example_palm_attributes.cpp

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#include "sfe_toolkit/sfe_core.h"
#include "sfe_toolkit/sfe_palm.h"
#include <iomanip>
#include <optional>
#include <regex>
#include <sstream>
#include <vector>
 
#include "annotate.hpp"
#include "solvers.h"
#include "utils.hpp"
#include <unordered_map>
 
std::string image_probe = "assets/palm/palm_id1_r1.jpg";
 
std::string solver_palm_detect = SOLVER_PALM_DETECT;
 
#ifdef SOLVER_PALM_ATTRIBUTES
std::optional<std::string> solver_palm_attributes = SOLVER_PALM_ATTRIBUTES;
#else
std::optional<std::string> solver_palm_attributes = std::nullopt;
#endif // SOLVER_PALM_ATTRIBUTES
 
const auto SOLVER_PARAMETERS = std::vector<SFESolverParameter>{};
 
float detection_threshold = 0.1f;
 
inline void printPalmDetectionInfo(SFEDetection &detected_palm, SFEPalmLandmarks &attributes) {
  std::cout << "SFEDetection{ " << std::endl;
  std::cout << "  confidence: " << detected_palm.confidence << std::endl;
  std::cout << "  hand_position: " << attributes.hand_position << std::endl;
  std::cout << "  hand_orientation: " << attributes.hand_orientation << std::endl;
  std::cout << "  SFEBoundingBox{ " << std::endl;
  std::cout << "    x: " << detected_palm.bounding_box.x << std::endl;
  std::cout << "    y: " << detected_palm.bounding_box.y << std::endl;
  std::cout << "    width: " << detected_palm.bounding_box.width << std::endl;
  std::cout << "    height: " << detected_palm.bounding_box.height << std::endl;
  std::cout << "    }" << std::endl;
  std::cout << "  Keypoints{ " << std::endl;
  for (auto &keypoint : attributes.keypoints) {
    std::cout << "      SFEPalmKeypoint{ " << std::endl;
    std::cout << "        x: " << keypoint.x << std::endl;
    std::cout << "        y: " << keypoint.y << std::endl;
    std::cout << "      }" << std::endl;
  }
  std::cout << "    }" << std::endl;
  std::cout << "  }" << std::endl;
  std::cout << std::endl;
}
 
void printHelp() {
  std::cout << "Help: Usage of the program." << std::endl;
  std::cout << "Options:" << std::endl;
  std::cout << "-h: Display help." << std::endl;
  std::cout << "-p: Probe image file." << std::endl;
  std::cout << "-d: Path to detector solver." << std::endl;
  std::cout << "-i: Path to attributes solver." << std::endl;
  std::cout << "-t: Palm detection threshold. <0,1>" << std::endl;
}
 
int main(int argc, char *argv[]) {
 
  { // STAGE: 0 Parse command line arguments
    // Map to store argument values
    std::unordered_map<std::string, std::string> args;
 
    // Parse command line arguments
    for (int i = 1; i < argc; ++i) {
      std::string arg = argv[i];
      if (arg[0] == '-') {
        if (arg == "-h") {
          printHelp();
          return 0;
        }
        // Check if there's a next argument and it isn't another option
        if (i + 1 < argc && argv[i + 1][0] != '-') {
          args[arg] = argv[++i];
        } else {
          std::cerr << "Option " << arg << " requires a value." << std::endl;
          return 1;
        }
      } else {
        std::cerr << "Unknown option: " << arg << std::endl;
        return 1;
      }
    }
 
    // Assign values to variables based on parsed arguments
    if (args.count("-p"))
      image_probe = args["-p"];
    if (args.count("-d"))
      solver_palm_detect = args["-d"];
    if (args.count("-i"))
      solver_palm_attributes = args["-i"];
    if (args.count("-t"))
      detection_threshold = std::stof(args["-t"]);
 
    utils::printFormatted("PARAMETERS");
    // Print resource names
    std::cout << "Probe image: " << image_probe << std::endl;
 
    // Print solver names
    std::cout << "Palm detection solver: " << solver_palm_detect << std::endl;
    std::cout << "Palm attributes solver: " 
              << (solver_palm_attributes.has_value() ? solver_palm_attributes.value() : "not specified")
              << std::endl;
 
    // Print other options
    std::cout << "Detection threshold: " << detection_threshold << std::endl;
  }
 
  utils::printToolkitInfo();
 
  SFEError error{};
 
  SFESolver detector_solver{};
  DEFER(sfeSolverFree(detector_solver));
  { // STAGE 1: loading solvers
    utils::printFormatted("LOADING solvers");
    // Initialize palm detection solver
    error = sfeSolverCreate(
        solver_palm_detect.c_str(), SOLVER_PARAMETERS.data(),
        SOLVER_PARAMETERS.size(), &detector_solver);
    utils::checkError(error);
  }
 
  SFEImage image{};
  DEFER(sfeImageFree(image));
  { // STAGE 2: Load image
 
    utils::printFormatted("PALM DETECTION");
    // Load image data from file
    auto image_data = utils::readFile(image_probe);
 
    // Decode image from data
    error = sfeImageDecode(image_data.data(), image_data.size(), &image);
    utils::checkError(error);
  }
  SFEDetection detected_palm = {};
  { // STAGE 3: Detect palm in the image
    size_t detection_count = 1;
    // Detect palm in the image
    error = sfeDetect(detector_solver, image, detection_threshold,
                          &detected_palm, &detection_count);
    utils::checkError(error);
 
    if (detection_count == 0) {
      std::cout << "No palm detected in the probe image." << std::endl;
      return 0;
    } else {
      std::cout << "Found " << detection_count
                << " palm(s) in the probe image. Using the palm with highest "
                   "confidence."
                << std::endl;
    }
  }
 
  SFEPalmLandmarks landmarks = {};
  { // STAGE 4: Extract palm landmarks
    utils::printFormatted("LANDMARKS");
    // Extract palm landmarks (hand position, orientation, keypoints)
    error = sfePalmLandmarks(detector_solver, image, &detected_palm, &landmarks);
    utils::checkError(error);
  }
 
  if (solver_palm_attributes.has_value()) { // STAGE 5: Attributes (if solver available)
      SFESolver attributes_solver{};
      DEFER(sfeSolverFree(attributes_solver));
      // Initialize palm attributes solver
      error = sfeSolverCreate(
          solver_palm_attributes.value().c_str(), SOLVER_PARAMETERS.data(),
          SOLVER_PARAMETERS.size(), &attributes_solver);
      utils::checkError(error);
 
      utils::printFormatted("ATTRIBUTES");
      SFEPalmAttributes attributes = {};
      error = sfePalmAttributes(attributes_solver, image, &landmarks,
                                &attributes);
      utils::checkError(error);
 
      printPalmDetectionInfo(detected_palm, landmarks);
      std::cout << "Hand orientation " << attributes.hand_orientation << std::endl;
      std::cout << "Hand position " << attributes.hand_position << std::endl;
      std::cout << "Quality " << attributes.quality << std::endl;
  } else {
    printPalmDetectionInfo(detected_palm, landmarks);
    std::cout << "Palm attributes solver not specified, skipping attributes analysis." << std::endl;
  }
 
  utils::printFormatted("FINISHED");
}