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Fix for tracking

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This commit is contained in:
AlexeyAB
2018-02-08 01:05:04 +03:00
parent 9ff40baa4f
commit 8b385e1afe
2 changed files with 67 additions and 26 deletions
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85
src/yolo_console_dll.cpp
View File

@ -53,7 +53,8 @@ class preview_boxes_t {
struct preview_box_track_t { struct preview_box_track_t {
unsigned int track_id, obj_id, last_showed_frames_ago; unsigned int track_id, obj_id, last_showed_frames_ago;
bool current_detection; bool current_detection;
cv::Mat mat_obj; 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){} 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; std::vector<preview_box_track_t> preview_box_track_id;
@ -76,20 +77,22 @@ public:
// occupy empty boxes // occupy empty boxes
for (auto &k : result_vec) { for (auto &k : result_vec) {
bool found = false; bool found = false;
// find the same (track_id)
for (auto &i : preview_box_track_id) { for (auto &i : preview_box_track_id) {
if (i.track_id == k.track_id) { if (i.track_id == k.track_id) {
if (!one_off_detections) if (!one_off_detections) i.last_showed_frames_ago = 0; // for tracked objects
i.last_showed_frames_ago = 0;
found = true; found = true;
break; break;
} }
} }
if (!found) { if (!found) {
// find empty box
for (auto &i : preview_box_track_id) { for (auto &i : preview_box_track_id) {
if (i.last_showed_frames_ago == frames_history) { if (i.last_showed_frames_ago == frames_history) {
if (!one_off_detections && k.frames_counter == 0) break; 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.track_id = k.track_id;
i.obj_id = k.obj_id; i.obj_id = k.obj_id;
i.bbox = k;
i.last_showed_frames_ago = 0; i.last_showed_frames_ago = 0;
break; break;
} }
@ -101,12 +104,14 @@ public:
for (size_t i = 0; i < preview_box_track_id.size(); ++i) for (size_t i = 0; i < preview_box_track_id.size(); ++i)
{ {
// get object image // get object image
cv::Mat dst = preview_box_track_id[i].mat_obj; cv::Mat dst = preview_box_track_id[i].mat_resized_obj;
preview_box_track_id[i].current_detection = false; preview_box_track_id[i].current_detection = false;
for (auto &k : result_vec) { for (auto &k : result_vec) {
if (preview_box_track_id[i].track_id == k.track_id) { 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) break; 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; bbox_t b = k;
cv::Rect r(b.x, b.y, b.w, b.h); cv::Rect r(b.x, b.y, b.w, b.h);
cv::Rect img_rect(cv::Point2i(0, 0), src_mat.size()); cv::Rect img_rect(cv::Point2i(0, 0), src_mat.size());
@ -114,8 +119,10 @@ public:
if (rect_roi.width > 1 || rect_roi.height > 1) { if (rect_roi.width > 1 || rect_roi.height > 1) {
cv::Mat roi = src_mat(rect_roi); cv::Mat roi = src_mat(rect_roi);
cv::resize(roi, dst, cv::Size(preview_box_size, preview_box_size)); cv::resize(roi, dst, cv::Size(preview_box_size, preview_box_size));
preview_box_track_id[i].mat_obj = dst.clone(); 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].current_detection = true;
preview_box_track_id[i].bbox = k;
} }
break; break;
} }
@ -124,27 +131,50 @@ public:
} }
void draw(cv::Mat draw_mat) void draw(cv::Mat draw_mat, bool show_small_boxes = false)
{ {
// draw preview box (from old or current frame) // draw preview box (from old or current frame)
for (size_t i = 0; i < preview_box_track_id.size(); ++i) for (size_t i = 0; i < preview_box_track_id.size(); ++i)
{ {
auto &prev_box = preview_box_track_id[i];
// draw object image // draw object image
cv::Mat dst = preview_box_track_id[i].mat_obj; cv::Mat dst = prev_box.mat_resized_obj;
if (preview_box_track_id[i].last_showed_frames_ago < frames_history && if (prev_box.last_showed_frames_ago < frames_history &&
dst.size() == cv::Size(preview_box_size, preview_box_size)) 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::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); cv::Mat dst_roi = draw_mat(dst_rect_roi);
dst.copyTo(dst_roi); dst.copyTo(dst_roi);
cv::Scalar color = obj_id_to_color(preview_box_track_id[i].obj_id); cv::Scalar color = obj_id_to_color(prev_box.obj_id);
int thickness = (preview_box_track_id[i].current_detection) ? 5 : 1; int thickness = (prev_box.current_detection) ? 5 : 1;
cv::rectangle(draw_mat, dst_rect_roi, color, thickness); cv::rectangle(draw_mat, dst_rect_roi, color, thickness);
unsigned int const track_id = preview_box_track_id[i].track_id; unsigned int const track_id = prev_box.track_id;
std::string track_id_str = (track_id > 0)? std::to_string(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); 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);
}
} }
} }
} }
@ -212,6 +242,8 @@ int main(int argc, char *argv[])
} }
else if (argc > 1) filename = argv[1]; else if (argc > 1) filename = argv[1];
float const thresh = (argc > 5) ? std::stof(argv[5]) : 0.20;
Detector detector(cfg_file, weights_file); Detector detector(cfg_file, weights_file);
auto obj_names = objects_names_from_file(names_file); auto obj_names = objects_names_from_file(names_file);
@ -231,6 +263,7 @@ int main(int argc, char *argv[])
try { try {
#ifdef OPENCV #ifdef OPENCV
preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true); preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
bool show_small_boxes = false;
std::string const file_ext = filename.substr(filename.find_last_of(".") + 1); std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
std::string const protocol = filename.substr(0, 7); std::string const protocol = filename.substr(0, 7);
@ -278,26 +311,29 @@ int main(int argc, char *argv[])
det_image = detector.mat_to_image_resize(cur_frame); det_image = detector.mat_to_image_resize(cur_frame);
//auto old_result_vec = result_vec; //auto old_result_vec = result_vec;
auto old_result_vec = detector.tracking_id(result_vec); auto old_result_vec = detector.tracking_id(result_vec);
result_vec = thread_result_vec; auto detected_result_vec = thread_result_vec;
result_vec = detected_result_vec;
#ifdef TRACK_OPTFLOW #ifdef TRACK_OPTFLOW
// track optical flow // track optical flow
if (track_optflow_queue.size() > 0) { if (track_optflow_queue.size() > 0) {
auto tmp_result_vec = detector.tracking_id(result_vec, false);
small_preview.set(track_optflow_queue.front(), tmp_result_vec);
//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl; //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
cv::Mat first_frame = track_optflow_queue.front();
tracker_flow.update_tracking_flow(track_optflow_queue.front(), result_vec); tracker_flow.update_tracking_flow(track_optflow_queue.front(), result_vec);
while (track_optflow_queue.size() > 1) { while (track_optflow_queue.size() > 1) {
track_optflow_queue.pop(); track_optflow_queue.pop();
result_vec = tracker_flow.tracking_flow(track_optflow_queue.front()); result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), false);
} }
track_optflow_queue.pop(); track_optflow_queue.pop();
passed_flow_frames = 0; passed_flow_frames = 0;
result_vec = detector.tracking_id(result_vec);
auto tmp_result_vec = detector.tracking_id(detected_result_vec);
small_preview.set(first_frame, tmp_result_vec);
} }
#endif #endif
result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
// add old tracked objects // add old tracked objects
for (auto &i : old_result_vec) { for (auto &i : old_result_vec) {
auto it = std::find_if(result_vec.begin(), result_vec.end(), auto it = std::find_if(result_vec.begin(), result_vec.end(),
@ -313,6 +349,7 @@ int main(int argc, char *argv[])
} }
#ifdef TRACK_OPTFLOW #ifdef TRACK_OPTFLOW
tracker_flow.update_cur_bbox_vec(result_vec); tracker_flow.update_cur_bbox_vec(result_vec);
result_vec = tracker_flow.tracking_flow(cur_frame, false); // track optical flow
#endif #endif
consumed = false; consumed = false;
cv_pre_tracked.notify_all(); cv_pre_tracked.notify_all();
@ -323,7 +360,7 @@ int main(int argc, char *argv[])
auto current_image = det_image; auto current_image = det_image;
consumed = true; consumed = true;
while (current_image.use_count() > 0) { while (current_image.use_count() > 0) {
auto result = detector.detect_resized(*current_image, frame_size, 0.20, false); // true auto result = detector.detect_resized(*current_image, frame_size, thresh, false); // true
++fps_det_counter; ++fps_det_counter;
std::unique_lock<std::mutex> lock(mtx); std::unique_lock<std::mutex> lock(mtx);
thread_result_vec = result; thread_result_vec = result;
@ -336,6 +373,7 @@ int main(int argc, char *argv[])
} }
}); });
} }
//while (!consumed); // sync detection
if (!cur_frame.empty()) { if (!cur_frame.empty()) {
steady_end = std::chrono::steady_clock::now(); steady_end = std::chrono::steady_clock::now();
@ -352,7 +390,7 @@ int main(int argc, char *argv[])
++passed_flow_frames; ++passed_flow_frames;
track_optflow_queue.push(cur_frame.clone()); track_optflow_queue.push(cur_frame.clone());
result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow
small_preview.draw(cur_frame); small_preview.draw(cur_frame, show_small_boxes);
#endif #endif
draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps); draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps);
@ -360,7 +398,8 @@ int main(int argc, char *argv[])
large_preview.draw(cur_frame); large_preview.draw(cur_frame);
cv::imshow("window name", cur_frame); cv::imshow("window name", cur_frame);
cv::waitKey(3); // 3 or 16ms int key = cv::waitKey(3); // 3 or 16ms
if (key == 'f') show_small_boxes = !show_small_boxes;
if (output_video.isOpened() && videowrite_ready) { if (output_video.isOpened() && videowrite_ready) {
if (t_videowrite.joinable()) t_videowrite.join(); if (t_videowrite.joinable()) t_videowrite.join();

8
src/yolo_v2_class.hpp
View File

@ -59,7 +59,7 @@ public:
YOLODLL_API int get_net_height() const; YOLODLL_API int get_net_height() const;
YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history = true, 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); int const frames_story = 10, int const max_dist = 150);
#ifdef OPENCV #ifdef OPENCV
std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false) std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)
@ -158,7 +158,7 @@ public:
const int flow_error; const int flow_error;
Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, int _flow_error = -1) : Tracker_optflow(int _gpu_id = 0, int win_size = 7, int max_level = 1, int iterations = 8000, int _flow_error = -1) :
gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-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)) flow_error((_flow_error > 0)? _flow_error:(win_size*4))
{ {
@ -296,7 +296,7 @@ public:
float moved_y = cur_key_pt.y - prev_key_pt.y; float moved_y = cur_key_pt.y - prev_key_pt.y;
if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i]) if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
if (!check_error || (err_cpu.at<float>(0, i) < flow_error && status_cpu.at<unsigned char>(0, i) != 0)) if (err_cpu.at<float>(0, i) < flow_error && status_cpu.at<unsigned char>(0, i) != 0)
{ {
cur_bbox_vec[i].x += moved_x + 0.5; cur_bbox_vec[i].x += moved_x + 0.5;
cur_bbox_vec[i].y += moved_y + 0.5; cur_bbox_vec[i].y += moved_y + 0.5;
@ -304,6 +304,8 @@ public:
} }
else good_bbox_vec_flags[i] = false; else good_bbox_vec_flags[i] = false;
else good_bbox_vec_flags[i] = false; else good_bbox_vec_flags[i] = false;
//if(!check_error && !good_bbox_vec_flags[i]) result_bbox_vec.push_back(cur_bbox_vec[i]);
} }
} }