Optimal params for optical flow tracking. Some small box fixes.

AlexeyAB

2018-02-08 be90b8e8cb6bbf3951a5e185aa43ccfdd4a03f4d

 src/yolo_console_dll.cpp

@@ -14,7 +14,7 @@
#endif

// To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x
//#define TRACK_OPTFLOW
#define TRACK_OPTFLOW

#include "yolo_v2_class.hpp"  // imported functions from DLL

@@ -37,120 +37,6 @@
#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
#endif


cv::Scalar obj_id_to_color(int obj_id) {
   int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };
   int const offset = obj_id * 123457 % 6;
   int const color_scale = 150 + (obj_id * 123457) % 100;
   cv::Scalar color(colors[offset][0], colors[offset][1], colors[offset][2]);
   color *= color_scale;
   return color;
}

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;
      bool current_detection;
      cv::Mat mat_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;
   size_t const preview_box_size, 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)
   {}

   void set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
   {
      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
      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.track_id == k.track_id) {
               if (!one_off_detections)
                  i.last_showed_frames_ago = 0;
               found = true;
               break;
            }
         }
         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;
               }
            }
         }
      }

      // 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;
         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;
               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();
                  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
         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 = (preview_box_track_id[i].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;
            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);
         }
      }
   }
};


void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, 
   int current_det_fps = -1, int current_cap_fps = -1)
{
@@ -158,13 +44,13 @@

   for (auto &i : result_vec) {
      cv::Scalar color = obj_id_to_color(i.obj_id);
      cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 5);
      cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 2);
      if (obj_names.size() > i.obj_id) {
         std::string obj_name = obj_names[i.obj_id];
         if (i.track_id > 0) obj_name += " - " + std::to_string(i.track_id);
         cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
         int const max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
         cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 3, 0), std::max((int)i.y - 30, 0)), 
         cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 1, 0), std::max((int)i.y - 30, 0)), 
            cv::Point2f(std::min((int)i.x + max_width, mat_img.cols-1), std::min((int)i.y, mat_img.rows-1)), 
            color, CV_FILLED, 8, 0);
         putText(mat_img, obj_name, cv::Point2f(i.x, i.y - 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(0, 0, 0), 2);
@@ -212,6 +98,8 @@
   }
   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 +119,7 @@
      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);
@@ -276,28 +165,30 @@
               {
                  std::unique_lock<std::mutex> lock(mtx);
                  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
												
                  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(),
@@ -313,6 +204,7 @@
                  }
#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 +215,7 @@
                     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 +228,7 @@
                     }
                  });
               }
               //while (!consumed); // sync detection

               if (!cur_frame.empty()) {
                  steady_end = std::chrono::steady_clock::now();
@@ -352,7 +245,7 @@
                  ++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 +253,8 @@
                  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();