From 063a23f6374d0a330a78e9fad597f844003436bd Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Tue, 30 Jan 2018 22:55:25 +0000
Subject: [PATCH] Tracking small fixes
---
src/yolo_console_dll.cpp | 37 +++++++----
src/yolo_v2_class.hpp | 108 ++++++++++++++++++++---------------
2 files changed, 85 insertions(+), 60 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index ca3a78f..b8afdd6 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -64,7 +64,6 @@
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 set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
{
size_t const count_preview_boxes = src_mat.cols / preview_box_size;
@@ -142,6 +141,10 @@
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);
+
+ unsigned int const track_id = preview_box_track_id[i].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);
}
}
}
@@ -149,7 +152,7 @@
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
- unsigned int wait_msec = 0, std::string win_name = "window name", int current_det_fps = -1, int current_cap_fps = -1)
+ 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 } };
@@ -171,9 +174,6 @@
std::string fps_str = "FPS detection: " + std::to_string(current_det_fps) + " FPS capture: " + std::to_string(current_cap_fps);
putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
}
-
- cv::imshow(win_name, mat_img);
- cv::waitKey(wait_msec);
}
#endif // OPENCV
@@ -276,7 +276,8 @@
{
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 = result_vec;
+ auto old_result_vec = detector.tracking_id(result_vec);
result_vec = thread_result_vec;
#ifdef TRACK_OPTFLOW
// track optical flow
@@ -285,18 +286,18 @@
small_preview.set(track_optflow_queue.front(), tmp_result_vec);
//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
- tracker_flow.update_tracking_flow(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, true);
+ result_vec = tracker_flow.tracking_flow(track_optflow_queue.front());
}
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(),
@@ -306,10 +307,13 @@
if (i.frames_counter-- > 1)
result_vec.push_back(i);
}
- else
+ else {
it->frames_counter = std::min((unsigned)3, i.frames_counter + 1);
+ }
}
-
+#ifdef TRACK_OPTFLOW
+ tracker_flow.update_cur_bbox_vec(result_vec);
+#endif
consumed = false;
cv_pre_tracked.notify_all();
}
@@ -347,13 +351,16 @@
#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
+ result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow
small_preview.draw(cur_frame);
#endif
+
+ draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps);
+ //show_console_result(result_vec, obj_names);
large_preview.draw(cur_frame);
- 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);
+ cv::imshow("window name", cur_frame);
+ cv::waitKey(3); // 3 or 16ms
if (output_video.isOpened() && videowrite_ready) {
if (t_videowrite.joinable()) t_videowrite.join();
@@ -397,6 +404,8 @@
std::vector<bbox_t> result_vec = detector.detect(mat_img);
result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
draw_boxes(mat_img, result_vec, obj_names);
+ cv::imshow("window name", mat_img);
+ cv::waitKey(3); // 3 or 16ms
show_console_result(result_vec, obj_names);
}
#else
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index bddf7d3..57aeaf1 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -155,9 +155,12 @@
public:
const int gpu_count;
const int gpu_id;
+ const int flow_error;
- Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1))
+ Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, 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))
{
int const old_gpu_id = cv::cuda::getDevice();
cv::cuda::setDevice(gpu_id);
@@ -165,9 +168,9 @@
stream = cv::cuda::Stream();
sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
- 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
+ sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(win_size, win_size)); // 9, 15, 21, 31
+ sync_PyrLKOpticalFlow_gpu->setMaxLevel(max_level); // +- 3 pt
+ sync_PyrLKOpticalFlow_gpu->setNumIters(iterations); // 2000, def: 30
cv::cuda::setDevice(old_gpu_id);
}
@@ -175,7 +178,6 @@
// just to avoid extra allocations
cv::cuda::GpuMat src_mat_gpu;
cv::cuda::GpuMat dst_mat_gpu, dst_grey_gpu;
- cv::cuda::GpuMat tmp_grey_gpu;
cv::cuda::GpuMat prev_pts_flow_gpu, cur_pts_flow_gpu;
cv::cuda::GpuMat status_gpu, err_gpu;
@@ -183,7 +185,41 @@
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
cv::cuda::Stream stream;
- void update_tracking_flow(cv::Mat src_mat)
+ std::vector<bbox_t> cur_bbox_vec;
+ std::vector<bool> good_bbox_vec_flags;
+ cv::Mat prev_pts_flow_cpu;
+
+ void update_cur_bbox_vec(std::vector<bbox_t> _cur_bbox_vec)
+ {
+ cur_bbox_vec = _cur_bbox_vec;
+ good_bbox_vec_flags.resize(cur_bbox_vec.size());
+ for (auto &i : good_bbox_vec_flags) i = true;
+ cv::Mat prev_pts, cur_pts_flow_cpu;
+
+ for (auto &i : cur_bbox_vec) {
+ float x_center = (i.x + i.w / 2.0F);
+ float y_center = (i.y + i.h / 2.0F);
+ prev_pts.push_back(cv::Point2f(x_center, y_center));
+ }
+
+ if (prev_pts.rows == 0)
+ prev_pts_flow_cpu = cv::Mat();
+ else
+ cv::transpose(prev_pts, prev_pts_flow_cpu);
+
+ if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
+ prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
+ cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
+
+ status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
+ err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
+ }
+
+ prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
+ }
+
+
+ void update_tracking_flow(cv::Mat src_mat, std::vector<bbox_t> _cur_bbox_vec)
{
int const old_gpu_id = cv::cuda::getDevice();
if (old_gpu_id != gpu_id)
@@ -195,6 +231,8 @@
src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1);
}
+ update_cur_bbox_vec(_cur_bbox_vec);
+
src_mat_gpu.upload(src_mat, stream);
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
}
@@ -203,7 +241,7 @@
}
- std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, bool check_error = false)
+ std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, bool check_error = true)
{
if (sync_PyrLKOpticalFlow_gpu.empty()) {
std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -217,12 +255,10 @@
if (dst_mat_gpu.cols == 0) {
dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type());
dst_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
- tmp_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
}
dst_mat_gpu.upload(dst_mat, stream);
-
cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 0, stream);
if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) {
@@ -232,40 +268,13 @@
return cur_bbox_vec;
}
- cv::Mat prev_pts, prev_pts_flow_cpu, cur_pts_flow_cpu;
-
- for (auto &i : cur_bbox_vec) {
- float x_center = (i.x + i.w / 2);
- float y_center = (i.y + i.h / 2);
- prev_pts.push_back(cv::Point2f(x_center, y_center));
- }
-
-
- if (prev_pts.rows == 0)
- prev_pts_flow_cpu = cv::Mat();
- else
- cv::transpose(prev_pts, prev_pts_flow_cpu);
-
-
- if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
- prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
- cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
-
- status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
- err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
- }
-
- prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
-
-
- dst_grey_gpu.copyTo(tmp_grey_gpu, stream);
-
////sync_PyrLKOpticalFlow_gpu.sparse(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, &err_gpu); // OpenCV 2.4.x
sync_PyrLKOpticalFlow_gpu->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream); // OpenCV 3.x
+ cv::Mat cur_pts_flow_cpu;
cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);
- tmp_grey_gpu.copyTo(src_grey_gpu, stream);
+ dst_grey_gpu.copyTo(src_grey_gpu, stream);
cv::Mat err_cpu, status_cpu;
err_gpu.download(err_cpu, stream);
@@ -275,24 +284,31 @@
std::vector<bbox_t> result_bbox_vec;
- for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+ if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size())
{
- cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
- cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i);
+ for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+ {
+ cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
+ cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i);
- float moved_x = cur_key_pt.x - prev_key_pt.x;
- float moved_y = cur_key_pt.y - prev_key_pt.y;
+ float moved_x = cur_key_pt.x - prev_key_pt.x;
+ float moved_y = cur_key_pt.y - prev_key_pt.y;
- if (err_cpu.cols > i && status_cpu.cols > i)
- if (abs(moved_x) < 100 && abs(moved_y) < 100)
- if (!check_error || (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0))
+ 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))
{
cur_bbox_vec[i].x += moved_x + 0.5;
cur_bbox_vec[i].y += moved_y + 0.5;
result_bbox_vec.push_back(cur_bbox_vec[i]);
}
+ else good_bbox_vec_flags[i] = false;
+ else good_bbox_vec_flags[i] = false;
+ }
}
+ cur_pts_flow_gpu.swap(prev_pts_flow_gpu);
+ cur_pts_flow_cpu.copyTo(prev_pts_flow_cpu);
+
if (old_gpu_id != gpu_id)
cv::cuda::setDevice(old_gpu_id);
--
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