Fixed preview box for short-term object detection (small box) and long-term...

AlexeyAB

2018-01-25 8b94d474d591dd76d146c9aeed029d0b5836ac3f

 src/yolo_console_dll.cpp

@@ -47,76 +47,97 @@
   return color;
}

void draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec)
{
   size_t const preview_box_size = 100;   // size of preview box in ptx
   size_t const count_preview_boxes = draw_mat.cols / preview_box_size;
   unsigned int const frames_history = 30;   // how long to keep the history saved
class preview_boxes_t {
   enum { frames_history = 30 }; // how long to keep the history saved

   struct preview_box_track_t {
      unsigned int track_id, obj_id, last_showed_frames_ago;
      cv::Mat mat_obj;
      preview_box_track_t() : track_id(0), obj_id(0), last_showed_frames_ago(frames_history) {}
   };
   static std::vector<preview_box_track_t> preview_box_track_id(count_preview_boxes);
   // increment frames history
   for (auto &i : preview_box_track_id)
      i.last_showed_frames_ago = std::min(frames_history, i.last_showed_frames_ago + 1);
   std::vector<preview_box_track_t> preview_box_track_id;
   size_t const preview_box_size, const bottom_offset;
   bool const one_off_detections;
public:
   preview_boxes_t(size_t _preview_box_size = 100, size_t _bottom_offset = 100, bool _one_off_detections = false) :
      preview_box_size(_preview_box_size), bottom_offset(_bottom_offset), one_off_detections(_one_off_detections)
   {}

   // occupy empty boxes
   for (auto &k : result_vec) {
      bool found = false;
      for (auto &i : preview_box_track_id) {
         if (i.track_id == k.track_id) {
            i.last_showed_frames_ago = 0;
            found = true;
            break;
         }
      }
      if (!found) {
   void draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec, bool draw_boxes = true)
   {
      size_t const count_preview_boxes = draw_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
      for (auto &i : preview_box_track_id)
         i.last_showed_frames_ago = std::min((unsigned)frames_history, i.last_showed_frames_ago + 1);

      // occupy empty boxes
      for (auto &k : result_vec) {
         bool found = false;
         for (auto &i : preview_box_track_id) {
            if (i.last_showed_frames_ago == frames_history) {
               i.track_id = k.track_id;
               i.obj_id = k.obj_id;
               i.last_showed_frames_ago = 0;
            if (i.track_id == k.track_id) {
               if(!one_off_detections)
                  i.last_showed_frames_ago = 0;
               found = true;
               break;
            }
         }
      }
   }

   // draw preview box (from old or current frame)
   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;
      for (auto &k : result_vec) {
         if (preview_box_track_id[i].track_id == k.track_id) {
            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());
            cv::Rect rect_roi = r & img_rect;
            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;
         if (!found) {
            for (auto &i : preview_box_track_id) {
               if (i.last_showed_frames_ago == frames_history) {
                  if (!one_off_detections && k.frames_counter == 0) break;
                  i.track_id = k.track_id;
                  i.obj_id = k.obj_id;
                  i.last_showed_frames_ago = 0;
                  break;
               }
            }
            break;
         }
      }

      // draw object image
      if (preview_box_track_id[i].last_showed_frames_ago < frames_history &&
         dst.size() == cv::Size(preview_box_size, preview_box_size))
      // draw preview box (from old or current frame)
      for (size_t i = 0; i < preview_box_track_id.size(); ++i)
      {
         cv::Rect dst_rect_roi(cv::Point2i(i * preview_box_size, draw_mat.rows - preview_box_size), dst.size());
         cv::Mat dst_roi = draw_mat(dst_rect_roi);
         dst.copyTo(dst_roi);
         // get object image
         cv::Mat dst = preview_box_track_id[i].mat_obj;
         bool current_detection = false;

         cv::Scalar color = obj_id_to_color(preview_box_track_id[i].obj_id);
         cv::rectangle(draw_mat, dst_rect_roi, color, 5);
         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;
               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());
               cv::Rect rect_roi = r & img_rect;
               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();
                  current_detection = true;
               }
               break;
            }
         }

         // 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::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);
            }
         }
      }
   }
}
};


void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, 
@@ -192,6 +213,7 @@
   Tracker_optflow tracker_flow;
   detector.wait_stream = true;
#endif
   preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);

   while (true) 
   {     
@@ -245,12 +267,13 @@
               {
                  std::unique_lock<std::mutex> lock(mtx);
                  det_image = detector.mat_to_image_resize(cur_frame);
                  auto old_result_vec = 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_id(result_vec);  // comment it - if track_id is not required
#ifdef TRACK_OPTFLOW
                  // track optical flow
                  if (track_optflow_queue.size() > 0) {
                     //draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec);
                     small_preview.draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec, false);

                     std::queue<cv::Mat> new_track_optflow_queue;
                     //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
@@ -266,6 +289,19 @@
                     passed_flow_frames = 0;
                  }
#endif
                  // add old tracked objects
                  for (auto &i : old_result_vec) {
                     auto it = std::find_if(result_vec.begin(), result_vec.end(),
                        [&i](bbox_t const& b) { return b.track_id == i.track_id && b.obj_id == i.obj_id; });
                     bool track_id_absent = (it == result_vec.end());
                     if (track_id_absent) {
                        if (i.frames_counter-- > 1)
                           result_vec.push_back(i);
                     }
                     else
                        it->frames_counter = std::min((unsigned)3, i.frames_counter + 1);
                  }

                  consumed = false;
                  cv_pre_tracked.notify_all();
               }
@@ -301,9 +337,11 @@
#ifdef TRACK_OPTFLOW
                  ++passed_flow_frames;
                  track_optflow_queue.push(cur_frame.clone());
                  result_vec = tracker_flow.tracking_flow(cur_frame, result_vec);   // track optical flow
                  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
                  //draw_preview_boxes(cur_frame, cur_frame, result_vec);
                  large_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true);

                  draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps);  // 3 or 16ms
                  //show_console_result(result_vec, obj_names);

@@ -347,7 +385,7 @@
         else {   // image file
            cv::Mat mat_img = cv::imread(filename);
            std::vector<bbox_t> result_vec = detector.detect(mat_img);
            result_vec = detector.tracking(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
            draw_boxes(mat_img, result_vec, obj_names);
            show_console_result(result_vec, obj_names);
         }