From 3659d84f24ddc95102483cca430e01dc05568cbb Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Fri, 31 Mar 2017 18:42:51 +0000
Subject: [PATCH] Added tracking: numerating the detected objects on video
---
src/yolo_v2_class.cpp | 3 +
src/yolo_console_dll.cpp | 44 ++++++++++++++++-----
src/yolo_v2_class.hpp | 57 ++++++++++++++++++++++++++++
3 files changed, 92 insertions(+), 12 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 4938ba8..5172b5e 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -1,9 +1,10 @@
#include <iostream>
+#include <iomanip>
#include <string>
#include <vector>
#include <fstream>
-//#define OPENCV
+#define OPENCV
#include "yolo_v2_class.hpp" // imported functions from DLL
@@ -13,21 +14,27 @@
#pragma comment(lib, "opencv_core249.lib")
#pragma comment(lib, "opencv_imgproc249.lib")
#pragma comment(lib, "opencv_highgui249.lib")
-void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec) {
+void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, unsigned int wait_msec = 0) {
for (auto &i : result_vec) {
- cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), cv::Scalar(50, 200, 50), 3);
+ cv::Scalar color(60, 160, 260);
+ cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 3);
+ if(obj_names.size() > i.obj_id)
+ putText(mat_img, obj_names[i.obj_id], cv::Point2f(i.x, i.y - 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 1, color);
+ if(i.track_id > 0)
+ putText(mat_img, std::to_string(i.track_id), cv::Point2f(i.x+5, i.y + 15), cv::FONT_HERSHEY_COMPLEX_SMALL, 1, color);
}
cv::imshow("window name", mat_img);
- cv::waitKey(0);
+ cv::waitKey(wait_msec);
}
#endif // OPENCV
+
void show_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
+ std::cout << "obj_id = " << i.obj_id << ", x = " << i.x << ", y = " << i.y
<< ", w = " << i.w << ", h = " << i.h
- << ", prob = " << i.prob << std::endl;
+ << std::setprecision(3) << ", prob = " << i.prob << std::endl;
}
}
@@ -50,23 +57,38 @@
while (true)
{
std::string filename;
- std::cout << "input image filename: ";
+ std::cout << "input image or video filename: ";
std::cin >> filename;
if (filename.size() == 0) break;
try {
#ifdef OPENCV
- cv::Mat mat_img = cv::imread(filename);
- std::vector<bbox_t> result_vec = detector.detect(mat_img);
- draw_boxes(mat_img, result_vec);
+ std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
+ if (file_ext == "avi" || file_ext == "mp4" || file_ext == "mjpg" || file_ext == "mov") { // video file
+ cv::Mat frame;
+ detector.nms = 0.02; // comment it - if track_id is not required
+ for(cv::VideoCapture cap(filename); cap >> frame, cap.isOpened();) {
+ std::vector<bbox_t> result_vec = detector.detect(frame, 0.2);
+ result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
+
+ draw_boxes(frame, result_vec, obj_names, 3);
+ show_result(result_vec, obj_names);
+ }
+ }
+ else { // image file
+ cv::Mat mat_img = cv::imread(filename);
+ std::vector<bbox_t> result_vec = detector.detect(mat_img);
+ draw_boxes(mat_img, result_vec, obj_names);
+ show_result(result_vec, obj_names);
+ }
#else
//std::vector<bbox_t> result_vec = detector.detect(filename);
auto img = detector.load_image(filename);
std::vector<bbox_t> result_vec = detector.detect(img);
detector.free_image(img);
-#endif
show_result(result_vec, obj_names);
+#endif
}
catch (std::exception &e) { std::cerr << "exception: " << e.what() << "\n"; getchar(); }
catch (...) { std::cerr << "unknown exception \n"; getchar(); }
diff --git a/src/yolo_v2_class.cpp b/src/yolo_v2_class.cpp
index ea13ea3..8643a22 100644
--- a/src/yolo_v2_class.cpp
+++ b/src/yolo_v2_class.cpp
@@ -154,7 +154,7 @@
cudaSetDevice(net.gpu_index);
//std::cout << "net.gpu_index = " << net.gpu_index << std::endl;
- float nms = .4;
+ //float nms = .4;
image im;
im.c = img.c;
@@ -189,6 +189,7 @@
bbox.h = b.h*im.h;
bbox.obj_id = obj_id;
bbox.prob = prob;
+ bbox.track_id = 0;
bbox_vec.push_back(bbox);
}
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index e3d7933..37fcd61 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -1,6 +1,8 @@
#pragma once
#include <memory>
#include <vector>
+#include <deque>
+#include <algorithm>
#ifdef OPENCV
#include <opencv2/opencv.hpp> // C++
@@ -18,6 +20,7 @@
unsigned int x, y, w, h; // (x,y) - top-left corner, (w, h) - width & height of bounded box
float prob; // confidence - probability that the object was found correctly
unsigned int obj_id; // class of object - from range [0, classes-1]
+ unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
};
struct image_t {
@@ -31,6 +34,7 @@
class Detector {
std::shared_ptr<void> detector_gpu_ptr;
public:
+ float nms = .4;
YOLODLL_API Detector(std::string cfg_filename, std::string weight_filename, int gpu_id = 0);
YOLODLL_API ~Detector();
@@ -107,6 +111,59 @@
}
#endif // OPENCV
+
+ std::deque<std::vector<bbox_t>> prev_bbox_vec_deque;
+
+public:
+ std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 4)
+ {
+ bool prev_track_id_present = false;
+ for (auto &i : prev_bbox_vec_deque)
+ if (i.size() > 0) prev_track_id_present = true;
+
+ static unsigned int track_id = 1;
+
+ if(!prev_track_id_present) {
+ //track_id = 1;
+ for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+ cur_bbox_vec[i].track_id = track_id++;
+ 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;
+ }
+
+ std::vector<unsigned int> dist_vec(cur_bbox_vec.size(), std::numeric_limits<unsigned int>::max());
+
+ for (auto &prev_bbox_vec : prev_bbox_vec_deque) {
+ for (auto &i : prev_bbox_vec) {
+ int cur_index = -1;
+ for (size_t m = 0; m < cur_bbox_vec.size(); ++m) {
+ bbox_t const& k = cur_bbox_vec[m];
+ if (i.obj_id == k.obj_id) {
+ unsigned int cur_dist = sqrt(((float)i.x - k.x)*((float)i.x - k.x) + ((float)i.y - k.y)*((float)i.y - k.y));
+ if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
+ dist_vec[m] = cur_dist;
+ cur_index = m;
+ }
+ }
+ }
+
+ bool track_id_absent = !std::any_of(cur_bbox_vec.begin(), cur_bbox_vec.end(), [&](bbox_t const& b) { return b.track_id == i.track_id; });
+
+ if (cur_index >= 0 && track_id_absent)
+ cur_bbox_vec[cur_index].track_id = i.track_id;
+ }
+ }
+
+ for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+ if (cur_bbox_vec[i].track_id == 0)
+ cur_bbox_vec[i].track_id = track_id++;
+
+ 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;
+ }
};
--
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