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 +++++++++++++++++++++++--------------
1 files changed, 23 insertions(+), 14 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
--
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