From be90b8e8cb6bbf3951a5e185aa43ccfdd4a03f4d Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Thu, 08 Feb 2018 22:50:35 +0000
Subject: [PATCH] Optimal params for optical flow tracking. Some small box fixes.
---
src/yolo_console_dll.cpp | 84 +++++++++++++++++++++++++++++-------------
1 files changed, 58 insertions(+), 26 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index a9ce6b9..6aaebc5 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -14,7 +14,7 @@
#endif
// To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x
-//#define TRACK_OPTFLOW
+#define TRACK_OPTFLOW
#include "yolo_v2_class.hpp" // imported functions from DLL
@@ -37,24 +37,20 @@
#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_det_fps = -1, int current_cap_fps = -1)
+ 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) {
- int const offset = i.obj_id * 123457 % 6;
- int const color_scale = 150 + (i.obj_id * 123457) % 100;
- cv::Scalar color(colors[offset][0], colors[offset][1], colors[offset][2]);
- color *= color_scale;
- cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 5);
+ 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, 2);
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::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 1, 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);
@@ -64,8 +60,6 @@
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
@@ -104,6 +98,8 @@
}
else if (argc > 1) filename = argv[1];
+ float const thresh = (argc > 5) ? std::stof(argv[5]) : 0.20;
+
Detector detector(cfg_file, weights_file);
auto obj_names = objects_names_from_file(names_file);
@@ -122,6 +118,9 @@
try {
#ifdef OPENCV
+ preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
+ bool show_small_boxes = false;
+
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
@@ -166,25 +165,47 @@
{
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
+ auto old_result_vec = detector.tracking_id(result_vec);
+ auto detected_result_vec = thread_result_vec;
+ result_vec = detected_result_vec;
#ifdef TRACK_OPTFLOW
// 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;
- tracker_flow.update_tracking_flow(track_optflow_queue.front());
+ cv::Mat first_frame = track_optflow_queue.front();
+ tracker_flow.update_tracking_flow(track_optflow_queue.front(), result_vec);
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;
+ result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), false);
}
- track_optflow_queue = new_track_optflow_queue;
+ track_optflow_queue.pop();
passed_flow_frames = 0;
+
+ result_vec = detector.tracking_id(result_vec);
+ auto tmp_result_vec = detector.tracking_id(detected_result_vec);
+ small_preview.set(first_frame, tmp_result_vec);
}
#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);
+ }
+ }
+#ifdef TRACK_OPTFLOW
+ tracker_flow.update_cur_bbox_vec(result_vec);
+ result_vec = tracker_flow.tracking_flow(cur_frame, false); // track optical flow
+#endif
consumed = false;
cv_pre_tracked.notify_all();
}
@@ -194,18 +215,20 @@
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
+ auto result = detector.detect_resized(*current_image, frame_size, thresh, 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)
+ if (detector.wait_stream) {
while (consumed) cv_pre_tracked.wait(lock);
+ }
+ current_image = det_image;
}
});
}
+ //while (!consumed); // sync detection
if (!cur_frame.empty()) {
steady_end = std::chrono::steady_clock::now();
@@ -217,14 +240,21 @@
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); // track optical flow
-#endif
+ result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow
+ small_preview.draw(cur_frame, show_small_boxes);
+#endif
- draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps); // 3 or 16ms
+ draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps);
//show_console_result(result_vec, obj_names);
+ large_preview.draw(cur_frame);
+
+ cv::imshow("window name", cur_frame);
+ int key = cv::waitKey(3); // 3 or 16ms
+ if (key == 'f') show_small_boxes = !show_small_boxes;
if (output_video.isOpened() && videowrite_ready) {
if (t_videowrite.joinable()) t_videowrite.join();
@@ -266,8 +296,10 @@
else { // image file
cv::Mat mat_img = cv::imread(filename);
std::vector<bbox_t> result_vec = detector.detect(mat_img);
- result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
+ result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
draw_boxes(mat_img, result_vec, obj_names);
+ cv::imshow("window name", mat_img);
+ cv::waitKey(3); // 3 or 16ms
show_console_result(result_vec, obj_names);
}
#else
--
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