Max speed threshold for static objects

Nuzhny007 · Nuzhny007 · commit ab77315e37da · 2020-12-04T06:47:35.000+03:00
diff --git a/data/settings.ini b/data/settings.ini
@@ -83,3 +83,5 @@ detect_abandoned = 0
 min_static_time = 5
 # After this time (in seconds) the abandoned object will be removed
 max_static_time = 25
+# Speed in pixels. If speed of object is more that this value than object is non static
+max_speed_for_static = 10
diff --git a/example/VideoExample.cpp b/example/VideoExample.cpp
@@ -78,6 +78,7 @@ bool VideoExample::ParseTrackerSettings(const std::string& settingsFile)
         m_trackerSettings.m_useAbandonedDetection = reader.GetInteger("tracking", "detect_abandoned", 0) != 0;
         m_trackerSettings.m_minStaticTime = reader.GetInteger("tracking", "min_static_time", 5);
         m_trackerSettings.m_maxStaticTime = reader.GetInteger("tracking", "max_static_time", 25);
+        m_trackerSettings.m_maxSpeedForStatic = reader.GetInteger("tracking", "max_speed_for_static", 10);
 
 		return true;
 	}
diff --git a/src/Tracker/Ctracker.cpp b/src/Tracker/Ctracker.cpp
@@ -150,16 +150,16 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
                 m_tracks[i]->Update(regions[assignment[i]],
                         true, m_settings.m_maxTraceLength,
                         m_prevFrame, currFrame,
-                        m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0);
+                        m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0, m_settings.m_maxSpeedForStatic);
             else
                 m_tracks[i]->Update(regions[assignment[i]], regionEmbeddings[assignment[i]],
                         true, m_settings.m_maxTraceLength,
                         m_prevFrame, currFrame,
-                        m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0);
+                        m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0, m_settings.m_maxSpeedForStatic);
         }
         else				     // if not continue using predictions
         {
-            m_tracks[i]->Update(CRegion(), false, m_settings.m_maxTraceLength, m_prevFrame, currFrame, 0);
+            m_tracks[i]->Update(CRegion(), false, m_settings.m_maxTraceLength, m_prevFrame, currFrame, 0, m_settings.m_maxSpeedForStatic);
         }
     }
 }
diff --git a/src/Tracker/Ctracker.h b/src/Tracker/Ctracker.h
@@ -21,7 +21,7 @@ struct TrackerSettings
 {
     tracking::KalmanType m_kalmanType = tracking::KalmanLinear;
     tracking::FilterGoal m_filterGoal = tracking::FilterCenter;
-    tracking::LostTrackType m_lostTrackType = tracking::TrackKCF;
+    tracking::LostTrackType m_lostTrackType = tracking::TrackKCF; // Used if m_filterGoal == tracking::FilterRect
     tracking::MatchType m_matchType = tracking::MatchHungrian;
 
 	std::array<track_t, tracking::DistsCount> m_distType;
@@ -90,6 +90,12 @@ struct TrackerSettings
     /// After this time (in seconds) the abandoned object will be removed
     ///
     int m_maxStaticTime = 25;
+    ///
+    /// \brief m_maxSpeedForStatic
+    /// Speed in pixels
+    /// If speed of object is more that this value than object is non static
+    ///
+    int m_maxSpeedForStatic = 10;
 
 	///
 	/// \brief m_nearTypes
diff --git a/src/Tracker/track.cpp b/src/Tracker/track.cpp
@@ -181,7 +181,7 @@ void CTrack::Update(const CRegion& region,
                     size_t max_trace_length,
                     cv::UMat prevFrame,
                     cv::UMat currFrame,
-                    int trajLen)
+                    int trajLen, int maxSpeedForStatic)
 {
     if (m_filterObjectSize) // Kalman filter for object coordinates and size
         RectUpdate(region, dataCorrect, prevFrame, currFrame);
@@ -195,7 +195,7 @@ void CTrack::Update(const CRegion& region,
         m_lastRegion = region;
         m_trace.push_back(m_predictionPoint, region.m_rrect.center);
 
-        CheckStatic(trajLen, currFrame, region);
+        CheckStatic(trajLen, currFrame, region, maxSpeedForStatic);
     }
     else
     {
@@ -222,7 +222,7 @@ void CTrack::Update(const CRegion& region,
                     size_t max_trace_length,
                     cv::UMat prevFrame,
                     cv::UMat currFrame,
-                    int trajLen)
+                    int trajLen, int maxSpeedForStatic)
 {
     m_regionEmbedding = regionEmbedding;
 
@@ -238,7 +238,7 @@ void CTrack::Update(const CRegion& region,
         m_lastRegion = region;
         m_trace.push_back(m_predictionPoint, m_lastRegion.m_rrect.center);
 
-        CheckStatic(trajLen, currFrame, region);
+        CheckStatic(trajLen, currFrame, region, maxSpeedForStatic);
     }
     else
     {
@@ -355,7 +355,7 @@ track_t CTrack::HeightDist(const CRegion& reg) const
 /// \param trajLen
 /// \return
 ///
-bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region)
+bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region, int maxSpeedForStatic)
 {
     if (!trajLen || static_cast<int>(m_trace.size()) < trajLen)
     {
@@ -366,9 +366,8 @@ bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region)
     else
     {
         auto velocity = m_kalman.GetVelocity();
-        track_t speed = sqrt(sqr(velocity[0] * trajLen) + sqr(velocity[1] * trajLen));
-        const track_t speedThresh = 10;
-        if (speed < speedThresh)
+        track_t speed = sqrt(sqr(velocity[0]) + sqr(velocity[1]));
+        if (speed < maxSpeedForStatic)
         {
             if (!m_isStatic)
             {
diff --git a/src/Tracker/track.h b/src/Tracker/track.h
@@ -310,12 +310,12 @@ class CTrack
     track_t WidthDist(const CRegion& reg) const;
     track_t HeightDist(const CRegion& reg) const;
 
-    void Update(const CRegion& region, bool dataCorrect, size_t max_trace_length, cv::UMat prevFrame, cv::UMat currFrame, int trajLen);
-    void Update(const CRegion& region, const RegionEmbedding& regionEmbedding, bool dataCorrect, size_t max_trace_length, cv::UMat prevFrame, cv::UMat currFrame, int trajLen);
+    void Update(const CRegion& region, bool dataCorrect, size_t max_trace_length, cv::UMat prevFrame, cv::UMat currFrame, int trajLen, int maxSpeedForStatic);
+    void Update(const CRegion& region, const RegionEmbedding& regionEmbedding, bool dataCorrect, size_t max_trace_length, cv::UMat prevFrame, cv::UMat currFrame, int trajLen, int maxSpeedForStatic);
 
     bool IsStatic() const;
     bool IsStaticTimeout(int framesTime) const;
-	bool IsOutOfTheFrame() const;
+    bool IsOutOfTheFrame() const;
 
     cv::RotatedRect GetLastRect() const;
 
@@ -328,9 +328,9 @@ class CTrack
     TrackingObject ConstructObject() const;
 
 private:
-	TKalmanFilter m_kalman;
-	CRegion m_lastRegion;
-	Trace m_trace;
+    TKalmanFilter m_kalman;
+    CRegion m_lastRegion;
+    Trace m_trace;
     cv::RotatedRect m_predictionRect;
     Point_t m_predictionPoint;
 
@@ -343,22 +343,26 @@ class CTrack
 #endif
     std::unique_ptr<VOTTracker> m_VOTTracker;
 
+    ///
     void RectUpdate(const CRegion& region, bool dataCorrect, cv::UMat prevFrame, cv::UMat currFrame);
 
+    ///
     void CreateExternalTracker(int channels);
 
+    ///
     void PointUpdate(const Point_t& pt, const cv::Size& newObjSize, bool dataCorrect, const cv::Size& frameSize);
 
     RegionEmbedding m_regionEmbedding;
 
-    bool CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region);
-	cv::UMat m_staticFrame;
-	cv::Rect m_staticRect;
+    ///
+    bool CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region, int maxSpeedForStatic);
+    cv::UMat m_staticFrame;
+    cv::Rect m_staticRect;
     int m_staticFrames = 0;
-	bool m_isStatic = false;
+    bool m_isStatic = false;
 
-	bool m_filterObjectSize = false;
-	bool m_outOfTheFrame = false;
+    bool m_filterObjectSize = false;
+    bool m_outOfTheFrame = false;
 };
 
 typedef std::vector<std::unique_ptr<CTrack>> tracks_t;

Original file line number	Diff line number	Diff line change
`@@ -78,6 +78,7 @@ bool VideoExample::ParseTrackerSettings(const std::string& settingsFile)`
`78`	`78`	`m_trackerSettings.m_useAbandonedDetection = reader.GetInteger("tracking", "detect_abandoned", 0) != 0;`
`79`	`79`	`m_trackerSettings.m_minStaticTime = reader.GetInteger("tracking", "min_static_time", 5);`
`80`	`80`	`m_trackerSettings.m_maxStaticTime = reader.GetInteger("tracking", "max_static_time", 25);`
	`81`	`+ m_trackerSettings.m_maxSpeedForStatic = reader.GetInteger("tracking", "max_speed_for_static", 10);`
`81`	`82`
`82`	`83`	`return true;`
`83`	`84`	`}`
Original file line number	Diff line number	Diff line change
`@@ -150,16 +150,16 @@ void CTracker::UpdateTrackingState(const regions_t& regions,`
`150`	`150`	`m_tracks[i]->Update(regions[assignment[i]],`
`151`	`151`	`true, m_settings.m_maxTraceLength,`
`152`	`152`	`m_prevFrame, currFrame,`
`153`		`- m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0);`
	`153`	`+ m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0, m_settings.m_maxSpeedForStatic);`
`154`	`154`	`else`
`155`	`155`	`m_tracks[i]->Update(regions[assignment[i]], regionEmbeddings[assignment[i]],`
`156`	`156`	`true, m_settings.m_maxTraceLength,`
`157`	`157`	`m_prevFrame, currFrame,`
`158`		`- m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0);`
	`158`	`+ m_settings.m_useAbandonedDetection ? cvRound(m_settings.m_minStaticTime * fps) : 0, m_settings.m_maxSpeedForStatic);`
`159`	`159`	`}`
`160`	`160`	`else // if not continue using predictions`
`161`	`161`	`{`
`162`		`- m_tracks[i]->Update(CRegion(), false, m_settings.m_maxTraceLength, m_prevFrame, currFrame, 0);`
	`162`	`+ m_tracks[i]->Update(CRegion(), false, m_settings.m_maxTraceLength, m_prevFrame, currFrame, 0, m_settings.m_maxSpeedForStatic);`
`163`	`163`	`}`
`164`	`164`	`}`
`165`	`165`	`}`
Original file line number	Diff line number	Diff line change
`@@ -181,7 +181,7 @@ void CTrack::Update(const CRegion& region,`
`181`	`181`	`size_t max_trace_length,`
`182`	`182`	`cv::UMat prevFrame,`
`183`	`183`	`cv::UMat currFrame,`
`184`		`- int trajLen)`
	`184`	`+ int trajLen, int maxSpeedForStatic)`
`185`	`185`	`{`
`186`	`186`	`if (m_filterObjectSize) // Kalman filter for object coordinates and size`
`187`	`187`	`RectUpdate(region, dataCorrect, prevFrame, currFrame);`
`@@ -195,7 +195,7 @@ void CTrack::Update(const CRegion& region,`
`195`	`195`	`m_lastRegion = region;`
`196`	`196`	`m_trace.push_back(m_predictionPoint, region.m_rrect.center);`
`197`	`197`
`198`		`- CheckStatic(trajLen, currFrame, region);`
	`198`	`+ CheckStatic(trajLen, currFrame, region, maxSpeedForStatic);`
`199`	`199`	`}`
`200`	`200`	`else`
`201`	`201`	`{`
`@@ -222,7 +222,7 @@ void CTrack::Update(const CRegion& region,`
`222`	`222`	`size_t max_trace_length,`
`223`	`223`	`cv::UMat prevFrame,`
`224`	`224`	`cv::UMat currFrame,`
`225`		`- int trajLen)`
	`225`	`+ int trajLen, int maxSpeedForStatic)`
`226`	`226`	`{`
`227`	`227`	`m_regionEmbedding = regionEmbedding;`
`228`	`228`
`@@ -238,7 +238,7 @@ void CTrack::Update(const CRegion& region,`
`238`	`238`	`m_lastRegion = region;`
`239`	`239`	`m_trace.push_back(m_predictionPoint, m_lastRegion.m_rrect.center);`
`240`	`240`
`241`		`- CheckStatic(trajLen, currFrame, region);`
	`241`	`+ CheckStatic(trajLen, currFrame, region, maxSpeedForStatic);`
`242`	`242`	`}`
`243`	`243`	`else`
`244`	`244`	`{`
`@@ -355,7 +355,7 @@ track_t CTrack::HeightDist(const CRegion& reg) const`
`355`	`355`	`/// \param trajLen`
`356`	`356`	`/// \return`
`357`	`357`	`///`
`358`		`-bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region)`
	`358`	`+bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region, int maxSpeedForStatic)`
`359`	`359`	`{`
`360`	`360`	`if (!trajLen \|\| static_cast<int>(m_trace.size()) < trajLen)`
`361`	`361`	`{`
`@@ -366,9 +366,8 @@ bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region)`
`366`	`366`	`else`
`367`	`367`	`{`
`368`	`368`	`auto velocity = m_kalman.GetVelocity();`
`369`		`- track_t speed = sqrt(sqr(velocity[0] * trajLen) + sqr(velocity[1] * trajLen));`
`370`		`- const track_t speedThresh = 10;`
`371`		`- if (speed < speedThresh)`
	`369`	`+ track_t speed = sqrt(sqr(velocity[0]) + sqr(velocity[1]));`
	`370`	`+ if (speed < maxSpeedForStatic)`
`372`	`371`	`{`
`373`	`372`	`if (!m_isStatic)`
`374`	`373`	`{`