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Tracking fixed

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pull/355/head
AlexeyAB 7 years ago
parent 9ac78d8b84
commit e205c1e7ae
2 changed files with 37 additions and 81 deletions
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  1. 78
      src/yolo_console_dll.cpp
  2. 40
      src/yolo_v2_class.hpp

78
src/yolo_console_dll.cpp
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@ -93,8 +93,8 @@ int main(int argc, char *argv[])
std::string filename; std::string filename;
if (argc > 1) filename = argv[1]; if (argc > 1) filename = argv[1];
//Detector detector("cfg/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"); //Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
auto obj_names = objects_names_from_file("data/voc.names"); auto obj_names = objects_names_from_file("data/voc.names");
std::string out_videofile = "result.avi"; 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); det_image = detector.mat_to_image_resize(cur_frame);
result_vec = thread_result_vec; result_vec = thread_result_vec;
result_vec = detector.tracking(result_vec); // comment it - if track_id is not required result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
consumed = false; consumed = false;
}
#ifdef TRACK_OPTFLOW #ifdef TRACK_OPTFLOW
int y = 0, x = 0; // track optical flow
cv::Mat show_flow = cur_frame.clone(); if (track_optflow_queue.size() > 0) {
auto lambda = [&x, &y](cv::Mat draw_frame, cv::Mat src_frame, std::vector<bbox_t> result_vec) { std::queue<cv::Mat> new_track_optflow_queue;
//if (x > 10) return; //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
if (result_vec.size() == 0) return; tracker_flow.update_tracking_flow(track_optflow_queue.front());
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);
std::queue<cv::Mat> 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.pop();
} while (track_optflow_queue.size() > 0) {
track_optflow_queue = new_track_optflow_queue; result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec);
new_track_optflow_queue.swap(std::queue<cv::Mat>()); if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
passed_flow_frames = 0; new_track_optflow_queue = track_optflow_queue;
//std::cout << "\n !!!! now = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
cv::imshow("flow", show_flow); track_optflow_queue.pop();
cv::waitKey(3); }
//if (result_vec.size() > 0) { track_optflow_queue = new_track_optflow_queue;
// cv::waitKey(1000); new_track_optflow_queue.swap(std::queue<cv::Mat>());
//} passed_flow_frames = 0;
}
} }
#endif #endif

40
src/yolo_v2_class.hpp
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@ -12,7 +12,7 @@
#include <opencv2/cudaoptflow.hpp> #include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp> #include <opencv2/cudaimgproc.hpp>
#include <opencv2/cudaarithm.hpp> #include <opencv2/cudaarithm.hpp>
#include "opencv2/core/cuda.hpp" #include <opencv2/core/cuda.hpp>
#endif // OPENCV #endif // OPENCV
#ifdef YOLODLL_EXPORTS #ifdef YOLODLL_EXPORTS
@ -156,7 +156,23 @@ private:
class Tracker_optflow { class Tracker_optflow {
public: 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 // just to avoid extra allocations
cv::cuda::GpuMat src_mat_gpu; cv::cuda::GpuMat src_mat_gpu;
@ -168,7 +184,7 @@ public:
cv::cuda::GpuMat src_grey_gpu; // used in both functions cv::cuda::GpuMat src_grey_gpu; // used in both functions
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu; cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> 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(); int const old_gpu_id = cv::cuda::getDevice();
static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount(); static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
@ -177,20 +193,6 @@ public:
cv::cuda::Stream stream; 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.channels() == 3) {
if (src_mat_gpu.cols == 0) { if (src_mat_gpu.cols == 0) {
src_mat_gpu = cv::cuda::GpuMat(src_mat.size(), src_mat.type()); src_mat_gpu = cv::cuda::GpuMat(src_mat.size(), src_mat.type());
@ -199,13 +201,12 @@ public:
src_mat_gpu.upload(src_mat, stream); src_mat_gpu.upload(src_mat, stream);
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, 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); cv::cuda::setDevice(old_gpu_id);
} }
std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, int gpu_id = 0) std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec)
{ {
if (sync_PyrLKOpticalFlow_gpu.empty()) { if (sync_PyrLKOpticalFlow_gpu.empty()) {
std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n"; std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@ -265,9 +266,8 @@ public:
dst_grey_gpu.copyTo(tmp_grey_gpu, 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.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 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); cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);

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