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This commit is contained in:
AlexeyAB
2018-01-28 00:57:04 +03:00
parent e11430970b
commit 993e3a38aa
3 changed files with 50 additions and 37 deletions
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75
src/yolo_console_dll.cpp
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@ -52,8 +52,9 @@ class preview_boxes_t {
struct preview_box_track_t { struct preview_box_track_t {
unsigned int track_id, obj_id, last_showed_frames_ago; unsigned int track_id, obj_id, last_showed_frames_ago;
bool current_detection;
cv::Mat mat_obj; cv::Mat mat_obj;
preview_box_track_t() : track_id(0), obj_id(0), last_showed_frames_ago(frames_history) {} preview_box_track_t() : track_id(0), obj_id(0), last_showed_frames_ago(frames_history), current_detection(false){}
}; };
std::vector<preview_box_track_t> preview_box_track_id; std::vector<preview_box_track_t> preview_box_track_id;
size_t const preview_box_size, bottom_offset; size_t const preview_box_size, bottom_offset;
@ -63,9 +64,10 @@ public:
preview_box_size(_preview_box_size), bottom_offset(_bottom_offset), one_off_detections(_one_off_detections) preview_box_size(_preview_box_size), bottom_offset(_bottom_offset), one_off_detections(_one_off_detections)
{} {}
void draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec, bool draw_boxes = true) //void draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec, bool draw_boxes = true)
void set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
{ {
size_t const count_preview_boxes = draw_mat.cols / preview_box_size; size_t const count_preview_boxes = src_mat.cols / preview_box_size;
if (preview_box_track_id.size() != count_preview_boxes) preview_box_track_id.resize(count_preview_boxes); if (preview_box_track_id.size() != count_preview_boxes) preview_box_track_id.resize(count_preview_boxes);
// increment frames history // increment frames history
@ -77,7 +79,7 @@ public:
bool found = false; bool found = false;
for (auto &i : preview_box_track_id) { for (auto &i : preview_box_track_id) {
if (i.track_id == k.track_id) { if (i.track_id == k.track_id) {
if(!one_off_detections) if (!one_off_detections)
i.last_showed_frames_ago = 0; i.last_showed_frames_ago = 0;
found = true; found = true;
break; break;
@ -101,7 +103,7 @@ public:
{ {
// get object image // get object image
cv::Mat dst = preview_box_track_id[i].mat_obj; cv::Mat dst = preview_box_track_id[i].mat_obj;
bool current_detection = false; preview_box_track_id[i].current_detection = false;
for (auto &k : result_vec) { for (auto &k : result_vec) {
if (preview_box_track_id[i].track_id == k.track_id) { if (preview_box_track_id[i].track_id == k.track_id) {
@ -114,26 +116,32 @@ public:
cv::Mat roi = src_mat(rect_roi); cv::Mat roi = src_mat(rect_roi);
cv::resize(roi, dst, cv::Size(preview_box_size, preview_box_size)); cv::resize(roi, dst, cv::Size(preview_box_size, preview_box_size));
preview_box_track_id[i].mat_obj = dst.clone(); preview_box_track_id[i].mat_obj = dst.clone();
current_detection = true; preview_box_track_id[i].current_detection = true;
} }
break; break;
} }
} }
}
}
void draw(cv::Mat draw_mat)
{
// draw preview box (from old or current frame)
for (size_t i = 0; i < preview_box_track_id.size(); ++i)
{
// draw object image // draw object image
if (draw_boxes) { cv::Mat dst = preview_box_track_id[i].mat_obj;
cv::Mat dst = preview_box_track_id[i].mat_obj; if (preview_box_track_id[i].last_showed_frames_ago < frames_history &&
if (preview_box_track_id[i].last_showed_frames_ago < frames_history && dst.size() == cv::Size(preview_box_size, preview_box_size))
dst.size() == cv::Size(preview_box_size, preview_box_size)) {
{ cv::Rect dst_rect_roi(cv::Point2i(i * preview_box_size, draw_mat.rows - bottom_offset), dst.size());
cv::Rect dst_rect_roi(cv::Point2i(i * preview_box_size, draw_mat.rows - bottom_offset), dst.size()); cv::Mat dst_roi = draw_mat(dst_rect_roi);
cv::Mat dst_roi = draw_mat(dst_rect_roi); dst.copyTo(dst_roi);
dst.copyTo(dst_roi);
cv::Scalar color = obj_id_to_color(preview_box_track_id[i].obj_id); cv::Scalar color = obj_id_to_color(preview_box_track_id[i].obj_id);
int thickness = (current_detection) ? 5 : 1; int thickness = (preview_box_track_id[i].current_detection) ? 5 : 1;
cv::rectangle(draw_mat, dst_rect_roi, color, thickness); cv::rectangle(draw_mat, dst_rect_roi, color, thickness);
}
} }
} }
} }
@ -141,7 +149,7 @@ public:
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
unsigned int wait_msec = 0, int current_det_fps = -1, int current_cap_fps = -1) unsigned int wait_msec = 0, std::string win_name = "window name", int current_det_fps = -1, int current_cap_fps = -1)
{ {
int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } }; int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };
@ -164,7 +172,7 @@ void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std
putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2); putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
} }
cv::imshow("window name", mat_img); cv::imshow(win_name, mat_img);
cv::waitKey(wait_msec); cv::waitKey(wait_msec);
} }
#endif // OPENCV #endif // OPENCV
@ -270,26 +278,25 @@ int main(int argc, char *argv[])
det_image = detector.mat_to_image_resize(cur_frame); det_image = detector.mat_to_image_resize(cur_frame);
auto old_result_vec = result_vec; auto old_result_vec = result_vec;
result_vec = thread_result_vec; result_vec = thread_result_vec;
result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
#ifdef TRACK_OPTFLOW #ifdef TRACK_OPTFLOW
// track optical flow // track optical flow
if (track_optflow_queue.size() > 0) { if (track_optflow_queue.size() > 0) {
small_preview.draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec, false); auto tmp_result_vec = detector.tracking_id(result_vec, false);
small_preview.set(track_optflow_queue.front(), tmp_result_vec);
std::queue<cv::Mat> new_track_optflow_queue;
//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl; //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
tracker_flow.update_tracking_flow(track_optflow_queue.front()); tracker_flow.update_tracking_flow(track_optflow_queue.front());
while (track_optflow_queue.size() > 1) { while (track_optflow_queue.size() > 1) {
track_optflow_queue.pop(); track_optflow_queue.pop();
result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec); result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec, true);
if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
new_track_optflow_queue = track_optflow_queue;
} }
track_optflow_queue = new_track_optflow_queue; track_optflow_queue.pop();
passed_flow_frames = 0; passed_flow_frames = 0;
} }
#endif #endif
result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
// add old tracked objects // add old tracked objects
for (auto &i : old_result_vec) { for (auto &i : old_result_vec) {
auto it = std::find_if(result_vec.begin(), result_vec.end(), auto it = std::find_if(result_vec.begin(), result_vec.end(),
@ -316,11 +323,12 @@ int main(int argc, char *argv[])
++fps_det_counter; ++fps_det_counter;
std::unique_lock<std::mutex> lock(mtx); std::unique_lock<std::mutex> lock(mtx);
thread_result_vec = result; thread_result_vec = result;
current_image = det_image;
consumed = true; consumed = true;
cv_detected.notify_all(); cv_detected.notify_all();
if(detector.wait_stream) if (detector.wait_stream) {
while (consumed) cv_pre_tracked.wait(lock); while (consumed) cv_pre_tracked.wait(lock);
}
current_image = det_image;
} }
}); });
} }
@ -335,15 +343,16 @@ int main(int argc, char *argv[])
fps_cap_counter = 0; fps_cap_counter = 0;
} }
large_preview.set(cur_frame, result_vec);
#ifdef TRACK_OPTFLOW #ifdef TRACK_OPTFLOW
++passed_flow_frames; ++passed_flow_frames;
track_optflow_queue.push(cur_frame.clone()); track_optflow_queue.push(cur_frame.clone());
result_vec = tracker_flow.tracking_flow(cur_frame, result_vec, true); // track optical flow result_vec = tracker_flow.tracking_flow(cur_frame, result_vec, true); // track optical flow
small_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true); small_preview.draw(cur_frame);
#endif #endif
large_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true); large_preview.draw(cur_frame);
draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps); // 3 or 16ms draw_boxes(cur_frame, result_vec, obj_names, 3, "window name", current_det_fps, current_cap_fps); // 3 or 16ms
//show_console_result(result_vec, obj_names); //show_console_result(result_vec, obj_names);
if (output_video.isOpened() && videowrite_ready) { if (output_video.isOpened() && videowrite_ready) {

9
src/yolo_v2_class.cpp
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@ -252,7 +252,8 @@ YOLODLL_API std::vector<bbox_t> Detector::detect(image_t img, float thresh, bool
return bbox_vec; return bbox_vec;
} }
YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story, int const max_dist) YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history,
int const frames_story, int const max_dist)
{ {
detector_gpu_t &det_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get()); detector_gpu_t &det_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
@ -301,8 +302,10 @@ YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bb
if (cur_bbox_vec[i].track_id == 0) if (cur_bbox_vec[i].track_id == 0)
cur_bbox_vec[i].track_id = det_gpu.track_id[cur_bbox_vec[i].obj_id]++; cur_bbox_vec[i].track_id = det_gpu.track_id[cur_bbox_vec[i].obj_id]++;
prev_bbox_vec_deque.push_front(cur_bbox_vec); if (change_history) {
if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back(); prev_bbox_vec_deque.push_front(cur_bbox_vec);
if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
}
return cur_bbox_vec; return cur_bbox_vec;
} }

3
src/yolo_v2_class.hpp
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@ -58,7 +58,8 @@ public:
YOLODLL_API int get_net_width() const; YOLODLL_API int get_net_width() const;
YOLODLL_API int get_net_height() const; YOLODLL_API int get_net_height() const;
YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 6, int const max_dist = 150); YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history = true,
int const frames_story = 6, int const max_dist = 150);
#ifdef OPENCV #ifdef OPENCV
std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false) std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)