Optimal params for optical flow tracking. Some small box fixes.

src/yolo_console_dll.cpp

@@ -14,7 +14,7 @@
 #endif
 
 // To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x
-//#define TRACK_OPTFLOW
+#define TRACK_OPTFLOW
 
 #include "yolo_v2_class.hpp"	// imported functions from DLL
 
@@ -37,150 +37,6 @@
 #pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
 #endif
 
-
-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));
-						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(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);
-				}
-			}
-		}
-	}
-};
-
-
 void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, 
 	int current_det_fps = -1, int current_cap_fps = -1)
 {
@@ -188,13 +44,13 @@ void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std
 
 	for (auto &i : result_vec) {
 		cv::Scalar color = obj_id_to_color(i.obj_id);
-		cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 5);
+		cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 2);
 		if (obj_names.size() > i.obj_id) {
 			std::string obj_name = obj_names[i.obj_id];
 			if (i.track_id > 0) obj_name += " - " + std::to_string(i.track_id);
 			cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
 			int const max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
-			cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 3, 0), std::max((int)i.y - 30, 0)), 
+			cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 1, 0), std::max((int)i.y - 30, 0)), 
 				cv::Point2f(std::min((int)i.x + max_width, mat_img.cols-1), std::min((int)i.y, mat_img.rows-1)), 
 				color, CV_FILLED, 8, 0);
 			putText(mat_img, obj_name, cv::Point2f(i.x, i.y - 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(0, 0, 0), 2);
@@ -309,7 +165,6 @@ int main(int argc, char *argv[])
 					{
 						std::unique_lock<std::mutex> lock(mtx);
 						det_image = detector.mat_to_image_resize(cur_frame);
-						//auto old_result_vec = result_vec;
 						auto old_result_vec = detector.tracking_id(result_vec);
 						auto detected_result_vec = thread_result_vec;
 						result_vec = detected_result_vec;

src/yolo_v2_class.hpp

@@ -144,7 +144,8 @@ private:
 };
 
 
-#if defined(TRACK_OPTFLOW) && defined(OPENCV)
+#ifdef OPENCV
+#ifdef TRACK_OPTFLOW
 
 #include <opencv2/cudaoptflow.hpp>
 #include <opencv2/cudaimgproc.hpp>
@@ -158,7 +159,7 @@ public:
 	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 @@ public:
 
 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