Tracking small fixes

src/yolo_console_dll.cpp

@@ -64,7 +64,6 @@ public:
 		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 set(cv::Mat src_mat, std::vector<bbox_t> result_vec)
 	{
 		size_t const count_preview_boxes = src_mat.cols / preview_box_size;
@@ -142,6 +141,10 @@ public:
 				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);
+
+				unsigned int const track_id = preview_box_track_id[i].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);
 			}
 		}
 	}
@@ -149,7 +152,7 @@ public:
 
 
 void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, 
-	unsigned int wait_msec = 0, std::string win_name = "window name", int current_det_fps = -1, int current_cap_fps = -1)
+	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 } };
 
@@ -171,9 +174,6 @@ void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std
 		std::string fps_str = "FPS detection: " + std::to_string(current_det_fps) + "   FPS capture: " + std::to_string(current_cap_fps);
 		putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
 	}
-
-	cv::imshow(win_name, mat_img);
-	cv::waitKey(wait_msec);
 }
 #endif	// OPENCV
 
@@ -276,7 +276,8 @@ 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 = result_vec;
+						auto old_result_vec = detector.tracking_id(result_vec);
 						result_vec = thread_result_vec;
 #ifdef TRACK_OPTFLOW
 						// track optical flow
@@ -285,11 +286,11 @@ int main(int argc, char *argv[])
 							small_preview.set(track_optflow_queue.front(), tmp_result_vec);
 
 							//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
-							tracker_flow.update_tracking_flow(track_optflow_queue.front());
+							tracker_flow.update_tracking_flow(track_optflow_queue.front(), result_vec);
 
 							while (track_optflow_queue.size() > 1) {
 								track_optflow_queue.pop();
-								result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec, true);
+								result_vec = tracker_flow.tracking_flow(track_optflow_queue.front());
 							}
 							track_optflow_queue.pop();
 							passed_flow_frames = 0;
@@ -306,10 +307,13 @@ int main(int argc, char *argv[])
 								if (i.frames_counter-- > 1)
 									result_vec.push_back(i);
 							}
-							else
+							else {
 								it->frames_counter = std::min((unsigned)3, i.frames_counter + 1);
 							}
-
+						}
+#ifdef TRACK_OPTFLOW
+						tracker_flow.update_cur_bbox_vec(result_vec);
+#endif
 						consumed = false;
 						cv_pre_tracked.notify_all();
 					}
@@ -347,13 +351,16 @@ int main(int argc, char *argv[])
 #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
+						result_vec = tracker_flow.tracking_flow(cur_frame);	// track optical flow
 						small_preview.draw(cur_frame);
 #endif						
-						large_preview.draw(cur_frame);
 
-						draw_boxes(cur_frame, result_vec, obj_names, 3, "window name", current_det_fps, current_cap_fps);	// 3 or 16ms
+						draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps);
 						//show_console_result(result_vec, obj_names);
+						large_preview.draw(cur_frame);
+
+						cv::imshow("window name", cur_frame);
+						cv::waitKey(3);	// 3 or 16ms
 
 						if (output_video.isOpened() && videowrite_ready) {
 							if (t_videowrite.joinable()) t_videowrite.join();
@@ -397,6 +404,8 @@ int main(int argc, char *argv[])
 				std::vector<bbox_t> result_vec = detector.detect(mat_img);
 				result_vec = detector.tracking_id(result_vec);	// comment it - if track_id is not required
 				draw_boxes(mat_img, result_vec, obj_names);
+				cv::imshow("window name", mat_img);
+				cv::waitKey(3);	// 3 or 16ms
 				show_console_result(result_vec, obj_names);
 			}
 #else

src/yolo_v2_class.hpp

@@ -155,9 +155,12 @@ class Tracker_optflow {
 public:
 	const int gpu_count;
 	const int gpu_id;
+	const int flow_error;
 
 
-	Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1))
+	Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, 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))
 	{
 		int const old_gpu_id = cv::cuda::getDevice();
 		cv::cuda::setDevice(gpu_id);
@@ -165,9 +168,9 @@ public:
 		stream = cv::cuda::Stream();
 
 		sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
-		sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(9, 9));	// 15, 21, 31
-		sync_PyrLKOpticalFlow_gpu->setMaxLevel(3);		// +- 3 pt
-		sync_PyrLKOpticalFlow_gpu->setNumIters(2000);	// def: 30
+		sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(win_size, win_size));	// 9, 15, 21, 31
+		sync_PyrLKOpticalFlow_gpu->setMaxLevel(max_level);		// +- 3 pt
+		sync_PyrLKOpticalFlow_gpu->setNumIters(iterations);	// 2000, def: 30
 
 		cv::cuda::setDevice(old_gpu_id);
 	}
@@ -175,7 +178,6 @@ public:
 	// just to avoid extra allocations
 	cv::cuda::GpuMat src_mat_gpu;
 	cv::cuda::GpuMat dst_mat_gpu, dst_grey_gpu;
-	cv::cuda::GpuMat tmp_grey_gpu;
 	cv::cuda::GpuMat prev_pts_flow_gpu, cur_pts_flow_gpu;
 	cv::cuda::GpuMat status_gpu, err_gpu;
 
@@ -183,7 +185,41 @@ public:
 	cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
 	cv::cuda::Stream stream;
 
-	void update_tracking_flow(cv::Mat src_mat)
+	std::vector<bbox_t> cur_bbox_vec;
+	std::vector<bool> good_bbox_vec_flags;
+	cv::Mat prev_pts_flow_cpu;
+
+	void update_cur_bbox_vec(std::vector<bbox_t> _cur_bbox_vec)
+	{
+		cur_bbox_vec = _cur_bbox_vec;
+		good_bbox_vec_flags.resize(cur_bbox_vec.size());
+		for (auto &i : good_bbox_vec_flags) i = true;
+		cv::Mat prev_pts, cur_pts_flow_cpu;
+
+		for (auto &i : cur_bbox_vec) {
+			float x_center = (i.x + i.w / 2.0F);
+			float y_center = (i.y + i.h / 2.0F);
+			prev_pts.push_back(cv::Point2f(x_center, y_center));
+		}
+
+		if (prev_pts.rows == 0)
+			prev_pts_flow_cpu = cv::Mat();
+		else
+			cv::transpose(prev_pts, prev_pts_flow_cpu);
+
+		if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
+			prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
+			cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
+
+			status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
+			err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
+		}
+
+		prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
+	}
+
+
+	void update_tracking_flow(cv::Mat src_mat, std::vector<bbox_t> _cur_bbox_vec)
 	{
 		int const old_gpu_id = cv::cuda::getDevice();
 		if (old_gpu_id != gpu_id)
@@ -195,6 +231,8 @@ public:
 				src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1);
 			}
 
+			update_cur_bbox_vec(_cur_bbox_vec);
+
 			src_mat_gpu.upload(src_mat, stream);
 			cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
 		}
@@ -203,7 +241,7 @@ public:
 	}
 
 
-	std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, bool check_error = false)
+	std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, bool check_error = true)
 	{
 		if (sync_PyrLKOpticalFlow_gpu.empty()) {
 			std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -217,12 +255,10 @@ public:
 		if (dst_mat_gpu.cols == 0) {
 			dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type());
 			dst_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
-			tmp_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
 		}
 
 		dst_mat_gpu.upload(dst_mat, stream);
 
-
 		cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 0, stream);
 
 		if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) {
@@ -232,40 +268,13 @@ public:
 			return cur_bbox_vec;
 		}
 
-		cv::Mat prev_pts, prev_pts_flow_cpu, cur_pts_flow_cpu;
-
-		for (auto &i : cur_bbox_vec) {
-			float x_center = (i.x + i.w / 2);
-			float y_center = (i.y + i.h / 2);
-			prev_pts.push_back(cv::Point2f(x_center, y_center));
-		}
-
-
-		if (prev_pts.rows == 0)
-			prev_pts_flow_cpu = cv::Mat();
-		else
-			cv::transpose(prev_pts, prev_pts_flow_cpu);
-
-
-		if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
-			prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
-			cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
-
-			status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
-			err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
-		}
-
-		prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
-
-
-		dst_grey_gpu.copyTo(tmp_grey_gpu, stream);
-
 		////sync_PyrLKOpticalFlow_gpu.sparse(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, &err_gpu);	// OpenCV 2.4.x
 		sync_PyrLKOpticalFlow_gpu->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream);	// OpenCV 3.x
 
+		cv::Mat cur_pts_flow_cpu;
 		cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);
 
-		tmp_grey_gpu.copyTo(src_grey_gpu, stream);
+		dst_grey_gpu.copyTo(src_grey_gpu, stream);
 
 		cv::Mat err_cpu, status_cpu;
 		err_gpu.download(err_cpu, stream);
@@ -275,6 +284,8 @@ public:
 
 		std::vector<bbox_t> result_bbox_vec;
 
+		if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size()) 
+		{
 			for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
 			{
 				cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
@@ -283,16 +294,21 @@ public:
 				float moved_x = cur_key_pt.x - prev_key_pt.x;
 				float moved_y = cur_key_pt.y - prev_key_pt.y;
 
-			if (err_cpu.cols > i &&  status_cpu.cols > i)
-				if (abs(moved_x) < 100 && abs(moved_y) < 100)
-					if (!check_error || (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0))
+				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))
 					{
 						cur_bbox_vec[i].x += moved_x + 0.5;
 						cur_bbox_vec[i].y += moved_y + 0.5;
 						result_bbox_vec.push_back(cur_bbox_vec[i]);
 					}
+					else good_bbox_vec_flags[i] = false;
+				else good_bbox_vec_flags[i] = false;
+			}
 		}
 
+		cur_pts_flow_gpu.swap(prev_pts_flow_gpu);
+		cur_pts_flow_cpu.copyTo(prev_pts_flow_cpu);
+
 		if (old_gpu_id != gpu_id)
 			cv::cuda::setDevice(old_gpu_id);