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Fixed preview box for short-term object detection (small box) and long-term object tracking (large box)

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pull/355/head
AlexeyAB 7 years ago
parent cc6ab9b3cc
commit 8b94d474d5
3 changed files with 103 additions and 64 deletions
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  1. 154
      src/yolo_console_dll.cpp
  2. 4
      src/yolo_v2_class.cpp
  3. 9
      src/yolo_v2_class.hpp

154
src/yolo_console_dll.cpp
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@ -47,76 +47,97 @@ cv::Scalar obj_id_to_color(int obj_id) {
return color;
}
void draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec)
{
size_t const preview_box_size = 100; // size of preview box in ptx
size_t const count_preview_boxes = draw_mat.cols / preview_box_size;
unsigned int const frames_history = 30; // how long to keep the history saved
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;
cv::Mat mat_obj;
preview_box_track_t() : track_id(0), obj_id(0), last_showed_frames_ago(frames_history) {}
};
static std::vector<preview_box_track_t> preview_box_track_id(count_preview_boxes);
// increment frames history
for (auto &i : preview_box_track_id)
i.last_showed_frames_ago = std::min(frames_history, i.last_showed_frames_ago + 1);
// occupy empty boxes
for (auto &k : result_vec) {
bool found = false;
for (auto &i : preview_box_track_id) {
if (i.track_id == k.track_id) {
i.last_showed_frames_ago = 0;
found = true;
break;
}
}
if (!found) {
std::vector<preview_box_track_t> preview_box_track_id;
size_t const preview_box_size, const 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 draw_preview_boxes(cv::Mat src_mat, cv::Mat draw_mat, std::vector<bbox_t> result_vec, bool draw_boxes = true)
{
size_t const count_preview_boxes = draw_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;
for (auto &i : preview_box_track_id) {
if (i.last_showed_frames_ago == frames_history) {
i.track_id = k.track_id;
i.obj_id = k.obj_id;
i.last_showed_frames_ago = 0;
if (i.track_id == k.track_id) {
if(!one_off_detections)
i.last_showed_frames_ago = 0;
found = true;
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_obj;
for (auto &k : result_vec) {
if (preview_box_track_id[i].track_id == k.track_id) {
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 = dst;
if (!found) {
for (auto &i : preview_box_track_id) {
if (i.last_showed_frames_ago == frames_history) {
if (!one_off_detections && k.frames_counter == 0) break;
i.track_id = k.track_id;
i.obj_id = k.obj_id;
i.last_showed_frames_ago = 0;
break;
}
}
break;
}
}
// draw object image
if (preview_box_track_id[i].last_showed_frames_ago < frames_history &&
dst.size() == cv::Size(preview_box_size, preview_box_size))
// draw preview box (from old or current frame)
for (size_t i = 0; i < preview_box_track_id.size(); ++i)
{
cv::Rect dst_rect_roi(cv::Point2i(i * preview_box_size, draw_mat.rows - preview_box_size), dst.size());
cv::Mat dst_roi = draw_mat(dst_rect_roi);
dst.copyTo(dst_roi);
// get object image
cv::Mat dst = preview_box_track_id[i].mat_obj;
bool 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) 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 = dst.clone();
current_detection = true;
}
break;
}
}
cv::Scalar color = obj_id_to_color(preview_box_track_id[i].obj_id);
cv::rectangle(draw_mat, dst_rect_roi, color, 5);
// draw object image
if (draw_boxes) {
cv::Mat dst = preview_box_track_id[i].mat_obj;
if (preview_box_track_id[i].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(preview_box_track_id[i].obj_id);
int thickness = (current_detection) ? 5 : 1;
cv::rectangle(draw_mat, dst_rect_roi, color, thickness);
}
}
}
}
}
};
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
@ -192,6 +213,7 @@ int main(int argc, char *argv[])
Tracker_optflow tracker_flow;
detector.wait_stream = true;
#endif
preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
while (true)
{
@ -245,12 +267,13 @@ 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;
result_vec = thread_result_vec;
result_vec = detector.tracking(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
#ifdef TRACK_OPTFLOW
// track optical flow
if (track_optflow_queue.size() > 0) {
//draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec);
small_preview.draw_preview_boxes(track_optflow_queue.front(), cur_frame, result_vec, false);
std::queue<cv::Mat> new_track_optflow_queue;
//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
@ -266,6 +289,19 @@ int main(int argc, char *argv[])
passed_flow_frames = 0;
}
#endif
// add old tracked objects
for (auto &i : old_result_vec) {
auto it = std::find_if(result_vec.begin(), result_vec.end(),
[&i](bbox_t const& b) { return b.track_id == i.track_id && b.obj_id == i.obj_id; });
bool track_id_absent = (it == result_vec.end());
if (track_id_absent) {
if (i.frames_counter-- > 1)
result_vec.push_back(i);
}
else
it->frames_counter = std::min((unsigned)3, i.frames_counter + 1);
}
consumed = false;
cv_pre_tracked.notify_all();
}
@ -301,9 +337,11 @@ 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); // track optical flow
result_vec = tracker_flow.tracking_flow(cur_frame, result_vec, true); // track optical flow
small_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true);
#endif
//draw_preview_boxes(cur_frame, cur_frame, result_vec);
large_preview.draw_preview_boxes(cur_frame.clone(), cur_frame, result_vec, true);
draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps); // 3 or 16ms
//show_console_result(result_vec, obj_names);
@ -347,7 +385,7 @@ int main(int argc, char *argv[])
else { // image file
cv::Mat mat_img = cv::imread(filename);
std::vector<bbox_t> result_vec = detector.detect(mat_img);
result_vec = detector.tracking(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
draw_boxes(mat_img, result_vec, obj_names);
show_console_result(result_vec, obj_names);
}

4
src/yolo_v2_class.cpp
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@ -252,7 +252,7 @@ YOLODLL_API std::vector<bbox_t> Detector::detect(image_t img, float thresh, bool
return bbox_vec;
}
YOLODLL_API std::vector<bbox_t> Detector::tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story)
YOLODLL_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story, int const max_dist)
{
detector_gpu_t &det_gpu = *reinterpret_cast<detector_gpu_t *>(detector_gpu_ptr.get());
@ -279,7 +279,7 @@ YOLODLL_API std::vector<bbox_t> Detector::tracking(std::vector<bbox_t> cur_bbox_
float center_x_diff = (float)(i.x + i.w/2) - (float)(k.x + k.w/2);
float center_y_diff = (float)(i.y + i.h/2) - (float)(k.y + k.h/2);
unsigned int cur_dist = sqrt(center_x_diff*center_x_diff + center_y_diff*center_y_diff);
if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
if (cur_dist < max_dist && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
dist_vec[m] = cur_dist;
cur_index = m;
}

9
src/yolo_v2_class.hpp
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@ -29,6 +29,7 @@ struct bbox_t {
float prob; // confidence - probability that the object was found correctly
unsigned int obj_id; // class of object - from range [0, classes-1]
unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
unsigned int frames_counter;// counter of frames on which the object was detected
};
struct image_t {
@ -57,7 +58,7 @@ public:
YOLODLL_API int get_net_width() const;
YOLODLL_API int get_net_height() const;
YOLODLL_API std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 6);
YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 6, int const max_dist = 150);
#ifdef OPENCV
std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)
@ -163,7 +164,7 @@ public:
stream = cv::cuda::Stream();
sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21)); // 15, 21, 31
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
@ -201,7 +202,7 @@ public:
}
std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec)
std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, bool check_error = false)
{
if (sync_PyrLKOpticalFlow_gpu.empty()) {
std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@ -283,7 +284,7 @@ public:
if (err_cpu.cols > i && status_cpu.cols > i)
if (abs(moved_x) < 100 && abs(moved_y) < 100)
//if (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0)
if (!check_error || (err_cpu.at<float>(0, i) < 60 && 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;

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