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

AlexeyAB

2018-02-08 be90b8e8cb6bbf3951a5e185aa43ccfdd4a03f4d

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

 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

@@ -37,150 +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;
        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;
    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;
            // 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; // 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; // 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;
                    }
                }
            }
        }

        // 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_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) {
                        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());
                    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 = 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;
                }
            }
        }
    }


    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 = 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(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 = 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);
                }
            }
        }
    }
};


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)
{
@@ -188,13 +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);
@@ -309,7 +165,6 @@
                    {
                        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);
                        auto detected_result_vec = thread_result_vec;
                        result_vec = detected_result_vec;

 src/yolo_v2_class.hpp

@@ -144,7 +144,8 @@
};


#if defined(TRACK_OPTFLOW) && defined(OPENCV)
#ifdef OPENCV
#ifdef TRACK_OPTFLOW

#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
@@ -158,7 +159,7 @@
    const int flow_error;


    Tracker_optflow(int _gpu_id = 0, int win_size = 7, int max_level = 1, int iterations = 8000, int _flow_error = -1) :
    Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, 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))
    {
@@ -323,5 +324,149 @@

class Tracker_optflow {};

#endif  // defined(TRACK_OPTFLOW) && defined(OPENCV) 
#endif  // TRACK_OPTFLOW


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;
        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;
    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;
            // 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; // 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; // 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;
                    }
                }
            }
        }

        // 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_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) {
                        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());
                    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), cv::INTER_NEAREST);
                        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;
                }
            }
        }
    }


    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 = 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(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 = 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(-4, 5), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.9, 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);
                }
            }
        }
    }
};
#endif  // OPENCV