Implementation of tracking-function moved to cpp-file

AlexeyAB

2017-04-03 d360b6a42a91eef66b0085c81ecbff4792986402

Implementation of tracking-function moved to cpp-file

 src/yolo_v2_class.cpp

@@ -201,4 +201,54 @@
    cudaSetDevice(old_gpu_index);

    return bbox_vec;
}

YOLODLL_API std::vector<bbox_t> Detector::tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story)
{
    bool prev_track_id_present = false;
    for (auto &i : prev_bbox_vec_deque)
        if (i.size() > 0) prev_track_id_present = true;

    static unsigned int track_id = 1;

    if (!prev_track_id_present) {
        //track_id = 1;
        for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
            cur_bbox_vec[i].track_id = track_id++;
        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;
    }

    std::vector<unsigned int> dist_vec(cur_bbox_vec.size(), std::numeric_limits<unsigned int>::max());

    for (auto &prev_bbox_vec : prev_bbox_vec_deque) {
        for (auto &i : prev_bbox_vec) {
            int cur_index = -1;
            for (size_t m = 0; m < cur_bbox_vec.size(); ++m) {
                bbox_t const& k = cur_bbox_vec[m];
                if (i.obj_id == k.obj_id) {
                    unsigned int cur_dist = sqrt(((float)i.x - k.x)*((float)i.x - k.x) + ((float)i.y - k.y)*((float)i.y - k.y));
                    if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
                        dist_vec[m] = cur_dist;
                        cur_index = m;
                    }
                }
            }

            bool track_id_absent = !std::any_of(cur_bbox_vec.begin(), cur_bbox_vec.end(), [&](bbox_t const& b) { return b.track_id == i.track_id; });

            if (cur_index >= 0 && track_id_absent)
                cur_bbox_vec[cur_index].track_id = i.track_id;
        }
    }

    for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
        if (cur_bbox_vec[i].track_id == 0)
            cur_bbox_vec[i].track_id = track_id++;

    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

@@ -44,6 +44,8 @@
    static YOLODLL_API image_t load_image(std::string image_filename);
    static YOLODLL_API void free_image(image_t m);

    YOLODLL_API std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 4);

#ifdef OPENCV
    std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2) 
    {
@@ -113,57 +115,6 @@
#endif  // OPENCV

    std::deque<std::vector<bbox_t>> prev_bbox_vec_deque;

public:
    std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 4)
    {
        bool prev_track_id_present = false;
        for (auto &i : prev_bbox_vec_deque)
            if (i.size() > 0) prev_track_id_present = true;

        static unsigned int track_id = 1;

        if(!prev_track_id_present) {
            //track_id = 1;
            for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
                cur_bbox_vec[i].track_id = track_id++;
            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;
        }

        std::vector<unsigned int> dist_vec(cur_bbox_vec.size(), std::numeric_limits<unsigned int>::max());

        for (auto &prev_bbox_vec : prev_bbox_vec_deque) {
            for (auto &i : prev_bbox_vec) {
                int cur_index = -1;
                for (size_t m = 0; m < cur_bbox_vec.size(); ++m) {
                    bbox_t const& k = cur_bbox_vec[m];
                    if (i.obj_id == k.obj_id) {
                        unsigned int cur_dist = sqrt(((float)i.x - k.x)*((float)i.x - k.x) + ((float)i.y - k.y)*((float)i.y - k.y));
                        if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
                            dist_vec[m] = cur_dist;
                            cur_index = m;
                        }
                    }
                }

                bool track_id_absent = !std::any_of(cur_bbox_vec.begin(), cur_bbox_vec.end(), [&](bbox_t const& b) { return b.track_id == i.track_id; });

                if (cur_index >= 0 && track_id_absent)
                    cur_bbox_vec[cur_index].track_id = i.track_id;
            }
        }

        for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
            if (cur_bbox_vec[i].track_id == 0)
                cur_bbox_vec[i].track_id = track_id++;

        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;
    }
};