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提交 cb0f15e9 编写于 作者: G gineshidalgo99
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Tracking working if no people detected

上级 c9fbc7b6
隐藏空白更改
内联 并排
Showing with 135 addition and 124 deletion
src/openpose/tracking/personTracker.cpp
浏览文件 @ cb0f15e9
......@@ -2,6 +2,7 @@
#include <thread>
#include <opencv2/imgproc/imgproc.hpp> // cv::resize
#include <openpose/tracking/personTracker.hpp>
#include <openpose/utilities/fastMath.hpp>
#include <openpose/tracking/pyramidalLK.hpp>
namespace op
......@@ -40,18 +41,19 @@ namespace op
int totalKp = 0;
for (size_t i=0; i<personEntry.keypoints.size(); i++)
{
if (!personEntry.status[i])
continue;
const auto kp = personEntry.keypoints[i];
if (kp.x < minX)
minX = kp.x;
if (kp.x > maxX)
maxX = kp.x;
if (kp.y < minY)
minY = kp.y;
if (kp.y > maxY)
maxY = kp.y;
totalKp++;
if (personEntry.status[i])
{
const auto kp = personEntry.keypoints[i];
if (kp.x < minX)
minX = kp.x;
if (kp.x > maxX)
maxX = kp.x;
if (kp.y < minY)
minY = kp.y;
if (kp.y > maxY)
maxY = kp.y;
totalKp++;
}
}
const float xDist = (maxX - minX);
const float yDist = (maxY - minY);
......@@ -147,23 +149,23 @@ namespace op
try
{
personEntries.clear();
for (int i=0; i<poseKeypoints.getSize()[0]; i++)
for (int i=0; i<poseKeypoints.getSize(0); i++)
{
const auto id = poseIds[i];
personEntries[id] = PersonTrackerEntry();
personEntries[id].keypoints.resize(poseKeypoints.getSize()[1]);
personEntries[id].status.resize(poseKeypoints.getSize()[1]);
for (int j=0; j<poseKeypoints.getSize()[1]; j++)
personEntries[id].keypoints.resize(poseKeypoints.getSize(1));
personEntries[id].status.resize(poseKeypoints.getSize(1));
for (int j=0; j<poseKeypoints.getSize(1); j++)
{
personEntries[id].keypoints[j].x = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 0];
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 0];
personEntries[id].keypoints[j].y = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 1];
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 1];
const float prob = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 2];
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 2];
if (prob < confidenceThreshold)
personEntries[id].status[j] = 0;
else
......@@ -183,103 +185,104 @@ namespace op
{
try
{
if (poseIds.empty())
return;
// Delete
for (auto kv = personEntries.cbegin(); kv != personEntries.cend() /* not hoisted */; /* no increment */)
if (!poseIds.empty())
{
bool exists = false;
for (int i=0; i<poseIds.getSize()[0]; i++)
// Delete
for (auto kv = personEntries.cbegin(); kv != personEntries.cend() /* not hoisted */; /* no increment */)
{
const auto id = poseIds[i];
if (id == kv->first)
exists = true;
bool exists = false;
for (int i=0; i<poseIds.getSize(0); i++)
{
const auto id = poseIds[i];
if (id == kv->first)
exists = true;
}
if (!exists)
personEntries.erase(kv++);
else
++kv;
}
if (!exists)
personEntries.erase(kv++);
else
++kv;
}
// Update or Add
for (int i=0; i<poseIds.getSize()[0]; i++)
{
const auto id = poseIds[i];
// Update
if (personEntries.count(id) && mergeResults)
// Update or Add
for (int i=0; i<poseIds.getSize(0); i++)
{
PersonTrackerEntry& personEntry = personEntries[id];
for (int j=0; j<poseKeypoints.getSize()[1]; j++)
{
const float x = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 0];
const float y = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 1];
const float prob = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 2];
const cv::Point lkPoint = personEntry.keypoints[j];
const cv::Point opPoint = cv::Point(x,y);
const auto id = poseIds[i];
if (prob < confidenceThreshold)
personEntries[id].status[j] = 0;
else
// Update
if (personEntries.count(id) && mergeResults)
{
PersonTrackerEntry& personEntry = personEntries[id];
for (int j=0; j<poseKeypoints.getSize(1); j++)
{
personEntries[id].status[j] = 1;
float distance = sqrt(pow(lkPoint.x-opPoint.x,2)+pow(lkPoint.y-opPoint.y,2));
if (distance < 5)
personEntries[id].keypoints[j] = lkPoint;
else if (distance < 10)
personEntries[id].keypoints[j] = cv::Point((lkPoint.x+opPoint.x)/2.,(lkPoint.y+opPoint.y)/2.);
const float x = poseKeypoints[
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 0];
const float y = poseKeypoints[
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 1];
const float prob = poseKeypoints[
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 2];
const cv::Point lkPoint = personEntry.keypoints[j];
const cv::Point opPoint = cv::Point(x,y);
if (prob < confidenceThreshold)
personEntries[id].status[j] = 0;
else
personEntries[id].keypoints[j] = opPoint;
{
personEntries[id].status[j] = 1;
float distance = sqrt(pow(lkPoint.x-opPoint.x,2)+pow(lkPoint.y-opPoint.y,2));
if (distance < 5)
personEntries[id].keypoints[j] = lkPoint;
else if (distance < 10)
personEntries[id].keypoints[j] = cv::Point{intRound((lkPoint.x+opPoint.x)/2.),
intRound((lkPoint.y+opPoint.y)/2.)};
else
personEntries[id].keypoints[j] = opPoint;
}
}
}
}
// Add
else
{
personEntries[id] = PersonTrackerEntry();
personEntries[id].keypoints.resize(poseKeypoints.getSize()[1]);
personEntries[id].status.resize(poseKeypoints.getSize()[1]);
for (int j=0; j<poseKeypoints.getSize()[1]; j++)
{
personEntries[id].keypoints[j].x = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 0];
personEntries[id].keypoints[j].y = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 1];
const float prob = poseKeypoints[
i*poseKeypoints.getSize()[1]*poseKeypoints.getSize()[2] +
j*poseKeypoints.getSize()[2] + 2];
if (prob < confidenceThreshold)
personEntries[id].status[j] = 0;
else
personEntries[id].status[j] = 1;
}
// Add
else
{
personEntries[id] = PersonTrackerEntry();
personEntries[id].keypoints.resize(poseKeypoints.getSize(1));
personEntries[id].status.resize(poseKeypoints.getSize(1));
for (int j=0; j<poseKeypoints.getSize(1); j++)
{
personEntries[id].keypoints[j].x = poseKeypoints[
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 0];
personEntries[id].keypoints[j].y = poseKeypoints[
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 1];
const float prob = poseKeypoints[
i*poseKeypoints.getSize(1)*poseKeypoints.getSize(2) +
j*poseKeypoints.getSize(2) + 2];
if (prob < confidenceThreshold)
personEntries[id].status[j] = 0;
else
personEntries[id].status[j] = 1;
}
}
}
}
// Sanity Check Start
if ((int)personEntries.size() != poseIds.getSize()[0])
{
// Print
for (auto& kv : personEntries)
std::cout << kv.first << " ";
std::cout << std::endl;
for (int i=0; i<poseIds.getSize()[0]; i++)
std::cout << poseIds.at(i) << " ";
std::cout << std::endl;
std::cout << "---" << std::endl;
error("Size Mismatch. THere is an error in your poseId formatting.",
__LINE__, __FUNCTION__, __FILE__);
// Sanity Check Start
if ((int)personEntries.size() != poseIds.getSize(0))
{
// Print
for (auto& kv : personEntries)
std::cout << kv.first << " ";
std::cout << std::endl;
for (int i=0; i<poseIds.getSize(0); i++)
std::cout << poseIds.at(i) << " ";
std::cout << std::endl;
std::cout << "---" << std::endl;
error("Size Mismatch. THere is an error in your poseId formatting.",
__LINE__, __FUNCTION__, __FILE__);
}
}
}
catch (const std::exception& e)
......@@ -294,25 +297,26 @@ namespace op
{
try
{
if (!personEntries.size() || poseIds.empty())
return;
int dims[] = { (int)personEntries.size(), (int)personEntries.begin()->second.keypoints.size(), 3 };
cv::Mat opArrayMat(3,dims,CV_32FC1);
for (auto i=0; i<poseIds.getSize()[0]; i++)
if (personEntries.size() && !poseIds.empty())
{
const int id = poseIds[i];
const PersonTrackerEntry& pe = personEntries.at(id);
for (int j=0; j<dims[1]; j++)
int dims[] = { (int)personEntries.size(), (int)personEntries.begin()->second.keypoints.size(), 3 };
cv::Mat opArrayMat(3,dims,CV_32FC1);
for (auto i=0; i<poseIds.getSize(0); i++)
{
const auto baseIndex = i*dims[1]*dims[2] + j*dims[2];
opArrayMat.at<float>(baseIndex + 0) = pe.keypoints[j].x;
opArrayMat.at<float>(baseIndex + 1) = pe.keypoints[j].y;
opArrayMat.at<float>(baseIndex + 2) = (int)pe.status[j];
if (pe.keypoints[j].x == 0 && pe.keypoints[j].y == 0)
opArrayMat.at<float>(baseIndex + 2) = 0;
const int id = poseIds[i];
const PersonTrackerEntry& pe = personEntries.at(id);
for (int j=0; j<dims[1]; j++)
{
const auto baseIndex = i*dims[1]*dims[2] + j*dims[2];
opArrayMat.at<float>(baseIndex + 0) = pe.keypoints[j].x;
opArrayMat.at<float>(baseIndex + 1) = pe.keypoints[j].y;
opArrayMat.at<float>(baseIndex + 2) = (int)pe.status[j];
if (pe.keypoints[j].x == 0 && pe.keypoints[j].y == 0)
opArrayMat.at<float>(baseIndex + 2) = 0;
}
}
poseKeypoints.setFrom(opArrayMat);
}
poseKeypoints.setFrom(opArrayMat);
}
catch (const std::exception& e)
{
......@@ -323,14 +327,21 @@ namespace op
void scaleKeypoints(std::unordered_map<int, PersonTrackerEntry>& personEntries,
const float xScale, const float yScale)
{
for (auto& kv : personEntries)
try
{
for (size_t i=0; i<kv.second.keypoints.size(); i++)
for (auto& kv : personEntries)
{
kv.second.keypoints[i].x *= xScale;
kv.second.keypoints[i].y *= yScale;
for (size_t i=0; i<kv.second.keypoints.size(); i++)
{
kv.second.keypoints[i].x *= xScale;
kv.second.keypoints[i].y *= yScale;
}
}
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
PersonTracker::PersonTracker(const bool mergeResults, const int levels,
......
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