diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp index ca3a78f8..b8afdd6a 100644 --- a/src/yolo_console_dll.cpp +++ b/src/yolo_console_dll.cpp @@ -64,7 +64,6 @@ public: 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 result_vec, bool draw_boxes = true) void set(cv::Mat src_mat, std::vector result_vec) { size_t const count_preview_boxes = src_mat.cols / preview_box_size; @@ -142,6 +141,10 @@ public: 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); } } } @@ -149,7 +152,7 @@ public: void draw_boxes(cv::Mat mat_img, std::vector result_vec, std::vector obj_names, - unsigned int wait_msec = 0, std::string win_name = "window name", 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 } }; @@ -171,9 +174,6 @@ void draw_boxes(cv::Mat mat_img, std::vector result_vec, std::vector lock(mtx); det_image = detector.mat_to_image_resize(cur_frame); - auto old_result_vec = result_vec; + //auto old_result_vec = result_vec; + auto old_result_vec = detector.tracking_id(result_vec); result_vec = thread_result_vec; #ifdef TRACK_OPTFLOW // track optical flow @@ -285,18 +286,18 @@ int main(int argc, char *argv[]) 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, true); + result_vec = tracker_flow.tracking_flow(track_optflow_queue.front()); } 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(), @@ -306,10 +307,13 @@ int main(int argc, char *argv[]) if (i.frames_counter-- > 1) result_vec.push_back(i); } - else + 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(); } @@ -347,13 +351,16 @@ int main(int argc, char *argv[]) #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 + result_vec = tracker_flow.tracking_flow(cur_frame); // 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 + 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(); @@ -397,6 +404,8 @@ int main(int argc, char *argv[]) std::vector 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); + cv::imshow("window name", mat_img); + cv::waitKey(3); // 3 or 16ms show_console_result(result_vec, obj_names); } #else diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp index bddf7d3e..57aeaf1a 100644 --- a/src/yolo_v2_class.hpp +++ b/src/yolo_v2_class.hpp @@ -155,9 +155,12 @@ class Tracker_optflow { public: const int gpu_count; const int gpu_id; + const int flow_error; - Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1)) + Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, int _flow_error = -1) : + gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1)), + flow_error((_flow_error > 0)? _flow_error:(win_size*4)) { int const old_gpu_id = cv::cuda::getDevice(); cv::cuda::setDevice(gpu_id); @@ -165,9 +168,9 @@ public: stream = cv::cuda::Stream(); sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create(); - sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(9, 9)); // 15, 21, 31 - sync_PyrLKOpticalFlow_gpu->setMaxLevel(3); // +- 3 pt - sync_PyrLKOpticalFlow_gpu->setNumIters(2000); // def: 30 + sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(win_size, win_size)); // 9, 15, 21, 31 + sync_PyrLKOpticalFlow_gpu->setMaxLevel(max_level); // +- 3 pt + sync_PyrLKOpticalFlow_gpu->setNumIters(iterations); // 2000, def: 30 cv::cuda::setDevice(old_gpu_id); } @@ -175,7 +178,6 @@ public: // just to avoid extra allocations cv::cuda::GpuMat src_mat_gpu; cv::cuda::GpuMat dst_mat_gpu, dst_grey_gpu; - cv::cuda::GpuMat tmp_grey_gpu; cv::cuda::GpuMat prev_pts_flow_gpu, cur_pts_flow_gpu; cv::cuda::GpuMat status_gpu, err_gpu; @@ -183,7 +185,41 @@ public: cv::Ptr sync_PyrLKOpticalFlow_gpu; cv::cuda::Stream stream; - void update_tracking_flow(cv::Mat src_mat) + std::vector cur_bbox_vec; + std::vector good_bbox_vec_flags; + cv::Mat prev_pts_flow_cpu; + + void update_cur_bbox_vec(std::vector _cur_bbox_vec) + { + cur_bbox_vec = _cur_bbox_vec; + good_bbox_vec_flags.resize(cur_bbox_vec.size()); + for (auto &i : good_bbox_vec_flags) i = true; + cv::Mat prev_pts, cur_pts_flow_cpu; + + for (auto &i : cur_bbox_vec) { + float x_center = (i.x + i.w / 2.0F); + float y_center = (i.y + i.h / 2.0F); + prev_pts.push_back(cv::Point2f(x_center, y_center)); + } + + if (prev_pts.rows == 0) + prev_pts_flow_cpu = cv::Mat(); + else + cv::transpose(prev_pts, prev_pts_flow_cpu); + + if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) { + prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type()); + cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type()); + + status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1); + err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1); + } + + prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream); + } + + + void update_tracking_flow(cv::Mat src_mat, std::vector _cur_bbox_vec) { int const old_gpu_id = cv::cuda::getDevice(); if (old_gpu_id != gpu_id) @@ -195,6 +231,8 @@ public: src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1); } + update_cur_bbox_vec(_cur_bbox_vec); + src_mat_gpu.upload(src_mat, stream); cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream); } @@ -203,7 +241,7 @@ public: } - std::vector tracking_flow(cv::Mat dst_mat, std::vector cur_bbox_vec, bool check_error = false) + std::vector tracking_flow(cv::Mat dst_mat, bool check_error = true) { if (sync_PyrLKOpticalFlow_gpu.empty()) { std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n"; @@ -217,12 +255,10 @@ public: if (dst_mat_gpu.cols == 0) { dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type()); dst_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1); - tmp_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1); } dst_mat_gpu.upload(dst_mat, stream); - cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 0, stream); if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) { @@ -232,40 +268,13 @@ public: return cur_bbox_vec; } - cv::Mat prev_pts, prev_pts_flow_cpu, cur_pts_flow_cpu; - - for (auto &i : cur_bbox_vec) { - float x_center = (i.x + i.w / 2); - float y_center = (i.y + i.h / 2); - prev_pts.push_back(cv::Point2f(x_center, y_center)); - } - - - if (prev_pts.rows == 0) - prev_pts_flow_cpu = cv::Mat(); - else - cv::transpose(prev_pts, prev_pts_flow_cpu); - - - if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) { - prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type()); - cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type()); - - status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1); - err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1); - } - - prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream); - - - dst_grey_gpu.copyTo(tmp_grey_gpu, stream); - ////sync_PyrLKOpticalFlow_gpu.sparse(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, &err_gpu); // OpenCV 2.4.x sync_PyrLKOpticalFlow_gpu->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream); // OpenCV 3.x + cv::Mat cur_pts_flow_cpu; cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream); - tmp_grey_gpu.copyTo(src_grey_gpu, stream); + dst_grey_gpu.copyTo(src_grey_gpu, stream); cv::Mat err_cpu, status_cpu; err_gpu.download(err_cpu, stream); @@ -275,24 +284,31 @@ public: std::vector result_bbox_vec; - for (size_t i = 0; i < cur_bbox_vec.size(); ++i) + if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size()) { - cv::Point2f cur_key_pt = cur_pts_flow_cpu.at(0, i); - cv::Point2f prev_key_pt = prev_pts_flow_cpu.at(0, i); + for (size_t i = 0; i < cur_bbox_vec.size(); ++i) + { + cv::Point2f cur_key_pt = cur_pts_flow_cpu.at(0, i); + cv::Point2f prev_key_pt = prev_pts_flow_cpu.at(0, i); - float moved_x = cur_key_pt.x - prev_key_pt.x; - float moved_y = cur_key_pt.y - prev_key_pt.y; + float moved_x = cur_key_pt.x - prev_key_pt.x; + float moved_y = cur_key_pt.y - prev_key_pt.y; - if (err_cpu.cols > i && status_cpu.cols > i) - if (abs(moved_x) < 100 && abs(moved_y) < 100) - if (!check_error || (err_cpu.at(0, i) < 60 && status_cpu.at(0, i) != 0)) + if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i]) + if (!check_error || (err_cpu.at(0, i) < flow_error && status_cpu.at(0, i) != 0)) { cur_bbox_vec[i].x += moved_x + 0.5; cur_bbox_vec[i].y += moved_y + 0.5; result_bbox_vec.push_back(cur_bbox_vec[i]); } + else good_bbox_vec_flags[i] = false; + else good_bbox_vec_flags[i] = false; + } } + cur_pts_flow_gpu.swap(prev_pts_flow_gpu); + cur_pts_flow_cpu.copyTo(prev_pts_flow_cpu); + if (old_gpu_id != gpu_id) cv::cuda::setDevice(old_gpu_id);