From 993e3a38aab390625a1ac2b425c75883bbc684fe Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Sat, 27 Jan 2018 21:57:04 +0000
Subject: [PATCH] Tracking is simplified
---
src/yolo_console_dll.cpp | 75 +++++++++++++++++++++----------------
1 files changed, 42 insertions(+), 33 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 6ec1520..ca3a78f 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -52,8 +52,9 @@
struct preview_box_track_t {
unsigned int track_id, obj_id, last_showed_frames_ago;
+ bool current_detection;
cv::Mat mat_obj;
- preview_box_track_t() : track_id(0), obj_id(0), last_showed_frames_ago(frames_history) {}
+ 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;
size_t const preview_box_size, bottom_offset;
@@ -63,9 +64,10 @@
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 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 = draw_mat.cols / preview_box_size;
+ size_t const count_preview_boxes = src_mat.cols / preview_box_size;
if (preview_box_track_id.size() != count_preview_boxes) preview_box_track_id.resize(count_preview_boxes);
// increment frames history
@@ -77,7 +79,7 @@
bool found = false;
for (auto &i : preview_box_track_id) {
if (i.track_id == k.track_id) {
- if(!one_off_detections)
+ if (!one_off_detections)
i.last_showed_frames_ago = 0;
found = true;
break;
@@ -101,7 +103,7 @@
{
// get object image
cv::Mat dst = preview_box_track_id[i].mat_obj;
- bool current_detection = false;
+ preview_box_track_id[i].current_detection = false;
for (auto &k : result_vec) {
if (preview_box_track_id[i].track_id == k.track_id) {
@@ -114,26 +116,32 @@
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();
- current_detection = true;
+ preview_box_track_id[i].current_detection = true;
}
break;
}
}
+ }
+ }
+
+ void draw(cv::Mat draw_mat)
+ {
+ // draw preview box (from old or current frame)
+ for (size_t i = 0; i < preview_box_track_id.size(); ++i)
+ {
// draw object image
- if (draw_boxes) {
- cv::Mat dst = preview_box_track_id[i].mat_obj;
- if (preview_box_track_id[i].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::Mat dst = preview_box_track_id[i].mat_obj;
+ if (preview_box_track_id[i].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 = (current_detection) ? 5 : 1;
- cv::rectangle(draw_mat, dst_rect_roi, color, thickness);
- }
+ 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);
}
}
}
@@ -141,7 +149,7 @@
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
- unsigned int wait_msec = 0, int current_det_fps = -1, int current_cap_fps = -1)
+ unsigned int wait_msec = 0, std::string win_name = "window name", 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 } };
@@ -164,7 +172,7 @@
putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
}
- cv::imshow("window name", mat_img);
+ cv::imshow(win_name, mat_img);
cv::waitKey(wait_msec);
}
#endif // OPENCV
@@ -270,26 +278,25 @@
det_image = detector.mat_to_image_resize(cur_frame);
auto old_result_vec = result_vec;
result_vec = thread_result_vec;
- result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
#ifdef TRACK_OPTFLOW
// track optical flow
if (track_optflow_queue.size() > 0) {
- small_preview.draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec, false);
+ auto tmp_result_vec = detector.tracking_id(result_vec, false);
+ small_preview.set(track_optflow_queue.front(), tmp_result_vec);
- std::queue<cv::Mat> new_track_optflow_queue;
//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
tracker_flow.update_tracking_flow(track_optflow_queue.front());
while (track_optflow_queue.size() > 1) {
track_optflow_queue.pop();
- result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec);
- if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
- new_track_optflow_queue = track_optflow_queue;
+ result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec, true);
}
- track_optflow_queue = new_track_optflow_queue;
+ 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(),
@@ -316,11 +323,12 @@
++fps_det_counter;
std::unique_lock<std::mutex> lock(mtx);
thread_result_vec = result;
- current_image = det_image;
consumed = true;
cv_detected.notify_all();
- if(detector.wait_stream)
+ if (detector.wait_stream) {
while (consumed) cv_pre_tracked.wait(lock);
+ }
+ current_image = det_image;
}
});
}
@@ -335,15 +343,16 @@
fps_cap_counter = 0;
}
+ large_preview.set(cur_frame, result_vec);
#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
- small_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true);
-#endif
- large_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true);
+ small_preview.draw(cur_frame);
+#endif
+ large_preview.draw(cur_frame);
- draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps); // 3 or 16ms
+ 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);
if (output_video.isOpened() && videowrite_ready) {
--
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