Using fps and frame size for setting detector params

Author: Sergey Nuzhny

Tracker/Ctracker.cpp

@@ -1,4 +1,5 @@
 #include "Ctracker.h"
+#include "HungarianAlg.h"
 
 // ---------------------------------------------------------------------------
 // Tracker. Manage tracks. Create, remove, update.
@@ -102,27 +103,27 @@ void CTracker::Update(
         AssignmentProblemSolver APS;
         APS.Solve(Cost, N, M, assignment, AssignmentProblemSolver::optimal);
 
-        // -----------------------------------
-        // clean assignment from pairs with large distance
-        // -----------------------------------
-        for (size_t i = 0; i < assignment.size(); i++)
-        {
-            if (assignment[i] != -1)
-            {
-                if (Cost[i + assignment[i] * N] > dist_thres)
-                {
-                    assignment[i] = -1;
-                    tracks[i]->skipped_frames++;
-                }
-            }
-            else
-            {
-                // If track have no assigned detect, then increment skipped frames counter.
-                tracks[i]->skipped_frames++;
-            }
-        }
-
-        // -----------------------------------
+		// -----------------------------------
+		// clean assignment from pairs with large distance
+		// -----------------------------------
+		for (size_t i = 0; i < assignment.size(); i++)
+		{
+			if (assignment[i] != -1)
+			{
+				if (Cost[i + assignment[i] * N] > dist_thres)
+				{
+					assignment[i] = -1;
+					tracks[i]->skipped_frames++;
+				}
+			}
+			else
+			{
+				// If track have no assigned detect, then increment skipped frames counter.
+				tracks[i]->skipped_frames++;
+			}
+		}
+
+		// -----------------------------------
         // If track didn't get detects long time, remove it.
         // -----------------------------------
         for (int i = 0; i < static_cast<int>(tracks.size()); i++)

Tracker/Ctracker.h

@@ -6,7 +6,6 @@
 
 #include "defines.h"
 #include "track.h"
-#include "HungarianAlg.h"
 #include "LocalTracker.h"
 
 // --------------------------------------------------------------------------

main.cpp

@@ -56,18 +56,31 @@ int main(int argc, char** argv)
 	cv::Mat frame;
 	cv::Mat gray;
 
+	const int StartFrame = 0;
+	capture.set(cv::CAP_PROP_POS_FRAMES, StartFrame);
+
+	const int fps = std::max(1, static_cast<int>(capture.get(cv::CAP_PROP_FPS) + 0.5));
+
 	capture >> frame;
 	cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
 
     // If true then trajectories will be more smooth and accurate
     // But on high resolution videos with many objects may be to slow
-    bool useLocalTracking = true;
+    bool useLocalTracking = false;
 
     CDetector detector(BackgroundSubtract::ALG_MOG, useLocalTracking, gray);
     detector.SetMinObjectSize(cv::Size(gray.cols / 50, gray.rows / 50));
-    //detector.SetMinObjectSize(cv::Size(2, 2));
-
-    CTracker tracker(useLocalTracking, CTracker::RectsDist, CTracker::FilterRect, 0.2f, 0.1f, gray.cols / 10.0f, 10, 50);
+    detector.SetMinObjectSize(cv::Size(4, 2));
+
+    CTracker tracker(useLocalTracking,
+		CTracker::RectsDist,
+		CTracker::FilterRect,
+		0.2f,                // Delta time for Kalman filter
+		0.1f,                // Accel noise magnitude for Kalman filter
+		gray.cols / 100.0f,  // Distance threshold between two frames
+		fps,                 // Maximum allowed skipped frames
+		5 * fps              // Maximum trace length
+		);
 
 	int k = 0;
 
@@ -82,8 +95,6 @@ int main(int argc, char** argv)
 		capture >> frame;
 		if (frame.empty())
 		{
-			//capture.set(cv::CAP_PROP_POS_FRAMES, 0);
-			//continue;
 			break;
 		}
 		cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
@@ -103,12 +114,13 @@ int main(int argc, char** argv)
 		int64 t2 = cv::getTickCount();
 
 		allTime += t2 - t1;
+		int currTime = static_cast<int>((t2 - t1) / freq + 0.5);
 
-		std::cout << "Frame " << framesCounter << ": tracks = " << tracker.tracks.size() << ", time = " << ((t2 - t1) / freq) << std::endl;
+		std::cout << "Frame " << framesCounter << ": tracks = " << tracker.tracks.size() << ", time = " << currTime << std::endl;
 
         for (size_t i = 0; i < tracker.tracks.size(); i++)
 		{
-            if (tracker.tracks[i]->trace.size() > 10)
+			if (tracker.tracks[i]->trace.size() > static_cast<size_t>(fps))
 			{
                 cv::rectangle(frame, tracker.tracks[i]->GetLastRect(), cv::Scalar(0, 255, 0), 1, CV_AA);
 
@@ -121,7 +133,7 @@ int main(int argc, char** argv)
 
 		cv::imshow("Video", frame);
 
-        int waitTime = manualMode ? 0 : 20;
+		int waitTime = manualMode ? 0 : std::max<int>(1, 1000 / fps - currTime);
         k = cv::waitKey(waitTime);
 
         if (k == 'm' || k == 'M')
@@ -133,10 +145,16 @@ int main(int argc, char** argv)
 		{
 			writer << frame;
 		}
+
+		++framesCounter;
+		if (framesCounter > 500)
+		{
+			//break;
+		}
     }
 
 	std::cout << "work time = " << (allTime / freq) << std::endl;
-    //cv::waitKey(0);
+    cv::waitKey(0);
 
 #else
 

vibe_src/BackgroundSubtract.cpp

@@ -84,5 +84,5 @@ void BackgroundSubtract::subtract(const cv::Mat& image, cv::Mat& foreground)
 	cv::Mat dilateElement = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3), cv::Point(-1, -1));
 	cv::dilate(foreground, foreground, dilateElement, cv::Point(-1, -1), 1);
 
-    //cv::imshow("after", foreground);
+    cv::imshow("after", foreground);
 }