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

AlexeyAB

2018-01-25 8b94d474d591dd76d146c9aeed029d0b5836ac3f

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

 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);
            }

 src/yolo_v2_class.cpp

@@ -252,7 +252,7 @@
    return bbox_vec;
}

YOLODLL_API std::vector<bbox_t> Detector::tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story)
YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story, int const max_dist)
{
    detector_gpu_t &det_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());

@@ -279,7 +279,7 @@
                    float center_x_diff = (float)(i.x + i.w/2) - (float)(k.x + k.w/2);
                    float center_y_diff = (float)(i.y + i.h/2) - (float)(k.y + k.h/2);
                    unsigned int cur_dist = sqrt(center_x_diff*center_x_diff + center_y_diff*center_y_diff);
                    if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
                    if (cur_dist < max_dist && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
                        dist_vec[m] = cur_dist;
                        cur_index = m;
                    }

 src/yolo_v2_class.hpp

@@ -29,6 +29,7 @@
    float prob;                 // confidence - probability that the object was found correctly
    unsigned int obj_id;        // class of object - from range [0, classes-1]
    unsigned int track_id;      // tracking id for video (0 - untracked, 1 - inf - tracked object)
    unsigned int frames_counter;// counter of frames on which the object was detected
};

struct image_t {
@@ -57,7 +58,7 @@
    YOLODLL_API int get_net_width() const;
    YOLODLL_API int get_net_height() const;

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

#ifdef OPENCV
    std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)
@@ -163,7 +164,7 @@
        stream = cv::cuda::Stream();

        sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
        sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21));    // 15, 21, 31
        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

@@ -201,7 +202,7 @@
    }


    std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec)
    std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, bool check_error = false)
    {
        if (sync_PyrLKOpticalFlow_gpu.empty()) {
            std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -283,7 +284,7 @@

            if (err_cpu.cols > i &&  status_cpu.cols > i)
                if (abs(moved_x) < 100 && abs(moved_y) < 100)
                    //if (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0)
                    if (!check_error || (err_cpu.at<float>(0, i) < 60 && 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;