From db3a3c54c5078dca64a3076113bec93c11f4be63 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Sat, 03 Feb 2018 12:35:13 +0000
Subject: [PATCH] Some fixes
---
src/yolo_console_dll.cpp | 194 +++++++++++++++++++++++++++++++++++++++++------
1 files changed, 167 insertions(+), 27 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index dd922ec..b8afdd6 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -13,6 +13,7 @@
#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
@@ -37,16 +38,126 @@
#endif
+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 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;
+ }
+ }
+ }
+ }
+
+
+ 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);
+
+ unsigned int const track_id = preview_box_track_id[i].track_id;
+ std::string track_id_str = (track_id > 0)? std::to_string(track_id):"";
+ putText(draw_mat, track_id_str, dst_rect_roi.tl() - cv::Point2i(0, 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(0, 0, 0), 2);
+ }
+ }
+ }
+};
+
+
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::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];
@@ -63,8 +174,6 @@
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
@@ -107,7 +216,7 @@
auto obj_names = objects_names_from_file(names_file);
std::string out_videofile = "result.avi";
- bool const save_output_videofile = true;
+ bool const save_output_videofile = false;
#ifdef TRACK_OPTFLOW
Tracker_optflow tracker_flow;
detector.wait_stream = true;
@@ -121,6 +230,8 @@
try {
#ifdef OPENCV
+ preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
+
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
@@ -165,26 +276,44 @@
{
std::unique_lock<std::mutex> lock(mtx);
det_image = detector.mat_to_image_resize(cur_frame);
+ //auto old_result_vec = result_vec;
+ auto old_result_vec = detector.tracking_id(result_vec);
result_vec = thread_result_vec;
- result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
#ifdef TRACK_OPTFLOW
// track optical flow
if (track_optflow_queue.size() > 0) {
- std::queue<cv::Mat> new_track_optflow_queue;
+ 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());
+ 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());
}
- track_optflow_queue = new_track_optflow_queue;
- new_track_optflow_queue.swap(std::queue<cv::Mat>());
+ 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);
+ }
+ }
+#ifdef TRACK_OPTFLOW
+ tracker_flow.update_cur_bbox_vec(result_vec);
+#endif
consumed = false;
cv_pre_tracked.notify_all();
}
@@ -194,15 +323,16 @@
auto current_image = det_image;
consumed = true;
while (current_image.use_count() > 0) {
- auto result = detector.detect_resized(*current_image, frame_size, 0.24, false); // true
+ 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)
+ if (detector.wait_stream) {
while (consumed) cv_pre_tracked.wait(lock);
+ }
+ current_image = det_image;
}
});
}
@@ -217,14 +347,20 @@
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);
+#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);
+ cv::waitKey(3); // 3 or 16ms
if (output_video.isOpened() && videowrite_ready) {
if (t_videowrite.joinable()) t_videowrite.join();
@@ -236,11 +372,13 @@
}
}
+#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);
- //}
+ 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();
@@ -264,8 +402,10 @@
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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