From 993e3a38aab390625a1ac2b425c75883bbc684fe Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Sat, 27 Jan 2018 21:57:04 +0000
Subject: [PATCH] Tracking is simplified
---
src/yolo_console_dll.cpp | 375 +++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 343 insertions(+), 32 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index dbdaf85..ca3a78f 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -2,10 +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
@@ -14,30 +23,162 @@
#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) {
- for (auto &i : result_vec) {
- 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::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;
+}
+
+class preview_boxes_t {
+ enum { 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;
+ bool current_detection;
+ cv::Mat mat_obj;
+ 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;
+ size_t const preview_box_size, bottom_offset;
+ bool const one_off_detections;
+public:
+ preview_boxes_t(size_t _preview_box_size = 100, size_t _bottom_offset = 100, bool _one_off_detections = false) :
+ 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 set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
+ {
+ 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);
+
+ // increment frames history
+ for (auto &i : preview_box_track_id)
+ i.last_showed_frames_ago = std::min((unsigned)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) {
+ if (!one_off_detections)
+ 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) {
+ if (!one_off_detections && k.frames_counter == 0) break;
+ 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;
+ preview_box_track_id[i].current_detection = false;
+
+ for (auto &k : result_vec) {
+ if (preview_box_track_id[i].track_id == k.track_id) {
+ if (one_off_detections && preview_box_track_id[i].last_showed_frames_ago > 0) break;
+ 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.clone();
+ preview_box_track_id[i].current_detection = true;
+ }
+ break;
+ }
+ }
+ }
}
- cv::imshow("window name", mat_img);
+
+
+ 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
+ cv::Mat dst = preview_box_track_id[i].mat_obj;
+ 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 - bottom_offset), 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);
+ int thickness = (preview_box_track_id[i].current_detection) ? 5 : 1;
+ cv::rectangle(draw_mat, dst_rect_roi, color, thickness);
+ }
+ }
+ }
+};
+
+
+void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
+ 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 } };
+
+ for (auto &i : result_vec) {
+ 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];
+ if (i.track_id > 0) obj_name += " - " + std::to_string(i.track_id);
+ cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
+ int const max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
+ cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 3, 0), std::max((int)i.y - 30, 0)),
+ cv::Point2f(std::min((int)i.x + max_width, mat_img.cols-1), std::min((int)i.y, mat_img.rows-1)),
+ color, CV_FILLED, 8, 0);
+ 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_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(win_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
@@ -50,44 +191,213 @@
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;
}
-int main()
+int main(int argc, char *argv[])
{
- Detector detector("yolo-voc.cfg", "yolo-voc.weights");
+ 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;
- auto obj_names = objects_names_from_file("data/voc.names");
+ 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];
+
+ 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)
- {
- std::string filename;
+ {
std::cout << "input image or video filename: ";
- std::cin >> filename;
+ if(filename.size() == 0) std::cin >> filename;
if (filename.size() == 0) break;
try {
#ifdef OPENCV
- 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
+ preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
- draw_boxes(frame, result_vec, obj_names, 3);
- show_result(result_vec, obj_names);
+ 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 == "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
+ 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;
+ 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;
+ 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);
+ auto old_result_vec = result_vec;
+ result_vec = thread_result_vec;
+#ifdef TRACK_OPTFLOW
+ // track optical flow
+ if (track_optflow_queue.size() > 0) {
+ auto tmp_result_vec = detector.tracking_id(result_vec, false);
+ small_preview.set(track_optflow_queue.front(), tmp_result_vec);
+
+ //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, true);
+ }
+ track_optflow_queue.pop();
+ passed_flow_frames = 0;
+ }
+#endif
+ result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
+
+ // add old tracked objects
+ for (auto &i : old_result_vec) {
+ auto it = std::find_if(result_vec.begin(), result_vec.end(),
+ [&i](bbox_t const& b) { return b.track_id == i.track_id && b.obj_id == i.obj_id; });
+ bool track_id_absent = (it == result_vec.end());
+ if (track_id_absent) {
+ if (i.frames_counter-- > 1)
+ result_vec.push_back(i);
+ }
+ else
+ it->frames_counter = std::min((unsigned)3, i.frames_counter + 1);
+ }
+
+ consumed = false;
+ cv_pre_tracked.notify_all();
+ }
+ // 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;
+ consumed = true;
+ cv_detected.notify_all();
+ if (detector.wait_stream) {
+ while (consumed) cv_pre_tracked.wait(lock);
+ }
+ current_image = det_image;
+ }
+ });
+ }
+
+ if (!cur_frame.empty()) {
+ steady_end = std::chrono::steady_clock::now();
+ if (std::chrono::duration<double>(steady_end - steady_start).count() >= 1) {
+ current_det_fps = fps_det_counter;
+ current_cap_fps = fps_cap_counter;
+ steady_start = steady_end;
+ fps_det_counter = 0;
+ fps_cap_counter = 0;
+ }
+
+ large_preview.set(cur_frame, result_vec);
+#ifdef TRACK_OPTFLOW
+ ++passed_flow_frames;
+ track_optflow_queue.push(cur_frame.clone());
+ result_vec = tracker_flow.tracking_flow(cur_frame, result_vec, true); // track optical flow
+ small_preview.draw(cur_frame);
+#endif
+ large_preview.draw(cur_frame);
+
+ 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);
+
+ 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;
+ });
+ }
+ }
+
+#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);
+ if (!file.is_open()) std::cout << "File not found! \n";
+ else
+ for (std::string line; file >> line;) {
+ std::cout << line << std::endl;
+ cv::Mat mat_img = cv::imread(line);
+ std::vector<bbox_t> result_vec = detector.detect(mat_img);
+ show_console_result(result_vec, obj_names);
+ //draw_boxes(mat_img, result_vec, obj_names);
+ //cv::imwrite("res_" + line, mat_img);
+ }
+
}
else { // image file
cv::Mat mat_img = cv::imread(filename);
std::vector<bbox_t> result_vec = detector.detect(mat_img);
+ result_vec = detector.tracking_id(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);
@@ -95,11 +405,12 @@
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(); }
catch (...) { std::cerr << "unknown exception \n"; getchar(); }
+ filename.clear();
}
return 0;
--
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