Fix for tracking

AlexeyAB

2018-02-07 8b385e1afee967a508a810711eeb34b07acc6f7a

 src/yolo_console_dll.cpp

@@ -53,7 +53,8 @@
   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_t> preview_box_track_id;
@@ -76,20 +77,22 @@
      // 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 @@
      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 @@
               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 @@
   }


   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 @@
   }
   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 @@
      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);
@@ -278,22 +311,25 @@
                  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
@@ -313,6 +349,7 @@
                  }
#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 @@
                     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<std::mutex> lock(mtx);
                        thread_result_vec = result;
@@ -336,6 +373,7 @@
                     }
                  });
               }
               //while (!consumed); // sync detection

               if (!cur_frame.empty()) {
                  steady_end = std::chrono::steady_clock::now();
@@ -352,7 +390,7 @@
                  ++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 @@
                  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();