Tracking small fixes

AlexeyAB

2018-01-30 063a23f6374d0a330a78e9fad597f844003436bd

Tracking small fixes

 src/yolo_console_dll.cpp

@@ -64,7 +64,6 @@
        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 set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
    {
        size_t const count_preview_boxes = src_mat.cols / preview_box_size;
@@ -142,6 +141,10 @@
                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);
            }
        }
    }
@@ -149,7 +152,7 @@


void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, 
    unsigned int wait_msec = 0, std::string win_name = "window name", int current_det_fps = -1, int current_cap_fps = -1)
    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 } };

@@ -171,9 +174,6 @@
        std::string fps_str = "FPS detection: " + std::to_string(current_det_fps) + "   FPS capture: " + std::to_string(current_cap_fps);
        putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
    }

    cv::imshow(win_name, mat_img);
    cv::waitKey(wait_msec);
}
#endif  // OPENCV

@@ -276,7 +276,8 @@
                    {
                        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 = result_vec;
                        auto old_result_vec = detector.tracking_id(result_vec);
                        result_vec = thread_result_vec;
#ifdef TRACK_OPTFLOW
                        // track optical flow
@@ -285,18 +286,18 @@
                            small_preview.set(track_optflow_queue.front(), tmp_result_vec);

                            //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
                            tracker_flow.update_tracking_flow(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, true);
                                result_vec = tracker_flow.tracking_flow(track_optflow_queue.front());
                            }
                            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(),
@@ -306,10 +307,13 @@
                                if (i.frames_counter-- > 1)
                                    result_vec.push_back(i);
                            }
                            else
                            else {
                                it->frames_counter = std::min((unsigned)3, i.frames_counter + 1);
                            }
                        }

#ifdef TRACK_OPTFLOW
                        tracker_flow.update_cur_bbox_vec(result_vec);
#endif
                        consumed = false;
                        cv_pre_tracked.notify_all();
                    }
@@ -347,13 +351,16 @@
#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
                        result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow
                        small_preview.draw(cur_frame);
#endif                      

                        draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps);
                        //show_console_result(result_vec, obj_names);
                        large_preview.draw(cur_frame);

                        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);
                        cv::imshow("window name", cur_frame);
                        cv::waitKey(3); // 3 or 16ms

                        if (output_video.isOpened() && videowrite_ready) {
                            if (t_videowrite.joinable()) t_videowrite.join();
@@ -397,6 +404,8 @@
                std::vector<bbox_t> result_vec = detector.detect(mat_img);
                result_vec = detector.tracking_id(result_vec);  // comment it - if track_id is not required
                draw_boxes(mat_img, result_vec, obj_names);
                cv::imshow("window name", mat_img);
                cv::waitKey(3); // 3 or 16ms
                show_console_result(result_vec, obj_names);
            }
#else

 src/yolo_v2_class.hpp

@@ -155,9 +155,12 @@
public:
    const int gpu_count;
    const int gpu_id;
    const int flow_error;


    Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1))
    Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, int _flow_error = -1) :
        gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1)),
        flow_error((_flow_error > 0)? _flow_error:(win_size*4))
    {
        int const old_gpu_id = cv::cuda::getDevice();
        cv::cuda::setDevice(gpu_id);
@@ -165,9 +168,9 @@
        stream = cv::cuda::Stream();

        sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
        sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(9, 9));  // 15, 21, 31
        sync_PyrLKOpticalFlow_gpu->setMaxLevel(3);      // +- 3 pt
        sync_PyrLKOpticalFlow_gpu->setNumIters(2000);   // def: 30
        sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(win_size, win_size));    // 9, 15, 21, 31
        sync_PyrLKOpticalFlow_gpu->setMaxLevel(max_level);      // +- 3 pt
        sync_PyrLKOpticalFlow_gpu->setNumIters(iterations); // 2000, def: 30

        cv::cuda::setDevice(old_gpu_id);
    }
@@ -175,7 +178,6 @@
    // just to avoid extra allocations
    cv::cuda::GpuMat src_mat_gpu;
    cv::cuda::GpuMat dst_mat_gpu, dst_grey_gpu;
    cv::cuda::GpuMat tmp_grey_gpu;
    cv::cuda::GpuMat prev_pts_flow_gpu, cur_pts_flow_gpu;
    cv::cuda::GpuMat status_gpu, err_gpu;

@@ -183,7 +185,41 @@
    cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
    cv::cuda::Stream stream;

    void update_tracking_flow(cv::Mat src_mat)
    std::vector<bbox_t> cur_bbox_vec;
    std::vector<bool> good_bbox_vec_flags;
    cv::Mat prev_pts_flow_cpu;

    void update_cur_bbox_vec(std::vector<bbox_t> _cur_bbox_vec)
    {
        cur_bbox_vec = _cur_bbox_vec;
        good_bbox_vec_flags.resize(cur_bbox_vec.size());
        for (auto &i : good_bbox_vec_flags) i = true;
        cv::Mat prev_pts, cur_pts_flow_cpu;

        for (auto &i : cur_bbox_vec) {
            float x_center = (i.x + i.w / 2.0F);
            float y_center = (i.y + i.h / 2.0F);
            prev_pts.push_back(cv::Point2f(x_center, y_center));
        }

        if (prev_pts.rows == 0)
            prev_pts_flow_cpu = cv::Mat();
        else
            cv::transpose(prev_pts, prev_pts_flow_cpu);

        if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
            prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
            cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());

            status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
            err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
        }

        prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
    }


    void update_tracking_flow(cv::Mat src_mat, std::vector<bbox_t> _cur_bbox_vec)
    {
        int const old_gpu_id = cv::cuda::getDevice();
        if (old_gpu_id != gpu_id)
@@ -195,6 +231,8 @@
                src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1);
            }

            update_cur_bbox_vec(_cur_bbox_vec);

            src_mat_gpu.upload(src_mat, stream);
            cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
        }
@@ -203,7 +241,7 @@
    }


    std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, bool check_error = false)
    std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, bool check_error = true)
    {
        if (sync_PyrLKOpticalFlow_gpu.empty()) {
            std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -217,12 +255,10 @@
        if (dst_mat_gpu.cols == 0) {
            dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type());
            dst_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
            tmp_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
        }

        dst_mat_gpu.upload(dst_mat, stream);


        cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 0, stream);

        if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) {
@@ -232,40 +268,13 @@
            return cur_bbox_vec;
        }

        cv::Mat prev_pts, prev_pts_flow_cpu, cur_pts_flow_cpu;

        for (auto &i : cur_bbox_vec) {
            float x_center = (i.x + i.w / 2);
            float y_center = (i.y + i.h / 2);
            prev_pts.push_back(cv::Point2f(x_center, y_center));
        }


        if (prev_pts.rows == 0)
            prev_pts_flow_cpu = cv::Mat();
        else
            cv::transpose(prev_pts, prev_pts_flow_cpu);


        if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
            prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
            cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());

            status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
            err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
        }

        prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), 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->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream);  // OpenCV 3.x

        cv::Mat cur_pts_flow_cpu;
        cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);

        tmp_grey_gpu.copyTo(src_grey_gpu, stream);
        dst_grey_gpu.copyTo(src_grey_gpu, stream);

        cv::Mat err_cpu, status_cpu;
        err_gpu.download(err_cpu, stream);
@@ -275,24 +284,31 @@

        std::vector<bbox_t> result_bbox_vec;

        for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
        if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size()) 
        {
            cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
            cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i);
            for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
            {
                cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
                cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i);

            float moved_x = cur_key_pt.x - prev_key_pt.x;
            float moved_y = cur_key_pt.y - prev_key_pt.y;
                float moved_x = cur_key_pt.x - prev_key_pt.x;
                float moved_y = cur_key_pt.y - prev_key_pt.y;

            if (err_cpu.cols > i &&  status_cpu.cols > i)
                if (abs(moved_x) < 100 && abs(moved_y) < 100)
                    if (!check_error || (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0))
                if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
                    if (!check_error || (err_cpu.at<float>(0, i) < flow_error && status_cpu.at<unsigned char>(0, i) != 0))
                    {
                        cur_bbox_vec[i].x += moved_x + 0.5;
                        cur_bbox_vec[i].y += moved_y + 0.5;
                        result_bbox_vec.push_back(cur_bbox_vec[i]);
                    }
                    else good_bbox_vec_flags[i] = false;
                else good_bbox_vec_flags[i] = false;
            }
        }

        cur_pts_flow_gpu.swap(prev_pts_flow_gpu);
        cur_pts_flow_cpu.copyTo(prev_pts_flow_cpu);

        if (old_gpu_id != gpu_id)
            cv::cuda::setDevice(old_gpu_id);