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[EDIT] mutex?

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This commit is contained in:
Sem van der Hoeven
2021-05-31 15:50:06 +02:00
parent 25c99abb72
commit 612adf6e9b
7 changed files with 66 additions and 44 deletions
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16
src/computervision/ObjectDetection.cpp
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@@ -27,11 +27,12 @@ namespace computervision
}
cv::Mat ObjectDetection::readCamera() {
videocapture::getMutex()->lock();
/*videocapture::getMutex()->lock();
videocapture::getCap().read(img);
videocapture::getMutex()->unlock();
videocapture::getMutex()->unlock();*/
img = videocapture::readFrame();
return img;
}
@@ -78,10 +79,13 @@ namespace computervision
void ObjectDetection::calculateDifference()
{
videocapture::getMutex()->lock();
videocapture::getCap().read(img);
videocapture::getCap().read(img2);
videocapture::getMutex()->unlock();
//videocapture::getMutex()->lock();
//videocapture::getCap().read(img);
//videocapture::getCap().read(img2);
//videocapture::getMutex()->unlock()
img = videocapture::readFrame();
img2 = videocapture::readFrame();
cv::cvtColor(img, imgGray, cv::COLOR_RGBA2GRAY);
cv::cvtColor(img2, img2Gray, cv::COLOR_RGBA2GRAY);

31
src/computervision/OpenPoseVideo.cpp
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@@ -39,18 +39,16 @@ namespace computervision
int nPoints = 18;
#endif
Net net;
int inWidth = 368;
int inHeight = 368;
float thresh = 0.01;
void OpenPoseVideo::setup() {
net = readNetFromCaffe(protoFile, weightsFile);
}
void OpenPoseVideo::movementSkeleton(Mat inputImage, std::function<void(std::vector<Point>)> f) {
std::cout << "movement skeleton start" << std::endl;
int inWidth = 368;
int inHeight = 368;
float thresh = 0.01;
cv::Mat OpenPoseVideo::getBlobFromImage(cv::Mat inputImage)
{
Mat frame;
int frameWidth = inputImage.size().width;
int frameHeight = inputImage.size().height;
@@ -58,9 +56,17 @@ namespace computervision
double t = (double)cv::getTickCount();
std::cout << "reading input image and blob" << std::endl;
frame = inputImage;
frame = inputImage.clone();
Mat inpBlob = blobFromImage(frame, 1.0 / 255, Size(inWidth, inHeight), Scalar(0, 0, 0), false, false);
return inpBlob;
}
void OpenPoseVideo::movementSkeleton(Mat inputImage, Mat inpBlob, std::function<void(std::vector<Point>)> f) {
std::cout << "movement skeleton start" << std::endl;
int frameWidth = inputImage.size().width;
int frameHeight = inputImage.size().height;
std::cout << "done reading image and blob" << std::endl;
net.setInput(inpBlob);
@@ -68,6 +74,7 @@ namespace computervision
std::cout << "done setting input to net" << std::endl;
Mat output = net.forward();
int H = output.size[2];
int W = output.size[3];
@@ -89,15 +96,15 @@ namespace computervision
p.x *= (float)frameWidth / W;
p.y *= (float)frameHeight / H;
circle(frame, cv::Point((int)p.x, (int)p.y), 8, Scalar(0, 255, 255), -1);
cv::putText(frame, cv::format("%d", n), cv::Point((int)p.x, (int)p.y), cv::FONT_HERSHEY_COMPLEX, 1.1, cv::Scalar(0, 0, 255), 2);
/*circle(frame, cv::Point((int)p.x, (int)p.y), 8, Scalar(0, 255, 255), -1);
cv::putText(frame, cv::format("%d", n), cv::Point((int)p.x, (int)p.y), cv::FONT_HERSHEY_COMPLEX, 1.1, cv::Scalar(0, 0, 255), 2);*/
}
points[n] = p;
}
cv::putText(frame, cv::format("time taken = %.2f sec", t), cv::Point(50, 50), cv::FONT_HERSHEY_COMPLEX, .8, cv::Scalar(255, 50, 0), 2);
//cv::putText(frame, cv::format("time taken = %.2f sec", t), cv::Point(50, 50), cv::FONT_HERSHEY_COMPLEX, .8, cv::Scalar(255, 50, 0), 2);
// imshow("Output-Keypoints", frameCopy);
imshow("Output-Skeleton", frame);
/*imshow("Output-Skeleton", frame);*/
std::cout << "about to call points receiving method" << std::endl;
f(points);
}

3
src/computervision/OpenPoseVideo.h
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@@ -13,7 +13,8 @@ namespace computervision
private:
public:
void movementSkeleton(Mat inputImage,std::function<void(std::vector<Point>)> f);
cv::Mat getBlobFromImage(cv::Mat inputImage);
void movementSkeleton(Mat inputImage, Mat inpBlob, std::function<void(std::vector<Point>)> f);
void setup();
};
}

19
src/computervision/VideoCapture.cpp
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@@ -1,16 +1,31 @@
#include "VideoCapture.h"
#include <mutex>
#include <iostream>
namespace videocapture{
static cv::VideoCapture cap(1);
static cv::VideoCapture cap(0);
static std::mutex mtx;
cv::VideoCapture getCap() {
//cap.release();
cap.release();
return cap;
}
cv::Mat readFrame()
{
std::cout << "reading frame" << std::endl;
cv::Mat camFrame, videoFrame;
mtx.lock();
bool res = cap.read(camFrame);
std::cout << (res ? "reading worked" : "reading failed") << std::endl;
videoFrame = camFrame.clone();
mtx.unlock();
return videoFrame;
}
std::mutex* getMutex()
{
return &mtx;

1
src/computervision/VideoCapture.h
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@@ -7,5 +7,6 @@
namespace videocapture {
cv::VideoCapture getCap();
std::mutex* getMutex();
cv::Mat readFrame();
}

33
src/computervision/async/async_arm_detection.cpp
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@@ -3,6 +3,9 @@
#include "../OpenPoseVideo.h"
#include <thread>
#include "../VideoCapture.h"
#include <opencv2/dnn.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
namespace computervision
@@ -20,31 +23,19 @@ namespace computervision
void AsyncArmDetection::start(std::function<void(std::vector<Point>)> points_ready_func, OpenPoseVideo op)
{
auto lambda = [](std::function<void(std::vector<Point>)> f, OpenPoseVideo op) {
auto lambda = [](cv::Mat img, std::function<void(std::vector<Point>)> f, OpenPoseVideo op, cv::Mat inpBlob) {
std::cout << "STARTING THREAD LAMBDA" << std::endl;
videocapture::getMutex()->lock();
if (!videocapture::getCap().isOpened())
{
std::cout << "error opening video" << std::endl;
videocapture::getCap().open(1);
return;
}
videocapture::getMutex()->unlock();
Mat img;
while (true)
{
videocapture::getMutex()->lock();
videocapture::getCap().read(img);
imshow("image", img);
videocapture::getMutex()->unlock();
op.movementSkeleton(img, f);
}
//imshow("image", img); 255, Size(368, 368), Scalar(0, 0, 0), false, false);
op.movementSkeleton(img, inpBlob, f);
//}
};
cv::Mat img = videocapture::readFrame();
std::cout << "starting function" << std::endl;
std::thread async_arm_detect_thread(lambda, points_ready_func, op);
cv::Mat inpBlob = op.getBlobFromImage(videocapture::readFrame());
std::thread async_arm_detect_thread(lambda, img, points_ready_func, op, inpBlob);
}
}

7
src/main.cpp
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@@ -32,11 +32,14 @@
static double UpdateDelta();
static GLFWwindow* window;
computervision::AsyncArmDetection as;
computervision::OpenPoseVideo openPoseVideo;
void retrieve_points(std::vector<Point> arm_points)
{
std::cout << "got points!!" << std::endl;
std::cout << "points: " << arm_points << std::endl;
as.start(retrieve_points, openPoseVideo);
}
int main(void)
@@ -76,7 +79,7 @@ int main(void)
// create object detection object instance
computervision::ObjectDetection objDetect;
//computervision::OpenPoseImage openPoseImage;
computervision::OpenPoseVideo openPoseVideo;
openPoseVideo.setup();
@@ -87,7 +90,7 @@ int main(void)
//openPoseVideo.setup();
computervision::AsyncArmDetection as;
as.start(retrieve_points, openPoseVideo);