Added LDES tracker (Smorodov#151)

* Fixed some compiler warnings

* Added LDES tracking

* All VOT trackers return RotatedRect

* Update README

* Temporary remove unworked LDES tracking

* Added option to disable all GUI output

* Fixed some warnings

* Added LDES tracker with result as cv::RotatedRect

Author: Nuzhny007

CMakeLists.txt

@@ -26,6 +26,11 @@ set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR})
 
 FIND_PACKAGE(OpenCV REQUIRED)
 
+option(SILENT_WORK "Remove all imshow and waitKey functions?" OFF)
+if (SILENT_WORK)
+    add_definitions(-DSILENT_WORK)
+endif(SILENT_WORK)
+
 option(BUILD_EXAMPLES "Should compiled examples (motion detection, pedestrians, faces, DNNs etc)?" ON)
 if (BUILD_EXAMPLES)
     add_subdirectory(example)

README.md

@@ -42,7 +42,7 @@
 
 4.1. No search (tracking::TrackNone)
 
-4.2. built-in DAT (tracking::TrackDAT) from [foolwood](https://github.com/foolwood/DAT) or STAPLE (tracking::TrackSTAPLE) from [xuduo35](https://github.com/xuduo35/STAPLE); KCF (tracking::TrackSTAPLE), MIL (tracking::TrackSTAPLE), MedianFlow (tracking::TrackSTAPLE), GOTURN (tracking::TrackSTAPLE), MOSSE (tracking::TrackSTAPLE) or CSRT (tracking::TrackSTAPLE) from [opencv_contrib](https://github.com/opencv/opencv_contrib/tree/master/modules/tracking)
+4.2. Built-in DAT (tracking::TrackDAT) from [foolwood](https://github.com/foolwood/DAT), STAPLE (tracking::TrackSTAPLE) from [xuduo35](https://github.com/xuduo35/STAPLE) or LDES (tracking::TrackLDES) from [yfji](https://github.com/yfji/LDESCpp); KCF (tracking::TrackSTAPLE), MIL (tracking::TrackSTAPLE), MedianFlow (tracking::TrackSTAPLE), GOTURN (tracking::TrackSTAPLE), MOSSE (tracking::TrackSTAPLE) or CSRT (tracking::TrackSTAPLE) from [opencv_contrib](https://github.com/opencv/opencv_contrib/tree/master/modules/tracking)
 
 With this option the tracking can work match slower but more accuracy.
 
@@ -145,6 +145,7 @@ This pipeline can used with slow but accuracy DNN and track objects in intermedi
 * GOTURN models: https://github.com/opencv/opencv_extra/tree/c4219d5eb3105ed8e634278fad312a1a8d2c182d/testdata/tracking
 * DAT tracker: https://github.com/foolwood/DAT
 * STAPLE tracker: https://github.com/xuduo35/STAPLE
+* LDES tracker: https://github.com/yfji/LDESCpp
 
 #### License
 GNU GPLv3: http://www.gnu.org/licenses/gpl-3.0.txt 

async_detector/AsyncDetector.cpp

@@ -43,20 +43,20 @@ AsyncDetector::~AsyncDetector()
 ///
 void AsyncDetector::Process()
 {
-    int k = 0;
-
     double freq = cv::getTickFrequency();
     int64 allTime = 0;
 
     bool stopFlag = false;
 
     std::thread thCapture(CaptureThread, m_inFile, m_startFrame, &m_fps, &m_framesQue, &stopFlag);
 
+#ifndef SILENT_WORK
     cv::namedWindow("Video", cv::WINDOW_NORMAL | cv::WINDOW_KEEPRATIO);
-
-    cv::VideoWriter writer;
-
     cv::waitKey(1);
+	int k = 0;
+#endif
+
+	cv::VideoWriter writer;
 
     int framesCounter = m_startFrame + 1;
 
@@ -84,6 +84,7 @@ void AsyncDetector::Process()
             writer << processedFrame->m_frame;
         }
 
+#ifndef SILENT_WORK
         cv::imshow("Video", processedFrame->m_frame);
 
         int waitTime = std::max<int>(1, cvRound(1000 / m_fps - currTime));
@@ -92,6 +93,9 @@ void AsyncDetector::Process()
         {
             break;
         }
+#else
+		std::this_thread::sleep_for(std::chrono::milliseconds(1));
+#endif
 
         ++framesCounter;
         if (m_endFrame && framesCounter > m_endFrame)
@@ -113,7 +117,9 @@ void AsyncDetector::Process()
     }
 
     std::cout << "work time = " << (allTime / freq) << std::endl;
-    cv::waitKey(m_finishDelay);
+#ifndef SILENT_WORK
+	cv::waitKey(m_finishDelay);
+#endif
 }
 
 ///
@@ -197,7 +203,6 @@ void AsyncDetector::DrawData(frame_ptr frameInfo, int framesCounter, int currTim
 		std::cout << "tracks = " << frameInfo->m_tracks.size() << ", time = " << currTime << std::endl;
     }
 
-
     for (const auto& track : frameInfo->m_tracks)
     {
         if (track.m_isStatic)

async_detector/main.cpp

@@ -42,7 +42,9 @@ int main(int argc, char** argv)
     AsyncDetector slow_detector(parser);
     slow_detector.Process();
 
+#ifndef SILENT_WORK
     cv::destroyAllWindows();
+#endif
 
 	std::cout << "Correct exit" << std::endl;
     return 0;

cars_counting/CarsCounting.cpp

@@ -46,7 +46,9 @@ void CarsCounting::Process()
 {
     cv::VideoWriter writer;
 
+#ifndef SILENT_WORK
     cv::namedWindow("Video", cv::WINDOW_NORMAL | cv::WINDOW_KEEPRATIO);
+#endif
 
     int k = 0;
 
@@ -123,6 +125,7 @@ void CarsCounting::Process()
 
         DrawData(colorFrame, framesCounter, currTime);
 
+#ifndef SILENT_WORK
         cv::imshow("Video", colorFrame);
 
         int waitTime = manualMode ? 0 : std::max<int>(1, cvRound(1000 / m_fps - currTime));
@@ -135,6 +138,9 @@ void CarsCounting::Process()
         {
             break;
         }
+#else
+		std::this_thread::sleep_for(std::chrono::milliseconds(1));
+#endif
 
         if (writer.isOpened())
         {
@@ -150,7 +156,9 @@ void CarsCounting::Process()
     }
 
     std::cout << "work time = " << (allTime / freq) << std::endl;
-    cv::waitKey(m_finishDelay);
+#ifndef SILENT_WORK
+	cv::waitKey(m_finishDelay);
+#endif
 }
 
 ///

cars_counting/main.cpp

@@ -45,6 +45,9 @@ int main(int argc, char** argv)
 
     cars_counting.Process();
 
+#ifndef SILENT_WORK
     cv::destroyAllWindows();
+#endif
+
     return 0;
 }

example/MouseExample.h

@@ -24,101 +24,107 @@ void mv_MouseCallback(int event, int x, int y, int /*flags*/, void* param)
 // ----------------------------------------------------------------------
 void MouseTracking(cv::CommandLineParser parser)
 {
-    std::string outFile = parser.get<std::string>("out");
+	std::string outFile = parser.get<std::string>("out");
 
-    cv::VideoWriter writer;
+	cv::VideoWriter writer;
 
-    int k = 0;
-    std::vector<cv::Scalar> colors = { cv::Scalar(255, 0, 0), cv::Scalar(0, 255, 0), cv::Scalar(0, 0, 255), cv::Scalar(255, 255, 0), cv::Scalar(0, 255, 255), cv::Scalar(255, 0, 255), cv::Scalar(255, 127, 255), cv::Scalar(127, 0, 255), cv::Scalar(127, 0, 127) };
-    cv::namedWindow("Video");
-    cv::Mat frame = cv::Mat(800, 800, CV_8UC3);
-
-    if (!writer.isOpened())
-    {
-        writer.open(outFile, cv::VideoWriter::fourcc('P', 'I', 'M', '1'), 20, frame.size(), true);
-    }
-
-    // Set mouse callback
-    cv::Point2f pointXY;
-    cv::setMouseCallback("Video", mv_MouseCallback, (void*)&pointXY);
-
-    TrackerSettings settings;
-    settings.m_distType = tracking::DistCenters;
-    settings.m_kalmanType = tracking::KalmanLinear;
-    settings.m_filterGoal = tracking::FilterCenter;
-    settings.m_lostTrackType = tracking::TrackNone;
-    settings.m_matchType = tracking::MatchHungrian;
-    settings.m_dt = 0.2f;
-    settings.m_accelNoiseMag = 0.5f;
-    settings.m_distThres = 100.0f;
-    settings.m_maximumAllowedSkippedFrames = 25;
-    settings.m_maxTraceLength = 25;
-
-    CTracker tracker(settings);
-
-    track_t alpha = 0;
-    cv::RNG rng;
-    while (k != 27)
-    {
-        frame = cv::Scalar::all(0);
-
-        // Noise addition (measurements/detections simulation )
-        float Xmeasured = pointXY.x + static_cast<float>(rng.gaussian(2.0));
-        float Ymeasured = pointXY.y + static_cast<float>(rng.gaussian(2.0));
-
-        // Append circulating around mouse cv::Points (frequently intersecting)
-        std::vector<Point_t> pts;
-        pts.push_back(Point_t(Xmeasured + 100.0f*sin(-alpha), Ymeasured + 100.0f*cos(-alpha)));
-        pts.push_back(Point_t(Xmeasured + 100.0f*sin(alpha), Ymeasured + 100.0f*cos(alpha)));
-        pts.push_back(Point_t(Xmeasured + 100.0f*sin(alpha / 2.0f), Ymeasured + 100.0f*cos(alpha / 2.0f)));
-        pts.push_back(Point_t(Xmeasured + 100.0f*sin(alpha / 3.0f), Ymeasured + 100.0f*cos(alpha / 1.0f)));
-        alpha += 0.05f;
-
-        regions_t regions;
-        for (auto p : pts)
-        {
-            regions.push_back(CRegion(cv::Rect(cvRound(p.x), cvRound(p.y), 1, 1)));
-        }
+	int k = 0;
+	std::vector<cv::Scalar> colors = { cv::Scalar(255, 0, 0), cv::Scalar(0, 255, 0), cv::Scalar(0, 0, 255), cv::Scalar(255, 255, 0), cv::Scalar(0, 255, 255), cv::Scalar(255, 0, 255), cv::Scalar(255, 127, 255), cv::Scalar(127, 0, 255), cv::Scalar(127, 0, 127) };
 
+#ifndef SILENT_WORK
+	cv::namedWindow("Video");
+#endif
 
-        for (size_t i = 0; i < pts.size(); i++)
-        {
+	cv::Mat frame = cv::Mat(800, 800, CV_8UC3);
+
+	if (!writer.isOpened())
+	{
+		writer.open(outFile, cv::VideoWriter::fourcc('P', 'I', 'M', '1'), 20, frame.size(), true);
+	}
+
+	// Set mouse callback
+	cv::Point2f pointXY;
+	cv::setMouseCallback("Video", mv_MouseCallback, (void*)&pointXY);
+
+	TrackerSettings settings;
+	settings.m_distType = tracking::DistCenters;
+	settings.m_kalmanType = tracking::KalmanLinear;
+	settings.m_filterGoal = tracking::FilterCenter;
+	settings.m_lostTrackType = tracking::TrackNone;
+	settings.m_matchType = tracking::MatchHungrian;
+	settings.m_dt = 0.2f;
+	settings.m_accelNoiseMag = 0.5f;
+	settings.m_distThres = 100.0f;
+	settings.m_maximumAllowedSkippedFrames = 25;
+	settings.m_maxTraceLength = 25;
+
+	CTracker tracker(settings);
+
+	track_t alpha = 0;
+	cv::RNG rng;
+	while (k != 27)
+	{
+		frame = cv::Scalar::all(0);
+
+		// Noise addition (measurements/detections simulation )
+		float Xmeasured = pointXY.x + static_cast<float>(rng.gaussian(2.0));
+		float Ymeasured = pointXY.y + static_cast<float>(rng.gaussian(2.0));
+
+		// Append circulating around mouse cv::Points (frequently intersecting)
+		std::vector<Point_t> pts;
+		pts.push_back(Point_t(Xmeasured + 100.0f*sin(-alpha), Ymeasured + 100.0f*cos(-alpha)));
+		pts.push_back(Point_t(Xmeasured + 100.0f*sin(alpha), Ymeasured + 100.0f*cos(alpha)));
+		pts.push_back(Point_t(Xmeasured + 100.0f*sin(alpha / 2.0f), Ymeasured + 100.0f*cos(alpha / 2.0f)));
+		pts.push_back(Point_t(Xmeasured + 100.0f*sin(alpha / 3.0f), Ymeasured + 100.0f*cos(alpha / 1.0f)));
+		alpha += 0.05f;
+
+		regions_t regions;
+		for (auto p : pts)
+		{
+			regions.push_back(CRegion(cv::Rect(cvRound(p.x), cvRound(p.y), 1, 1)));
+		}
+
+
+		for (size_t i = 0; i < pts.size(); i++)
+		{
 #if (CV_VERSION_MAJOR >= 4)
-            cv::circle(frame, pts[i], 3, cv::Scalar(0, 255, 0), 1, cv::LINE_AA);
+			cv::circle(frame, pts[i], 3, cv::Scalar(0, 255, 0), 1, cv::LINE_AA);
 #else
 			cv::circle(frame, pts[i], 3, cv::Scalar(0, 255, 0), 1, CV_AA);
 #endif
-        }
+		}
 
-        tracker.Update(regions, cv::UMat(), 100);
+		tracker.Update(regions, cv::UMat(), 100);
 
 		auto tracks = tracker.GetTracks();
-        std::cout << tracks.size() << std::endl;
+		std::cout << tracks.size() << std::endl;
 
-        for (size_t i = 0; i < tracks.size(); i++)
-        {
-            const auto& track = tracks[i];
+		for (size_t i = 0; i < tracks.size(); i++)
+		{
+			const auto& track = tracks[i];
 
-            if (track.m_trace.size() > 1)
-            {
-                for (size_t j = 0; j < track.m_trace.size() - 1; j++)
-                {
+			if (track.m_trace.size() > 1)
+			{
+				for (size_t j = 0; j < track.m_trace.size() - 1; j++)
+				{
 #if (CV_VERSION_MAJOR >= 4)
-                    cv::line(frame, track.m_trace[j], track.m_trace[j + 1], colors[i % colors.size()], 2, cv::LINE_AA);
+					cv::line(frame, track.m_trace[j], track.m_trace[j + 1], colors[i % colors.size()], 2, cv::LINE_AA);
 #else
 					cv::line(frame, track.m_trace[j], track.m_trace[j + 1], colors[i % colors.size()], 2, CV_AA);
 #endif
-                }
-            }
-        }
+				}
+			}
+		}
 
-        cv::imshow("Video", frame);
+		if (writer.isOpened())
+		{
+			writer << frame;
+		}
 
-        if (writer.isOpened())
-        {
-            writer << frame;
-        }
+#ifndef SILENT_WORK
+        cv::imshow("Video", frame);
 
         k = cv::waitKey(10);
+#endif
     }
 }

example/VideoExample.cpp

@@ -104,15 +104,17 @@ void VideoExample::Process()
 
     cv::VideoWriter writer;
 
+#ifndef SILENT_WORK
     cv::namedWindow("Video", cv::WINDOW_NORMAL | cv::WINDOW_KEEPRATIO);
+	bool manualMode = false;
+#endif
 
     int k = 0;
 
     double freq = cv::getTickFrequency();
 
     int64 allTime = 0;
 
-    bool manualMode = false;
     int framesCounter = m_startFrame + 1;
 
     std::this_thread::sleep_for(std::chrono::milliseconds(1000));
@@ -155,6 +157,7 @@ void VideoExample::Process()
 
         DrawData(frameInfo.m_frame, framesCounter, currTime);
 
+#ifndef SILENT_WORK
         cv::imshow("Video", frameInfo.m_frame);
 
         int waitTime = manualMode ? 0 : std::max<int>(1, cvRound(1000 / m_fps - currTime));
@@ -163,6 +166,9 @@ void VideoExample::Process()
         {
             manualMode = !manualMode;
         }
+#else
+		std::this_thread::sleep_for(std::chrono::milliseconds(1));
+#endif
 
         if (writer.isOpened())
         {
@@ -187,7 +193,9 @@ void VideoExample::Process()
     }
 
     LOG_TIME << "work time = " << (allTime / freq) << std::endl;
+#ifndef SILENT_WORK
     cv::waitKey(m_finishDelay);
+#endif
 }
 
 ///

example/main.cpp

@@ -98,7 +98,8 @@ int main(int argc, char** argv)
         break;
     }
 
-
+#ifndef SILENT_WORK
     cv::destroyAllWindows();
+#endif
     return 0;
 }