Added object tracking using optical flow

AlexeyAB

2017-12-25 7113d2cc7fceb0fb599326aec65771c33f5f4386

 src/yolo_console_dll.cpp

@@ -2,14 +2,19 @@
#include <iomanip> 
#include <string>
#include <vector>
#include <queue>
#include <fstream>
#include <thread>
#include <atomic>
#include <mutex>              // std::mutex, std::unique_lock
#include <condition_variable> // std::condition_variable

#ifdef _WIN32
#define OPENCV
#include "windows.h"
#endif

#define TRACK_OPTFLOW
#include "yolo_v2_class.hpp"  // imported functions from DLL

#ifdef OPENCV
@@ -17,11 +22,18 @@
#include "opencv2/core/version.hpp"
#ifndef CV_VERSION_EPOCH
#include "opencv2/videoio/videoio.hpp"
#pragma comment(lib, "opencv_world320.lib")  
#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
#pragma comment(lib, "opencv_core2413.lib")  
#pragma comment(lib, "opencv_imgproc2413.lib")  
#pragma comment(lib, "opencv_highgui2413.lib") 
#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")
#pragma comment(lib, "opencv_imgproc" OPENCV_VERSION ".lib")
#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
#endif


@@ -70,7 +82,7 @@
   std::ifstream file(filename);
   std::vector<std::string> file_lines;
   if (!file.is_open()) return file_lines;
   for(std::string line; file >> line;) file_lines.push_back(line);
   for(std::string line; getline(file, line);) file_lines.push_back(line);
   std::cout << "object names loaded \n";
   return file_lines;
}
@@ -81,11 +93,15 @@
   std::string filename;
   if (argc > 1) filename = argv[1];

   Detector detector("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) 
   {     
@@ -98,9 +114,11 @@
         std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
         std::string const protocol = filename.substr(0, 7);
         if (file_ext == "avi" || file_ext == "mp4" || file_ext == "mjpg" || file_ext == "mov" ||  // video file
            protocol == "rtsp://" || protocol == "http://" || protocol == "https:/")   // video network stream
            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
@@ -122,7 +140,9 @@
            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;
@@ -130,22 +150,79 @@
               }
               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;
@@ -165,6 +242,13 @@
                     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);

@@ -179,10 +263,10 @@
               }

               // 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();
@@ -216,7 +300,7 @@
         auto img = detector.load_image(filename);
         std::vector<bbox_t> result_vec = detector.detect(img);
         detector.free_image(img);
         show_result(result_vec, obj_names);
         show_console_result(result_vec, obj_names);
#endif         
      }
      catch (std::exception &e) { std::cerr << "exception: " << e.what() << "\n"; getchar(); }