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Implementation of tracking-function moved to cpp-file

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This commit is contained in:
AlexeyAB
2017-04-03 15:27:50 +03:00
parent 9493fa14c4
commit d360b6a42a
2 changed files with 52 additions and 51 deletions
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50
src/yolo_v2_class.cpp
View File

@ -201,4 +201,54 @@ YOLODLL_API std::vector<bbox_t> Detector::detect(image_t img, float thresh)
cudaSetDevice(old_gpu_index);
return bbox_vec;
}
YOLODLL_API std::vector<bbox_t> Detector::tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story)
{
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;
}

53
src/yolo_v2_class.hpp
View File

@ -44,6 +44,8 @@ public:
static YOLODLL_API image_t load_image(std::string image_filename);
static YOLODLL_API void free_image(image_t m);
YOLODLL_API std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 4);
#ifdef OPENCV
std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2)
{
@ -113,57 +115,6 @@ 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;
}
};