diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp index 16a90496..0e291a4c 100644 --- a/src/yolo_console_dll.cpp +++ b/src/yolo_console_dll.cpp @@ -93,8 +93,8 @@ int main(int argc, char *argv[]) std::string filename; if (argc > 1) filename = argv[1]; - //Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights"); - Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.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"; @@ -158,71 +158,27 @@ int main(int argc, char *argv[]) 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 - int y = 0, x = 0; - cv::Mat show_flow = cur_frame.clone(); - auto lambda = [&x, &y](cv::Mat draw_frame, cv::Mat src_frame, std::vector result_vec) { - //if (x > 10) return; - if (result_vec.size() == 0) return; - bbox_t i = result_vec[0]; - cv::Rect r(i.x, i.y, i.w, i.h); - //cv::Rect r(i.x + (i.w-31)/2, i.y + (i.h - 31)/2, 31, 31); - cv::Rect img_rect(cv::Point2i(0, 0), src_frame.size()); - cv::Rect rect_roi = r & img_rect; - if (rect_roi.width < 1 || rect_roi.height < 1) return; - cv::Mat roi = src_frame(rect_roi); - cv::Mat dst; - cv::resize(roi, dst, cv::Size(100, 100)); - if (x > 10) x = 0, ++y; - cv::Rect dst_rect_roi(cv::Point2i(x*100, y*100), dst.size()); - cv::Mat dst_roi = draw_frame(dst_rect_roi); - dst.copyTo(dst_roi); - - ++x; - }; - - - // track optical flow - if (track_optflow_queue.size() > 0) { - //show_flow = track_optflow_queue.front().clone(); - //draw_boxes(show_flow, result_vec, obj_names, 3, current_det_fps, current_cap_fps); + // track optical flow + if (track_optflow_queue.size() > 0) { + 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()); - std::queue new_track_optflow_queue; - //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl; - if (result_vec.size() > 0) { - draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps); - std::cout << "\n frame_size = " << track_optflow_queue.size() << std::endl; - cv::waitKey(1000); - } - tracker_flow.update_tracking_flow(track_optflow_queue.front()); - lambda(show_flow, track_optflow_queue.front(), result_vec); - track_optflow_queue.pop(); - while(track_optflow_queue.size() > 0) { - if (result_vec.size() > 0) { - draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps); - std::cout << "\n frame_size = " << track_optflow_queue.size() << std::endl; - cv::waitKey(1000); - } - 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; - lambda(show_flow, track_optflow_queue.front(), result_vec); track_optflow_queue.pop(); - } - track_optflow_queue = new_track_optflow_queue; - new_track_optflow_queue.swap(std::queue()); - passed_flow_frames = 0; - //std::cout << "\n !!!! now = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl; + 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; - cv::imshow("flow", show_flow); - cv::waitKey(3); - //if (result_vec.size() > 0) { - // cv::waitKey(1000); - //} + track_optflow_queue.pop(); + } + track_optflow_queue = new_track_optflow_queue; + new_track_optflow_queue.swap(std::queue()); + passed_flow_frames = 0; + } } #endif diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp index ab446ce9..d60f359c 100644 --- a/src/yolo_v2_class.hpp +++ b/src/yolo_v2_class.hpp @@ -12,7 +12,7 @@ #include #include #include -#include "opencv2/core/cuda.hpp" +#include #endif // OPENCV #ifdef YOLODLL_EXPORTS @@ -156,7 +156,23 @@ private: class Tracker_optflow { public: + int gpu_id; + Tracker_optflow(int _gpu_id = 0) : gpu_id(_gpu_id) + { + int const old_gpu_id = cv::cuda::getDevice(); + static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount(); + if (gpu_count > gpu_id) + cv::cuda::setDevice(gpu_id); + + sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create(); + //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(31, 31)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(31, 31); + //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(15, 15)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(15, 15); + + sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21)); + sync_PyrLKOpticalFlow_gpu->setMaxLevel(50); //sync_PyrLKOpticalFlow_gpu.maxLevel = 8; // +-32 points // def: 3 + sync_PyrLKOpticalFlow_gpu->setNumIters(6000); //sync_PyrLKOpticalFlow_gpu.iters = 8000; // def: 30 + } // just to avoid extra allocations cv::cuda::GpuMat src_mat_gpu; @@ -168,7 +184,7 @@ public: cv::cuda::GpuMat src_grey_gpu; // used in both functions cv::Ptr sync_PyrLKOpticalFlow_gpu; - void update_tracking_flow(cv::Mat src_mat, int gpu_id = 0) + void update_tracking_flow(cv::Mat src_mat) { int const old_gpu_id = cv::cuda::getDevice(); static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount(); @@ -177,20 +193,6 @@ public: cv::cuda::Stream stream; - if (sync_PyrLKOpticalFlow_gpu.empty()) { - sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create(); - - //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(31, 31)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(31, 31); - //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(15, 15)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(15, 15); - sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21)); - sync_PyrLKOpticalFlow_gpu->setMaxLevel(3); //sync_PyrLKOpticalFlow_gpu.maxLevel = 8; // +-32 points // def: 3 - sync_PyrLKOpticalFlow_gpu->setNumIters(6000); //sync_PyrLKOpticalFlow_gpu.iters = 8000; // def: 30 - //??? //sync_PyrLKOpticalFlow_gpu.getMinEigenVals = true; - //std::cout << "sync_PyrLKOpticalFlow_gpu.maxLevel: " << sync_PyrLKOpticalFlow_gpu.maxLevel << std::endl; - //std::cout << "sync_PyrLKOpticalFlow_gpu.iters: " << sync_PyrLKOpticalFlow_gpu.iters << std::endl; - //std::cout << "sync_PyrLKOpticalFlow_gpu.winSize: " << sync_PyrLKOpticalFlow_gpu.winSize << std::endl; - } - if (src_mat.channels() == 3) { if (src_mat_gpu.cols == 0) { src_mat_gpu = cv::cuda::GpuMat(src_mat.size(), src_mat.type()); @@ -199,13 +201,12 @@ public: src_mat_gpu.upload(src_mat, stream); cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream); - //std::cout << " \n\n OK !!! \n\n"; } cv::cuda::setDevice(old_gpu_id); } - std::vector tracking_flow(cv::Mat dst_mat, std::vector cur_bbox_vec, int gpu_id = 0) + std::vector tracking_flow(cv::Mat dst_mat, std::vector cur_bbox_vec) { if (sync_PyrLKOpticalFlow_gpu.empty()) { std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n"; @@ -265,9 +266,8 @@ public: 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.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 - //std::cout << "\n 1-e \n"; cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);