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Added tracking: numerating the detected objects on video

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This commit is contained in:
AlexeyAB
2017-03-31 21:42:51 +03:00
parent 2662cd51a3
commit 3659d84f24
3 changed files with 92 additions and 12 deletions
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57
src/yolo_v2_class.hpp
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@ -1,6 +1,8 @@
#pragma once
#include <memory>
#include <vector>
#include <deque>
#include <algorithm>
#ifdef OPENCV
#include <opencv2/opencv.hpp> // C++
@ -18,6 +20,7 @@ struct bbox_t {
unsigned int x, y, w, h; // (x,y) - top-left corner, (w, h) - width & height of bounded box
float prob; // confidence - probability that the object was found correctly
unsigned int obj_id; // class of object - from range [0, classes-1]
unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
};
struct image_t {
@ -31,6 +34,7 @@ struct image_t {
class Detector {
std::shared_ptr<void> detector_gpu_ptr;
public:
float nms = .4;
YOLODLL_API Detector(std::string cfg_filename, std::string weight_filename, int gpu_id = 0);
YOLODLL_API ~Detector();
@ -107,6 +111,59 @@ private:
}
#endif // OPENCV
std::deque<std::vector<bbox_t>> prev_bbox_vec_deque;
public:
std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 4)
{
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++;
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;
}
std::vector<unsigned int> dist_vec(cur_bbox_vec.size(), std::numeric_limits<unsigned int>::max());
for (auto &prev_bbox_vec : prev_bbox_vec_deque) {
for (auto &i : prev_bbox_vec) {
int cur_index = -1;
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));
if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
dist_vec[m] = cur_dist;
cur_index = m;
}
}
}
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; });
if (cur_index >= 0 && track_id_absent)
cur_bbox_vec[cur_index].track_id = i.track_id;
}
}
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++;
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;
}
};