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Added object tracking using optical flow

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This commit is contained in:
AlexeyAB
2017-12-26 02:56:13 +03:00
parent ee87f4b649
commit 7113d2cc7f
3 changed files with 260 additions and 16 deletions
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108
src/yolo_console_dll.cpp
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@ -2,6 +2,7 @@
#include <iomanip>
#include <string>
#include <vector>
#include <queue>
#include <fstream>
#include <thread>
#include <atomic>
@ -10,8 +11,10 @@
#ifdef _WIN32
#define OPENCV
#include "windows.h"
#endif
#define TRACK_OPTFLOW
#include "yolo_v2_class.hpp" // imported functions from DLL
#ifdef OPENCV
@ -21,6 +24,11 @@
#include "opencv2/videoio/videoio.hpp"
#define OPENCV_VERSION CVAUX_STR(CV_VERSION_MAJOR)""CVAUX_STR(CV_VERSION_MINOR)""CVAUX_STR(CV_VERSION_REVISION)
#pragma comment(lib, "opencv_world" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_cudaoptflow" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_cudaimgproc" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_core" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_imgproc" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
#else
#define OPENCV_VERSION CVAUX_STR(CV_VERSION_EPOCH)""CVAUX_STR(CV_VERSION_MAJOR)""CVAUX_STR(CV_VERSION_MINOR)
#pragma comment(lib, "opencv_core" OPENCV_VERSION ".lib")
@ -85,11 +93,15 @@ int main(int argc, char *argv[])
std::string filename;
if (argc > 1) filename = argv[1];
Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
//Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
auto obj_names = objects_names_from_file("data/voc.names");
std::string out_videofile = "result.avi";
bool const save_output_videofile = false;
#ifdef TRACK_OPTFLOW
Tracker_optflow tracker_flow;
#endif
while (true)
{
@ -105,6 +117,8 @@ int main(int argc, char *argv[])
protocol == "rtmp://" || protocol == "rtsp://" || protocol == "http://" || protocol == "https:/") // video network stream
{
cv::Mat cap_frame, cur_frame, det_frame, write_frame;
std::queue<cv::Mat> track_optflow_queue;
int passed_flow_frames = 0;
std::shared_ptr<image_t> det_image;
std::vector<bbox_t> result_vec, thread_result_vec;
detector.nms = 0.02; // comment it - if track_id is not required
@ -126,7 +140,9 @@ int main(int argc, char *argv[])
if (save_output_videofile)
output_video.open(out_videofile, CV_FOURCC('D', 'I', 'V', 'X'), std::max(35, video_fps), frame_size, true);
while (!cur_frame.empty()) {
while (!cur_frame.empty())
{
// always sync
if (t_cap.joinable()) {
t_cap.join();
++fps_cap_counter;
@ -134,22 +150,79 @@ int main(int argc, char *argv[])
}
t_cap = std::thread([&]() { cap >> cap_frame; });
// swap result and input-frame
// swap result bouned-boxes and input-frame
if(consumed)
{
std::unique_lock<std::mutex> lock(mtx);
det_image = detector.mat_to_image_resize(cur_frame);
result_vec = thread_result_vec;
result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
consumed = false;
{
std::unique_lock<std::mutex> lock(mtx);
det_image = detector.mat_to_image_resize(cur_frame);
result_vec = thread_result_vec;
result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
consumed = false;
}
#ifdef TRACK_OPTFLOW
int y = 0, x = 0;
cv::Mat show_flow = cur_frame.clone();
auto lambda = [&x, &y](cv::Mat draw_frame, cv::Mat src_frame, std::vector<bbox_t> result_vec) {
//if (x > 10) return;
if (result_vec.size() == 0) return;
bbox_t i = result_vec[0];
//cv::Rect r(i.x, i.y, i.w, i.h);
cv::Rect r(i.x + (i.w-31)/2, i.y + (i.h - 31)/2, 31, 31);
cv::Rect img_rect(cv::Point2i(0, 0), src_frame.size());
cv::Rect rect_roi = r & img_rect;
if (rect_roi.width < 1 || rect_roi.height < 1) return;
cv::Mat roi = src_frame(rect_roi);
cv::Mat dst;
cv::resize(roi, dst, cv::Size(100, 100));
if (x > 10) x = 0, ++y;
cv::Rect dst_rect_roi(cv::Point2i(x*100, y*100), dst.size());
cv::Mat dst_roi = draw_frame(dst_rect_roi);
dst.copyTo(dst_roi);
++x;
};
// track optical flow
if (track_optflow_queue.size() > 0) {
std::queue<cv::Mat> new_track_optflow_queue;
std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
//draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps);
//cv::waitKey(10);
tracker_flow.update_tracking_flow(track_optflow_queue.front());
lambda(show_flow, track_optflow_queue.front(), result_vec);
track_optflow_queue.pop();
while(track_optflow_queue.size() > 0) {
//draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps);
//cv::waitKey(10);
result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec);
if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
new_track_optflow_queue = track_optflow_queue;
lambda(show_flow, track_optflow_queue.front(), result_vec);
track_optflow_queue.pop();
}
track_optflow_queue = new_track_optflow_queue;
new_track_optflow_queue.swap(std::queue<cv::Mat>());
passed_flow_frames = 0;
std::cout << "\n !!!! now = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
cv::imshow("flow", show_flow);
cv::waitKey(3);
}
#endif
}
// launch thread once
// launch thread once - Detection
if (!t_detect.joinable()) {
t_detect = std::thread([&]() {
auto current_image = det_image;
consumed = true;
while (current_image.use_count() > 0) {
auto result = detector.detect_resized(*current_image, frame_size, 0.24, true);
auto result = detector.detect_resized(*current_image, frame_size, 0.24, false); // true
Sleep(500);
++fps_det_counter;
std::unique_lock<std::mutex> lock(mtx);
thread_result_vec = result;
@ -169,6 +242,13 @@ int main(int argc, char *argv[])
fps_det_counter = 0;
fps_cap_counter = 0;
}
#ifdef TRACK_OPTFLOW
++passed_flow_frames;
track_optflow_queue.push(cur_frame.clone());
result_vec = tracker_flow.tracking_flow(cur_frame, result_vec); // track optical flow
#endif
draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps);
//show_console_result(result_vec, obj_names);
@ -183,10 +263,10 @@ int main(int argc, char *argv[])
}
// wait detection result for video-file only (not for net-cam)
if (protocol != "rtsp://" && protocol != "http://" && protocol != "https:/") {
std::unique_lock<std::mutex> lock(mtx);
while (!consumed) cv.wait(lock);
}
//if (protocol != "rtsp://" && protocol != "http://" && protocol != "https:/") {
// std::unique_lock<std::mutex> lock(mtx);
// while (!consumed) cv.wait(lock);
//}
}
if (t_cap.joinable()) t_cap.join();
if (t_detect.joinable()) t_detect.join();