From 3659d84f24ddc95102483cca430e01dc05568cbb Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Fri, 31 Mar 2017 18:42:51 +0000
Subject: [PATCH] Added tracking: numerating the detected objects on video
---
src/yolo_v2_class.hpp | 87 +++++++++++++++++++++++++++++++++++--------
1 files changed, 71 insertions(+), 16 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index f1c6576..37fcd61 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -1,6 +1,8 @@
#pragma once
#include <memory>
#include <vector>
+#include <deque>
+#include <algorithm>
#ifdef OPENCV
#include <opencv2/opencv.hpp> // C++
@@ -15,33 +17,39 @@
#endif
struct bbox_t {
- unsigned int x, y, w, h;
- float prob;
- unsigned int obj_id;
+ unsigned int x, y, w, h; // (x,y) - top-left corner, (w, h) - width & height of bounded box
+ float prob; // confidence - probability that the object was found correctly
+ unsigned int obj_id; // class of object - from range [0, classes-1]
+ unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
};
-typedef struct {
- int h;
- int w;
- int c;
- float *data;
-} image_t;
+struct image_t {
+ int h; // height
+ int w; // width
+ int c; // number of chanels (3 - for RGB)
+ float *data; // pointer to the image data
+};
class Detector {
std::shared_ptr<void> detector_gpu_ptr;
public:
+ float nms = .4;
YOLODLL_API Detector(std::string cfg_filename, std::string weight_filename, int gpu_id = 0);
YOLODLL_API ~Detector();
YOLODLL_API std::vector<bbox_t> detect(std::string image_filename, float thresh = 0.2);
YOLODLL_API std::vector<bbox_t> detect(image_t img, float thresh = 0.2);
+ static YOLODLL_API image_t load_image(std::string image_filename);
+ static YOLODLL_API void free_image(image_t m);
#ifdef OPENCV
std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2)
{
- std::shared_ptr<image_t> image_ptr(new image_t, [](image_t *img) { free_image(*img); } );
+ if(mat.data == NULL)
+ throw std::runtime_error("file not found");
+ std::shared_ptr<image_t> image_ptr(new image_t, [](image_t *img) { free_image(*img); delete img; });
*image_ptr = mat_to_image(mat);
return detect(*image_ptr, thresh);
}
@@ -102,13 +110,60 @@
}
}
- static void free_image(image_t m)
- {
- if (m.data) {
- free(m.data);
- }
- }
#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;
+ }
};
--
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