diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp index b8afdd6a..b524d68f 100644 --- a/src/yolo_console_dll.cpp +++ b/src/yolo_console_dll.cpp @@ -53,7 +53,8 @@ class preview_boxes_t { struct preview_box_track_t { unsigned int track_id, obj_id, last_showed_frames_ago; bool current_detection; - cv::Mat mat_obj; + bbox_t bbox; + cv::Mat mat_obj, mat_resized_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_id; @@ -76,20 +77,22 @@ public: // occupy empty boxes for (auto &k : result_vec) { bool found = false; + // find the same (track_id) for (auto &i : preview_box_track_id) { if (i.track_id == k.track_id) { - if (!one_off_detections) - i.last_showed_frames_ago = 0; + if (!one_off_detections) i.last_showed_frames_ago = 0; // for tracked objects found = true; break; } } if (!found) { + // find empty box for (auto &i : preview_box_track_id) { if (i.last_showed_frames_ago == frames_history) { - if (!one_off_detections && k.frames_counter == 0) break; + if (!one_off_detections && k.frames_counter == 0) break; // don't show if obj isn't tracked yet i.track_id = k.track_id; i.obj_id = k.obj_id; + i.bbox = k; i.last_showed_frames_ago = 0; break; } @@ -101,12 +104,14 @@ public: 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; + cv::Mat dst = preview_box_track_id[i].mat_resized_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; + if (one_off_detections && preview_box_track_id[i].last_showed_frames_ago > 0) { + preview_box_track_id[i].last_showed_frames_ago = frames_history; 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()); @@ -114,8 +119,10 @@ public: 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].mat_obj = roi.clone(); + preview_box_track_id[i].mat_resized_obj = dst.clone(); preview_box_track_id[i].current_detection = true; + preview_box_track_id[i].bbox = k; } break; } @@ -124,27 +131,50 @@ public: } - void draw(cv::Mat draw_mat) + void draw(cv::Mat draw_mat, bool show_small_boxes = false) { // draw preview box (from old or current frame) for (size_t i = 0; i < preview_box_track_id.size(); ++i) { + auto &prev_box = preview_box_track_id[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 && + cv::Mat dst = prev_box.mat_resized_obj; + if (prev_box.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::Scalar color = obj_id_to_color(prev_box.obj_id); + int thickness = (prev_box.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; + unsigned int const track_id = prev_box.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); + + std::string size_str = std::to_string(prev_box.bbox.w) + "x" + std::to_string(prev_box.bbox.h); + putText(draw_mat, size_str, dst_rect_roi.tl() + cv::Point2i(0, 12), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cv::Scalar(0, 0, 0), 1); + + if (!one_off_detections && prev_box.current_detection) { + cv::line(draw_mat, dst_rect_roi.tl() + cv::Point2i(preview_box_size, 0), + cv::Point2i(prev_box.bbox.x, prev_box.bbox.y + prev_box.bbox.h), + color); + } + + if (one_off_detections && show_small_boxes) { + cv::Rect src_rect_roi(cv::Point2i(prev_box.bbox.x, prev_box.bbox.y), + cv::Size(prev_box.bbox.w, prev_box.bbox.h)); + unsigned int const color_history = (255 * prev_box.last_showed_frames_ago) / frames_history; + color = cv::Scalar(255 - 3* color_history, 255 - 2 * color_history, 255 - 1 * color_history); + if (prev_box.mat_obj.size() == src_rect_roi.size()) { + prev_box.mat_obj.copyTo(draw_mat(src_rect_roi)); + } + cv::rectangle(draw_mat, src_rect_roi, color, thickness); + putText(draw_mat, track_id_str, src_rect_roi.tl() - cv::Point2i(0, 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cv::Scalar(0, 0, 0), 1); + } } } } @@ -212,6 +242,8 @@ int main(int argc, char *argv[]) } 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); @@ -231,6 +263,7 @@ int main(int argc, char *argv[]) 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); @@ -278,26 +311,29 @@ int main(int argc, char *argv[]) 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; + auto detected_result_vec = thread_result_vec; + result_vec = detected_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; + 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 = tracker_flow.tracking_flow(track_optflow_queue.front(), false); } 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 - + 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(), @@ -313,6 +349,7 @@ int main(int argc, char *argv[]) } #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(); @@ -323,7 +360,7 @@ int main(int argc, char *argv[]) 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 lock(mtx); thread_result_vec = result; @@ -336,6 +373,7 @@ int main(int argc, char *argv[]) } }); } + //while (!consumed); // sync detection if (!cur_frame.empty()) { steady_end = std::chrono::steady_clock::now(); @@ -352,7 +390,7 @@ int main(int argc, char *argv[]) ++passed_flow_frames; track_optflow_queue.push(cur_frame.clone()); result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow - small_preview.draw(cur_frame); + small_preview.draw(cur_frame, show_small_boxes); #endif draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps); @@ -360,7 +398,8 @@ int main(int argc, char *argv[]) large_preview.draw(cur_frame); cv::imshow("window name", cur_frame); - cv::waitKey(3); // 3 or 16ms + 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(); diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp index a9bd7b2f..eaebb4ef 100644 --- a/src/yolo_v2_class.hpp +++ b/src/yolo_v2_class.hpp @@ -59,7 +59,7 @@ public: YOLODLL_API int get_net_height() const; YOLODLL_API std::vector tracking_id(std::vector cur_bbox_vec, bool const change_history = true, - int const frames_story = 6, int const max_dist = 150); + int const frames_story = 10, int const max_dist = 150); #ifdef OPENCV std::vector detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false) @@ -158,7 +158,7 @@ public: const int flow_error; - Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, int _flow_error = -1) : + Tracker_optflow(int _gpu_id = 0, int win_size = 7, int max_level = 1, int iterations = 8000, 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)) { @@ -296,7 +296,7 @@ public: float moved_y = cur_key_pt.y - prev_key_pt.y; 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)) + if (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; @@ -304,6 +304,8 @@ public: } else good_bbox_vec_flags[i] = false; else good_bbox_vec_flags[i] = false; + + //if(!check_error && !good_bbox_vec_flags[i]) result_bbox_vec.push_back(cur_bbox_vec[i]); } }