Fever Cam Processing

/*
 * Copyright (C) 2015-2018 Digital Barriers plc. All rights reserved.
 * Contact: http://www.digitalbarriers.com/
 *
 * This file is part of the Papillon SDK.
 *
 * You can't use, modify or distribute any part of this file without
 * the explicit written agreements of Digital Barriers.
 */

#include <PFeverCamCalibration.h>
#include <PFeverCamProcessor.h>
#include <PapillonCore.h>
USING_NAMESPACE_PAPILLON

const PString SAMPLE_DIR = PPath::Join(PUtils::GetEnv("PAPILLON_INSTALL_DIR"), "Data", "Samples");

int main(int argc, char** argv) {
    PapillonSDK::Initialise().OrDie();

    // Handle standard options
    POption opt(argc, argv);
    opt.AddStandardOptions();  // set-up logging
    PString thermIP  = opt.String("therm,t", "192.168.1.101", "FeverCam thermal camera IP address");
    PString colorIP  = opt.String("color,c", "192.168.1.100", "FeverCam color camera IP address");
    PString colorPwd = opt.String("password,p", "admin", "FeverCam color camera \"admin\" password");

    PFeverCamCalibration fccalib;
    PFeverCamProcessor   fcproc;

    // Configure a default FaceLog6 analytics that will be used for detection
    PAnalytics  faceLog;
    PProperties faceLogParameters;
    faceLogParameters.Set("faceDetector.MinDetectionSize", 80);
    faceLogParameters.Set("faceDetector.MaxDetectionSize", 1000);
    faceLogParameters.Set("faceDetector.Threshold", 0.0);
    faceLogParameters.Set("faceDetector.regionOfInterest", papillon::PRectanglei(0, 0, 0, 0));
    faceLogParameters.Set("faceDetector.enableLocaliser", true);
    faceLogParameters.Set("faceDetector.MinCertainty", 0.0);
    faceLogParameters.Set("faceDetector.MaxLength", 100);
    faceLogParameters.Set("faceDetector.MinLength", 1);
    faceLogParameters.Set("faceDetector.MaxGap", 10);
    faceLogParameters.Set("faceDetector.SightingSimilarity", 0.6);
    faceLogParameters.Set("faceDetector.FrameLag", 50);
    faceLogParameters.Set("faceDetector.SpatialFilter", true);
    faceLogParameters.Set("faceDetector.Motion", false);
    faceLogParameters.Set("faceDetector.OSDFlags", 1);
    PWatchlistOptions watchlistOptions;
    watchlistOptions.SetTopN(1);
    watchlistOptions.SetThreshold(0.75);
    watchlistOptions.SetNormalise(false);
    faceLogParameters.Set("faceDetector.WatchlistOptions", watchlistOptions);
    faceLogParameters.Set("faceDetector.MaxFaceDetectorFR", -1);
    faceLogParameters.Set("gpuId", -2);  // Use optimized CPU models
    PAnalytics::Create("FaceLog6", faceLogParameters, faceLog).OrDie("Creating simple face detector");

    // Load calibration for the processor
    fccalib.LoadFromFile(PPath::Join(SAMPLE_DIR, "calibrationMatrix.bin")).OrDie("Loading calibration matrix");
    fcproc.SetCalibration(fccalib);
    // Connect to feverCam
    fcproc.HandleFeverCam(thermIP).OrDie("Connecting to feverCam");
    // Connect to color camera
    PInputVideoStream colorIvs;
    PInputVideoStream::Open(PString("rtsp://admin:%1@%2/stream0").Arg(colorPwd).Arg(colorIP), colorIvs)
        .OrDie("Opening color stream");

    PImage img;

    PFrame colorFame, thermFrame;
    // Detection will run as long as video streams are available
    while(colorIvs.GetFrame(colorFame, 30000).LogErrorIfAny("retrieving color frame").Ok() && fcproc.IsActive()) {
        PList faceEvents;
        faceLog.Apply(colorFame, faceEvents).OrDie("processing color frame");
        // Here we can detect black body should it be needed
        PList bbodyCandidates;
        if(fcproc.LocateBlackBody(colorFame, bbodyCandidates).LogErrorIfAny("Locating black body").Ok() &&
           !bbodyCandidates.IsEmpty()) {
            P_LOG_INFO << "Black body candidates: " << bbodyCandidates.ToString();
            // At this point user could update automatically black body position in the camera
            // To do this (very simple example assuming only one candidate is found):
            //
            // Retrieve the thermal video stream
            // PInputVideoStream tivs;
            // fcproc.GetTemperatureVideoSource(tivs).OrDie("Retrieving thermal video source");
            // PRectanglef bbodyRect;
            // bbodyCandidates.Get(0, bbodyRect).OrDie("Retrieving first black body candidate");
            // tivs.Set("BLACKBODY_RECTANGLE", bbodyRect).OrDie("Setting black body position");
        }
        // Display synchronized temperature image
        if(fcproc.GetThermalFrameAt(colorFame.GetTimestampUTC(), thermFrame).Ok())
            thermFrame.Display("thermal", 0);

        // Retrieve image that will be used for display of faces and temperature
        img = colorFame.GetImageShared(PImage::E_RGB8U).Clone();
        // Now process faces that we may have detected
        for(int32 e = 0; e < faceEvents.Size(); ++e) {
            PEvent evt;
            faceEvents.Get(e, evt).OrDie("Retrieving event");
            // We only process faces
            if(evt.GetType() == "Face") {
                // Extract the detection
                const PProperties& eventProperties = evt.GetPayload();
                PDetection         detection;
                if(eventProperties.Get("Detection", detection).LogIfError().Failed())
                    continue;

                // We'll draw the image with the detection on it
                PUtils::DrawLabel(img, detection, "", PUtils::E_TOP_CENTRE, PUtils::E_BLACK, 1., 1, PColour3i::Red());

                // Estimate face temperature for this face
                double temperature, confidence;
                if(fcproc.EstimateFaceTemperature(detection, temperature, confidence)
                       .LogErrorIfAny("Estimating face temperature")) {
                    // We managed to get face temperature (so calibration was correct enough that we could match face to
                    // thermal equivalent)
                    P_LOG_INFO << "Face detected at " << detection.GetFrame().GetTimestampUTC().ToStringISOWithMs()
                               << " has temperature " << temperature << "C with confidence " << confidence;

                    // we'll add the color information on top
                    PUtils::DrawLabel(img, detection, PString("T: %1C (conf: %2)").Arg(temperature).Arg(confidence),
                                      PColour3i::Darkgray(), PColour3i::Red(), papillon::PUtils::E_TOP_CENTRE, 1., 0,
                                      papillon::PColour3i::White(), papillon::PImage::E_FONT_HERSHEY_TRIPLEX);
                }
            }
        }
        // Display image with detection and temperature if available
        img.Display("Detection", 0);
    }

    PapillonSDK::Finalise();
    return 0;
}