integrated object tracking into detectNet

c/detectNet.cpp

@@ -21,6 +21,7 @@
  */
 
 #include "detectNet.h"
+#include "objectTracker.h"
 #include "tensorConvert.h"
 #include "modelDownloader.h"
 
@@ -48,6 +49,7 @@
 // constructor
 detectNet::detectNet( float meanPixel ) : tensorNet()
 {
+	mTracker   = NULL;
 	mMeanPixel = meanPixel;
 	mLineWidth = 2.0f;
 
@@ -67,6 +69,8 @@ detectNet::detectNet( float meanPixel ) : tensorNet()
 // destructor
 detectNet::~detectNet()
 {
+	SAFE_DELETE(mTracker);
+
 	CUDA_FREE_HOST(mDetectionSets);
 	CUDA_FREE_HOST(mClassColors);
 }
@@ -384,6 +388,9 @@ detectNet* detectNet::Create( const commandLine& cmdLine )
 	net->SetOverlayAlpha(cmdLine.GetFloat("alpha", DETECTNET_DEFAULT_ALPHA));
 	net->SetClusteringThreshold(cmdLine.GetFloat("clustering", DETECTNET_DEFAULT_CLUSTERING_THRESHOLD));
 
+	// enable tracking if requested
+	net->SetTracker(objectTracker::Create(cmdLine));
+
 	return net;
 }
 
@@ -514,7 +521,7 @@ int detectNet::Detect( void* input, uint32_t width, uint32_t height, imageFormat
 	PROFILER_END(PROFILER_NETWORK);
 
 	// post-processing / clustering
-	const int numDetections = postProcess(detections, width, height);
+	const int numDetections = postProcess(input, width, height, format, detections);
 
 	// render the overlay
 	if( overlay != 0 && numDetections > 0 )
@@ -592,7 +599,7 @@ bool detectNet::preProcess( void* input, uint32_t width, uint32_t height, imageF
 
 
 // postProcess
-int detectNet::postProcess( Detection* detections, uint32_t width, uint32_t height )
+int detectNet::postProcess( void* input, uint32_t width, uint32_t height, imageFormat format, Detection* detections )
 {
 	PROFILER_BEGIN(PROFILER_POSTPROCESS);
 
@@ -629,6 +636,10 @@ int detectNet::postProcess( Detection* detections, uint32_t width, uint32_t heig
 			detections[n].Bottom = height - 1;
 	}
 
+	// update tracking
+	if( mTracker != NULL )
+		numDetections = mTracker->Process(input, width, height, format, detections, numDetections);
+
 	PROFILER_END(PROFILER_POSTPROCESS);	
 	return numDetections;
 }

c/detectNet.h

@@ -107,6 +107,10 @@
 		  "  --profile             enable layer profiling in TensorRT\n\n"
 
 
+// forward declarations
+class objectTracker;
+
+
 /**
  * Object recognition and localization networks with TensorRT support.
  * @ingroup detectNet
@@ -429,6 +433,16 @@ class detectNet : public tensorNet
 	 */
 	inline void SetClusteringThreshold( float threshold ) 			{ mClusteringThreshold = threshold; }
 
+	/**
+	 * Get the object tracker being used.
+	 */
+	inline objectTracker* GetTracker() const					{ return mTracker; }
+
+	/**
+	 * Set the object tracker to be used.
+	 */
+	inline void SetTracker( objectTracker* tracker ) 				{ mTracker = tracker; }
+
 	/**
 	 * Retrieve the maximum number of simultaneous detections the network supports.
 	 * Knowing this is useful for allocating the buffers to store the output detection results.
@@ -484,7 +498,7 @@ class detectNet : public tensorNet
  	 * Set overlay alpha blending value for all classes (between 0-255).
 	 */
 	void SetOverlayAlpha( float alpha );
-	
+
 protected:
 
 	// constructor
@@ -500,8 +514,8 @@ class detectNet : public tensorNet
 			 precisionType precision, deviceType device, bool allowGPUFallback );
 
 	bool preProcess( void* input, uint32_t width, uint32_t height, imageFormat format );
+	int postProcess( void* input, uint32_t width, uint32_t height, imageFormat format, Detection* detections );
 
-	int postProcess( Detection* detections, uint32_t width, uint32_t height );
 	int postProcessSSD_UFF( Detection* detections, uint32_t width, uint32_t height );
 	int postProcessSSD_ONNX( Detection* detections, uint32_t width, uint32_t height );
 	int postProcessDetectNet( Detection* detections, uint32_t width, uint32_t height );
@@ -510,6 +524,8 @@ class detectNet : public tensorNet
 	int clusterDetections( Detection* detections, int n );
 	void sortDetections( Detection* detections, int numDetections );
 
+	objectTracker* mTracker;
+
 	float mConfidenceThreshold;	 // TODO change this to per-class
 	float mClusteringThreshold;	 // TODO change this to per-class
 

c/trackers/objectTracker.cpp

@@ -68,9 +68,11 @@ objectTracker* objectTracker::Create( const commandLine& cmdLine )
 	}
 	else
 	{
-		LogError(LOG_TRACKER "tried to create invalid object tracker type:  %s\n", str);
-		return NULL;
+		if( str != NULL )
+			LogError(LOG_TRACKER "tried to create invalid object tracker type:  %s\n", str);
 	}
+
+	return NULL;
 }
 
 

c/trackers/objectTrackerIOU.cpp

@@ -136,7 +136,7 @@ int objectTrackerIOU::Process( void* input, uint32_t width, uint32_t height, ima
 
 	for( int n=0; n < mTracks.size(); n++ )
 	{
-		if( mTracks[n].TrackFrames >= 5 )
+		if( mTracks[n].TrackFrames >= 3 )
 			detections[numDetections++] = mTracks[n];
 	}
 

examples/detectnet/detectnet.cpp

@@ -147,8 +147,11 @@ int main( int argc, char** argv )
 
 			for( int n=0; n < numDetections; n++ )
 			{
-				LogVerbose("detected obj %i  class #%u (%s)  confidence=%f\n", n, detections[n].ClassID, net->GetClassDesc(detections[n].ClassID), detections[n].Confidence);
-				LogVerbose("bounding box %i  (%f, %f)  (%f, %f)  w=%f  h=%f\n", n, detections[n].Left, detections[n].Top, detections[n].Right, detections[n].Bottom, detections[n].Width(), detections[n].Height()); 
+				LogVerbose("\ndetected obj %i  class #%u (%s)  confidence=%f\n", n, detections[n].ClassID, net->GetClassDesc(detections[n].ClassID), detections[n].Confidence);
+				LogVerbose("bounding box %i  (%.2f, %.2f)  (%.2f, %.2f)  w=%.2f  h=%.2f\n", n, detections[n].Left, detections[n].Top, detections[n].Right, detections[n].Bottom, detections[n].Width(), detections[n].Height()); 
+
+				if( detections[n].Instance >= 0 ) // is this a tracked object?
+					LogVerbose("tracking instance %i  frames=%i  lost=%i\n", detections[n].Instance, detections[n].TrackFrames, detections[n].TrackLost);
 			}
 		}	
 

python/bindings/PyDetectNet.cpp

@@ -134,24 +134,49 @@ static PyObject* PyDetection_ToString( PyDetection_Object* self )
 	self->det.Center(&cx, &cy);
 
 	// format string
-	char str[1024];
-
-	sprintf(str, 
-		   "<detectNet.Detection object>\n"
-		   "   -- ClassID: %i\n"
-		   "   -- Confidence: %g\n"
-		   "   -- Left:    %g\n"
-		   "   -- Top:     %g\n"
-		   "   -- Right:   %g\n"
-		   "   -- Bottom:  %g\n"
-		   "   -- Width:   %g\n"
-		   "   -- Height:  %g\n"
-		   "   -- Area:    %g\n"
-		   "   -- Center:  (%g, %g)",
-		   self->det.ClassID, self->det.Confidence, 
-		   self->det.Left, self->det.Top, self->det.Right, self->det.Bottom,
-		   self->det.Width(), self->det.Height(), self->det.Area(), cx, cy);
+	char str[4096];
 
+	if( self->det.Instance >= 0 )
+	{
+		sprintf(str, 
+			   "<detectNet.Detection object>\n"
+			   "   -- ClassID:      %i\n"
+			   "   -- Confidence:   %g\n"
+			   "   -- Instance:     %i\n"
+			   "   -- Track Frames: %i\n"
+			   "   -- Track Lost:   %i\n"
+			   "   -- Left:    %g\n"
+			   "   -- Top:     %g\n"
+			   "   -- Right:   %g\n"
+			   "   -- Bottom:  %g\n"
+			   "   -- Width:   %g\n"
+			   "   -- Height:  %g\n"
+			   "   -- Area:    %g\n"
+			   "   -- Center:  (%g, %g)",
+			   self->det.ClassID, self->det.Confidence, 
+			   self->det.Instance, self->det.TrackFrames, self->det.TrackLost,
+			   self->det.Left, self->det.Top, self->det.Right, self->det.Bottom,
+			   self->det.Width(), self->det.Height(), self->det.Area(), cx, cy);
+	}
+	else
+	{
+		sprintf(str, 
+			   "<detectNet.Detection object>\n"
+			   "   -- ClassID: %i\n"
+			   "   -- Confidence: %g\n"
+			   "   -- Left:    %g\n"
+			   "   -- Top:     %g\n"
+			   "   -- Right:   %g\n"
+			   "   -- Bottom:  %g\n"
+			   "   -- Width:   %g\n"
+			   "   -- Height:  %g\n"
+			   "   -- Area:    %g\n"
+			   "   -- Center:  (%g, %g)",
+			   self->det.ClassID, self->det.Confidence, 
+			   self->det.Left, self->det.Top, self->det.Right, self->det.Bottom,
+			   self->det.Width(), self->det.Height(), self->det.Area(), cx, cy);
+	}
+
 	return PYSTRING_FROM_STRING(str);
 }