strcmp(argv[i], "--objs") == 0 ||
strcmp(argv[i], "-objects") == 0 ||
strcmp(argv[i], "--objects") == 0)
{
++i;
if(i < argc)
{
objectsPath = argv[i];
if(objectsPath.contains('~'))
{
objectsPath.replace('~', QDir::homePath());
}
if(!QDir(objectsPath).exists())
{
UERROR("Objects path not valid : %s", objectsPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-session") == 0 ||
strcmp(argv[i], "--session") == 0 ||
strcmp(argv[i], "-session_new") == 0 ||
strcmp(argv[i], "--session_new") == 0)
{
if(strcmp(argv[i], "-session_new") == 0 ||
strcmp(argv[i], "--session_new") == 0)
{
sessionNew = true;
}
++i;
if(i < argc)
{
sessionPath = argv[i];
if(sessionPath.contains('~'))
{
sessionPath.replace('~', QDir::homePath());
}
if(!sessionNew && !QFile(sessionPath).exists())
{
UERROR("Session path not valid : %s (if you want to create a new session, use \"--session_new\")", sessionPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-object") == 0 ||
strcmp(argv[i], "--object") == 0)
{
++i;
if(i < argc)
{
objectPath = argv[i];
if(objectPath.contains('~'))
{
objectPath.replace('~', QDir::homePath());
}
if(!QFile(objectPath).exists())
{
UERROR("Object path not valid : %s", objectPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-scene") == 0 ||
strcmp(argv[i], "--scene") == 0)
{
++i;
if(i < argc)
{
scenePath = argv[i];
if(scenePath.contains('~'))
{
scenePath.replace('~', QDir::homePath());
}
if(!QFile(scenePath).exists())
{
UERROR("Scene path not valid : %s", scenePath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-vocabulary") == 0 ||
strcmp(argv[i], "--vocabulary") == 0)
{
++i;
if(i < argc)
{
vocabularyPath = argv[i];
if(vocabularyPath.contains('~'))
{
vocabularyPath.replace('~', QDir::homePath());
}
if(!QFile(vocabularyPath).exists())
{
UERROR("Vocabulary path not valid : %s", vocabularyPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-config") == 0 ||
strcmp(argv[i], "--config") == 0)
{
++i;
if(i < argc)
{
configPath = argv[i];
if(configPath.contains('~'))
{
configPath.replace('~', QDir::homePath());
}
if(!configPath.isEmpty() && !QFile::exists(configPath))
{
UWARN("Configuration file \"%s\" doesn't exist, it will be created with default values...", configPath.toStdString().c_str());
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-console") == 0 ||
strcmp(argv[i], "--console") == 0)
{
guiMode = false;
continue;
}
if(strcmp(argv[i], "-images_not_saved") == 0 ||
strcmp(argv[i], "--images_not_saved") == 0)
{
imagesSaved = false;
continue;
}
if(strcmp(argv[i], "-debug") == 0 ||
strcmp(argv[i], "--debug") == 0)
{
customParameters.insert(find_object::Settings::kGeneral_debug(), true);
continue;
}
if(strcmp(argv[i], "-log-time") == 0 ||
strcmp(argv[i], "--log-time") == 0)
{
ULogger::setPrintWhere(true);
ULogger::setPrintTime(true);
continue;
}
if(strcmp(argv[i], "-help") == 0 ||
strcmp(argv[i], "--help") == 0)
{
showUsage();
}
if(strcmp(argv[i], "-json") == 0 ||
strcmp(argv[i], "--json") == 0)
{
++i;
if(i < argc)
{
jsonPath = argv[i];
if(jsonPath.contains('~'))
{
jsonPath.replace('~', QDir::homePath());
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-tcp_threads") == 0 ||
strcmp(argv[i], "--tcp_threads") == 0)
{
++i;
if(i < argc)
{
tcpThreads = atoi(argv[i]);
if(tcpThreads < 1)
{
printf("tcp_threads should be >= 1!\n");
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "--params") == 0)
{
find_object::ParametersMap parameters = find_object::Settings::getDefaultParameters();
for(find_object::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string str = "Param: " + iter.key().toStdString() + " = \"" + iter.value().toString().toStdString() + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
find_object::Settings::getDescriptions().value(iter.key()).toStdString().c_str() <<
"]" <<
std::endl;
}
UINFO("Node will now exit after showing default Find-Object's parameters because "
"argument \"--params\" is detected!");
exit(0);
}
// Check for custom parameters:
find_object::ParametersMap parameters = find_object::Settings::getDefaultParameters();
QString name = argv[i];
if(name.size() > 2)
{
//strip the "--"
name.remove(0, 2);
if(parameters.contains(name))
{
++i;
if(i < argc)
{
customParameters.insert(name, argv[i]);
}
else
{
showUsage();
}
continue;
}
}
UERROR("Unrecognized option : %s", argv[i]);
showUsage();
}
UINFO("Options:");
UINFO(" GUI mode = %s", guiMode?"true":"false");
if(!sessionPath.isEmpty())
{
if(sessionNew)
{
UINFO(" Session path: \"%s\" [NEW]", sessionPath.toStdString().c_str());
if(configPath.isEmpty() && guiMode)
{
configPath = find_object::Settings::iniDefaultPath();
}
}
else
{
UINFO(" Session path: \"%s\"", sessionPath.toStdString().c_str());
if(!vocabularyPath.isEmpty())
{
UWARN("Vocabulary \"%s\" is not loaded as a session \"%s\" is already "
"loaded, ignoring vocabulary file...",
vocabularyPath.toStdString().c_str(),
sessionPath.toStdString().c_str());
vocabularyPath.clear();
}
if(!configPath.isEmpty())
{
UWARN("A session \"%s\" is loaded and a config file is also used, "
"the parameters of the session will be overwritten by "
"those in the config file \"%s\".",
sessionPath.toStdString().c_str(),
configPath.toStdString().c_str());
}
}
}
else if(configPath.isEmpty() && guiMode)
{
configPath = find_object::Settings::iniDefaultPath();
}
if(!objectsPath.isEmpty())
{
UINFO(" Objects path: \"%s\"", objectsPath.toStdString().c_str());
}
else if(!objectPath.isEmpty())
{
UINFO(" Object path: \"%s\"", objectPath.toStdString().c_str());
}
UINFO(" Scene path: \"%s\"", scenePath.toStdString().c_str());
if(!guiMode)
{
UINFO(" JSON path: \"%s\"", jsonPath.toStdString().c_str());
}
UINFO(" Settings path: \"%s\"", configPath.toStdString().c_str());
UINFO(" Vocabulary path: \"%s\"", vocabularyPath.toStdString().c_str());
if(!vocabularyPath.isEmpty())
{
if(customParameters.contains(find_object::Settings::kGeneral_vocabularyFixed()))
{
UWARN("\"General/vocabularyFixed\" custom parameter overwritten as a fixed vocabulary is used.");
}
if(customParameters.contains(find_object::Settings::kGeneral_invertedSearch()))
{
UWARN("\"General/invertedSearch\" custom parameter overwritten as a fixed vocabulary is used.");
}
customParameters[find_object::Settings::kGeneral_vocabularyFixed()] = true;
customParameters[find_object::Settings::kGeneral_invertedSearch()] = true;
}
for(find_object::ParametersMap::iterator iter= customParameters.begin(); iter!=customParameters.end(); ++iter)
{
UINFO(" Param \"%s\"=\"%s\"", iter.key().toStdString().c_str(), iter.value().toString().toStdString().c_str());
}
//////////////////////////
// parse options END
//////////////////////////
// Load settings, should be loaded before creating other objects
find_object::ParametersMap parameters;
if(!configPath.isEmpty())
{
parameters = find_object::Settings::init(configPath);
}
// Override custom parameters:
for(find_object::ParametersMap::iterator iter= customParameters.begin(); iter!=customParameters.end(); ++iter)
{
find_object::Settings::setParameter(iter.key(), iter.value());
parameters.insert(iter.key(), iter.value());
}
// Create FindObject
find_object::FindObject * findObject = new find_object::FindObject(guiMode || imagesSaved);
// Load objects if path is set
int objectsLoaded = 0;
if(!sessionPath.isEmpty() && !sessionNew)
{
if(!findObject->loadSession(sessionPath, parameters))
{
UERROR("Could not load session \"%s\"", sessionPath.toStdString().c_str());
}
else
{
objectsLoaded = findObject->objects().size();
}
}
else if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
{
UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
}
if(!objectsPath.isEmpty())
{
if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
{
UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
}
objectsLoaded = findObject->loadObjects(objectsPath);
if(!objectsLoaded)
{
UWARN("No objects loaded from \"%s\"", objectsPath.toStdString().c_str());
}
}
else if(!objectPath.isEmpty())
{
if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
{
UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
}
const find_object::ObjSignature * obj = findObject->addObject(objectPath);
if(obj)
{
++objectsLoaded;
findObject->updateObjects();
findObject->updateVocabulary();
}
else
{
UWARN("No object loaded from \"%s\"", objectsPath.toStdString().c_str());
}
}
cv::Mat scene;
if(!scenePath.isEmpty())
{
scene = cv::imread(scenePath.toStdString());
if(scene.empty())
{
UERROR("Failed to load scene \"%s\"", scenePath.toStdString().c_str());
}
}
if(guiMode)
{
QApplication app(argc, argv);
find_object::MainWindow mainWindow(findObject, 0); // ownership transfered
app.connect( &app, SIGNAL( lastWindowClosed() ), &app, SLOT( quit() ) );
mainWindow.show();
if(!scene.empty())
{
mainWindow.update(scene);
}
app.exec();
// Save settings
find_object::Settings::saveSettings();
}
else
{
QCoreApplication app(argc, argv);
if(!scene.empty())
{
// process the scene and exit
QTime time;
time.start();
find_object::DetectionInfo info;
findObject->detect(scene, info);
if(info.objDetected_.size() > 1)
{
UINFO("%d objects detected! (%d ms)", (int)info.objDetected_.size(), time.elapsed());
}
else if(info.objDetected_.size() == 1)
{
UINFO("Object %d detected! (%d ms)", (int)info.objDetected_.begin().key(), time.elapsed());
}
else if(find_object::Settings::getGeneral_sendNoObjDetectedEvents())
{
UINFO("No objects detected. (%d ms)", time.elapsed());
}
if(!jsonPath.isEmpty())
{
find_object::JsonWriter::write(info, jsonPath);
UINFO("JSON written to \"%s\"", jsonPath.toStdString().c_str());
}
}
else
{
TcpServerPool tcpServerPool(findObject, tcpThreads, find_object::Settings::getGeneral_port());
setupQuitSignal();
//If TCP camera is used
find_object::Camera * camera = 0;
if(find_object::Settings::getCamera_6useTcpCamera())
{
camera = new find_object::Camera();
// [Camera] ---Image---> [FindObject]
QObject::connect(camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
QObject::connect(camera, SIGNAL(finished()), &app, SLOT(quit()));
if(!camera->start())
{
UERROR("Camera initialization failed!");
running = false;
}
}
// start processing!
if(running)
{
app.exec();
if(!sessionPath.isEmpty())
{
if(findObject->isSessionModified())
{
UINFO("The session has been modified, updating the session file...");
if(findObject->saveSession(sessionPath))
{
UINFO("Session \"%s\" successfully saved (%d objects)!",
sessionPath.toStdString().c_str(), findObject->objects().size());
}
}
else if(sessionNew)
{
UINFO("The session has not been modified, session file not created...");
}
}
}
// cleanup
if(camera)
{
camera->stop();
delete camera;
}
}
delete findObject;
}
return 0;
}