Fixed tracking for OpenCV 3.x

AlexeyAB

2018-01-11 89d0c46bb32a98416fb55a9c83c291dd0831c6cc

 src/yolo_console_dll.cpp

@@ -11,10 +11,11 @@

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

#define TRACK_OPTFLOW
// To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x
//#define TRACK_OPTFLOW

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

#ifdef OPENCV
@@ -90,17 +91,27 @@

int main(int argc, char *argv[])
{
   std::string  names_file = "data/voc.names";
   std::string  cfg_file = "cfg/yolo-voc.cfg";
   std::string  weights_file = "yolo-voc.weights";
   std::string filename;
   if (argc > 1) filename = argv[1];

   //Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
   Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
   if (argc > 4) {   //voc.names yolo-voc.cfg yolo-voc.weights test.mp4		
      names_file = argv[1];
      cfg_file = argv[2];
      weights_file = argv[3];
      filename = argv[4];
   }
   else if (argc > 1) filename = argv[1];

   auto obj_names = objects_names_from_file("data/voc.names");
   Detector detector(cfg_file, weights_file);

   auto obj_names = objects_names_from_file(names_file);
   std::string out_videofile = "result.avi";
   bool const save_output_videofile = false;
#ifdef TRACK_OPTFLOW
   Tracker_optflow tracker_flow;
   detector.wait_stream = true;
#endif

   while (true) 
@@ -131,7 +142,7 @@
            int current_det_fps = 0, current_cap_fps = 0;
            std::thread t_detect, t_cap, t_videowrite;
            std::mutex mtx;
            std::condition_variable cv;
            std::condition_variable cv_detected, cv_pre_tracked;
            std::chrono::steady_clock::time_point steady_start, steady_end;
            cv::VideoCapture cap(filename); cap >> cur_frame;
            int const video_fps = cap.get(CV_CAP_PROP_FPS);
@@ -153,67 +164,29 @@
               // 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
#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);
                     //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
                     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);

                     while (track_optflow_queue.size() > 1) {
                        track_optflow_queue.pop();
                        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

                  consumed = false;
                  cv_pre_tracked.notify_all();
               }
               // launch thread once - Detection
               if (!t_detect.joinable()) {
@@ -222,13 +195,14 @@
                     consumed = true;
                     while (current_image.use_count() > 0) {
                        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;
                        current_image = det_image;
                        consumed = true;
                        cv.notify_all();
                        cv_detected.notify_all();
                        if(detector.wait_stream)
                           while (consumed) cv_pre_tracked.wait(lock);
                     }
                  });
               }
@@ -249,7 +223,7 @@
                  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);
                  draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps);  // 3 or 16ms
                  //show_console_result(result_vec, obj_names);

                  if (output_video.isOpened() && videowrite_ready) {
@@ -265,7 +239,7 @@
               // 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);
               // while (!consumed) cv_detected.wait(lock);
               //}
            }
            if (t_cap.joinable()) t_cap.join();