opencv4.0+mask rcnn进行实时检测

demo：learnopencv/Mask-RCNN at master · spmallick/learnopencv · GitHub

如果报错在链接器-命令行加入/force即可

下载：http://download.tensorflow.org/models/object_detection/mask_rcnn_inception_v2_coco_2018_01_28.tar.gz

基于mask_rcnn_inception_v2_coco_2018_01_28的frozen_inference_graph.pb

mask_rcnn_inception_v2_coco_2018_01_28.pbtxt以及colors.txt，mscoco_labels.names。（见文末copy）

效果：

源码：通过删删减减就可以变成只读文件运行了。

// Copyright (C) 2018-2019, BigVision LLC (LearnOpenCV.com), All Rights Reserved. 
// Author : Sunita Nayak
// Article : https://www.learnopencv.com/deep-learning-based-object-detection-and-instance-segmentation-using-mask-r-cnn-in-opencv-python-c/
// License: BSD-3-Clause-Attribution (Please read the license file.)

// Usage example:  ./mask_rcnn.out --video=run.mp4
//                 ./mask_rcnn.out --image=bird.jpg
#include <fstream>
#include <sstream>
#include <iostream>
#include <string.h>

#include <opencv2/dnn.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>

const char* keys =
"{help h usage ? | | Usage examples: \n\t\t./mask-rcnn.out --image=traffic.jpg \n\t\t./mask-rcnn.out --video=sample.mp4}"
"{image i        |<none>| input image   }"
"{video v       |<none>| input video   }"
;
using namespace cv;
using namespace dnn;
using namespace std;

// Initialize the parameters
float confThreshold = 0.5; // Confidence threshold
float maskThreshold = 0.3; // Mask threshold

vector<string> classes;
vector<Scalar> colors;

// Draw the predicted bounding box
void drawBox(Mat& frame, int classId, float conf, Rect box, Mat& objectMask);

// Postprocess the neural network's output for each frame
void postprocess(Mat& frame, const vector<Mat>& outs);

int main(int argc, char** argv)
{
    CommandLineParser parser(argc, argv, keys);
    parser.about("Use this script to run object detection using YOLO3 in OpenCV.");
    if (parser.has("help"))
    {
        parser.printMessage();
        return 0;
    }
    // Load names of classes
    string classesFile = "mscoco_labels.names";
    ifstream ifs(classesFile.c_str());
    string line;
    while (getline(ifs, line)) classes.push_back(line);
    
    // Load the colors
    string colorsFile = "colors.txt";
    ifstream colorFptr(colorsFile.c_str());
    while (getline(colorFptr, line)) {
        char* pEnd;
        double r, g, b;
        r = strtod (line.c_str(), &pEnd);
        g = strtod (pEnd, NULL);
        b = strtod (pEnd, NULL);
        Scalar color = Scalar(r, g, b, 255.0);
        colors.push_back(Scalar(r, g, b, 255.0));
    }

    // Give the configuration and weight files for the model
    String textGraph = "./mask_rcnn_inception_v2_coco_2018_01_28.pbtxt";
    String modelWeights = "./mask_rcnn_inception_v2_coco_2018_01_28/frozen_inference_graph.pb";

    // Load the network
    Net net = readNetFromTensorflow(modelWeights, textGraph);
    net.setPreferableBackend(DNN_BACKEND_OPENCV);
    net.setPreferableTarget(DNN_TARGET_CPU);
    
    // Open a video file or an image file or a camera stream.
    string str, outputFile;
    VideoCapture cap;
    VideoWriter video;
    Mat frame, blob;
    
    try {
        
        outputFile = "mask_rcnn_out_cpp.avi";
        if (parser.has("image"))
        {
            // Open the image file
            str = parser.get<String>("image");
            //cout << "Image file input : " << str << endl;
            ifstream ifile(str);
            if (!ifile) throw("error");
            cap.open(str);
            str.replace(str.end()-4, str.end(), "_mask_rcnn_out.jpg");
            outputFile = str;
        }
        else if (parser.has("video"))
        {
            // Open the video file
            str = parser.get<String>("video");
            ifstream ifile(str);
            if (!ifile) throw("error");
            cap.open(str);
            str.replace(str.end()-4, str.end(), "_mask_rcnn_out.avi");
            outputFile = str;
        }
        // Open the webcam
        else cap.open(parser.get<int>("device"));
        
    }
    catch(...) {
        cout << "Could not open the input image/video stream" << endl;
        return 0;
    }
    
    // Get the video writer initialized to save the output video
    if (!parser.has("image")) {
        video.open(outputFile, VideoWriter::fourcc('M','J','P','G'), 28, Size(cap.get(CAP_PROP_FRAME_WIDTH), cap.get(CAP_PROP_FRAME_HEIGHT)));
    }

    // Create a window
    static const string kWinName = "Deep learning object detection in OpenCV";
    namedWindow(kWinName, WINDOW_NORMAL);

    // Process frames.
    while (waitKey(1) < 0)
    {
        // get frame from the video
        cap >> frame;
        
        // Stop the program if reached end of video
        if (frame.empty()) {
            cout << "Done processing !!!" << endl;
            cout << "Output file is stored as " << outputFile << endl;
            waitKey(3000);
            break;
        }
        // Create a 4D blob from a frame.
         blobFromImage(frame, blob, 1.0, Size(frame.cols, frame.rows), Scalar(), true, false);
        //blobFromImage(frame, blob);
        
        //Sets the input to the network
        net.setInput(blob);

        // Runs the forward pass to get output from the output layers
        std::vector<String> outNames(2);
        outNames[0] = "detection_out_final";
        outNames[1] = "detection_masks";
        vector<Mat> outs;
        net.forward(outs, outNames);
        
        // Extract the bounding box and mask for each of the detected objects
        postprocess(frame, outs);
        
        // Put efficiency information. The function getPerfProfile returns the overall time for inference(t) and the timings for each of the layers(in layersTimes)
        vector<double> layersTimes;
        double freq = getTickFrequency() / 1000;
        double t = net.getPerfProfile(layersTimes) / freq;
        string label = format("Mask-RCNN on 2.5 GHz Intel Core i7 CPU, Inference time for a frame : %0.0f ms", t);
        putText(frame, label, Point(0, 15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
        
        // Write the frame with the detection boxes
        Mat detectedFrame;
        frame.convertTo(detectedFrame, CV_8U);
        if (parser.has("image")) imwrite(outputFile, detectedFrame);
        else video.write(detectedFrame);
        
        imshow(kWinName, frame);

    }
    
    cap.release();
    if (!parser.has("image")) video.release();

    return 0;
}

// For each frame, extract the bounding box and mask for each detected object
void postprocess(Mat& frame, const vector<Mat>& outs)
{
    Mat outDetections = outs[0];
    Mat outMasks = outs[1];
    
    // Output size of masks is NxCxHxW where
    // N - number of detected boxes
    // C - number of classes (excluding background)
    // HxW - segmentation shape
    const int numDetections = outDetections.size[2];
    const int numClasses = outMasks.size[1];
    
    outDetections = outDetections.reshape(1, outDetections.total() / 7);
    for (int i = 0; i < numDetections; ++i)
    {
        float score = outDetections.at<float>(i, 2);
        if (score > confThreshold)
        {
            // Extract the bounding box
            int classId = static_cast<int>(outDetections.at<float>(i, 1));
            int left = static_cast<int>(frame.cols * outDetections.at<float>(i, 3));
            int top = static_cast<int>(frame.rows * outDetections.at<float>(i, 4));
            int right = static_cast<int>(frame.cols * outDetections.at<float>(i, 5));
            int bottom = static_cast<int>(frame.rows * outDetections.at<float>(i, 6));
            
            left = max(0, min(left, frame.cols - 1));
            top = max(0, min(top, frame.rows - 1));
            right = max(0, min(right, frame.cols - 1));
            bottom = max(0, min(bottom, frame.rows - 1));
            Rect box = Rect(left, top, right - left + 1, bottom - top + 1);
            
            // Extract the mask for the object
            Mat objectMask(outMasks.size[2], outMasks.size[3],CV_32F, outMasks.ptr<float>(i,classId));
            
            // Draw bounding box, colorize and show the mask on the image
            drawBox(frame, classId, score, box, objectMask);
            
        }
    }
}

// Draw the predicted bounding box, colorize and show the mask on the image
void drawBox(Mat& frame, int classId, float conf, Rect box, Mat& objectMask)
{
    //Draw a rectangle displaying the bounding box
    rectangle(frame, Point(box.x, box.y), Point(box.x+box.width, box.y+box.height), Scalar(255, 178, 50), 3);
    
    //Get the label for the class name and its confidence
    string label = format("%.2f", conf);
    if (!classes.empty())
    {
        CV_Assert(classId < (int)classes.size());
        label = classes[classId] + ":" + label;
    }
    
    //Display the label at the top of the bounding box
    int baseLine;
    Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
    box.y = max(box.y, labelSize.height);
    rectangle(frame, Point(box.x, box.y - round(1.5*labelSize.height)), Point(box.x + round(1.5*labelSize.width), box.y + baseLine), Scalar(255, 255, 255), FILLED);
    putText(frame, label, Point(box.x, box.y), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(0,0,0),1);

    Scalar color = colors[classId%colors.size()];
    
    // Resize the mask, threshold, color and apply it on the image
    resize(objectMask, objectMask, Size(box.width, box.height));
    Mat mask = (objectMask > maskThreshold);
    Mat coloredRoi = (0.3 * color + 0.7 * frame(box));
    coloredRoi.convertTo(coloredRoi, CV_8UC3);

    // Draw the contours on the image
    vector<Mat> contours;
    Mat hierarchy;
    mask.convertTo(mask, CV_8U);
    findContours(mask, contours, hierarchy, RETR_CCOMP, CHAIN_APPROX_SIMPLE);
    drawContours(coloredRoi, contours, -1, color, 5, LINE_8, hierarchy, 100);
    coloredRoi.copyTo(frame(box), mask);

}

mask_rcnn_inception_v2_coco_2018_01_28.pbtxt

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  input: "Preprocessor/mul/x"
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  }
  attr {
    key: "dilations"
    value {
      list {
        i: 1
        i: 1
        i: 1
        i: 1
      }
    }
  }
  attr {
    key: "padding"
    value {
      s: "SAME"
    }
  }
  attr {
    key: "strides"
    value {
      list {
        i: 1
        i: 1
        i: 1
        i: 1
      }
    }
  }
}
node {
  name: "SecondStageBoxPredictor_1/Conv/BiasAdd"
  op: "BiasAdd"
  input: "SecondStageBoxPredictor_1/Conv/Conv2D"
  input: "SecondStageBoxPredictor/Conv/biases"
  attr {
    key: "data_format"
    value {
      s: "NHWC"
    }
  }
}
node {
  name: "SecondStageBoxPredictor_1/Conv/Relu"
  op: "Relu"
  input: "SecondStageBoxPredictor_1/Conv/BiasAdd"
}
node {
  name: "SecondStageBoxPredictor_1/Conv_1/Conv2D"
  op: "Conv2D"
  input: "SecondStageBoxPredictor_1/Conv/Relu"
  input: "SecondStageBoxPredictor/Conv_1/weights"
  attr {
    key: "data_format"
    value {
      s: "NHWC"
    }
  }
  attr {
    key: "dilations"
    value {
      list {
        i: 1
        i: 1
        i: 1
        i: 1
      }
    }
  }
  attr {
    key: "padding"
    value {
      s: "SAME"
    }
  }
  attr {
    key: "strides"
    value {
      list {
        i: 1
        i: 1
        i: 1
        i: 1
      }
    }
  }
}
node {
  name: "SecondStageBoxPredictor_1/Conv_1/BiasAdd"
  op: "BiasAdd"
  input: "SecondStageBoxPredictor_1/Conv_1/Conv2D"
  input: "SecondStageBoxPredictor/Conv_1/biases"
  attr {
    key: "data_format"
    value {
      s: "NHWC"
    }
  }
}
node {
  name: "SecondStageBoxPredictor_1/transpose"
  op: "Transpose"
  input: "SecondStageBoxPredictor_1/Conv_1/BiasAdd"
  input: "SecondStageBoxPredictor_1/transpose/perm"
}
node {
  name: "detection_masks"
  op: "Sigmoid"
  input: "SecondStageBoxPredictor_1/transpose"
}
library {
}

colors.txt

0 255 0
0 0 255
255 0 0
0 255 255
255 255 0
255 0 255
80 70 180
250 80 190
245 145 50
70 150 250
50 190 190

mscoco_labels.names

person
bicycle
car
motorcycle
airplane
bus
train
truck
boat
traffic light
fire hydrant

stop sign
parking meter
bench
bird
cat
dog
horse
sheep
cow
elephant
bear
zebra
giraffe

backpack
umbrella


handbag
tie
suitcase
frisbee
skis
snowboard
sports ball
kite
baseball bat
baseball glove
skateboard
surfboard
tennis racket
bottle

wine glass
cup
fork
knife
spoon
bowl
banana
apple
sandwich
orange
broccoli
carrot
hot dog
pizza
donut
cake
chair
couch
potted plant
bed

dining table


toilet

tv
laptop
mouse
remote
keyboard
cell phone
microwave
oven
toaster
sink
refrigerator

book
clock
vase
scissors
teddy bear
hair drier
toothbrush