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Tracking is simplified
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@AlexeyAB
AlexeyAB committed Jan 27, 2018
1 parent e114309 commit 993e3a3
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Showing 3 changed files with 50 additions and 37 deletions.
75 changes: 42 additions & 33 deletions src/yolo_console_dll.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,9 @@ class preview_boxes_t {

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;
Expand All @@ -63,9 +64,10 @@ class preview_boxes_t {
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
Expand All @@ -77,7 +79,7 @@ class preview_boxes_t {
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;
Expand All @@ -101,7 +103,7 @@ class preview_boxes_t {
{
// 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) {
Expand All @@ -114,34 +116,40 @@ class preview_boxes_t {
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);
}
}
}
};


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 } };

Expand All @@ -164,7 +172,7 @@ void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std
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
Expand Down Expand Up @@ -270,26 +278,25 @@ int main(int argc, char *argv[])
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(),
Expand All @@ -316,11 +323,12 @@ int main(int argc, char *argv[])
++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;
}
});
}
Expand All @@ -335,15 +343,16 @@ int main(int argc, char *argv[])
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) {
Expand Down
9 changes: 6 additions & 3 deletions src/yolo_v2_class.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -252,7 +252,8 @@ YOLODLL_API std::vector<bbox_t> Detector::detect(image_t img, float thresh, bool
return bbox_vec;
}

YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story, int const max_dist)
YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history,
int const frames_story, int const max_dist)
{
detector_gpu_t &det_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());

Expand Down Expand Up @@ -301,8 +302,10 @@ YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bb
if (cur_bbox_vec[i].track_id == 0)
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();
if (change_history) {
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;
}
3 changes: 2 additions & 1 deletion src/yolo_v2_class.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,8 @@ class Detector {
YOLODLL_API int get_net_width() const;
YOLODLL_API int get_net_height() const;

YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 6, int const max_dist = 150);
YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history = true,
int const frames_story = 6, int const max_dist = 150);

#ifdef OPENCV
std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)
Expand Down

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