#include <iostream>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/dnn.hpp>
#include <fstream>
#include<time.h>
using namespace std;
using namespace cv;
using namespace cv::dnn;
constexpr const char *image_path = "temp/bus.jpg";//待检测图片
constexpr const char *darknet_cfg = "temp/yolov3.cfg";//网络文件
constexpr const char *darknet_weights = "temp/yolov3.weights";//训练模型
std::vector<std::string> class_labels ;//类标签
// Initialize the parameters
float confThreshold = 0.5; // Confidence threshold
float nmsThreshold = 0.4; // Non-maximum suppression threshold
int inpWidth = 416; // Width of network's input image
int inpHeight = 416; // Height of network's input image
// Get the names of the output layers
vector<String> getOutputsNames(const Net& net)
{
static vector<String> names;
if (names.empty())
{
//Get the indices of the output layers, i.e. the layers with unconnected outputs
vector<int> outLayers = net.getUnconnectedOutLayers();
//get the names of all the layers in the network
vector<String> layersNames = net.getLayerNames();
// Get the names of the output layers in names
names.resize(outLayers.size());
for (size_t i = 0; i < outLayers.size(); ++i)
names[i] = layersNames[outLayers[i] - 1];
}
return names;
}
// Draw the predicted bounding box
void drawPred(int classId, float conf, int left, int top, int right, int bottom, Mat& frame)
{
//Draw a rectangle displaying the bounding box
rectangle(frame, Point(left, top), Point(right, bottom), Scalar(0, 0, 255));
//Get the label for the class name and its confidence
string label = format("%.2f", conf);
if (!class_labels.empty())
{
//assert(classId < (int)classes.size());
label = class_labels[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);
top = max(top, labelSize.height);
putText(frame, label, Point(left, top), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255, 255, 255));
}
// Remove the bounding boxes with low confidence using non-maxima suppression
void postprocess(Mat& frame, const vector<Mat>& outs)
{
vector<int> classIds;
vector<float> confidences;
vector<Rect> boxes;
for (size_t i = 0; i < outs.size(); ++i)
{
// Scan through all the bounding boxes output from the network and keep only the
// ones with high confidence scores. Assign the box's class label as the class
// with the highest score for the box.
float* data = (float*)outs[i].data;
for (int j = 0; j < outs[i].rows; ++j, data += outs[i].cols)
{
Mat scores = outs[i].row(j).colRange(5, outs[i].cols);
Point classIdPoint;
double confidence;
// Get the value and location of the maximum score
minMaxLoc(scores, 0, &confidence, 0, &classIdPoint);
if (confidence > confThreshold)
{
int centerX = (int)(data[0] * frame.cols);
int centerY = (int)(data[1] * frame.rows);
int width = (int)(data[2] * frame.cols);
int height = (int)(data[3] * frame.rows);
int left = centerX - width / 2;
int top = centerY - height / 2;
classIds.push_back(classIdPoint.x);
confidences.push_back((float)confidence);
boxes.push_back(Rect(left, top, width, height));
}
}
}
// Perform non maximum suppression to eliminate redundant overlapping boxes with
// lower confidences
vector<int> indices;
NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, indices);
for (size_t i = 0; i < indices.size(); ++i)
{
int idx = indices[i];
Rect box = boxes[idx];
drawPred(classIds[idx], confidences[idx], box.x, box.y,
box.x + box.width, box.y + box.height, frame);
}
}
void main()
{
// 加载模型
cv::dnn::Net net = cv::dnn::readNetFromDarknet(darknet_cfg, darknet_weights);
net.setPreferableBackend(DNN_BACKEND_INFERENCE_ENGINE);
net.setPreferableTarget(DNN_TARGET_CPU);
// 加载标签集
//std::vector<std::string> classLabels;
ifstream classNamesFile("temp/coco.names");
if (classNamesFile.is_open())
{
string className = "";
while (std::getline(classNamesFile, className))
class_labels.push_back(className);
}
// 读取待检测图片
cv::Mat img = cv::imread(image_path);
cv::Mat blob = cv::dnn::blobFromImage(img, 1.0 / 255.0, { 320,192 }, 0.00392, true);
net.setInput(blob);
// 检测
vector<Mat> detectionMat;
net.forward(detectionMat, getOutputsNames(net));// 6 845 1 W x H x C
// Remove the bounding boxes with low confidence
postprocess(img, detectionMat);
// 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("Inference time for a frame : %.2f ms", t);
putText(img, label, Point(0, 15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 255));
// Write the frame with the detection boxes
Mat detectedFrame;
img.convertTo(detectedFrame, CV_8U);
// 显示图片
cv::imshow("Darknet", detectedFrame);
cv::waitKey(0);
}