From e205c1e7aeb47e3dffd35d1b5ce7841d24b9aff4 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Thu, 04 Jan 2018 23:23:10 +0000
Subject: [PATCH] Tracking fixed
---
src/yolo_console_dll.cpp | 77 +++++++++++++++++++++++++++++++-------
1 files changed, 63 insertions(+), 14 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 88813cc..0e291a4 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -2,6 +2,7 @@
#include <iomanip>
#include <string>
#include <vector>
+#include <queue>
#include <fstream>
#include <thread>
#include <atomic>
@@ -10,8 +11,10 @@
#ifdef _WIN32
#define OPENCV
+#include "windows.h"
#endif
+#define TRACK_OPTFLOW
#include "yolo_v2_class.hpp" // imported functions from DLL
#ifdef OPENCV
@@ -21,6 +24,11 @@
#include "opencv2/videoio/videoio.hpp"
#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
#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")
@@ -85,11 +93,15 @@
std::string filename;
if (argc > 1) filename = argv[1];
- Detector detector("yolo-voc.cfg", "yolo-voc.weights");
+ Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
+ //Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
auto obj_names = objects_names_from_file("data/voc.names");
std::string out_videofile = "result.avi";
bool const save_output_videofile = false;
+#ifdef TRACK_OPTFLOW
+ Tracker_optflow tracker_flow;
+#endif
while (true)
{
@@ -105,6 +117,8 @@
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
@@ -126,7 +140,9 @@
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()) {
+ while (!cur_frame.empty())
+ {
+ // always sync
if (t_cap.joinable()) {
t_cap.join();
++fps_cap_counter;
@@ -134,22 +150,48 @@
}
t_cap = std::thread([&]() { cap >> cap_frame; });
- // swap result and input-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
- consumed = false;
+ {
+ 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
+ consumed = false;
+
+#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());
+
+ track_optflow_queue.pop();
+ while (track_optflow_queue.size() > 0) {
+ 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.pop();
+ }
+ track_optflow_queue = new_track_optflow_queue;
+ new_track_optflow_queue.swap(std::queue<cv::Mat>());
+ passed_flow_frames = 0;
+ }
+ }
+#endif
+
}
- // launch thread once
+ // 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, 0.24, true);
+ auto result = detector.detect_resized(*current_image, frame_size, 0.24, false); // true
+ //Sleep(200);
+ Sleep(50);
++fps_det_counter;
std::unique_lock<std::mutex> lock(mtx);
thread_result_vec = result;
@@ -169,6 +211,13 @@
fps_det_counter = 0;
fps_cap_counter = 0;
}
+
+#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_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps);
//show_console_result(result_vec, obj_names);
@@ -183,10 +232,10 @@
}
// 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.wait(lock);
- }
+ //if (protocol != "rtsp://" && protocol != "http://" && protocol != "https:/") {
+ // std::unique_lock<std::mutex> lock(mtx);
+ // while (!consumed) cv.wait(lock);
+ //}
}
if (t_cap.joinable()) t_cap.join();
if (t_detect.joinable()) t_detect.join();
--
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