Portion of fixes

CMakeLists.txt

@@ -44,9 +44,9 @@ endif(SILENT_WORK)
 include(CheckIncludeFileCXX)
 check_include_file_cxx(filesystem HAVE_FILESYSTEM)
 if(HAVE_FILESYSTEM)
-    add_definitions(-DHAVE_FILESYSTEM)
     message("Founded filesystem header")
 else(HAVE_FILESYSTEM)
+    add_definitions(-DHAVE_EXPERIMENTAL_FILESYSTEM)
     message("Do not found filesystem header")
 endif(HAVE_FILESYSTEM)
 

async_detector/CMakeLists.txt

@@ -12,7 +12,7 @@ set(HEADERS AsyncDetector.h
 # добавляем include директории
 # ----------------------------------------------------------------------------
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/../src
-                    ${PROJECT_SOURCE_DIR}/../src/common
+                    ${PROJECT_SOURCE_DIR}/../src/mtracking
                     ${PROJECT_SOURCE_DIR}/../src/Detector
                     ${PROJECT_SOURCE_DIR}/../src/Detector/vibe_src
                     ${PROJECT_SOURCE_DIR}/../src/Detector/Subsense

example/CMakeLists.txt

@@ -20,7 +20,7 @@ endif(BUILD_CARS_COUNTING)
 # добавляем include директории
 # ----------------------------------------------------------------------------
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/../src
-                    ${PROJECT_SOURCE_DIR}/../src/common
+                    ${PROJECT_SOURCE_DIR}/../src/mtracking
                     ${PROJECT_SOURCE_DIR}/../src/Detector
                     ${PROJECT_SOURCE_DIR}/../src/Detector/vibe_src
                     ${PROJECT_SOURCE_DIR}/../src/Detector/Subsense

example/MotionDetectorExample.h

@@ -39,7 +39,7 @@ class MotionDetectorExample final : public VideoExample
 		m_logger->info("MotionDetectorExample::InitDetector");
 
         //m_minObjWidth = frame.cols / 20;
-		m_minObjWidth = 2;
+		m_minObjWidth = 4;
 
         config_t config;
 		config.emplace("useRotatedRect", "0");
@@ -56,7 +56,7 @@ class MotionDetectorExample final : public VideoExample
 			config.emplace("updateFactor", "16");
 			break;
 		case tracking::Detectors::Motion_MOG:
-            config.emplace("history", std::to_string(cvRound(50 * m_fps)));
+            config.emplace("history", std::to_string(cvRound(5000 * m_fps)));
 			config.emplace("nmixtures", "3");
 			config.emplace("backgroundRatio", "0.7");
 			config.emplace("noiseSigma", "0");
@@ -97,7 +97,7 @@ class MotionDetectorExample final : public VideoExample
 
 		if (!m_trackerSettingsLoaded)
 		{
-            m_trackerSettings.SetDistance(tracking::DistCenters);
+            m_trackerSettings.SetDistance(tracking::DistJaccard);
 			m_trackerSettings.m_kalmanType = tracking::KalmanLinear;
 			m_trackerSettings.m_filterGoal = tracking::FilterCenter;
             m_trackerSettings.m_lostTrackType = tracking::TrackNone; // Use visual objects tracker for collisions resolving. Used if m_filterGoal == tracking::FilterRect
@@ -197,8 +197,9 @@ class MotionDetectorExample final : public VideoExample
 				auto velocity = sqrt(sqr(track.m_velocity[0]) + sqr(track.m_velocity[1]));
 				if (track.IsRobust(4,             // Minimal trajectory size
 					0.3f,                         // Minimal ratio raw_trajectory_points / trajectory_lenght
-					cv::Size2f(0.2f, 5.0f)))    // Min and max ratio: width / height
-					//velocity > 30                // Velocity more than 30 pixels per second
+					cv::Size2f(0.2f, 5.0f),       // Min and max ratio: width / height
+					2))
+					//velocity > 30               // Velocity more than 30 pixels per second
 				{
 					//track_t mean = 0;
 					//track_t stddev = 0;

example/VideoExample.cpp

@@ -153,8 +153,14 @@ void VideoExample::SyncProcess()
 
     int64 startLoopTime = cv::getTickCount();
 
+    //double fps = capture.get(cv::CAP_PROP_FPS);
+    //double readPeriodSeconds = 2.;
+    //int readPeriodFrames = cvRound(readPeriodSeconds * fps);
+
     for (;;)
     {
+        //int currFramesPos = cvRound(capture.get(cv::CAP_PROP_POS_FRAMES));
+
 		size_t i = 0;
 		for (; i < m_batchSize; ++i)
 		{
@@ -177,6 +183,8 @@ void VideoExample::SyncProcess()
 		if (i < m_batchSize)
 			break;
 
+        //capture.set(cv::CAP_PROP_POS_FRAMES, currFramesPos + readPeriodFrames);
+
 		if (!m_isDetectorInitialized || !m_isTrackerInitialized)
 		{
 			cv::UMat ufirst = frameInfo.m_frames[0].GetUMatBGR();
@@ -202,7 +210,6 @@ void VideoExample::SyncProcess()
 
         int64 t1 = cv::getTickCount();
 
-        regions_t regions;
         Detection(frameInfo);
         Tracking(frameInfo);
         int64 t2 = cv::getTickCount();

example/VideoExample.h

@@ -281,7 +281,11 @@ class VideoExample
     bool m_isDetectorInitialized = false;
     std::string m_inFile;
     std::string m_outFile;
-    int m_fourcc = cv::VideoWriter::fourcc('h', '2', '6', '4'); //cv::VideoWriter::fourcc('M', 'J', 'P', 'G');
+#if 0
+    int m_fourcc = cv::VideoWriter::fourcc('h', '2', '6', '4');
+#else
+    int m_fourcc = cv::VideoWriter::fourcc('M', 'J', 'P', 'G');
+#endif
     int m_startFrame = 0;
     int m_endFrame = 0;
     int m_finishDelay = 0;

example/main.cpp

@@ -9,47 +9,39 @@
 #include <opencv2/opencv.hpp>
 #include <opencv2/core/ocl.hpp>
 
-// ----------------------------------------------------------------------
-
-static void Help()
-{
-    printf("\nExamples of the Multitarget tracking algorithm\n"
-           "Usage: \n"
-           "          ./MultitargetTracker <path to movie file> [--example]=<number of example 0..7> [--start_frame]=<start a video from this position> [--end_frame]=<play a video to this position> [--end_delay]=<delay in milliseconds after video ending> [--out]=<name of result video file> [--show_logs]=<show logs> [--async]=<async pipeline> [--res]=<csv log file> [--settings]=<ini file> [--batch_size=<number of frames>] \n\n"
-           "Press:\n"
-           "\'m\' key for change mode: play|pause. When video is paused you can press any key for get next frame. \n\n"
-           "Press Esc to exit from video \n\n"
-           );
-}
-
-const char* keys =
-{
-    "{ @1                  |../data/atrium.avi  | movie file | }"
-    "{ e  example          |1                   | number of example 0 - MouseTracking, 1 - MotionDetector, 3 - YOLO TensorRT Detector, 4 - Cars counting | }"
-    "{ sf start_frame      |0                   | Start a video from this position | }"
-    "{ ef end_frame        |0                   | Play a video to this position (if 0 then played to the end of file) | }"
-    "{ ed end_delay        |0                   | Delay in milliseconds after video ending | }"
-    "{ o  out              |                    | Name of result video file | }"
-    "{ show_logs           |info                | Show Trackers logs: trace, debug, info, warning, error, critical, off | }"
-    "{ g gpu               |0                   | Use OpenCL acceleration | }"
-    "{ a async             |1                   | Use 2 theads for processing pipeline | }"
-    "{ r log_res           |                    | Path to the csv file with tracking result | }"
-    "{ cvat_res            |                    | Path to the xml file in cvat format with tracking result | }"
-    "{ s settings          |                    | Path to the ini file with tracking settings | }"
-    "{ bs batch_size       |1                   | Batch size - frames count for processing | }"
-    "{ wf write_n_frame    |1                   | Write logs on each N frame: 1 for writing each frame | }"
-    "{ hm heat_map         |0                   | For CarsCounting: Draw heat map | }"
-    "{ geo_bind            |geo_bind.ini        | For CarsCounting: ini file with geographical binding | }"
-    "{ contrast_adjustment |0                   | Use contrast adjustment for frames before detection | }"
-};
-
-// ----------------------------------------------------------------------
-
+///----------------------------------------------------------------------
 int main(int argc, char** argv)
 {
+    const char* keys =
+    {
+        "{ @1                  |../data/atrium.avi  | movie file | }"
+        "{ e  example          |1                   | number of example 0 - MouseTracking, 1 - MotionDetector, 3 - YOLO TensorRT Detector, 4 - Cars counting | }"
+        "{ sf start_frame      |0                   | Start a video from this position | }"
+        "{ ef end_frame        |0                   | Play a video to this position (if 0 then played to the end of file) | }"
+        "{ ed end_delay        |0                   | Delay in milliseconds after video ending | }"
+        "{ o  out              |                    | Name of result video file | }"
+        "{ show_logs           |info                | Show Trackers logs: trace, debug, info, warning, error, critical, off | }"
+        "{ g gpu               |0                   | Use OpenCL acceleration | }"
+        "{ a async             |1                   | Use 2 theads for processing pipeline | }"
+        "{ r log_res           |                    | Path to the csv file with tracking result | }"
+        "{ cvat_res            |                    | Path to the xml file in cvat format with tracking result | }"
+        "{ s settings          |                    | Path to the ini file with tracking settings | }"
+        "{ bs batch_size       |1                   | Batch size - frames count for processing | }"
+        "{ wf write_n_frame    |1                   | Write logs on each N frame: 1 for writing each frame | }"
+        "{ hm heat_map         |0                   | For CarsCounting: Draw heat map | }"
+        "{ geo_bind            |geo_bind.ini        | For CarsCounting: ini file with geographical binding | }"
+        "{ contrast_adjustment |0                   | Use contrast adjustment for frames before detection | }"
+    };
+
     cv::CommandLineParser parser(argc, argv, keys);
 
-    Help();
+    std::cout << "\nExamples of the Multitarget tracking algorithm\n"
+        "Usage: \n"
+        "          ./MultitargetTracker <path to movie file> [--example]=<number of example 0..7> [--start_frame]=<start a video from this position> [--end_frame]=<play a video to this position> [--end_delay]=<delay in milliseconds after video ending> [--out]=<name of result video file> [--show_logs]=<show logs> [--async]=<async pipeline> [--res]=<csv log file> [--settings]=<ini file> [--batch_size=<number of frames>] \n\n"
+        "Press:\n"
+        "\'m\' key for change mode: play|pause. When video is paused you can press any key for get next frame. \n\n"
+        "Press Esc to exit from video \n" << std::endl;
+
     parser.printMessage();
 
     bool useOCL = parser.get<int>("gpu") != 0;

src/CMakeLists.txt

@@ -23,7 +23,7 @@ else()
     set(LIB_PTHREAD pthread)
 endif()
 
-    include_directories(common)
+    include_directories(mtracking)
 
     pybind11_add_module(pymtracking ${mtracker_python_src} ${mtracker_python_inc})
     target_link_libraries(pymtracking PRIVATE mtracking mdetection ${OpenCV_LIBS} ${PYTHON_LIBRARY} pybind11::module)

src/Detector/BackgroundSubtract.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "defines.h"
+#include "mtracking/defines.h"
 #include "vibe_src/vibe.hpp"
 
 #ifdef USE_OCV_BGFG

src/Detector/BaseDetector.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <memory>
-#include "defines.h"
+#include "mtracking/defines.h"
 
 ///
 /// \brief The KeyVal struct

src/Detector/CMakeLists.txt

@@ -50,7 +50,7 @@ endif(USE_OCV_BGFG)
 
 include_directories(${PROJECT_SOURCE_DIR})
 include_directories(${PROJECT_SOURCE_DIR}/../src)
-include_directories(${PROJECT_SOURCE_DIR}/../common)
+include_directories(${PROJECT_SOURCE_DIR}/..)
 
 if (CMAKE_COMPILER_IS_GNUCXX)
     add_library(${PROJECT_NAME} SHARED
@@ -76,8 +76,8 @@ target_link_libraries(${PROJECT_NAME} PRIVATE ${LIBS})
 set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${detector_headers}")
 install(TARGETS ${PROJECT_NAME}
         EXPORT MTTrackingExports
-        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include/${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER "libs")

src/Detector/OCVDNNDetector.cpp

@@ -1,6 +1,6 @@
 #include <fstream>
 #include "OCVDNNDetector.h"
-#include "nms.h"
+#include "mtracking/nms.h"
 
 ///
 /// \brief OCVDNNDetector::OCVDNNDetector

src/Detector/ONNXTensorRTDetector.cpp

@@ -1,6 +1,6 @@
 #include <fstream>
 #include "ONNXTensorRTDetector.h"
-#include "nms.h"
+#include "mtracking/nms.h"
 
 ///
 /// \brief ONNXTensorRTDetector::ONNXTensorRTDetector

src/Detector/tensorrt_onnx/CMakeLists.txt

@@ -49,7 +49,7 @@ include_directories(${OpenCV_INCLUDE_DIRS})
 include_directories(${CUDA_INCLUDE_DIRS})
 include_directories(${CUDNN_INCLUDE_DIR})
 include_directories(${TensorRT_INCLUDE_DIRS})
-include_directories(${PROJECT_SOURCE_DIR}/../../common)
+include_directories(${PROJECT_SOURCE_DIR}/../../mtracking)
 
 file(GLOB TENSORRT_SOURCE_FILES *.cpp common/*.cpp)
 file(GLOB TENSORRT_HEADER_FILES *.h* common/*.h*)
@@ -91,9 +91,9 @@ target_link_libraries(${libname_rt} ${TENSORRT_LIBS})
 
 install(TARGETS ${libname_rt}
         EXPORT MTTrackingExports
-        ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-        RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME})
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include/${PROJECT_NAME})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER "libs")

src/Detector/tensorrt_onnx/YoloONNX.cpp

@@ -3,7 +3,7 @@
 #define DEFINE_TRT_ENTRYPOINTS 1
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 //!
 //! \brief Creates the network, configures the builder and creates the network engine

src/Detector/tensorrt_onnx/YoloONNXv11_instance.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 ///
 /// \brief The YOLOv11_instance_onnx class

src/Detector/tensorrt_onnx/YoloONNXv7_instance.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 ///
 /// \brief The YOLOv7_instance_onnx class

src/Detector/tensorrt_onnx/YoloONNXv8_instance.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "YoloONNX.hpp"
-#include "../../common/defines.h"
+#include "../../mtracking/defines.h"
 
 ///
 /// \brief The YOLOv8_instance_onnx class

src/Tracker/BaseTracker.cpp

@@ -149,8 +149,8 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
     std::cout << "CTracker::UpdateTrackingState: m_tracks = " << colsTracks << ", regions = " << rowsRegions << std::endl;
 
     int fontType = cv::FONT_HERSHEY_TRIPLEX;
-    double fontSize = 0.6;
-    cv::Scalar colorRegionEllow(0, 255, 255);
+    double fontSize = (currFrame.cols < 1000) ? 0.4 : 0.6;
+    cv::Scalar colorRegionEllow(100, 100, 100);
     cv::Scalar colorMatchedAboveThreshRed(0, 0, 255);
     cv::Scalar colorMatchedGreen(0, 255, 0);
     cv::Scalar colorMatchedNearMargenta(255, 0, 255);
@@ -217,12 +217,7 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
         CreateDistaceMatrix(regions, regionEmbeddings, costMatrix, maxPossibleCost, maxCost);
 #if DRAW_DBG_ASSIGNMENT
         std::cout << "CTracker::UpdateTrackingState: maxPossibleCost = " << maxPossibleCost << ", maxCost = " << maxCost << std::endl;
-        std::cout << "costMatrix: ";
-        for (auto costv : costMatrix)
-        {
-            std::cout << costv << " ";
-        }
-        std::cout << std::endl;
+        std::cout << "costMatrix: " << cv::Mat_<track_t>(rowsRegions, colsTracks, costMatrix.data()) << std::endl;
 #endif
 
         // Solving assignment problem (shortest paths)
@@ -332,7 +327,9 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
                     m_tracks[i]->IsStaticTimeout(frameTime, m_settings.m_maxStaticTime - m_settings.m_minStaticTime))
             {
                 m_removedObjects.push_back(m_tracks[i]->GetID());
-                //std::cout << "Remove: " << m_tracks[i]->GetID().ID2Str() << ": lost = " << m_tracks[i]->GetLostPeriod(frameTime) << ", maximumAllowedLostTime = " << m_settings.m_maximumAllowedLostTime << ", out of frame " << m_tracks[i]->IsOutOfTheFrame() << std::endl;
+#if DRAW_DBG_ASSIGNMENT
+                std::cout << "Remove: " << m_tracks[i]->GetID().ID2Str() << ": lost = " << m_tracks[i]->GetLostPeriod(frameTime) << ", maximumAllowedLostTime = " << m_settings.m_maximumAllowedLostTime << ", out of frame " << m_tracks[i]->IsOutOfTheFrame() << std::endl;
+#endif
                 m_tracks.erase(m_tracks.begin() + i);
                 assignmentT2R.erase(assignmentT2R.begin() + i);
             }
@@ -349,8 +346,9 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
 #endif
     for (size_t i = 0; i < regions.size(); ++i)
     {
-		//std::cout << "CTracker::update: regions[" << i << "].m_rrect: " << regions[i].m_rrect.center << ", " << regions[i].m_rrect.angle << ", " << regions[i].m_rrect.size << std::endl;
-
+#if DRAW_DBG_ASSIGNMENT
+		std::cout << "CTracker::update: regions[" << i << "].m_rrect: " << regions[i].m_rrect.center << ", " << regions[i].m_rrect.angle << ", " << regions[i].m_rrect.size << std::endl;
+#endif
         if (std::find(assignmentT2R.begin(), assignmentT2R.end(), i) == assignmentT2R.end())
         {
             if (regionEmbeddings.empty())
@@ -391,7 +389,9 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
         if (assignmentT2R[i] != -1) // If we have assigned detect, then update using its coordinates,
         {
             m_tracks[i]->ResetLostTime(frameTime);
-            // std::cout << "Update track " << i << " for " << assignment[i] << " region, regionEmbeddings.size = " << regionEmbeddings.size() << std::endl;
+#if DRAW_DBG_ASSIGNMENT
+            std::cout << "Update track " << i << " for " << assignmentT2R[i] << " region, regionEmbeddings.size = " << regionEmbeddings.size() << std::endl;
+#endif
             if (regionEmbeddings.empty())
                 m_tracks[i]->Update(regions[assignmentT2R[i]],
                         true, m_settings.m_maxTraceLength,