Fix for tracking

AlexeyAB

2018-02-07 8b385e1afee967a508a810711eeb34b07acc6f7a

Fix for tracking

 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();

 src/yolo_v2_class.hpp

@@ -59,7 +59,7 @@
    YOLODLL_API int get_net_height() const;

    YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history = true, 
                                                int const frames_story = 6, int const max_dist = 150);
                                                int const frames_story = 10, int const max_dist = 150);

#ifdef OPENCV
    std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)
@@ -158,7 +158,7 @@
    const int flow_error;


    Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, int _flow_error = -1) :
    Tracker_optflow(int _gpu_id = 0, int win_size = 7, int max_level = 1, int iterations = 8000, 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))
    {
@@ -296,7 +296,7 @@
                float moved_y = cur_key_pt.y - prev_key_pt.y;

                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))
                    if (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;
@@ -304,6 +304,8 @@
                    }
                    else good_bbox_vec_flags[i] = false;
                else good_bbox_vec_flags[i] = false;

                //if(!check_error && !good_bbox_vec_flags[i]) result_bbox_vec.push_back(cur_bbox_vec[i]);
            }
        }