Tracking is simplified

AlexeyAB

2018-01-27 993e3a38aab390625a1ac2b425c75883bbc684fe

 src/yolo_console_dll.cpp

@@ -52,8 +52,9 @@

   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_t> preview_box_track_id;
   size_t const preview_box_size, bottom_offset;
@@ -63,9 +64,10 @@
      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<bbox_t> result_vec, bool draw_boxes = true)
   //void draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec, bool draw_boxes = true)
   void set(cv::Mat src_mat, std::vector<bbox_t> 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 @@
         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 @@
      {
         // 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 @@
                  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 @@


void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> 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 @@
      putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
   }

   cv::imshow("window name", mat_img);
   cv::imshow(win_name, mat_img);
   cv::waitKey(wait_msec);
}
#endif   // OPENCV
@@ -270,26 +278,25 @@
                  det_image = detector.mat_to_image_resize(cur_frame);
                  auto old_result_vec = result_vec;
                  result_vec = thread_result_vec;
                  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) {
                     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<cv::Mat> 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 @@
                        ++fps_det_counter;
                        std::unique_lock<std::mutex> 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 @@
                     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) {