From e205c1e7aeb47e3dffd35d1b5ce7841d24b9aff4 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Thu, 04 Jan 2018 23:23:10 +0000
Subject: [PATCH] Tracking fixed
---
src/yolo_v2_class.cpp | 30 +++++++++++++++++++-----------
1 files changed, 19 insertions(+), 11 deletions(-)
diff --git a/src/yolo_v2_class.cpp b/src/yolo_v2_class.cpp
index a2fabcd..1777aa2 100644
--- a/src/yolo_v2_class.cpp
+++ b/src/yolo_v2_class.cpp
@@ -30,6 +30,7 @@
float *avg;
float *predictions[FRAMES];
int demo_index;
+ unsigned int *track_id;
};
@@ -53,7 +54,7 @@
char *cfgfile = const_cast<char *>(cfg_filename.data());
char *weightfile = const_cast<char *>(weight_filename.data());
- net = parse_network_cfg(cfgfile);
+ net = parse_network_cfg_custom(cfgfile, 1);
if (weightfile) {
load_weights(&net, weightfile);
}
@@ -71,6 +72,9 @@
detector_gpu.probs = (float **)calloc(l.w*l.h*l.n, sizeof(float *));
for (j = 0; j < l.w*l.h*l.n; ++j) detector_gpu.probs[j] = (float *)calloc(l.classes, sizeof(float));
+ detector_gpu.track_id = (unsigned int *)calloc(l.classes, sizeof(unsigned int));
+ for (j = 0; j < l.classes; ++j) detector_gpu.track_id[j] = 1;
+
#ifdef GPU
cudaSetDevice(old_gpu_index);
#endif
@@ -82,6 +86,8 @@
detector_gpu_t &detector_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
layer l = detector_gpu.net.layers[detector_gpu.net.n - 1];
+ free(detector_gpu.track_id);
+
free(detector_gpu.avg);
for (int j = 0; j < FRAMES; ++j) free(detector_gpu.predictions[j]);
for (int j = 0; j < FRAMES; ++j) if(detector_gpu.images[j].data) free(detector_gpu.images[j].data);
@@ -103,11 +109,11 @@
#endif
}
-YOLODLL_API int Detector::get_net_width() {
+YOLODLL_API int Detector::get_net_width() const {
detector_gpu_t &detector_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
return detector_gpu.net.w;
}
-YOLODLL_API int Detector::get_net_height() {
+YOLODLL_API int Detector::get_net_height() const {
detector_gpu_t &detector_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
return detector_gpu.net.h;
}
@@ -244,16 +250,15 @@
YOLODLL_API std::vector<bbox_t> Detector::tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story)
{
+ detector_gpu_t &det_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
+
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++;
+ cur_bbox_vec[i].track_id = det_gpu.track_id[cur_bbox_vec[i].obj_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;
@@ -267,7 +272,9 @@
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));
+ float center_x_diff = (float)(i.x + i.w/2) - (float)(k.x + k.w/2);
+ float center_y_diff = (float)(i.y + i.h/2) - (float)(k.y + k.h/2);
+ unsigned int cur_dist = sqrt(center_x_diff*center_x_diff + center_y_diff*center_y_diff);
if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
dist_vec[m] = cur_dist;
cur_index = m;
@@ -275,9 +282,10 @@
}
}
- 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; });
+ bool track_id_absent = !std::any_of(cur_bbox_vec.begin(), cur_bbox_vec.end(),
+ [&i](bbox_t const& b) { return b.track_id == i.track_id && b.obj_id == i.obj_id; });
- if (cur_index >= 0 && track_id_absent) {
+ if (cur_index >= 0 && track_id_absent){
cur_bbox_vec[cur_index].track_id = i.track_id;
cur_bbox_vec[cur_index].w = (cur_bbox_vec[cur_index].w + i.w) / 2;
cur_bbox_vec[cur_index].h = (cur_bbox_vec[cur_index].h + i.h) / 2;
@@ -287,7 +295,7 @@
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++;
+ cur_bbox_vec[i].track_id = det_gpu.track_id[cur_bbox_vec[i].obj_id]++;
prev_bbox_vec_deque.push_front(cur_bbox_vec);
if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
--
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