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#include <fstream>
#include <sstream>
#include <opencv2/dnn.hpp>
#include "common.hpp"
std::string keys =
"{ help h | | Print help message. }"
"{ @alias | | An alias name of model to extract preprocessing parameters from models.yml file. }"
"{ zoo | models.yml | An optional path to file with preprocessing parameters }"
"{ device | 0 | camera device number. }"
"{ input i | | Path to input image or video file. Skip this argument to capture frames from a camera. }"
"{ framework f | | Optional name of an origin framework of the model. Detect it automatically if it does not set. }"
"{ classes | | Optional path to a text file with names of classes. }"
"{ colors | | Optional path to a text file with colors for an every class. "
"An every color is represented with three values from 0 to 255 in BGR channels order. }"
"{ backend | 0 | Choose one of computation backends: "
"0: automatically (by default), "
"1: Halide language (http://halide-lang.org/), "
"2: Intel's Deep Learning Inference Engine (https://software.intel.com/openvino-toolkit), "
"3: OpenCV implementation, "
"4: VKCOM, "
"5: CUDA }"
"{ target | 0 | Choose one of target computation devices: "
"0: CPU target (by default), "
"1: OpenCL, "
"2: OpenCL fp16 (half-float precision), "
"3: VPU, "
"4: Vulkan, "
"6: CUDA, "
"7: CUDA fp16 (half-float preprocess) }";
using namespace cv;
using namespace dnn;
std::vector<std::string> classes;
std::vector<Vec3b> colors;
void showLegend();
void colorizeSegmentation(const Mat &score, Mat &segm);
int main(int argc, char** argv)
CommandLineParser parser(argc, argv, keys);
const std::string modelName = parser.get<String>("@alias");
const std::string zooFile = parser.get<String>("zoo");
keys += genPreprocArguments(modelName, zooFile);
parser = CommandLineParser(argc, argv, keys);
parser.about("Use this script to run semantic segmentation deep learning networks using OpenCV.");
if (argc == 1 || parser.has("help"))
return 0;
float scale = parser.get<float>("scale");
Scalar mean = parser.get<Scalar>("mean");
bool swapRB = parser.get<bool>("rgb");
int inpWidth = parser.get<int>("width");
int inpHeight = parser.get<int>("height");
String model = findFile(parser.get<String>("model"));
String config = findFile(parser.get<String>("config"));
String framework = parser.get<String>("framework");
int backendId = parser.get<int>("backend");
int targetId = parser.get<int>("target");
// Open file with classes names.
if (parser.has("classes"))
std::string file = parser.get<String>("classes");
std::ifstream ifs(file.c_str());
if (!ifs.is_open())
CV_Error(Error::StsError, "File " + file + " not found");
std::string line;
while (std::getline(ifs, line))
// Open file with colors.
if (parser.has("colors"))
std::string file = parser.get<String>("colors");
std::ifstream ifs(file.c_str());
if (!ifs.is_open())
CV_Error(Error::StsError, "File " + file + " not found");
std::string line;
while (std::getline(ifs, line))
std::istringstream colorStr(line.c_str());
Vec3b color;
for (int i = 0; i < 3 && !colorStr.eof(); ++i)
colorStr >> color[i];
if (!parser.check())
return 1;
Net net = readNet(model, config, framework);
// Create a window
static const std::string kWinName = "Deep learning semantic segmentation in OpenCV";
namedWindow(kWinName, WINDOW_NORMAL);
if (parser.has("input"))
// Process frames.
Mat frame, blob;
while (waitKey(1) < 0)
cap >> frame;
if (frame.empty())
blobFromImage(frame, blob, scale, Size(inpWidth, inpHeight), mean, swapRB, false);
Mat score = net.forward();
Mat segm;
colorizeSegmentation(score, segm);
resize(segm, segm, frame.size(), 0, 0, INTER_NEAREST);
addWeighted(frame, 0.1, segm, 0.9, 0.0, frame);
// Put efficiency information.
std::vector<double> layersTimes;
double freq = getTickFrequency() / 1000;
double t = net.getPerfProfile(layersTimes) / freq;
std::string label = format("Inference time: %.2f ms", t);
putText(frame, label, Point(0, 15), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 255, 0));
imshow(kWinName, frame);
if (!classes.empty())
return 0;
void colorizeSegmentation(const Mat &score, Mat &segm)
const int rows = score.size[2];
const int cols = score.size[3];
const int chns = score.size[1];
if (colors.empty())
// Generate colors.
for (int i = 1; i < chns; ++i)
Vec3b color;
for (int j = 0; j < 3; ++j)
color[j] = (colors[i - 1][j] + rand() % 256) / 2;
else if (chns != (int)colors.size())
CV_Error(Error::StsError, format("Number of output classes does not match "
"number of colors (%d != %zu)", chns, colors.size()));
Mat maxCl = Mat::zeros(rows, cols, CV_8UC1);
Mat maxVal(rows, cols, CV_32FC1, score.data);
for (int ch = 1; ch < chns; ch++)
for (int row = 0; row < rows; row++)
const float *ptrScore = score.ptr<float>(0, ch, row);
uint8_t *ptrMaxCl = maxCl.ptr<uint8_t>(row);
float *ptrMaxVal = maxVal.ptr<float>(row);
for (int col = 0; col < cols; col++)
if (ptrScore[col] > ptrMaxVal[col])
ptrMaxVal[col] = ptrScore[col];
ptrMaxCl[col] = (uchar)ch;
segm.create(rows, cols, CV_8UC3);
for (int row = 0; row < rows; row++)
const uchar *ptrMaxCl = maxCl.ptr<uchar>(row);
Vec3b *ptrSegm = segm.ptr<Vec3b>(row);
for (int col = 0; col < cols; col++)
ptrSegm[col] = colors[ptrMaxCl[col]];
void showLegend()
static const int kBlockHeight = 30;
static Mat legend;
if (legend.empty())
const int numClasses = (int)classes.size();
if ((int)colors.size() != numClasses)
CV_Error(Error::StsError, format("Number of output classes does not match "
"number of labels (%zu != %zu)", colors.size(), classes.size()));
legend.create(kBlockHeight * numClasses, 200, CV_8UC3);
for (int i = 0; i < numClasses; i++)
Mat block = legend.rowRange(i * kBlockHeight, (i + 1) * kBlockHeight);
putText(block, classes[i], Point(0, kBlockHeight / 2), FONT_HERSHEY_SIMPLEX, 0.5, Vec3b(255, 255, 255));
namedWindow("Legend", WINDOW_NORMAL);
imshow("Legend", legend);
Designed for command line parsing.
Definition: utility.hpp:818
n-dimensional dense array class
Definition: mat.hpp:811
Mat & setTo(InputArray value, InputArray mask=noArray())
Sets all or some of the array elements to the specified value.
MatSize size
Definition: mat.hpp:2159
uchar * data
pointer to the data
Definition: mat.hpp:2139
void create(int rows, int cols, int type)
Allocates new array data if needed.
uchar * ptr(int i0=0)
Returns a pointer to the specified matrix row.
Mat rowRange(int startrow, int endrow) const
Creates a matrix header for the specified row span.
bool empty() const
Returns true if the array has no elements.
Template class for specifying the size of an image or rectangle.
Definition: types.hpp:335
Template class for short numerical vectors, a partial case of Matx.
Definition: matx.hpp:342
Class for video capturing from video files, image sequences or cameras.
Definition: videoio.hpp:728
virtual bool open(const String &filename, int apiPreference=CAP_ANY)
Opens a video file or a capturing device or an IP video stream for video capturing.
void addWeighted(InputArray src1, double alpha, InputArray src2, double beta, double gamma, OutputArray dst, int dtype=-1)
Calculates the weighted sum of two arrays.
std::string String
Definition: cvstd.hpp:152
#define CV_32FC1
Definition: interface.h:118
unsigned char uchar
Definition: interface.h:51
#define CV_8UC1
Definition: interface.h:88
#define CV_8UC3
Definition: interface.h:90
String format(const char *fmt,...)
Returns a text string formatted using the printf-like expression.
#define CV_Error(code, msg)
Call the error handler.
Definition: base.hpp:320
double getTickFrequency()
Returns the number of ticks per second.
#define CV_Assert(expr)
Checks a condition at runtime and throws exception if it fails.
Definition: base.hpp:342
Mat blobFromImage(InputArray image, double scalefactor=1.0, const Size &size=Size(), const Scalar &mean=Scalar(), bool swapRB=false, bool crop=false, int ddepth=CV_32F)
Creates 4-dimensional blob from image. Optionally resizes and crops image from center,...
Net readNet(const String &model, const String &config="", const String &framework="")
Read deep learning network represented in one of the supported formats.
void imshow(const String &winname, InputArray mat)
Displays an image in the specified window.
int waitKey(int delay=0)
Waits for a pressed key.
void namedWindow(const String &winname, int flags=WINDOW_AUTOSIZE)
Creates a window.
void putText(InputOutputArray img, const String &text, Point org, int fontFace, double fontScale, Scalar color, int thickness=1, int lineType=LINE_8, bool bottomLeftOrigin=false)
Draws a text string.
void line(InputOutputArray img, Point pt1, Point pt2, const Scalar &color, int thickness=1, int lineType=LINE_8, int shift=0)
Draws a line segment connecting two points.
void resize(InputArray src, OutputArray dst, Size dsize, double fx=0, double fy=0, int interpolation=INTER_LINEAR)
Resizes an image.
"black box" representation of the file storage associated with a file on disk.
Definition: core.hpp:106
::uint8_t uint8_t
Definition: cvdef.h:845