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_v2_class.hpp | 151 +++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 148 insertions(+), 3 deletions(-)
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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