Added linear extrapolation of coordinates

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
 
@@ -37,6 +37,140 @@
 #pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
 #endif
 
+class track_kalman {
+public:
+	cv::KalmanFilter kf;
+	int state_size, meas_size, contr_size;
+
+
+	track_kalman(int _state_size = 10, int _meas_size = 10, int _contr_size = 0)
+		: state_size(_state_size), meas_size(_meas_size), contr_size(_contr_size)
+	{
+		kf.init(state_size, meas_size, contr_size, CV_32F);
+
+		cv::setIdentity(kf.measurementMatrix);
+		cv::setIdentity(kf.measurementNoiseCov, cv::Scalar::all(1e-1));
+		cv::setIdentity(kf.processNoiseCov, cv::Scalar::all(1e-5));
+		cv::setIdentity(kf.errorCovPost, cv::Scalar::all(1e-2));
+		cv::setIdentity(kf.transitionMatrix);
+	}
+
+	void set(std::vector<bbox_t> result_vec) {
+		for (size_t i = 0; i < result_vec.size() && i < state_size*2; ++i) {
+			kf.statePost.at<float>(i * 2 + 0) = result_vec[i].x;
+			kf.statePost.at<float>(i * 2 + 1) = result_vec[i].y;
+		}
+	}
+
+	// Kalman.correct() calculates: statePost = statePre + gain * (z(k)-measurementMatrix*statePre);
+	// corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
+	std::vector<bbox_t> correct(std::vector<bbox_t> result_vec) {
+		cv::Mat measurement(meas_size, 1, CV_32F);
+		for (size_t i = 0; i < result_vec.size() && i < meas_size * 2; ++i) {
+			measurement.at<float>(i * 2 + 0) = result_vec[i].x;
+			measurement.at<float>(i * 2 + 1) = result_vec[i].y;
+		}
+		cv::Mat estimated = kf.correct(measurement);
+		for (size_t i = 0; i < result_vec.size() && i < meas_size * 2; ++i) {
+			result_vec[i].x = estimated.at<float>(i * 2 + 0);
+			result_vec[i].y = estimated.at<float>(i * 2 + 1);
+		}
+		return result_vec;
+	}
+
+	// Kalman.predict() calculates: statePre = TransitionMatrix * statePost;
+	// predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
+	std::vector<bbox_t> predict() {
+		std::vector<bbox_t> result_vec;
+		cv::Mat control;
+		cv::Mat prediction = kf.predict(control);
+		for (size_t i = 0; i < prediction.rows && i < state_size * 2; ++i) {
+			result_vec[i].x = prediction.at<float>(i * 2 + 0);
+			result_vec[i].y = prediction.at<float>(i * 2 + 1);
+		}
+		return result_vec;
+	}
+
+};
+
+
+
+
+class extrapolate_coords_t {
+public:
+	std::vector<bbox_t> old_result_vec;
+	std::vector<float> dx_vec, dy_vec, time_vec;
+	std::vector<float> old_dx_vec, old_dy_vec;
+
+	void new_result(std::vector<bbox_t> new_result_vec, float new_time) {
+		old_dx_vec = dx_vec;
+		old_dy_vec = dy_vec;
+		if (old_dx_vec.size() != old_result_vec.size()) std::cout << "old_dx != old_res \n";
+		dx_vec = std::vector<float>(new_result_vec.size(), 0);
+		dy_vec = std::vector<float>(new_result_vec.size(), 0);
+		update_result(new_result_vec, new_time, false);
+		old_result_vec = new_result_vec;
+		time_vec = std::vector<float>(new_result_vec.size(), new_time);
+	}
+
+	void update_result(std::vector<bbox_t> new_result_vec, float new_time, bool update = true) {
+		for (size_t i = 0; i < new_result_vec.size(); ++i) {
+			for (size_t k = 0; k < old_result_vec.size(); ++k) {
+				if (old_result_vec[k].track_id == new_result_vec[i].track_id && old_result_vec[k].obj_id == new_result_vec[i].obj_id) {
+					float const delta_time = new_time - time_vec[k];
+					if (abs(delta_time) < 1) break;
+					size_t index = (update) ? k : i;
+					float dx = ((float)new_result_vec[i].x - (float)old_result_vec[k].x) / delta_time;
+					float dy = ((float)new_result_vec[i].y - (float)old_result_vec[k].y) / delta_time;
+					float old_dx = dx, old_dy = dy;
+
+					// if it's shaking
+					if (update) {
+						if (dx * dx_vec[i] < 0) dx = dx / 2;
+						if (dy * dy_vec[i] < 0) dy = dy / 2;
+					} else {
+						if (dx * old_dx_vec[k] < 0) dx = dx / 2;
+						if (dy * old_dy_vec[k] < 0) dy = dy / 2;
+					}
+					dx_vec[index] = dx;
+					dy_vec[index] = dy;
+
+					//if (old_dx == dx && old_dy == dy) std::cout << "not shakin \n";
+					//else std::cout << "shakin \n";
+
+					if (dx_vec[index] > 1000 || dy_vec[index] > 1000) {
+						//std::cout << "!!! bad dx or dy, dx = " << dx_vec[index] << ", dy = " << dy_vec[index] << 
+						//	", delta_time = " << delta_time << ", update = " << update << std::endl;
+						dx_vec[index] = 0;
+						dy_vec[index] = 0;						
+					}
+					old_result_vec[k].x = new_result_vec[i].x;
+					old_result_vec[k].y = new_result_vec[i].y;
+					time_vec[k] = new_time;
+					break;
+				}
+			}
+		}
+	}
+
+	std::vector<bbox_t> predict(float cur_time) {
+		std::vector<bbox_t> result_vec = old_result_vec;
+		for (size_t i = 0; i < old_result_vec.size(); ++i) {
+			float const delta_time = cur_time - time_vec[i];
+			auto &bbox = result_vec[i];
+			float new_x = (float) bbox.x + dx_vec[i] * delta_time;
+			float new_y = (float) bbox.y + dy_vec[i] * delta_time;
+			if (new_x > 0) bbox.x = new_x;
+			else bbox.x = 0;
+			if (new_y > 0) bbox.y = new_y;
+			else bbox.y = 0;
+		}
+		return result_vec;
+	}
+
+};
+
+
 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)
 {
@@ -104,7 +238,7 @@ int main(int argc, char *argv[])
 
 	auto obj_names = objects_names_from_file(names_file);
 	std::string out_videofile = "result.avi";
-	bool const save_output_videofile = false;
+	bool const save_output_videofile = true;
 #ifdef TRACK_OPTFLOW
 	Tracker_optflow tracker_flow;
 	detector.wait_stream = true;
@@ -118,6 +252,9 @@ int main(int argc, char *argv[])
 		
 		try {
 #ifdef OPENCV
+			extrapolate_coords_t extrapolate_coords;
+			bool extrapolate_flag = false;
+			float cur_time_extrapolate = 0, old_time_extrapolate = 0;
 			preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
 			bool show_small_boxes = false;
 
@@ -159,6 +296,7 @@ int main(int argc, char *argv[])
 						cur_frame = cap_frame.clone();
 					}
 					t_cap = std::thread([&]() { cap >> cap_frame; });
+					++cur_time_extrapolate;
 
 					// swap result bouned-boxes and input-frame
 					if(consumed)
@@ -177,18 +315,23 @@ int main(int argc, char *argv[])
 
 							while (track_optflow_queue.size() > 1) {
 								track_optflow_queue.pop();
-								result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), false);
+								result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), true);
 							}
 							track_optflow_queue.pop();
 							passed_flow_frames = 0;
 
 							result_vec = detector.tracking_id(result_vec);
-							auto tmp_result_vec = detector.tracking_id(detected_result_vec);
+							auto tmp_result_vec = detector.tracking_id(detected_result_vec, false);
 							small_preview.set(first_frame, tmp_result_vec);
+
+							extrapolate_coords.new_result(tmp_result_vec, old_time_extrapolate);
+							old_time_extrapolate = cur_time_extrapolate;
+							extrapolate_coords.update_result(result_vec, cur_time_extrapolate - 1);
 						}
-#endif
+#else
 						result_vec = detector.tracking_id(result_vec);	// comment it - if track_id is not required					
-
+						extrapolate_coords.new_result(result_vec, cur_time_extrapolate - 1);
+#endif
 						// add old tracked objects
 						for (auto &i : old_result_vec) {
 							auto it = std::find_if(result_vec.begin(), result_vec.end(),
@@ -204,7 +347,7 @@ int main(int argc, char *argv[])
 						}
 #ifdef TRACK_OPTFLOW
 						tracker_flow.update_cur_bbox_vec(result_vec);
-						result_vec = tracker_flow.tracking_flow(cur_frame, false);	// track optical flow
+						result_vec = tracker_flow.tracking_flow(cur_frame, true);	// track optical flow
 #endif
 						consumed = false;
 						cv_pre_tracked.notify_all();
@@ -245,16 +388,23 @@ int main(int argc, char *argv[])
 						++passed_flow_frames;
 						track_optflow_queue.push(cur_frame.clone());
 						result_vec = tracker_flow.tracking_flow(cur_frame);	// track optical flow
+						extrapolate_coords.update_result(result_vec, cur_time_extrapolate);
 						small_preview.draw(cur_frame, show_small_boxes);
 #endif						
-
+						auto result_vec_draw = result_vec;
-						draw_boxes(cur_frame, result_vec, obj_names, current_det_fps, current_cap_fps);
+						if (extrapolate_flag) {
+							result_vec_draw = extrapolate_coords.predict(cur_time_extrapolate);
+							cv::putText(cur_frame, "extrapolate", cv::Point2f(10, 40), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(50, 50, 0), 2);
+						}
+						draw_boxes(cur_frame, result_vec_draw, 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);
 						int key = cv::waitKey(3);	// 3 or 16ms
 						if (key == 'f') show_small_boxes = !show_small_boxes;
+						if (key == 'p') while (true) if(cv::waitKey(100) == 'p') break;
+						if (key == 'e') extrapolate_flag = !extrapolate_flag;
 
 						if (output_video.isOpened() && videowrite_ready) {
 							if (t_videowrite.joinable()) t_videowrite.join();

src/yolo_v2_class.hpp

@@ -297,7 +297,8 @@ public:
 				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 (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 &&
+						((float)cur_bbox_vec[i].x + moved_x) > 0 && ((float)cur_bbox_vec[i].y + moved_y) > 0)
 					{
 						cur_bbox_vec[i].x += moved_x + 0.5;
 						cur_bbox_vec[i].y += moved_y + 0.5;