From 8b385e1afee967a508a810711eeb34b07acc6f7a Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Wed, 07 Feb 2018 22:05:04 +0000
Subject: [PATCH] Fix for tracking
---
src/yolo_console_dll.cpp | 85 +++++++++++++++++++++++++++++++-----------
1 files changed, 62 insertions(+), 23 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index b8afdd6..b524d68 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -53,7 +53,8 @@
struct preview_box_track_t {
unsigned int track_id, obj_id, last_showed_frames_ago;
bool current_detection;
- cv::Mat mat_obj;
+ 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;
@@ -76,20 +77,22 @@
// 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;
+ 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;
+ 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;
}
@@ -101,12 +104,14 @@
for (size_t i = 0; i < preview_box_track_id.size(); ++i)
{
// get object image
- cv::Mat dst = preview_box_track_id[i].mat_obj;
+ 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) break;
+ 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());
@@ -114,8 +119,10 @@
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 = dst.clone();
+ 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;
}
@@ -124,27 +131,50 @@
}
- void draw(cv::Mat draw_mat)
+ 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 = preview_box_track_id[i].mat_obj;
- if (preview_box_track_id[i].last_showed_frames_ago < frames_history &&
+ 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(preview_box_track_id[i].obj_id);
- int thickness = (preview_box_track_id[i].current_detection) ? 5 : 1;
+ 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 = preview_box_track_id[i].track_id;
+ 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);
+ }
}
}
}
@@ -212,6 +242,8 @@
}
else if (argc > 1) filename = argv[1];
+ float const thresh = (argc > 5) ? std::stof(argv[5]) : 0.20;
+
Detector detector(cfg_file, weights_file);
auto obj_names = objects_names_from_file(names_file);
@@ -231,6 +263,7 @@
try {
#ifdef OPENCV
preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
+ bool show_small_boxes = false;
std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
std::string const protocol = filename.substr(0, 7);
@@ -278,26 +311,29 @@
det_image = detector.mat_to_image_resize(cur_frame);
//auto old_result_vec = result_vec;
auto old_result_vec = detector.tracking_id(result_vec);
- result_vec = thread_result_vec;
+ auto detected_result_vec = thread_result_vec;
+ result_vec = detected_result_vec;
#ifdef TRACK_OPTFLOW
// track optical flow
if (track_optflow_queue.size() > 0) {
- auto tmp_result_vec = detector.tracking_id(result_vec, false);
- small_preview.set(track_optflow_queue.front(), tmp_result_vec);
-
//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
+ cv::Mat first_frame = 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 = tracker_flow.tracking_flow(track_optflow_queue.front(), false);
}
track_optflow_queue.pop();
passed_flow_frames = 0;
+
+ result_vec = detector.tracking_id(result_vec);
+ auto tmp_result_vec = detector.tracking_id(detected_result_vec);
+ small_preview.set(first_frame, tmp_result_vec);
}
#endif
- result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
-
+ 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(),
@@ -313,6 +349,7 @@
}
#ifdef TRACK_OPTFLOW
tracker_flow.update_cur_bbox_vec(result_vec);
+ result_vec = tracker_flow.tracking_flow(cur_frame, false); // track optical flow
#endif
consumed = false;
cv_pre_tracked.notify_all();
@@ -323,7 +360,7 @@
auto current_image = det_image;
consumed = true;
while (current_image.use_count() > 0) {
- auto result = detector.detect_resized(*current_image, frame_size, 0.20, false); // true
+ auto result = detector.detect_resized(*current_image, frame_size, thresh, false); // true
++fps_det_counter;
std::unique_lock<std::mutex> lock(mtx);
thread_result_vec = result;
@@ -336,6 +373,7 @@
}
});
}
+ //while (!consumed); // sync detection
if (!cur_frame.empty()) {
steady_end = std::chrono::steady_clock::now();
@@ -352,7 +390,7 @@
++passed_flow_frames;
track_optflow_queue.push(cur_frame.clone());
result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow
- small_preview.draw(cur_frame);
+ small_preview.draw(cur_frame, show_small_boxes);
#endif
draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps);
@@ -360,7 +398,8 @@
large_preview.draw(cur_frame);
cv::imshow("window name", cur_frame);
- cv::waitKey(3); // 3 or 16ms
+ int key = cv::waitKey(3); // 3 or 16ms
+ if (key == 'f') show_small_boxes = !show_small_boxes;
if (output_video.isOpened() && videowrite_ready) {
if (t_videowrite.joinable()) t_videowrite.join();
--
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