diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp index 6ec15207..ca3a78f8 100644 --- a/src/yolo_console_dll.cpp +++ b/src/yolo_console_dll.cpp @@ -52,8 +52,9 @@ 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; - preview_box_track_t() : track_id(0), obj_id(0), last_showed_frames_ago(frames_history) {} + 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; size_t const preview_box_size, bottom_offset; @@ -63,9 +64,10 @@ 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 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 = draw_mat.cols / preview_box_size; + 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 @@ -77,7 +79,7 @@ public: bool found = false; for (auto &i : preview_box_track_id) { if (i.track_id == k.track_id) { - if(!one_off_detections) + if (!one_off_detections) i.last_showed_frames_ago = 0; found = true; break; @@ -101,7 +103,7 @@ public: { // get object image cv::Mat dst = preview_box_track_id[i].mat_obj; - bool current_detection = false; + preview_box_track_id[i].current_detection = false; for (auto &k : result_vec) { if (preview_box_track_id[i].track_id == k.track_id) { @@ -114,26 +116,32 @@ public: 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(); - current_detection = true; + 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 - if (draw_boxes) { - 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::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 = (current_detection) ? 5 : 1; - cv::rectangle(draw_mat, dst_rect_roi, color, thickness); - } + 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); } } } @@ -141,7 +149,7 @@ public: void draw_boxes(cv::Mat mat_img, std::vector result_vec, std::vector obj_names, - unsigned int wait_msec = 0, int current_det_fps = -1, int current_cap_fps = -1) + unsigned int wait_msec = 0, std::string win_name = "window name", 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 } }; @@ -164,7 +172,7 @@ void draw_boxes(cv::Mat mat_img, std::vector result_vec, std::vector 0) { - small_preview.draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec, false); + auto tmp_result_vec = detector.tracking_id(result_vec, false); + small_preview.set(track_optflow_queue.front(), tmp_result_vec); - std::queue 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()); 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(), result_vec, true); } - track_optflow_queue = new_track_optflow_queue; + 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(), @@ -316,11 +323,12 @@ int main(int argc, char *argv[]) ++fps_det_counter; std::unique_lock 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; } }); } @@ -335,15 +343,16 @@ int main(int argc, char *argv[]) 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, true); // track optical flow - small_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true); -#endif - large_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true); + small_preview.draw(cur_frame); +#endif + large_preview.draw(cur_frame); - 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, 3, "window name", current_det_fps, current_cap_fps); // 3 or 16ms //show_console_result(result_vec, obj_names); if (output_video.isOpened() && videowrite_ready) { diff --git a/src/yolo_v2_class.cpp b/src/yolo_v2_class.cpp index 91a56274..7e170e5c 100644 --- a/src/yolo_v2_class.cpp +++ b/src/yolo_v2_class.cpp @@ -252,7 +252,8 @@ YOLODLL_API std::vector Detector::detect(image_t img, float thresh, bool return bbox_vec; } -YOLODLL_API std::vector Detector::tracking_id(std::vector cur_bbox_vec, int const frames_story, int const max_dist) +YOLODLL_API std::vector Detector::tracking_id(std::vector cur_bbox_vec, bool const change_history, + int const frames_story, int const max_dist) { detector_gpu_t &det_gpu = *reinterpret_cast(detector_gpu_ptr.get()); @@ -301,8 +302,10 @@ YOLODLL_API std::vector Detector::tracking_id(std::vector cur_bb if (cur_bbox_vec[i].track_id == 0) cur_bbox_vec[i].track_id = det_gpu.track_id[cur_bbox_vec[i].obj_id]++; - prev_bbox_vec_deque.push_front(cur_bbox_vec); - if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back(); + if (change_history) { + prev_bbox_vec_deque.push_front(cur_bbox_vec); + if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back(); + } return cur_bbox_vec; } \ No newline at end of file diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp index d0f56d02..bddf7d3e 100644 --- a/src/yolo_v2_class.hpp +++ b/src/yolo_v2_class.hpp @@ -58,7 +58,8 @@ public: YOLODLL_API int get_net_width() const; YOLODLL_API int get_net_height() const; - YOLODLL_API std::vector tracking_id(std::vector cur_bbox_vec, int const frames_story = 6, int const max_dist = 150); + 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); #ifdef OPENCV std::vector detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)