Tracking is simplified

AlexeyAB

2018-01-27 993e3a38aab390625a1ac2b425c75883bbc684fe

Tracking is simplified

 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) {

 src/yolo_v2_class.cpp

@@ -252,7 +252,8 @@
    return bbox_vec;
}

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

@@ -301,8 +302,10 @@
        if (cur_bbox_vec[i].track_id == 0)
            cur_bbox_vec[i].track_id = det_gpu.track_id[cur_bbox_vec[i].obj_id]++;

    prev_bbox_vec_deque.push_front(cur_bbox_vec);
    if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
    if (change_history) {
        prev_bbox_vec_deque.push_front(cur_bbox_vec);
        if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
    }

    return cur_bbox_vec;
}

 src/yolo_v2_class.hpp

@@ -58,7 +58,8 @@
    YOLODLL_API int get_net_width() const;
    YOLODLL_API int get_net_height() const;

    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);
    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);

#ifdef OPENCV
    std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)