v0.8.2.0 Release
v0.8.2.0 Release
This commit is contained in:
Joy D'Souza
@@ -108,10 +108,10 @@ static void Usage() {
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" --mode[=0|1] Model Mode. 0: High Quality, 1: High Performance\n"
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" --app_mode[=(0|1)] App mode. 0: Body detection, 1: Keypoint detection "
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#if NV_MULTI_OBJECT_TRACKER
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" --enable_people_tracking[=(0|1)] Enables people tracking "
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" --shadow_tracking_age Shadow Tracking Age after which tracking information of a person is removed. Measured in frames"
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" --enable_people_tracking[=(0|1)] Enables people tracking "
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" --shadow_tracking_age Shadow Tracking Age after which tracking information of a person is removed. Measured in frames"
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" --probation_age Length of probationary period. Measured in frames"
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" --max_targets_tracked Maximum number of targets to be tracked "
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" --max_targets_tracked Maximum number of targets to be tracked "
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#endif
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"(Default).\n"
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" --benchmarks[=<pattern>] run benchmarks\n");
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@@ -213,10 +213,10 @@ static int ParseMyArgs(int argc, char **argv) {
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GetFlagArgVal("camindex", arg, &FLAG_camindex) ||
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GetFlagArgVal("use_cuda_graph", arg, &FLAG_useCudaGraph) ||
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#if NV_MULTI_OBJECT_TRACKER
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GetFlagArgVal("enable_people_tracking", arg, &FLAG_enablePeopleTracking) ||
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GetFlagArgVal("shadow_tracking_age", arg, &FLAG_shadowTrackingAge) ||
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GetFlagArgVal("enable_people_tracking", arg, &FLAG_enablePeopleTracking) ||
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GetFlagArgVal("shadow_tracking_age", arg, &FLAG_shadowTrackingAge) ||
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GetFlagArgVal("probation_age", arg, &FLAG_probationAge) ||
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GetFlagArgVal("max_targets_tracked", arg, &FLAG_maxTargetsTracked) ||
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GetFlagArgVal("max_targets_tracked", arg, &FLAG_maxTargetsTracked) ||
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#endif
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GetFlagArgVal("temporal", arg, &FLAG_temporal))) {
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continue;
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@@ -389,7 +389,7 @@ void DoApp::processKey(int key) {
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if (FLAG_enablePeopleTracking) body_ar_engine.createFeatures(FLAG_modelPath.c_str());
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else
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#endif
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body_ar_engine.createFeatures(FLAG_modelPath.c_str(), 1);
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body_ar_engine.createFeatures(FLAG_modelPath.c_str(), 1);
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body_ar_engine.initFeatureIOParams();
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break;
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case '1':
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@@ -471,48 +471,48 @@ void DoApp::DrawBBoxes(const cv::Mat &src, NvAR_Rect *output_bbox) {
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}
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void DoApp::DrawBBoxes(const cv::Mat &src, NvAR_BBoxes *output_bbox) {
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cv::Mat frm;
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if (FLAG_offlineMode)
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frm = src.clone();
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else
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frm = src;
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cv::Mat frm;
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if (FLAG_offlineMode)
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frm = src.clone();
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else
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frm = src;
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if (output_bbox) {
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for (int i = 0; i < output_bbox->num_boxes; i++) {
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auto color = cv::Scalar(255, 255, 255);
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cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].x), lround(output_bbox->boxes[i].y)),
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cv::Point(lround(output_bbox->boxes[i].x + output_bbox->boxes[i].width), lround(output_bbox->boxes[i].y + output_bbox->boxes[i].height)),
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cv::Scalar(255, 0, 0), 2);
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}
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}
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if (FLAG_offlineMode) bodyDetectOutputVideo.write(frm);
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if (output_bbox) {
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for (int i = 0; i < output_bbox->num_boxes; i++) {
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auto color = cv::Scalar(255, 255, 255);
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cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].x), lround(output_bbox->boxes[i].y)),
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cv::Point(lround(output_bbox->boxes[i].x + output_bbox->boxes[i].width), lround(output_bbox->boxes[i].y + output_bbox->boxes[i].height)),
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cv::Scalar(255, 0, 0), 2);
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}
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}
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if (FLAG_offlineMode) bodyDetectOutputVideo.write(frm);
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}
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#if NV_MULTI_OBJECT_TRACKER
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void DoApp::DrawBBoxes(const cv::Mat &src, NvAR_TrackingBBoxes *output_bbox) {
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cv::Mat frm;
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if (FLAG_offlineMode)
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frm = src.clone();
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else
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frm = src;
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cv::Mat frm;
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if (FLAG_offlineMode)
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frm = src.clone();
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else
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frm = src;
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if (output_bbox) {
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for (int i = 0; i < output_bbox->num_boxes; i++) {
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if (colorCodes.size() <= output_bbox->boxes[i].tracking_id)
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colorCodes.push_back(cv::Scalar(rand() & 0xFF, rand() & 0xFF, rand() & 0xFF));
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auto color = colorCodes[output_bbox->boxes[i].tracking_id];
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std::string text = "ID: " + std::to_string(output_bbox->boxes[i].tracking_id);
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cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y)),
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cv::Point(lround(output_bbox->boxes[i].bbox.x + output_bbox->boxes[i].bbox.width), lround(output_bbox->boxes[i].bbox.y + output_bbox->boxes[i].bbox.height)),
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color, 2);
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cv::putText(frm, text, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y) - 10), cv::FONT_HERSHEY_SIMPLEX, 0.9, color, 2);
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}
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if (output_bbox) {
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for (int i = 0; i < output_bbox->num_boxes; i++) {
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if (colorCodes.size() <= output_bbox->boxes[i].tracking_id)
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colorCodes.push_back(cv::Scalar(rand() & 0xFF, rand() & 0xFF, rand() & 0xFF));
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auto color = colorCodes[output_bbox->boxes[i].tracking_id];
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std::string text = "ID: " + std::to_string(output_bbox->boxes[i].tracking_id);
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cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y)),
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cv::Point(lround(output_bbox->boxes[i].bbox.x + output_bbox->boxes[i].bbox.width), lround(output_bbox->boxes[i].bbox.y + output_bbox->boxes[i].bbox.height)),
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color, 2);
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cv::putText(frm, text, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y) - 10), cv::FONT_HERSHEY_SIMPLEX, 0.9, color, 2);
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}
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}
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}
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if (FLAG_offlineMode) bodyDetectOutputVideo.write(frm);
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if (FLAG_offlineMode) bodyDetectOutputVideo.write(frm);
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}
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#endif
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void DoApp::writeVideoAndEstResults(const cv::Mat &frm, NvAR_BBoxes output_bboxes, NvAR_Point2f* keypoints) {
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@@ -561,50 +561,50 @@ void DoApp::writeVideoAndEstResults(const cv::Mat &frm, NvAR_BBoxes output_bboxe
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}
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#if NV_MULTI_OBJECT_TRACKER
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void DoApp::writeVideoAndEstResults(const cv::Mat &frm, NvAR_TrackingBBoxes output_bboxes, NvAR_Point2f* keypoints) {
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if (captureVideo) {
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if (!capturedVideo.isOpened()) {
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const std::string currentCalendarTime = getCalendarTime();
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const std::string capturedOutputFileName = currentCalendarTime + ".mp4";
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getFPS();
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if (frameTime) {
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float fps = (float)(1.0 / frameTime);
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capturedVideo.open(capturedOutputFileName, StringToFourcc(FLAG_captureCodec), fps,
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cv::Size(frm.cols, frm.rows));
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if (!capturedVideo.isOpened()) {
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std::cout << "Error: Could not open video: \"" << capturedOutputFileName << "\"\n";
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return;
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}
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if (FLAG_verbose) {
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std::cout << "Capturing video started" << std::endl;
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}
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}
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else { // If frameTime is 0.f, returns without writing the frame to the Video
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return;
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}
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const std::string outputsFileName = currentCalendarTime + ".txt";
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bodyEngineVideoOutputFile.open(outputsFileName, std::ios_base::out);
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if (!bodyEngineVideoOutputFile.is_open()) {
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std::cout << "Error: Could not open file: \"" << outputsFileName << "\"\n";
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return;
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}
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std::string keyPointDetectionMode = (keypoints == NULL) ? "Off" : "On";
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bodyEngineVideoOutputFile << "// BodyDetectOn, KeyPointDetect" << keyPointDetectionMode << "\n ";
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bodyEngineVideoOutputFile
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<< "// kNumPeople, (bbox_x, bbox_y, bbox_w, bbox_h){ kNumPeople}, kNumLMs, [lm_x, lm_y]{kNumLMs}\n";
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}
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// Write each frame to the Video
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capturedVideo << frm;
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writeEstResults(bodyEngineVideoOutputFile, output_bboxes, keypoints);
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}
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else {
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if (capturedVideo.isOpened()) {
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if (FLAG_verbose) {
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std::cout << "Capturing video ended" << std::endl;
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}
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capturedVideo.release();
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if (bodyEngineVideoOutputFile.is_open()) bodyEngineVideoOutputFile.close();
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}
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}
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if (captureVideo) {
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if (!capturedVideo.isOpened()) {
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const std::string currentCalendarTime = getCalendarTime();
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const std::string capturedOutputFileName = currentCalendarTime + ".mp4";
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getFPS();
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if (frameTime) {
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float fps = (float)(1.0 / frameTime);
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capturedVideo.open(capturedOutputFileName, StringToFourcc(FLAG_captureCodec), fps,
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cv::Size(frm.cols, frm.rows));
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if (!capturedVideo.isOpened()) {
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std::cout << "Error: Could not open video: \"" << capturedOutputFileName << "\"\n";
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return;
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}
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if (FLAG_verbose) {
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std::cout << "Capturing video started" << std::endl;
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}
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}
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else { // If frameTime is 0.f, returns without writing the frame to the Video
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return;
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}
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const std::string outputsFileName = currentCalendarTime + ".txt";
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bodyEngineVideoOutputFile.open(outputsFileName, std::ios_base::out);
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if (!bodyEngineVideoOutputFile.is_open()) {
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std::cout << "Error: Could not open file: \"" << outputsFileName << "\"\n";
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return;
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}
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std::string keyPointDetectionMode = (keypoints == NULL) ? "Off" : "On";
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bodyEngineVideoOutputFile << "// BodyDetectOn, KeyPointDetect" << keyPointDetectionMode << "\n ";
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bodyEngineVideoOutputFile
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<< "// kNumPeople, (bbox_x, bbox_y, bbox_w, bbox_h){ kNumPeople}, kNumLMs, [lm_x, lm_y]{kNumLMs}\n";
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}
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// Write each frame to the Video
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capturedVideo << frm;
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writeEstResults(bodyEngineVideoOutputFile, output_bboxes, keypoints);
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}
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else {
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if (capturedVideo.isOpened()) {
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if (FLAG_verbose) {
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std::cout << "Capturing video ended" << std::endl;
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}
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capturedVideo.release();
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if (bodyEngineVideoOutputFile.is_open()) bodyEngineVideoOutputFile.close();
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}
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}
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}
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#endif
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void DoApp::writeEstResults(std::ofstream &outputFile, NvAR_BBoxes output_bboxes, NvAR_Point2f* keypoints) {
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@@ -651,49 +651,49 @@ void DoApp::writeEstResults(std::ofstream &outputFile, NvAR_BBoxes output_bboxes
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}
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#if NV_MULTI_OBJECT_TRACKER
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void DoApp::writeEstResults(std::ofstream &outputFile, NvAR_TrackingBBoxes output_bboxes, NvAR_Point2f* keypoints) {
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/**
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* Output File Format :
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* BodyDetectOn, KeyPointDetectOn
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* kNumPeople, (bbox_x, bbox_y, bbox_w, bbox_h){ kNumPeople}, kNumKPs, [j_x, j_y]{kNumKPs}
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*/
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/**
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* Output File Format :
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* BodyDetectOn, KeyPointDetectOn
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* kNumPeople, (bbox_x, bbox_y, bbox_w, bbox_h){ kNumPeople}, kNumKPs, [j_x, j_y]{kNumKPs}
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*/
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int bodyDetectOn = (body_ar_engine.appMode == BodyEngine::mode::bodyDetection ||
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body_ar_engine.appMode == BodyEngine::mode::keyPointDetection)
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? 1
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: 0;
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int keyPointDetectOn = (body_ar_engine.appMode == BodyEngine::mode::keyPointDetection)
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? 1
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: 0;
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outputFile << bodyDetectOn << "," << keyPointDetectOn << "\n";
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int bodyDetectOn = (body_ar_engine.appMode == BodyEngine::mode::bodyDetection ||
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body_ar_engine.appMode == BodyEngine::mode::keyPointDetection)
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? 1
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: 0;
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int keyPointDetectOn = (body_ar_engine.appMode == BodyEngine::mode::keyPointDetection)
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? 1
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: 0;
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outputFile << bodyDetectOn << "," << keyPointDetectOn << "\n";
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if (bodyDetectOn && output_bboxes.num_boxes) {
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// Append number of bodies detected in the current frame
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outputFile << unsigned(output_bboxes.num_boxes) << ",";
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// write outputbboxes to outputFile
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for (size_t i = 0; i < output_bboxes.num_boxes; i++) {
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int x1 = (int)output_bboxes.boxes[i].bbox.x, y1 = (int)output_bboxes.boxes[i].bbox.y,
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width = (int)output_bboxes.boxes[i].bbox.width, height = (int)output_bboxes.boxes[i].bbox.height;
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unsigned int tracking_id = output_bboxes.boxes[i].tracking_id;
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outputFile << x1 << "," << y1 << "," << width << "," << height << "," << tracking_id << ",";
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}
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}
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else {
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outputFile << "0,";
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}
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if (keyPointDetectOn && output_bboxes.num_boxes) {
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int numKeyPoints = body_ar_engine.getNumKeyPoints();
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// Append number of keypoints
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outputFile << numKeyPoints << ",";
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// Append 2 * number of keypoint values
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NvAR_Point2f *pt, *endPt;
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for (endPt = (pt = (NvAR_Point2f *)keypoints) + numKeyPoints; pt < endPt; ++pt)
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outputFile << pt->x << "," << pt->y << ",";
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}
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else {
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outputFile << "0,";
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}
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if (bodyDetectOn && output_bboxes.num_boxes) {
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// Append number of bodies detected in the current frame
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outputFile << unsigned(output_bboxes.num_boxes) << ",";
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// write outputbboxes to outputFile
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for (size_t i = 0; i < output_bboxes.num_boxes; i++) {
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int x1 = (int)output_bboxes.boxes[i].bbox.x, y1 = (int)output_bboxes.boxes[i].bbox.y,
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width = (int)output_bboxes.boxes[i].bbox.width, height = (int)output_bboxes.boxes[i].bbox.height;
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unsigned int tracking_id = output_bboxes.boxes[i].tracking_id;
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outputFile << x1 << "," << y1 << "," << width << "," << height << "," << tracking_id << ",";
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}
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}
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else {
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outputFile << "0,";
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}
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if (keyPointDetectOn && output_bboxes.num_boxes) {
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int numKeyPoints = body_ar_engine.getNumKeyPoints();
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// Append number of keypoints
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outputFile << numKeyPoints << ",";
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// Append 2 * number of keypoint values
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NvAR_Point2f *pt, *endPt;
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for (endPt = (pt = (NvAR_Point2f *)keypoints) + numKeyPoints; pt < endPt; ++pt)
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outputFile << pt->x << "," << pt->y << ",";
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}
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else {
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outputFile << "0,";
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}
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outputFile << "\n";
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outputFile << "\n";
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}
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#endif
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void DoApp::writeFrameAndEstResults(const cv::Mat &frm, NvAR_BBoxes output_bboxes, NvAR_Point2f* keypoints) {
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@@ -722,28 +722,28 @@ void DoApp::writeFrameAndEstResults(const cv::Mat &frm, NvAR_BBoxes output_bboxe
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}
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#if NV_MULTI_OBJECT_TRACKER
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void DoApp::writeFrameAndEstResults(const cv::Mat &frm, NvAR_TrackingBBoxes output_bboxes, NvAR_Point2f* keypoints) {
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if (captureFrame) {
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const std::string currentCalendarTime = getCalendarTime();
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const std::string capturedFrame = currentCalendarTime + ".png";
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cv::imwrite(capturedFrame, frm);
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if (FLAG_verbose) {
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std::cout << "Captured the frame" << std::endl;
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}
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// Write Body Engine Outputs
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const std::string outputFilename = currentCalendarTime + ".txt";
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std::ofstream outputFile;
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outputFile.open(outputFilename, std::ios_base::out);
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if (!outputFile.is_open()) {
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std::cout << "Error: Could not open file: \"" << outputFilename << "\"\n";
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return;
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}
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std::string keyPointDetectionMode = (keypoints == NULL) ? "Off" : "On";
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outputFile << "// BodyDetectOn, KeyPointDetect" << keyPointDetectionMode << "\n";
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outputFile << "// kNumPeople, (bbox_x, bbox_y, bbox_w, bbox_h){ kNumPeople}, kNumLMs, [lm_x, lm_y]{kNumLMs}\n";
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writeEstResults(outputFile, output_bboxes, keypoints);
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if (outputFile.is_open()) outputFile.close();
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captureFrame = false;
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}
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if (captureFrame) {
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const std::string currentCalendarTime = getCalendarTime();
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const std::string capturedFrame = currentCalendarTime + ".png";
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cv::imwrite(capturedFrame, frm);
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if (FLAG_verbose) {
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std::cout << "Captured the frame" << std::endl;
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}
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// Write Body Engine Outputs
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const std::string outputFilename = currentCalendarTime + ".txt";
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std::ofstream outputFile;
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outputFile.open(outputFilename, std::ios_base::out);
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if (!outputFile.is_open()) {
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std::cout << "Error: Could not open file: \"" << outputFilename << "\"\n";
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return;
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}
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std::string keyPointDetectionMode = (keypoints == NULL) ? "Off" : "On";
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outputFile << "// BodyDetectOn, KeyPointDetect" << keyPointDetectionMode << "\n";
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outputFile << "// kNumPeople, (bbox_x, bbox_y, bbox_w, bbox_h){ kNumPeople}, kNumLMs, [lm_x, lm_y]{kNumLMs}\n";
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writeEstResults(outputFile, output_bboxes, keypoints);
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if (outputFile.is_open()) outputFile.close();
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captureFrame = false;
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}
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}
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#endif
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void DoApp::DrawKeyPointLine(const cv::Mat& src, NvAR_Point2f* keypoints, int point1, int point2, int color) {
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@@ -799,184 +799,184 @@ void DoApp::DrawKeyPointsAndEdges(const cv::Mat& src, NvAR_Point2f* keypoints, i
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||||
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||||
for (int i = 0; i < body_ar_engine.output_tracking_bboxes.num_boxes; i++) {
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keypoints = keypointsBatch8 + (i * 34);
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keypoints = keypointsBatch8 + (i * 34);
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|
||||
for (endPt = (pt = (NvAR_Point2f*)keypoints) + numKeyPoints; pt < endPt; ++pt)
|
||||
cv::circle(frm, cv::Point(lround(pt->x), lround(pt->y)), 4, cv::Scalar(180, 180, 180), -1);
|
||||
for (endPt = (pt = (NvAR_Point2f*)keypoints) + numKeyPoints; pt < endPt; ++pt)
|
||||
cv::circle(frm, cv::Point(lround(pt->x), lround(pt->y)), 4, cv::Scalar(180, 180, 180), -1);
|
||||
|
||||
if (output_bbox) {
|
||||
while (colorCodes.size()<= output_bbox->boxes[i].tracking_id)
|
||||
colorCodes.push_back(cv::Scalar(rand() & 0xFF, rand() & 0xFF, rand() & 0xFF));
|
||||
auto color = colorCodes[output_bbox->boxes[i].tracking_id];
|
||||
std::string text = "ID: "+std::to_string(output_bbox->boxes[i].tracking_id);
|
||||
cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y)),
|
||||
cv::Point(lround(output_bbox->boxes[i].bbox.x + output_bbox->boxes[i].bbox.width), lround(output_bbox->boxes[i].bbox.y + output_bbox->boxes[i].bbox.height)),
|
||||
color, 2);
|
||||
cv::putText(frm, text, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y) - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, color, 2);
|
||||
}
|
||||
|
||||
if (output_bbox) {
|
||||
while (colorCodes.size()<= output_bbox->boxes[i].tracking_id)
|
||||
colorCodes.push_back(cv::Scalar(rand() & 0xFF, rand() & 0xFF, rand() & 0xFF));
|
||||
auto color = colorCodes[output_bbox->boxes[i].tracking_id];
|
||||
std::string text = "ID: "+std::to_string(output_bbox->boxes[i].tracking_id);
|
||||
cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y)),
|
||||
cv::Point(lround(output_bbox->boxes[i].bbox.x + output_bbox->boxes[i].bbox.width), lround(output_bbox->boxes[i].bbox.y + output_bbox->boxes[i].bbox.height)),
|
||||
color, 2);
|
||||
cv::putText(frm, text, cv::Point(lround(output_bbox->boxes[i].bbox.x), lround(output_bbox->boxes[i].bbox.y) - 10), cv::FONT_HERSHEY_SIMPLEX, 0.5, color, 2);
|
||||
}
|
||||
|
||||
|
||||
// center body
|
||||
DrawKeyPointLine(frm, keypoints, pelvis, torso, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, torso, neck, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, neck, pelvis, kColorGreen);
|
||||
// center body
|
||||
DrawKeyPointLine(frm, keypoints, pelvis, torso, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, torso, neck, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, neck, pelvis, kColorGreen);
|
||||
|
||||
// right side
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_knee, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_knee, right_hip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, pelvis, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, right_shoulder, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, right_elbow, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_elbow, right_wrist, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, neck, kColorRed);
|
||||
// right side
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_knee, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_knee, right_hip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, pelvis, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, right_shoulder, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, right_elbow, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_elbow, right_wrist, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, neck, kColorRed);
|
||||
|
||||
// right side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_pinky_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_middle_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_index_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_thumb_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_heel, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_big_toe, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_big_toe, right_small_toe, kColorRed);
|
||||
// right side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_pinky_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_middle_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_index_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_thumb_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_heel, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_big_toe, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_big_toe, right_small_toe, kColorRed);
|
||||
|
||||
//left side
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_knee, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_knee, left_hip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, pelvis, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, left_shoulder, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, left_elbow, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_elbow, left_wrist, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, neck, kColorBlue);
|
||||
//left side
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_knee, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_knee, left_hip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, pelvis, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, left_shoulder, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, left_elbow, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_elbow, left_wrist, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, neck, kColorBlue);
|
||||
|
||||
// left side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_pinky_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_middle_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_index_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_thumb_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_heel, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_big_toe, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_big_toe, left_small_toe, kColorBlue);
|
||||
// left side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_pinky_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_middle_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_index_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_thumb_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_heel, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_big_toe, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_big_toe, left_small_toe, kColorBlue);
|
||||
|
||||
// head
|
||||
DrawKeyPointLine(frm, keypoints, neck, nose, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, right_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, right_eye, right_ear, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, left_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, left_eye, left_ear, kColorGreen);
|
||||
// head
|
||||
DrawKeyPointLine(frm, keypoints, neck, nose, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, right_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, right_eye, right_ear, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, left_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, left_eye, left_ear, kColorGreen);
|
||||
}
|
||||
|
||||
if (FLAG_offlineMode) keyPointsOutputVideo.write(frm);
|
||||
}
|
||||
#endif
|
||||
void DoApp::DrawKeyPointsAndEdges(const cv::Mat& src, NvAR_Point2f* keypoints, int numKeyPoints, NvAR_BBoxes* output_bbox) {
|
||||
cv::Mat frm;
|
||||
if (FLAG_offlineMode)
|
||||
frm = src.clone();
|
||||
else
|
||||
frm = src;
|
||||
NvAR_Point2f *pt, *endPt;
|
||||
NvAR_Point2f* keypointsBatch8 = keypoints;
|
||||
cv::Mat frm;
|
||||
if (FLAG_offlineMode)
|
||||
frm = src.clone();
|
||||
else
|
||||
frm = src;
|
||||
NvAR_Point2f *pt, *endPt;
|
||||
NvAR_Point2f* keypointsBatch8 = keypoints;
|
||||
|
||||
int pelvis = 0;
|
||||
int left_hip = 1;
|
||||
int right_hip = 2;
|
||||
int torso = 3;
|
||||
int left_knee = 4;
|
||||
int right_knee = 5;
|
||||
int neck = 6;
|
||||
int left_ankle = 7;
|
||||
int right_ankle = 8;
|
||||
int left_big_toe = 9;
|
||||
int right_big_toe = 10;
|
||||
int left_small_toe = 11;
|
||||
int right_small_toe = 12;
|
||||
int left_heel = 13;
|
||||
int right_heel = 14;
|
||||
int nose = 15;
|
||||
int left_eye = 16;
|
||||
int right_eye = 17;
|
||||
int left_ear = 18;
|
||||
int right_ear = 19;
|
||||
int left_shoulder = 20;
|
||||
int right_shoulder = 21;
|
||||
int left_elbow = 22;
|
||||
int right_elbow = 23;
|
||||
int left_wrist = 24;
|
||||
int right_wrist = 25;
|
||||
int left_pinky_knuckle = 26;
|
||||
int right_pinky_knuckle = 27;
|
||||
int left_middle_tip = 28;
|
||||
int right_middle_tip = 29;
|
||||
int left_index_knuckle = 30;
|
||||
int right_index_knuckle = 31;
|
||||
int left_thumb_tip = 32;
|
||||
int right_thumb_tip = 33;
|
||||
int pelvis = 0;
|
||||
int left_hip = 1;
|
||||
int right_hip = 2;
|
||||
int torso = 3;
|
||||
int left_knee = 4;
|
||||
int right_knee = 5;
|
||||
int neck = 6;
|
||||
int left_ankle = 7;
|
||||
int right_ankle = 8;
|
||||
int left_big_toe = 9;
|
||||
int right_big_toe = 10;
|
||||
int left_small_toe = 11;
|
||||
int right_small_toe = 12;
|
||||
int left_heel = 13;
|
||||
int right_heel = 14;
|
||||
int nose = 15;
|
||||
int left_eye = 16;
|
||||
int right_eye = 17;
|
||||
int left_ear = 18;
|
||||
int right_ear = 19;
|
||||
int left_shoulder = 20;
|
||||
int right_shoulder = 21;
|
||||
int left_elbow = 22;
|
||||
int right_elbow = 23;
|
||||
int left_wrist = 24;
|
||||
int right_wrist = 25;
|
||||
int left_pinky_knuckle = 26;
|
||||
int right_pinky_knuckle = 27;
|
||||
int left_middle_tip = 28;
|
||||
int right_middle_tip = 29;
|
||||
int left_index_knuckle = 30;
|
||||
int right_index_knuckle = 31;
|
||||
int left_thumb_tip = 32;
|
||||
int right_thumb_tip = 33;
|
||||
|
||||
for (int i = 0; i < body_ar_engine.output_bboxes.num_boxes; i++) {
|
||||
for (int i = 0; i < body_ar_engine.output_bboxes.num_boxes; i++) {
|
||||
|
||||
keypoints = keypointsBatch8 + (i * 34);
|
||||
keypoints = keypointsBatch8 + (i * 34);
|
||||
|
||||
for (endPt = (pt = (NvAR_Point2f*)keypoints) + numKeyPoints; pt < endPt; ++pt)
|
||||
cv::circle(frm, cv::Point(lround(pt->x), lround(pt->y)), 4, cv::Scalar(180, 180, 180), -1);
|
||||
for (endPt = (pt = (NvAR_Point2f*)keypoints) + numKeyPoints; pt < endPt; ++pt)
|
||||
cv::circle(frm, cv::Point(lround(pt->x), lround(pt->y)), 4, cv::Scalar(180, 180, 180), -1);
|
||||
|
||||
if (output_bbox) {
|
||||
cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].x), lround(output_bbox->boxes[i].y)),
|
||||
cv::Point(lround(output_bbox->boxes[i].x + output_bbox->boxes[i].width), lround(output_bbox->boxes[i].y + output_bbox->boxes[i].height)),
|
||||
cv::Scalar(255, 0, 0), 2);
|
||||
}
|
||||
if (output_bbox) {
|
||||
cv::rectangle(frm, cv::Point(lround(output_bbox->boxes[i].x), lround(output_bbox->boxes[i].y)),
|
||||
cv::Point(lround(output_bbox->boxes[i].x + output_bbox->boxes[i].width), lround(output_bbox->boxes[i].y + output_bbox->boxes[i].height)),
|
||||
cv::Scalar(255, 0, 0), 2);
|
||||
}
|
||||
|
||||
|
||||
// center body
|
||||
DrawKeyPointLine(frm, keypoints, pelvis, torso, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, torso, neck, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, neck, pelvis, kColorGreen);
|
||||
// center body
|
||||
DrawKeyPointLine(frm, keypoints, pelvis, torso, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, torso, neck, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, neck, pelvis, kColorGreen);
|
||||
|
||||
// right side
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_knee, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_knee, right_hip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, pelvis, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, right_shoulder, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, right_elbow, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_elbow, right_wrist, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, neck, kColorRed);
|
||||
// right side
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_knee, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_knee, right_hip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, pelvis, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_hip, right_shoulder, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, right_elbow, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_elbow, right_wrist, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_shoulder, neck, kColorRed);
|
||||
|
||||
// right side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_pinky_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_middle_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_index_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_thumb_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_heel, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_big_toe, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_big_toe, right_small_toe, kColorRed);
|
||||
// right side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_pinky_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_middle_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_index_knuckle, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_wrist, right_thumb_tip, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_heel, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_ankle, right_big_toe, kColorRed);
|
||||
DrawKeyPointLine(frm, keypoints, right_big_toe, right_small_toe, kColorRed);
|
||||
|
||||
//left side
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_knee, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_knee, left_hip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, pelvis, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, left_shoulder, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, left_elbow, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_elbow, left_wrist, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, neck, kColorBlue);
|
||||
//left side
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_knee, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_knee, left_hip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, pelvis, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_hip, left_shoulder, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, left_elbow, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_elbow, left_wrist, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_shoulder, neck, kColorBlue);
|
||||
|
||||
// left side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_pinky_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_middle_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_index_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_thumb_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_heel, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_big_toe, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_big_toe, left_small_toe, kColorBlue);
|
||||
// left side hand and feet
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_pinky_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_middle_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_index_knuckle, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_wrist, left_thumb_tip, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_heel, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_ankle, left_big_toe, kColorBlue);
|
||||
DrawKeyPointLine(frm, keypoints, left_big_toe, left_small_toe, kColorBlue);
|
||||
|
||||
// head
|
||||
DrawKeyPointLine(frm, keypoints, neck, nose, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, right_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, right_eye, right_ear, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, left_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, left_eye, left_ear, kColorGreen);
|
||||
// head
|
||||
DrawKeyPointLine(frm, keypoints, neck, nose, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, right_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, right_eye, right_ear, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, nose, left_eye, kColorGreen);
|
||||
DrawKeyPointLine(frm, keypoints, left_eye, left_ear, kColorGreen);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
if (FLAG_offlineMode) keyPointsOutputVideo.write(frm);
|
||||
if (FLAG_offlineMode) keyPointsOutputVideo.write(frm);
|
||||
}
|
||||
|
||||
DoApp::Err DoApp::acquireFrame() {
|
||||
@@ -1016,14 +1016,14 @@ DoApp::Err DoApp::acquireBodyBox() {
|
||||
}
|
||||
if (FLAG_captureOutputs) {
|
||||
#if NV_MULTI_OBJECT_TRACKER
|
||||
if (FLAG_enablePeopleTracking) {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_tracking_bboxes);
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_tracking_bboxes);
|
||||
}
|
||||
else {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_bboxes);
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_bboxes);
|
||||
}
|
||||
if (FLAG_enablePeopleTracking) {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_tracking_bboxes);
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_tracking_bboxes);
|
||||
}
|
||||
else {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_bboxes);
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_bboxes);
|
||||
}
|
||||
#else
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_bboxes);
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_bboxes);
|
||||
@@ -1061,13 +1061,13 @@ DoApp::Err DoApp::acquireBodyBoxAndKeyPoints() {
|
||||
// get keypoints in original image resolution coordinate space
|
||||
#if NV_MULTI_OBJECT_TRACKER
|
||||
if (FLAG_enablePeopleTracking)
|
||||
n = body_ar_engine.acquireBodyBoxAndKeyPoints(frame, keypoints2D.data(), keypoints3D.data(),
|
||||
jointAngles.data(), &output_tracking_bbox, 0);
|
||||
n = body_ar_engine.acquireBodyBoxAndKeyPoints(frame, keypoints2D.data(), keypoints3D.data(),
|
||||
jointAngles.data(), &output_tracking_bbox, 0);
|
||||
|
||||
else
|
||||
#endif
|
||||
n = body_ar_engine.acquireBodyBoxAndKeyPoints(frame, keypoints2D.data(), keypoints3D.data(),
|
||||
jointAngles.data(), &output_bbox, 0);
|
||||
n = body_ar_engine.acquireBodyBoxAndKeyPoints(frame, keypoints2D.data(), keypoints3D.data(),
|
||||
jointAngles.data(), &output_bbox, 0);
|
||||
|
||||
|
||||
#ifdef DEBUG_PERF_RUNTIME
|
||||
@@ -1091,14 +1091,14 @@ DoApp::Err DoApp::acquireBodyBoxAndKeyPoints() {
|
||||
}
|
||||
if (FLAG_captureOutputs) {
|
||||
#if NV_MULTI_OBJECT_TRACKER
|
||||
if (FLAG_enablePeopleTracking) {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_tracking_bboxes, keypoints2D.data());
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_tracking_bboxes, keypoints2D.data());
|
||||
}
|
||||
else {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_bboxes, keypoints2D.data());
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_bboxes, keypoints2D.data());
|
||||
}
|
||||
if (FLAG_enablePeopleTracking) {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_tracking_bboxes, keypoints2D.data());
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_tracking_bboxes, keypoints2D.data());
|
||||
}
|
||||
else {
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_bboxes, keypoints2D.data());
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_bboxes, keypoints2D.data());
|
||||
}
|
||||
#else
|
||||
writeFrameAndEstResults(frame, body_ar_engine.output_bboxes, keypoints2D.data());
|
||||
writeVideoAndEstResults(frame, body_ar_engine.output_bboxes, keypoints2D.data());
|
||||
@@ -1111,14 +1111,14 @@ DoApp::Err DoApp::acquireBodyBoxAndKeyPoints() {
|
||||
|
||||
if (drawVisualization) {
|
||||
#if NV_MULTI_OBJECT_TRACKER
|
||||
if (FLAG_enablePeopleTracking) DrawKeyPointsAndEdges(frame, keypoints2D.data(), numKeyPoints, &output_tracking_bbox);
|
||||
else
|
||||
if (FLAG_enablePeopleTracking) DrawKeyPointsAndEdges(frame, keypoints2D.data(), numKeyPoints, &output_tracking_bbox);
|
||||
else
|
||||
#endif
|
||||
DrawKeyPointsAndEdges(frame, keypoints2D.data(), numKeyPoints, &output_bbox);
|
||||
if (FLAG_offlineMode) {
|
||||
#if NV_MULTI_OBJECT_TRACKER
|
||||
if (FLAG_enablePeopleTracking) DrawBBoxes(frame, &output_tracking_bbox);
|
||||
else
|
||||
if (FLAG_enablePeopleTracking) DrawBBoxes(frame, &output_tracking_bbox);
|
||||
else
|
||||
#endif
|
||||
DrawBBoxes(frame, &output_bbox);
|
||||
}
|
||||
@@ -1296,7 +1296,7 @@ DoApp::Err DoApp::run() {
|
||||
}
|
||||
cv::imshow(windowTitle, frame);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (!FLAG_offlineMode) {
|
||||
|
||||
Reference in New Issue
Block a user