ExampleDetRuntime.cpp

This is an example of how to inspect sample images by using all the functions of Detection module. More details about this example.

 
#include "DetectorTestDLL.h"
#include "SRUtils.h"
 
/* define this variable when user want to use new score threshold other than preset values. */
//#define SR_USE_NEW_SCORE_THRESHOLD 
 
/* define this variable when user want to use new pixel size threshold other than preset values. */
//#define SR_USE_NEW_PIXEL_SIZE_THRESHOLD 
 
/* define this variable when user want to limit the forward time of classfication algorithm. */
//#define SR_USE_FORWARD_TIME_LIMIT
 
/* define this variable when user want to filter the detection outputs(boxes) by max number for each class. */
//#define SR_FILTER_OUTPUT_BY_MAX_NUMBER 
 
int main()
{
    std::wstring data_dir = L"../../../examples/data";
 
    // trained model path
    std::wstring trainedModelPath = data_dir + L"/models/lego_sample_model.srDet";
 
    // image paths to classify
    std::vector<std::wstring> imagePaths(5);
    imagePaths[0] = data_dir + L"/images/Lego/sample1.png";
    imagePaths[1] = data_dir + L"/images/Lego/sample2.png";
    imagePaths[2] = data_dir + L"/images/Lego/sample3.png";
    imagePaths[3] = data_dir + L"/images/Lego/sample4.png";
    imagePaths[4] = data_dir + L"/images/Lego/sample5.png";
 
    eErrorType srStatus = eErrorType::NO_ERROR_OUT;
 
    /***********************************************************
    *    0. 이미지 인풋 타입 설정
    *    inputImageType -
    *             ImageFilePathMultiByteChar:   from file path (multi byte char)
    *             ImageFilePathWideChar: from file path (wide char)
    *             UCGrayImage:  from memory(8bit unsigned char gray image)
    *             UCColorImage: from memory(8bit unsigned char color image)
    *             UIColorImage: from memory(32bit unsigned int color image)
    ***********************************************************/
    //eSRInputImageType inputImageType = eSRInputImageType::ImageFilePathMultiByteChar;
    eSRInputImageType inputImageType = eSRInputImageType::ImageFilePathWideChar;
    //eSRInputImageType inputImageType = eSRInputImageType::UCGrayImage;
    //eSRInputImageType inputImageType = eSRInputImageType::UCColorImage;
    //eSRInputImageType inputImageType = eSRInputImageType::UIColorImage;
 
    unsigned char* ucImageData = nullptr; // unsigned char image data
    unsigned int*  uiImageData = nullptr; // unsigned int image data
 
    /***********************************************************
    *    0-1. 정보 띄우기 단계 설정 (Verbosity)
    *    verbosity -
    *             0:    only warning
    *             1:    warning + model info
    *             2:    warning + model info + result info
    *             3:    warning + model info + result info + image display
    *    displayTime - 결과 이미지 display 하는 시간 (milliseconds)
    *    resizeFactor - 결과 이미지 display 하는 스케일 (display 크기 = 원본 크기 * resizeFactor)
    ***********************************************************/
    int verbosity = 3;
    int displayTime = 100;
    double resizeFactor = 1.0;
 
    /***********************************************************
    *    0-2. GPU 번호 설정
    *    gpuIndex - 사용하고자 하는 gpu의 번호
    *       Multi GPU 가 가능한 License의 경우에 한하여 gpuIndex를
    *       0~3까지 설정해 줄 수 있다. 아닌 경우 gpuIndex는 0을 사용하여야 한다.
    ***********************************************************/
    int gpuIndex = 0;
 
    /***********************************************************
    *    1.  모델 파일 및 검사 결과 handle 생성,
    *        Create handles for model files and inspection results
    ***********************************************************/
    DetTestHandle handle = SR_CreateDetTestHandleByWideCharPath(trainedModelPath.c_str());
    if (handle == nullptr)
    {
        std::cout << "Saige Vision failed: Please check the file path of trained model." << std::endl;
    }
 
    DetTestResult detTestResult = SR_MakeDetTestResult();
 
 
    /***********************************************************
    *    2. 클래스 정보 확인 (Optional)
    *       Check class information
    ***********************************************************/
    // Print all detection test parameters
    srStatus = SR_PrintDetTestParameters(handle);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that the handle is not created.
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
 
    // Get Detection test parameters one by one
    int numberOfClassesOutput = 0;
    int maxStrLenOfClassName = 0;
 
    // Get the number of classes
    srStatus = SR_GetDetTestNumberOfClasses(handle, &numberOfClassesOutput);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that input pointer is not allocated (nullptr).
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
 
    // Get the maximum length of class names
    srStatus = SR_GetDetTestMaxStrLenOfClassName(handle, &maxStrLenOfClassName);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that input pointer is not allocated (nullptr).
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
 
    std::vector<std::string> classNames(numberOfClassesOutput);
    std::vector<std::wstring> wClassNames(numberOfClassesOutput);
    std::vector<int> classColorsOutput(numberOfClassesOutput);
    std::vector<int> scoreThresholdOutput(numberOfClassesOutput);
    std::vector<int> pixelSizeThresholdOutput(numberOfClassesOutput);
 
    char* classNameOutput = new char[maxStrLenOfClassName];
    wchar_t* wClassNameOutput = new wchar_t[maxStrLenOfClassName];
 
    
    for (int i = 0; i < numberOfClassesOutput; i++)
    {
        // Get a color of single class
        srStatus = SR_GetDetTestOneClassColor(handle, i, &(classColorsOutput[i]));
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input index is out of bound(# of classes) or input pointer is not allocated (nullptr).
            SR_DestroyDetTestHandle(handle);
            return -1;
        }
 
        // Get a name of single class by multi byte char (char*)
        srStatus = SR_GetDetTestOneClassNameWithMultiByteChar(handle, i, classNameOutput);
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input index is out of bound(# of classes) or input pointer is not allocated (nullptr).
            SR_DestroyDetTestHandle(handle);
            return -1;
        }
 
        // Get a name of single class by wide char (wchar_t*)
        srStatus = SR_GetDetTestOneClassNameWithWideChar(handle, i, wClassNameOutput);
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input index is out of bound(# of classes) or input pointer is not allocated (nullptr).
            SR_DestroyDetTestHandle(handle);
            return -1;
        }
        classNames[i] = classNameOutput;
        wClassNames[i] = wClassNameOutput;
    }
 
    delete[] classNameOutput;
    delete[] wClassNameOutput;
 
    /***********************************************************
    *    3. 검사 옵션 확인 및 수정 (Optional)
    *       Check inspection options and set new values
    ***********************************************************/
    // Get the score threshold for each class
    srStatus = SR_GetDetTestMinScoreThreshold(handle, scoreThresholdOutput.data());
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that input pointer is not allocated (nullptr).
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
 
    // Get the area threshold for each class
    srStatus = SR_GetDetTestPixelSizeThreshold(handle, pixelSizeThresholdOutput.data());
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that input pointer is not allocated (nullptr).
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
 
#ifdef SR_USE_NEW_SCORE_THRESHOLD
    std::vector<int> scoreThresholdInput(numberOfClassesOutput);
    for (int i = 0; i < numberOfClassesOutput; i++)
    {
        scoreThresholdInput[i] = 50; // set new score threshold for each class
    }
    srStatus = SR_SetDetTestMinScoreThreshold(handle, numberOfClassesOutput, scoreThresholdInput.data(), true);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that the input's [# of classes] does not match the model's or input pointer is not allocated (nullptr).
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
#endif
 
#ifdef SR_USE_NEW_PIXEL_SIZE_THRESHOLD
    std::vector<int> pixelSizeThresholdInput(numberOfClassesOutput);
    for (int i = 0; i < numberOfClassesOutput; i++)
    {
        pixelSizeThresholdInput[i] = 0; // set new pixel-size threshold for each class
    }
    srStatus = SR_SetDetTestPixelSizeThreshold(handle, pixelSizeThresholdInput.data(), true);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that input pointer is not allocated (nullptr).
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
#endif
 
#ifdef SR_USE_FORWARD_TIME_LIMIT
    float timeLimit = 1100; // milliseconds
    srStatus = SR_SetDetTestForwardTimeLimitVariables(handle, timeLimit, true, true);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that handle is not created.
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
#endif
#ifndef SR_USE_FORWARD_TIME_LIMIT
    srStatus = SR_SetDetTestIsToUseForwardTimeLimit(handle, false, true);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that handle is not created.
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
#endif
 
#ifdef SR_FILTER_OUTPUT_BY_MAX_NUMBER
    std::vector<int> maxNumberOfDetectionBoxes(numberOfClassesOutput);
    for (size_t i = 0; i < numberOfClassesOutput; i++)
    {
        maxNumberOfDetectionBoxes[i] = 5; // set the maximum number of boxes which can be detected for each class
    }
    srStatus = SR_SetDetTestMaxNumberOfDetectionBoxesForEachClass(handle, numberOfClassesOutput, maxNumberOfDetectionBoxes.data(), true);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that the input's [# of classes] does not match the model's or input pointer is not allocated (nullptr).
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
#endif
 
#ifndef SR_FILTER_OUTPUT_BY_MAX_NUMBER
    std::vector<int> maxNumberOfDetectionBoxes(numberOfClassesOutput);
    for (size_t i = 0; i < numberOfClassesOutput; i++)
    {
        maxNumberOfDetectionBoxes[i] = -1; // -1 indicates that filter is not applied
    }
    srStatus = SR_SetDetTestMaxNumberOfDetectionBoxesForEachClass(handle, numberOfClassesOutput, maxNumberOfDetectionBoxes.data(), true);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that handle is not created.
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
#endif
 
    /***********************************************************
    *    4. 메모리를 GPU 및 CPU에 할당합니다.
    *       Allocate GPU and CPU memory
    ***********************************************************/
    srStatus = SR_LoadDetTestNetworkInGPU(handle, gpuIndex);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that the inserted index is not applicable.
        SR_DestroyDetTestHandle(handle);
        return -1;
    }
 
    for (size_t i_img = 0; i_img < imagePaths.size(); i_img++)
    {
        int h = 0, w = 0;
        if (inputImageType == eSRInputImageType::UIColorImage)
        {
            uiImageData = (unsigned int*)GetImageDataByInputImageType(imagePaths[i_img], inputImageType, h, w);
        }
        else
        {
            ucImageData = (unsigned char*)GetImageDataByInputImageType(imagePaths[i_img], inputImageType, h, w);
        }
 
        /***********************************************************
        *    5. 이미지 검사하기, Inspect images
        ***********************************************************/
        if (inputImageType == eSRInputImageType::ImageFilePathMultiByteChar)
        {
            // Check if given image path(UNICODE) can be converted to ASCII CODE without any loss.
            size_t sizeOfChar = 0;
            size_t sizeOfWChar = wcslen(imagePaths[i_img].c_str());
            size_t bufferSize = sizeOfWChar * 2;
            std::vector<char> imagePathMB(bufferSize);
 
            sizeOfChar = wcstombs(
                imagePathMB.data(),
                imagePaths[i_img].c_str(),
                bufferSize
            );
 
            if (sizeOfChar != sizeOfWChar)
            {
                std::wcout << "Saige Vision FAILED: Wrong Image path" << imagePaths[i_img] << std::endl;
                continue;
            }
            srStatus = SR_ApplyDetTestFromImageFile(handle, imagePathMB.data(), detTestResult);
        }
        else if (inputImageType == eSRInputImageType::ImageFilePathWideChar)
        {
            srStatus = SR_ApplyDetTestFromImageFileByWideCharPath(handle, imagePaths[i_img].c_str(), detTestResult);
        }
        else if (inputImageType == eSRInputImageType::UCGrayImage)
        {
            srStatus = SR_ApplyDetTestFrom8bitCharGrayArray(handle, ucImageData, h, w, detTestResult);
        }
        else if (inputImageType == eSRInputImageType::UCColorImage)
        {
            srStatus = SR_ApplyDetTestFrom8bitCharColorArray(handle, ucImageData, h, w, detTestResult);
        }
        else if (inputImageType == eSRInputImageType::UIColorImage)
        {
            srStatus = SR_ApplyDetTestFromUnsignedIntColorArray(handle, uiImageData, h, w, detTestResult);
        }
 
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input data is not loaded successfully.
            if (verbosity >= 3)
            {
                DisplayFailedImageOnCVWindow(imagePaths[i_img], "FAIL TO DETECT", "Detection Result", displayTime, resizeFactor);
            }
            continue; // jump to next image
        }
 
        /***********************************************************
        *    6. 검사 결과 받아오기, Retrieve inspection results
        ***********************************************************/
        int numberOfBoxesOutput = 0;
        long inspectionTimeOutput = 0, loadImageTimeOutput = 0;
 
        // Get the number of detected boxes
        srStatus = SR_GetDetTestResultNumberOfBoxes(detTestResult, &numberOfBoxesOutput);
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input pointer is not allocated (nullptr).
            continue; // jump to next image
        }
 
        // Get the inspection time
        srStatus = SR_GetDetTestInspectionTime(detTestResult, &inspectionTimeOutput);
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input pointer is not allocated (nullptr).
            continue; // jump to next image
        }
 
        // Get the image-loading time
        srStatus = SR_GetDetTestLoadImageTime(detTestResult, &loadImageTimeOutput);
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input pointer is not allocated (nullptr).
            continue; // jump to next image
        }
 
        std::vector<SR_DetectedBox> detectedBoxes(numberOfBoxesOutput);
 
        // Get the information of all the detected boxes.
        srStatus = SR_GetDetTestResultDetectedBoxes(detTestResult, numberOfBoxesOutput, detectedBoxes.data());
        if (srStatus != NO_ERROR_OUT)
        {
            PrintErrorType(srStatus, verbosity);
            // if you get this error, it's possible that the input's [# of boxes] does not match the result's or the input pointer is not allocated (nullptr).
            continue; // jump to next image
        }
        
 
        // Display and draw
        cv::Mat image = cv::Mat();
        if (verbosity >= 3)
        {
            if (inputImageType == eSRInputImageType::UCGrayImage)
            {
                image = cv::Mat(h, w, CV_8UC1, ucImageData);
                image = image.clone(); /* to prevent modifying raw data */
            }
            else if (inputImageType == eSRInputImageType::UCColorImage)
            {
                image = cv::Mat(h, w, CV_8UC3, ucImageData);
                image = image.clone(); /* to prevent modifying raw data */
            }
            else if (inputImageType == eSRInputImageType::UIColorImage)
            {
                image = cv::Mat(h, w, CV_8UC4, uiImageData);
                image = image.clone(); /* to prevent modifying raw data */
            }
            else
            {
                int isSuccess = OpenImageFile(imagePaths[i_img].c_str(), image);
                if (isSuccess == 0)
                {
                    std::cout << "Saige Vision FAILED: Fail to open image file to display" << std::endl;
                    continue;
                }
            }
            if (image.channels() == 4)
            {
                cv::cvtColor(image, image, cv::COLOR_BGRA2BGR);
            }
            if (image.channels() == 1)
            {
                cv::cvtColor(image, image, cv::COLOR_GRAY2BGR);
            }
        }
        if (verbosity >= 2)
        {
            std::cout << "====== Detection Test Result ======" << std::endl;
            std::wcout << imagePaths[i_img] << std::endl;
            std::cout << "  - Number of final detected boxes: " << numberOfBoxesOutput << std::endl;
#ifdef SR_FILTER_OUTPUT_BY_MAX_NUMBER
            int* numberOfBoxesBeforeFiltered = new int[numberOfClassesOutput];
 
            SR_GetDetTestResultNumberOfBoxesBeforeFiltered(detTestResult, numberOfClassesOutput, numberOfBoxesBeforeFiltered);
            std::cout << "  - Number of raw detected boxes before filtering: " << std::endl;
            for (size_t i_c = 0; i_c < numberOfClassesOutput; i_c++)
            {
                std::cout << "      - " << classNames[i_c] << ": " << numberOfBoxesBeforeFiltered[i_c] << std::endl;
            }
 
            delete[] numberOfBoxesBeforeFiltered;
#endif
            std::cout << "  - Image Loading time: " << loadImageTimeOutput << std::endl << std::endl;
            std::cout << "  - Inspection time: " << inspectionTimeOutput << std::endl;
            std::cout << "  - Detected boxes information" << std::endl;
        }
        for (int i = 0; i < numberOfBoxesOutput; i++)
        {
            int xmin = static_cast<int>(detectedBoxes[i].box.x_tl);
            int ymin = static_cast<int>(detectedBoxes[i].box.y_tl);
            int xmax = static_cast<int>(detectedBoxes[i].box.x_br);
            int ymax = static_cast<int>(detectedBoxes[i].box.y_br);
 
            if (verbosity >= 2)
            {
                printf("  - %d-th box info(label, score, x_topLeft, y_topLeft, x_bottomRight, y_bottomRight): %d, %0.2f, %d, %d, %d, %d\n",
                    i, detectedBoxes[i].box.classIdx, detectedBoxes[i].box.score, xmin, ymin, xmax, ymax);
            }
            // plot
            if (verbosity >= 3)
            {
                // get class color
                int colorTmp = classColorsOutput[detectedBoxes[i].box.classIdx];
                unsigned char r = (colorTmp >> 16) & 0xFF;
                unsigned char g = (colorTmp >> 8) & 0xFF;
                unsigned char b = (colorTmp) & 0xFF;
                cv::Scalar classColor = cv::Scalar(b, g, r);
 
                // draw rectangle
                cv::Rect rect(xmin, ymin, xmax - xmin, ymax - ymin);
                cv::rectangle(image, rect, classColor, 2, 8, 0);
                cv::putText(image, classNames[detectedBoxes[i].box.classIdx], cv::Point(xmin, ymin), 2, 1.2, classColor, 3);
            }
        }
 
        if (verbosity >= 3)
        {
            cv::namedWindow("Detection Result", cv::WINDOW_NORMAL);
            cv::resizeWindow("Detection Result", image.size().width * resizeFactor, image.size().height * resizeFactor);
            cv::imshow("Detection Result", image);
            cv::waitKey(displayTime);
        }
 
        if (ucImageData != nullptr)
        {
            delete[] ucImageData;
        }
        if (uiImageData != nullptr)
        {
            delete[] uiImageData;
        }
    }
 
    /***********************************************************
    *    7. Handle 파괴, Destruct handles
    ***********************************************************/
    srStatus = SR_DeleteDetTestResult(detTestResult);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that the input pointer is not allocated (nullptr).
        return -1;
    }
 
    srStatus = SR_DestroyDetTestHandle(handle);
    if (srStatus != NO_ERROR_OUT)
    {
        PrintErrorType(srStatus, verbosity);
        // if you get this error, it's possible that the input pointer is not allocated (nullptr).
        return -1;
    }
 
    std::cout << "SaigeVision successfully completed, please press enter key to terminate" << std::endl;
    std::cin.get();
    return 0;
}