diff --git a/.github/workflows/node.js.yml b/.github/workflows/node.js.yml new file mode 100644 index 0000000..be06cde --- /dev/null +++ b/.github/workflows/node.js.yml @@ -0,0 +1,26 @@ +# This workflow will do a clean install of node dependencies, build the source code and run tests across different versions of node +# For more information see: https://help.github.com/actions/language-and-framework-guides/using-nodejs-with-github-actions + +name: Node.js CI + +# Trigger the workflow on push or pull request +on: [push, pull_request] + +jobs: + build: + + runs-on: ubuntu-latest + + strategy: + matrix: + node-version: [10.x, 12.x, 14.x] + + steps: + - uses: actions/checkout@v2 + - name: Use Node.js ${{ matrix.node-version }} + uses: actions/setup-node@v1 + with: + node-version: ${{ matrix.node-version }} + - run: npm ci + - run: npm run build --if-present + - run: npm test diff --git a/.gitignore b/.gitignore index d7e4058..fe447ef 100644 --- a/.gitignore +++ b/.gitignore @@ -57,5 +57,9 @@ typings/ # dotenv environment variables file .env +# macOS System Files .DS_Store +.nosync +# Development Environment +.vscode diff --git a/ItemTracked.js b/ItemTracked.js index 5874467..dea1160 100644 --- a/ItemTracked.js +++ b/ItemTracked.js @@ -15,16 +15,17 @@ var computeVelocityVector = require('./utils').computeVelocityVector // Use a simple incremental unique id for the display var idDisplay = 0; -exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLERANCE){ - var DEFAULT_UNMATCHEDFRAMES_TOLERANCE = DEFAULT_UNMATCHEDFRAMES_TOLERANCE; +exports.ItemTracked = function(properties, frameNb, unMatchedFramesTolerance, fastDelete){ + var DEFAULT_UNMATCHEDFRAMES_TOLERANCE = unMatchedFramesTolerance; var itemTracked = {}; // ==== Private ===== // Am I available to be matched? itemTracked.available = true; // Should I be deleted? itemTracked.delete = false; + itemTracked.fastDelete = fastDelete; // How many unmatched frame should I survive? - itemTracked.frameUnmatchedLeftBeforeDying = DEFAULT_UNMATCHEDFRAMES_TOLERANCE; + itemTracked.frameUnmatchedLeftBeforeDying = unMatchedFramesTolerance; itemTracked.isZombie = false; itemTracked.appearFrame = frameNb; itemTracked.disappearFrame = null; @@ -98,7 +99,7 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE return this; } itemTracked.countDown = function(frameNb) { - // Set frame disappear number + // Set frame disappear number if(this.disappearFrame === null) { this.disappearFrame = frameNb; this.disappearArea = { @@ -111,7 +112,7 @@ exports.ItemTracked = function(properties, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLE this.frameUnmatchedLeftBeforeDying--; this.isZombie = true; // If it was matched less than 1 time, it should die quick - if(this.nbTimeMatched <= 1) { + if(this.fastDelete && this.nbTimeMatched <= 1) { this.frameUnmatchedLeftBeforeDying = -1; } } @@ -212,3 +213,6 @@ exports.ItemTracked = function(properties, frameNb, 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detections in javascript for node.js / browsers", "url": "https://github.com/tdurand/node-moving-things-tracker", "main": "main.js", @@ -8,11 +8,12 @@ "node-moving-things-tracker": "main.js" }, "scripts": { - "test": "echo \"Error: no test specified\" && exit 1" + "test": "jasmine" }, "author": "@tdurand", "contributors": [ - "Benedikt Groß (http://benedikt-gross.de/)" + "Benedikt Groß (http://benedikt-gross.de/)", + "Valentin Sawadski (https://github.com/vsaw/)" ], "license": "MIT", "dependencies": { @@ -20,5 +21,7 @@ "minimist": "^1.2.0", "uuid": "^3.2.1" }, - "devDependencies": {} + "devDependencies": { + "jasmine": "^3.6.1" + } } diff --git a/spec/ItemTracked.spec.js b/spec/ItemTracked.spec.js new file mode 100644 index 0000000..3044bd3 --- /dev/null +++ b/spec/ItemTracked.spec.js @@ -0,0 +1,30 @@ +const ItemTracked = require('../ItemTracked'); + +describe("ItemTracked", function () { + describe("idDisplay", function () { + const properties = { + x: null, + y: null, + w: null, + h: null, + name: "dummy", + confidence: null + }; + const item1 = ItemTracked.ItemTracked(properties); + const item2 = ItemTracked.ItemTracked(properties); + + it('starts at 0', function() { + expect(item1.idDisplay).toBe(0); + }); + + it('icrements IDs', function() { + expect(item1.idDisplay).toBeLessThan(item2.idDisplay); + }); + + it('resets IDs', function() { + ItemTracked.reset(); + const item3 = ItemTracked.ItemTracked(properties); + expect(item3.idDisplay).toBe(0); + }); + }); +}); diff --git a/spec/Tracker.spec.js b/spec/Tracker.spec.js new file mode 100644 index 0000000..e2cd6ef --- /dev/null +++ b/spec/Tracker.spec.js @@ -0,0 +1,126 @@ +const Tracker = require('../tracker'); + +const detections = [ + [ + { + x: 0.688212, + y: 0.755398, + w: 0.026031, + h: 0.048941, + confidence: 16.5444, + name: 'object' + } + ], + [], // This empty frame ensure that the object will be removed if fastDelete is enabled. + [ + { + x: 0.686925, + y: 0.796403, + w: 0.028142, + h: 0.050919, + confidence: 25.7651, + name: 'object' + } + ], + [ + { + x: 0.686721, + y: 0.837579, + w: 0.027887, + h: 0.054398, + confidence: 34.285399999999996, + name: 'object' + } + ], + [ + { + x: 0.686436, + y: 0.877328, + w: 0.026603, + h: 0.058, + confidence: 18.104300000000002, + name: 'object' + } + ] +]; + +describe('Tracker', function () { + beforeEach(function () { + Tracker.reset(); + Tracker.setParams({ + fastDelete: true, + unMatchedFramesTolerance: 5, + iouLimit: 0.05 + }); + + detections.forEach((frame, frameNb) => { + Tracker.updateTrackedItemsWithNewFrame(frame, frameNb); + }); + }); + + describe('reset', function () { + it('resets ItemTracker idDisplay', function () { + Tracker.reset(); + + Tracker.updateTrackedItemsWithNewFrame(detections[0], 0); + + expect(Tracker.getJSONOfTrackedItems()[0].id).toBe(0); + }); + }); + + describe('fast delete', function () { + it('removes items with fast delete', function () { + expect(Tracker.getJSONOfTrackedItems()[0].id).toBeGreaterThan(0); + }); + + it('keeps the item if fastDelete is disabled', function () { + Tracker.setParams({ fastDelete: false }); + Tracker.reset(); + + detections.forEach((frame, frameNb) => { + Tracker.updateTrackedItemsWithNewFrame(frame, frameNb); + }); + + expect(Tracker.getJSONOfTrackedItems()[0].id).toBe(0); + }); + }); + + describe('custom distance function', function() { + var distanceSpy; + beforeEach(function() { + distanceSpy = jasmine.createSpy('distance spy', Tracker.iouDistance); + + Tracker.reset(); + Tracker.setParams({ distanceFunc: distanceSpy }); + detections.forEach((frame, frameNb) => { + Tracker.updateTrackedItemsWithNewFrame(frame, frameNb); + }); + }); + + it('called the custom distance', function() { + expect(distanceSpy).toHaveBeenCalled(); + }); + }); + + describe('distance limit', function() { + const d1 = detections[0][0]; + const d2 = detections[2][0]; + const params = { distanceLimit: 20000 }; + + beforeAll(function() { + Tracker.setParams(params); + }); + + it('is under limit if match successful', function() { + expect(Tracker.computeDistance(d1, d2)).toBeLessThanOrEqual(params.distanceLimit); + }); + + it('is above distance limit if match fails', function() { + Tracker.setParams({ + distanceLimit: params.distanceLimit, + iouLimit: 0.99 + }); + expect(Tracker.computeDistance(d1, d2)).toBeGreaterThan(params.distanceLimit); + }) + }); +}); diff --git a/spec/support/jasmine.json b/spec/support/jasmine.json new file mode 100644 index 0000000..370fc44 --- /dev/null +++ b/spec/support/jasmine.json @@ -0,0 +1,11 @@ +{ + "spec_dir": "spec", + "spec_files": [ + "**/*[sS]pec.js" + ], + "helpers": [ + "helpers/**/*.js" + ], + "stopSpecOnExpectationFailure": false, + "random": true +} diff --git a/tracker.js b/tracker.js index d45cf63..8c7f762 100644 --- a/tracker.js +++ b/tracker.js @@ -1,36 +1,13 @@ -var ItemTracked = require('./ItemTracked').ItemTracked; +const itemTrackedModule = require('./ItemTracked'); +var ItemTracked = itemTrackedModule.ItemTracked; var kdTree = require('./lib/kdTree-min.js').kdTree; var isEqual = require('lodash.isequal') var iouAreas = require('./utils').iouAreas var DEBUG_MODE = false; -// DEFAULT_UNMATCHEDFRAMES_TOLERANCE -// This the number of frame we wait when an object isn't matched before considering it gone -var DEFAULT_UNMATCHEDFRAMES_TOLERANCE = 5; -// IOU_LIMIT, exclude things from beeing matched if their IOU is lower than this -// 1 means total overlap whereas 0 means no overlap -var IOU_LIMIT = 0.05 - -// A dictionary of itemTracked currently tracked -// key: uuid -// value: ItemTracked object -var mapOfItemsTracked = new Map(); - -// A dictionnary keeping memory of all tracked object (even after they disappear) -// Useful to ouput the file of all items tracked -var mapOfAllItemsTracked = new Map(); - -// By default, we do not keep all the history in memory -var keepAllHistoryInMemory = false; - -// Implementation detail, we store the distance in a KDTREE, we want to be able to exclude values from -// the kdtree search by assigning them KDTREESEARCH_LIMIT + 1 -var KDTREESEARCH_LIMIT = 10000; - - // Distance function -const computeDistance = function(item1, item2) { +const iouDistance = function(item1, item2) { // IOU distance, between 0 and 1 // The smaller the less overlap var iou = iouAreas(item1, item2); @@ -39,29 +16,61 @@ const computeDistance = function(item1, item2) { var distance = 1 - iou; // If the overlap is iou < 0.95, exclude value - if(distance > (1 - IOU_LIMIT)) { - distance = KDTREESEARCH_LIMIT + 1; + if(distance > (1 - params.iouLimit)) { + distance = params.distanceLimit + 1; } return distance; } -exports.computeDistance = computeDistance; +const params = { + // DEFAULT_UNMATCHEDFRAMES_TOLERANCE + // This the number of frame we wait when an object isn't matched before considering it gone + unMatchedFramesTolerance: 5, + // DEFAULT_IOU_LIMIT, exclude things from beeing matched if their IOU is lower than this + // 1 means total overlap whereas 0 means no overlap + iouLimit: 0.05, + // Remove new objects fast if they could not be matched in the next frames. + // Setting this to false ensures the object will stick around at least + // unMatchedFramesTolerance frames, even if they could neven be matched in + // subsequent frames. + fastDelete: true, + // The function to use to determine the distance between to detected objects + distanceFunc: iouDistance, + // The distance limit for matching. If values need to be excluded from + // matching set their distance to something greater than the distance limit + distanceLimit: 10000 +} + +// A dictionary of itemTracked currently tracked +// key: uuid +// value: ItemTracked object +var mapOfItemsTracked = new Map(); + +// A dictionnary keeping memory of all tracked object (even after they disappear) +// Useful to ouput the file of all items tracked +var mapOfAllItemsTracked = new Map(); + +// By default, we do not keep all the history in memory +var keepAllHistoryInMemory = false; + + +exports.computeDistance = iouDistance; exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb) { // A kd-tree containing all the itemtracked // Need to rebuild on each frame, because itemTracked positions have changed - var treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), computeDistance, ["x", "y", "w", "h"]); + var treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), params.distanceFunc, ["x", "y", "w", "h"]); // Contruct a kd tree for the detections of this frame - var treeDetectionsOfThisFrame = new kdTree(detectionsOfThisFrame, computeDistance, ["x", "y", "w", "h"]); + var treeDetectionsOfThisFrame = new kdTree(detectionsOfThisFrame, params.distanceFunc, ["x", "y", "w", "h"]); // SCENARIO 1: itemsTracked map is empty if(mapOfItemsTracked.size === 0) { // Just add every detected item as item Tracked detectionsOfThisFrame.forEach(function(itemDetected) { - var newItemTracked = new ItemTracked(itemDetected, frameNb, DEFAULT_UNMATCHEDFRAMES_TOLERANCE) + var newItemTracked = new ItemTracked(itemDetected, frameNb, params.unMatchedFramesTolerance, params.fastDelete) // Add it to the map mapOfItemsTracked.set(newItemTracked.id, newItemTracked) // Add it to the kd tree @@ -79,17 +88,17 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb // First predict the new position of the itemTracked var predictedPosition = itemTracked.predictNextPosition() - + // Make available for matching itemTracked.makeAvailable(); // Search for a detection that matches - var treeSearchResult = treeDetectionsOfThisFrame.nearest(predictedPosition, 1, KDTREESEARCH_LIMIT)[0]; - + var treeSearchResult = treeDetectionsOfThisFrame.nearest(predictedPosition, 1, params.distanceLimit)[0]; + // Only for debug assessments of predictions - var treeSearchResultWithoutPrediction = treeDetectionsOfThisFrame.nearest(itemTracked, 1, KDTREESEARCH_LIMIT)[0]; + var treeSearchResultWithoutPrediction = treeDetectionsOfThisFrame.nearest(itemTracked, 1, params.distanceLimit)[0]; // Only if we enable the extra refinement - var treeSearchMultipleResults = treeDetectionsOfThisFrame.nearest(predictedPosition, 2, KDTREESEARCH_LIMIT); + var treeSearchMultipleResults = treeDetectionsOfThisFrame.nearest(predictedPosition, 2, params.distanceLimit); // If we have found something if(treeSearchResult) { @@ -124,7 +133,7 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb // var deltaAreaFirstChoice = Math.abs(detectionFirstChoice.area - itemTrackedArea) / (detectionFirstChoice.area + itemTrackedArea); // var deltaAreaSecondChoice = Math.abs(detectionSecondChoice.area - itemTrackedArea) / (detectionSecondChoice.area + itemTrackedArea); - // // Compare the area of each, priorize the detections that as a overal similar area + // // Compare the area of each, priorize the detections that as a overal similar area // // even if it overlaps less // if(deltaAreaFirstChoice > deltaAreaSecondChoice) { // if(Math.abs(deltaAreaFirstChoice - deltaAreaSecondChoice) > 0.5) { @@ -179,16 +188,16 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb // to existing trackedItems this avoids adding some double match of YOLO and bring down drasticly reassignments if(mapOfItemsTracked.size > 0) { // Safety check to see if we still have object tracked (could have been deleted previously) // Rebuild tracked item tree to take in account the new positions - treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), computeDistance, ["x", "y", "w", "h"]); + treeItemsTracked = new kdTree(Array.from(mapOfItemsTracked.values()), params.distanceFunc, ["x", "y", "w", "h"]); // console.log(`Nb new items Unmatched : ${matchedList.filter((isMatched) => isMatched === false).length}`) matchedList.forEach(function(matched, index) { // Iterate through unmatched new detections if(!matched) { - // Do not add as new tracked item if it is to similar to an existing one - var treeSearchResult = treeItemsTracked.nearest(detectionsOfThisFrame[index], 1, KDTREESEARCH_LIMIT)[0]; + // Do not add as new tracked item if it is to similar to an existing one + var treeSearchResult = treeItemsTracked.nearest(detectionsOfThisFrame[index], 1, params.distanceLimit)[0]; if(!treeSearchResult) { - var newItemTracked = ItemTracked(detectionsOfThisFrame[index], frameNb, DEFAULT_UNMATCHEDFRAMES_TOLERANCE) + var newItemTracked = ItemTracked(detectionsOfThisFrame[index], frameNb, params.unMatchedFramesTolerance, params.fastDelete) // Add it to the map mapOfItemsTracked.set(newItemTracked.id, newItemTracked) // Add it to the kd tree @@ -202,7 +211,7 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb }); } - // Start killing the itemTracked (and predicting next position) + // Start killing the itemTracked (and predicting next position) // that are tracked but haven't been matched this frame mapOfItemsTracked.forEach(function(itemTracked) { if(itemTracked.available) { @@ -217,22 +226,20 @@ exports.updateTrackedItemsWithNewFrame = function(detectionsOfThisFrame, frameNb } } }); - + } } exports.reset = function() { mapOfItemsTracked = new Map(); mapOfAllItemsTracked = new Map(); + itemTrackedModule.reset(); } -exports.setParams = function(params) { - if(params.unMatchedFramesTolerance) { - DEFAULT_UNMATCHEDFRAMES_TOLERANCE = params.unMatchedFramesTolerance; - } - if(params.iouLimit) { - IOU_LIMIT = params.iouLimit; - } +exports.setParams = function(newParams) { + Object.keys(newParams).forEach((key) => { + params[key] = newParams[key]; + }); } exports.enableKeepInMemory = function() {