From be90b8e8cb6bbf3951a5e185aa43ccfdd4a03f4d Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Thu, 08 Feb 2018 22:50:35 +0000
Subject: [PATCH] Optimal params for optical flow tracking. Some small box fixes.
---
src/yolo_console_dll.cpp | 151 ------------------------
src/yolo_v2_class.hpp | 151 ++++++++++++++++++++++++
2 files changed, 151 insertions(+), 151 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index b524d68..6aaebc5 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -14,7 +14,7 @@
#endif
// To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x
-//#define TRACK_OPTFLOW
+#define TRACK_OPTFLOW
#include "yolo_v2_class.hpp" // imported functions from DLL
@@ -37,150 +37,6 @@
#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
#endif
-
-cv::Scalar obj_id_to_color(int obj_id) {
- int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };
- int const offset = obj_id * 123457 % 6;
- int const color_scale = 150 + (obj_id * 123457) % 100;
- cv::Scalar color(colors[offset][0], colors[offset][1], colors[offset][2]);
- color *= color_scale;
- return color;
-}
-
-class preview_boxes_t {
- enum { frames_history = 30 }; // how long to keep the history saved
-
- struct preview_box_track_t {
- unsigned int track_id, obj_id, last_showed_frames_ago;
- bool current_detection;
- 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;
- size_t const preview_box_size, bottom_offset;
- bool const one_off_detections;
-public:
- preview_boxes_t(size_t _preview_box_size = 100, size_t _bottom_offset = 100, bool _one_off_detections = false) :
- preview_box_size(_preview_box_size), bottom_offset(_bottom_offset), one_off_detections(_one_off_detections)
- {}
-
- void set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
- {
- 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
- for (auto &i : preview_box_track_id)
- i.last_showed_frames_ago = std::min((unsigned)frames_history, i.last_showed_frames_ago + 1);
-
- // 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; // 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; // 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;
- }
- }
- }
- }
-
- // draw preview box (from old or current frame)
- for (size_t i = 0; i < preview_box_track_id.size(); ++i)
- {
- // get object image
- 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) {
- 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());
- cv::Rect rect_roi = r & img_rect;
- 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 = 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;
- }
- }
- }
- }
-
-
- 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 = 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(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 = 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);
- }
- }
- }
- }
-};
-
-
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
int current_det_fps = -1, int current_cap_fps = -1)
{
@@ -188,13 +44,13 @@
for (auto &i : result_vec) {
cv::Scalar color = obj_id_to_color(i.obj_id);
- cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 5);
+ cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 2);
if (obj_names.size() > i.obj_id) {
std::string obj_name = obj_names[i.obj_id];
if (i.track_id > 0) obj_name += " - " + std::to_string(i.track_id);
cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
int const max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
- cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 3, 0), std::max((int)i.y - 30, 0)),
+ cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 1, 0), std::max((int)i.y - 30, 0)),
cv::Point2f(std::min((int)i.x + max_width, mat_img.cols-1), std::min((int)i.y, mat_img.rows-1)),
color, CV_FILLED, 8, 0);
putText(mat_img, obj_name, cv::Point2f(i.x, i.y - 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(0, 0, 0), 2);
@@ -309,7 +165,6 @@
{
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 = detector.tracking_id(result_vec);
auto detected_result_vec = thread_result_vec;
result_vec = detected_result_vec;
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index eaebb4e..1eaafb8 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -144,7 +144,8 @@
};
-#if defined(TRACK_OPTFLOW) && defined(OPENCV)
+#ifdef OPENCV
+#ifdef TRACK_OPTFLOW
#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
@@ -158,7 +159,7 @@
const int flow_error;
- Tracker_optflow(int _gpu_id = 0, int win_size = 7, int max_level = 1, int iterations = 8000, int _flow_error = -1) :
+ Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 8000, 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))
{
@@ -323,5 +324,149 @@
class Tracker_optflow {};
-#endif // defined(TRACK_OPTFLOW) && defined(OPENCV)
+#endif // TRACK_OPTFLOW
+
+
+cv::Scalar obj_id_to_color(int obj_id) {
+ int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };
+ int const offset = obj_id * 123457 % 6;
+ int const color_scale = 150 + (obj_id * 123457) % 100;
+ cv::Scalar color(colors[offset][0], colors[offset][1], colors[offset][2]);
+ color *= color_scale;
+ return color;
+}
+
+class preview_boxes_t {
+ enum { frames_history = 30 }; // how long to keep the history saved
+
+ struct preview_box_track_t {
+ unsigned int track_id, obj_id, last_showed_frames_ago;
+ bool current_detection;
+ 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;
+ size_t const preview_box_size, bottom_offset;
+ bool const one_off_detections;
+public:
+ preview_boxes_t(size_t _preview_box_size = 100, size_t _bottom_offset = 100, bool _one_off_detections = false) :
+ preview_box_size(_preview_box_size), bottom_offset(_bottom_offset), one_off_detections(_one_off_detections)
+ {}
+
+ void set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
+ {
+ 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
+ for (auto &i : preview_box_track_id)
+ i.last_showed_frames_ago = std::min((unsigned)frames_history, i.last_showed_frames_ago + 1);
+
+ // 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; // 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; // 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;
+ }
+ }
+ }
+ }
+
+ // draw preview box (from old or current frame)
+ for (size_t i = 0; i < preview_box_track_id.size(); ++i)
+ {
+ // get object image
+ 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) {
+ 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());
+ cv::Rect rect_roi = r & img_rect;
+ 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), cv::INTER_NEAREST);
+ 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;
+ }
+ }
+ }
+ }
+
+
+ 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 = 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(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 = 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(-4, 5), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.9, 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);
+ }
+ }
+ }
+ }
+};
+#endif // OPENCV
--
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