Added preview boxes for SO/DLL usage

AlexeyAB

2018-01-24 cc6ab9b3ccf48322b97f7fe096381d5594d198f7

 src/yolo_console_dll.cpp

@@ -2,11 +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
#endif

// 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

@@ -15,19 +23,109 @@
#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


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_fps = -1)
cv::Scalar obj_id_to_color(int obj_id) {
   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 offset = obj_id * 123457 % 6;
   int const color_scale = 150 + (obj_id * 123457) % 100;
   cv::Scalar color(colors[offset][0], colors[offset][1], colors[offset][2]);
   color *= color_scale;
   return color;
}

void draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec)
{
   size_t const preview_box_size = 100;   // size of preview box in ptx
   size_t const count_preview_boxes = draw_mat.cols / preview_box_size;
   unsigned int const frames_history = 30;   // how long to keep the history saved
   struct preview_box_track_t {
      unsigned int track_id, obj_id, last_showed_frames_ago;
      cv::Mat mat_obj;
      preview_box_track_t() : track_id(0), obj_id(0), last_showed_frames_ago(frames_history) {}
   };
   static std::vector<preview_box_track_t> preview_box_track_id(count_preview_boxes);
   // increment frames history
   for (auto &i : preview_box_track_id)
      i.last_showed_frames_ago = std::min(frames_history, i.last_showed_frames_ago + 1);

   // occupy empty boxes
   for (auto &k : result_vec) {
      bool found = false;
      for (auto &i : preview_box_track_id) {
         if (i.track_id == k.track_id) {
            i.last_showed_frames_ago = 0;
            found = true;
            break;
         }
      }
      if (!found) {
         for (auto &i : preview_box_track_id) {
            if (i.last_showed_frames_ago == frames_history) {
               i.track_id = k.track_id;
               i.obj_id = k.obj_id;
               i.last_showed_frames_ago = 0;
               break;
            }
         }
      }
   }

   // draw preview box (from old or current frame)
   for (size_t i = 0; i < preview_box_track_id.size(); ++i) {

      // get object image
      cv::Mat dst = preview_box_track_id[i].mat_obj;
      for (auto &k : result_vec) {
         if (preview_box_track_id[i].track_id == k.track_id) {
            bbox_t b = k;
            cv::Rect r(b.x, b.y, b.w, b.h);
            cv::Rect img_rect(cv::Point2i(0, 0), src_mat.size());
            cv::Rect rect_roi = r & img_rect;
            if (rect_roi.width > 1 || rect_roi.height > 1) {
               cv::Mat roi = src_mat(rect_roi);
               cv::resize(roi, dst, cv::Size(preview_box_size, preview_box_size));
               preview_box_track_id[i].mat_obj = dst;
            }
            break;
         }
      }

      // draw object image
      if (preview_box_track_id[i].last_showed_frames_ago < frames_history &&
         dst.size() == cv::Size(preview_box_size, preview_box_size))
      {
         cv::Rect dst_rect_roi(cv::Point2i(i * preview_box_size, draw_mat.rows - preview_box_size), dst.size());
         cv::Mat dst_roi = draw_mat(dst_rect_roi);
         dst.copyTo(dst_roi);

         cv::Scalar color = obj_id_to_color(preview_box_track_id[i].obj_id);
         cv::rectangle(draw_mat, dst_rect_roi, color, 5);
      }
   }
}


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)
{
   int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };

   for (auto &i : result_vec) {
      cv::Scalar color(60, 160, 260);
      cv::Scalar color = obj_id_to_color(i.obj_id);
      cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 5);
      if (obj_names.size() > i.obj_id) {
         std::string obj_name = obj_names[i.obj_id];
@@ -40,15 +138,18 @@
         putText(mat_img, obj_name, cv::Point2f(i.x, i.y - 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(0, 0, 0), 2);
      }
   }
   if(current_fps >= 0)
      putText(mat_img, "FPS: " + std::to_string(current_fps), cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
   if (current_det_fps >= 0 && current_cap_fps >= 0) {
      std::string fps_str = "FPS detection: " + std::to_string(current_det_fps) + "   FPS capture: " + std::to_string(current_cap_fps);
      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::waitKey(wait_msec);
}
#endif   // OPENCV


void show_result(std::vector<bbox_t> const result_vec, std::vector<std::string> const obj_names) {
void show_console_result(std::vector<bbox_t> const result_vec, std::vector<std::string> const obj_names) {
   for (auto &i : result_vec) {
      if (obj_names.size() > i.obj_id) std::cout << obj_names[i.obj_id] << " - ";
      std::cout << "obj_id = " << i.obj_id << ",  x = " << i.x << ", y = " << i.y 
@@ -61,7 +162,7 @@
   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;
}
@@ -69,14 +170,28 @@

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("yolo-voc.cfg", "yolo-voc.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) 
   {     
@@ -89,43 +204,131 @@
         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 frame, prev_frame, det_frame;
            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
            std::thread td([]() {});
            std::atomic<int> ready_flag;
            ready_flag = true;
            std::atomic<bool> consumed, videowrite_ready;
            consumed = true;
            videowrite_ready = true;
            std::atomic<int> fps_det_counter, fps_cap_counter;
            fps_det_counter = 0;
            fps_cap_counter = 0;
            int current_det_fps = 0, current_cap_fps = 0;
            std::thread t_detect, t_cap, t_videowrite;
            std::mutex mtx;
            std::condition_variable cv_detected, cv_pre_tracked;
            std::chrono::steady_clock::time_point steady_start, steady_end;
            int fps_counter = 0, current_fps = 0;
            cv::VideoCapture cap(filename); cap >> cur_frame;
            int const video_fps = cap.get(CV_CAP_PROP_FPS);
            cv::Size const frame_size = cur_frame.size();
            cv::VideoWriter output_video;
            for (cv::VideoCapture cap(filename); cap >> frame, cap.isOpened();) {
               if(!output_video.isOpened() && save_output_videofile)
                  output_video.open(out_videofile, CV_FOURCC('D','I','V','X'), cap.get(CV_CAP_PROP_FPS), frame.size(), true);
               if (ready_flag || (protocol != "rtsp://" && protocol != "http://" && protocol != "https:/")) {
                  td.join();
                  ++fps_counter;
                  ready_flag = false;
            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()) 
            {
               // always sync
               if (t_cap.joinable()) {
                  t_cap.join();
                  ++fps_cap_counter;
                  cur_frame = cap_frame.clone();
               }
               t_cap = std::thread([&]() { cap >> cap_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
                  det_frame = frame;						
                  td = std::thread([&]() { thread_result_vec = detector.detect(det_frame, 0.24, true); ready_flag = true; });
#ifdef TRACK_OPTFLOW
                  // track optical flow
                  if (track_optflow_queue.size() > 0) {
                     //draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec);

                     std::queue<cv::Mat> new_track_optflow_queue;
                     //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
                     tracker_flow.update_tracking_flow(track_optflow_queue.front());

                     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;
                     }
                     track_optflow_queue = new_track_optflow_queue;
                     passed_flow_frames = 0;
                  }
#endif
                  consumed = false;
                  cv_pre_tracked.notify_all();
               }
               if (!prev_frame.empty()) {	
               // 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, 0.20, false);  // true
                        ++fps_det_counter;
                        std::unique_lock<std::mutex> lock(mtx);
                        thread_result_vec = result;
                        current_image = det_image;
                        consumed = true;
                        cv_detected.notify_all();
                        if(detector.wait_stream)
                           while (consumed) cv_pre_tracked.wait(lock);
                     }
                  });
               }

               if (!cur_frame.empty()) {
                  steady_end = std::chrono::steady_clock::now();
                  if (std::chrono::duration<double>(steady_end - steady_start).count() >= 1) {
                     current_fps = fps_counter;
                     current_det_fps = fps_det_counter;
                     current_cap_fps = fps_cap_counter;
                     steady_start = steady_end;
                     fps_counter = 0;
                     fps_det_counter = 0;
                     fps_cap_counter = 0;
                  }
                  draw_boxes(prev_frame, result_vec, obj_names, 3, current_fps);
                  show_result(result_vec, obj_names);
                  if (output_video.isOpened())
                     output_video << prev_frame;

#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_preview_boxes(cur_frame, cur_frame, result_vec);
                  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) {
                     if (t_videowrite.joinable()) t_videowrite.join();
                     write_frame = cur_frame.clone();
                     videowrite_ready = false;
                     t_videowrite = std::thread([&]() { 
                         output_video << write_frame; videowrite_ready = true;
                     });
                  }
               }
               prev_frame = frame;					

#ifndef TRACK_OPTFLOW
               // 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_detected.wait(lock);
               }
#endif
            }
            if (t_cap.joinable()) t_cap.join();
            if (t_detect.joinable()) t_detect.join();
            if (t_videowrite.joinable()) t_videowrite.join();
            std::cout << "Video ended \n";
         }
         else if (file_ext == "txt") { // list of image files
            std::ifstream file(filename);
@@ -135,7 +338,7 @@
                  std::cout << line << std::endl;
                  cv::Mat mat_img = cv::imread(line);
                  std::vector<bbox_t> result_vec = detector.detect(mat_img);
                  show_result(result_vec, obj_names);
                  show_console_result(result_vec, obj_names);
                  //draw_boxes(mat_img, result_vec, obj_names);
                  //cv::imwrite("res_" + line, mat_img);
               }
@@ -146,7 +349,7 @@
            std::vector<bbox_t> result_vec = detector.detect(mat_img);
            result_vec = detector.tracking(result_vec);  // comment it - if track_id is not required
            draw_boxes(mat_img, result_vec, obj_names);
            show_result(result_vec, obj_names);
            show_console_result(result_vec, obj_names);
         }
#else
         //std::vector<bbox_t> result_vec = detector.detect(filename);
@@ -154,7 +357,7 @@
         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(); }