add mot & tracking -> sot

CMakeLists.txt

@@ -71,7 +71,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/landing_det/cuda
-  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/tracking/ocv470
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
@@ -111,7 +111,8 @@ set(
   include/sv_algorithm_base.h
   include/sv_common_det.h
   include/sv_landing_det.h
-  include/sv_tracking.h
+  include/sv_sot.h
+  include/sv_mot.h
   include/sv_color_line.h
   include/sv_video_input.h
   include/sv_video_output.h
@@ -152,11 +153,12 @@ set(spirecv_SRCS
   algorithm/ellipse_det/ellipse_detector.cpp
   algorithm/common_det/sv_common_det.cpp
   algorithm/landing_det/sv_landing_det.cpp
-  algorithm/tracking/sv_tracking.cpp
+  algorithm/sot/sv_sot.cpp
+  algorithm/mot/sv_mot.cpp
   algorithm/color_line/sv_color_line.cpp
 )
 
-file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/tracking/ocv470/*.cpp)
+file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
 file(GLOB ALG_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line/*.cpp)
 list(APPEND spirecv_SRCS ${ALG_SRC_FILES})
@@ -249,6 +251,8 @@ add_executable(LandingMarkerDetection samples/demo/landing_marker_detection.cpp)
 target_link_libraries(LandingMarkerDetection sv_world)
 add_executable(SingleObjectTracking samples/demo/single_object_tracking.cpp)
 target_link_libraries(SingleObjectTracking sv_world)
+add_executable(MultipleObjectTracking samples/demo/multiple_object_tracking.cpp)
+target_link_libraries(MultipleObjectTracking sv_world)
 add_executable(ColorLineDetection samples/demo/color_line_detect.cpp)
 target_link_libraries(ColorLineDetection sv_world)
 add_executable(UdpDetectionInfoReceiver samples/demo/udp_detection_info_receiver.cpp)

algorithm/mot/sv_mot.cpp

@@ -0,0 +1,98 @@
+#include "sv_mot.h"
+#include <cmath>
+#include <fstream>
+#include "gason.h"
+#include "sv_util.h"
+
+
+namespace sv {
+
+
+MultipleObjectTracker::MultipleObjectTracker()
+{
+    this->_params_loaded = false;
+}
+MultipleObjectTracker::~MultipleObjectTracker()
+{
+}
+
+void MultipleObjectTracker::track(cv::Mat img_, TargetsInFrame& tgts_)
+{
+    if (!this->_params_loaded)
+    {
+        this->_load();
+        this->_params_loaded = true;
+    }
+
+}
+
+void MultipleObjectTracker::init()
+{
+    if (!this->_params_loaded)
+    {
+        this->_load();
+        this->_params_loaded = true;
+    }
+}
+
+void MultipleObjectTracker::_load()
+{
+    JsonValue all_value;
+    JsonAllocator allocator;
+    _load_all_json(this->alg_params_fn, all_value, allocator);
+
+    JsonValue tracker_params_value;
+    _parser_algorithm_params("MultipleObjectTracker", all_value, tracker_params_value);
+
+    for (auto i : tracker_params_value) {
+        if ("algorithm" == std::string(i->key)) {
+            this->_algorithm = i->value.toString();
+            std::cout << "algorithm: " << this->_algorithm << std::endl;
+        }
+        else if ("with_reid" == std::string(i->key)) {
+            if (i->value.getTag() == JSON_TRUE)
+                this->_with_reid = true;
+            else
+                this->_with_reid = false;
+            
+            std::cout << "with_reid: " << this->_with_reid << std::endl;
+        }
+        else if ("reid_input_size" == std::string(i->key) && i->value.getTag() == JSON_ARRAY) {
+            int jcnt = 0;
+            for (auto j : i->value) {
+                if (jcnt == 0) {
+                    this->_reid_input_w = j->value.toNumber();
+                }
+                if (jcnt == 1) {
+                    this->_reid_input_h = j->value.toNumber();
+                }
+                jcnt += 1;
+            }
+            std::cout << "reid_input_w: " << this->_reid_input_w << std::endl;
+            std::cout << "reid_input_h: " << this->_reid_input_h << std::endl;
+        }
+        else if ("reid_num_samples" == std::string(i->key)) {
+            this->_reid_num_samples = i->value.toNumber();
+            std::cout << "reid_num_samples: " << this->_reid_num_samples << std::endl;
+        }
+        else if ("reid_match_thres" == std::string(i->key)) {
+            this->_reid_match_thres = i->value.toNumber();
+            std::cout << "reid_match_thres: " << this->_reid_match_thres << std::endl;
+        }
+        else if ("iou_thres" == std::string(i->key)) {
+            this->_iou_thres = i->value.toNumber();
+            std::cout << "iou_thres: " << this->_iou_thres << std::endl;
+        }
+        else if ("max_age" == std::string(i->key)) {
+            this->_max_age = i->value.toNumber();
+            std::cout << "max_age: " << this->_max_age << std::endl;
+        }
+        else if ("min_hits" == std::string(i->key)) {
+            this->_min_hits = i->value.toNumber();
+            std::cout << "min_hits: " << this->_min_hits << std::endl;
+        }
+    }
+}
+
+}
+

algorithm/sot/ocv470/sot_ocv470_impl.cpp

@@ -1,4 +1,4 @@
-#include "tracking_ocv470_impl.h"
+#include "sot_ocv470_impl.h"
 #include <cmath>
 #include <fstream>
 

algorithm/sot/sv_sot.cpp

@@ -1,7 +1,7 @@
-#include "sv_tracking.h"
+#include "sv_sot.h"
 #include <cmath>
 #include <fstream>
-#include "tracking_ocv470_impl.h"
+#include "sot_ocv470_impl.h"
 
 
 namespace sv {

include/sv_mot.h

@@ -0,0 +1,42 @@
+#ifndef __SV_MOT__
+#define __SV_MOT__
+
+#include "sv_core.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/tracking.hpp>
+#include <string>
+#include <chrono>
+
+
+
+namespace sv {
+
+
+class MultipleObjectTracker : public CameraAlgorithm
+{
+public:
+  MultipleObjectTracker();
+  ~MultipleObjectTracker();
+
+  void init();
+  void track(cv::Mat img_, TargetsInFrame& tgts_);
+
+private:
+  void _load();
+  bool _params_loaded;
+
+  std::string _algorithm;
+  bool _with_reid;
+  int _reid_input_h;
+  int _reid_input_w;
+  int _reid_num_samples;
+  double _reid_match_thres;
+  double _iou_thres;
+  int _max_age;
+  int _min_hits;
+};
+
+
+}
+#endif

include/sv_world.h

@@ -4,7 +4,8 @@
 #include "sv_core.h"
 #include "sv_common_det.h"
 #include "sv_landing_det.h"
-#include "sv_tracking.h"
+#include "sv_sot.h"
+#include "sv_mot.h"
 #include "sv_color_line.h"
 #include "sv_video_input.h"
 #include "sv_video_output.h"

params/a-params/sv_algorithm_params.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_1280_wo_mask.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_640_w_mask.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_640_wo_mask.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_coco_1280.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_coco_640.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_csrt.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_kcf.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_nano.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

params/a-params/sv_algorithm_params_siamrpn.json

@@ -116,6 +116,16 @@
         "backend": 0,
         "target": 0
     },
+    "MultipleObjectTracker": {
+        "algorithm": "sort",
+        "with_reid": false,
+        "reid_input_size": [128, 128],
+        "reid_num_samples": 10,
+        "reid_match_thres": 2.0,
+        "iou_thres": 0.5,
+        "max_age": 10,
+        "min_hits": 3
+    },
     "LandingMarkerDetector": {
         "labels": ["x", "h"],
         "maxCandidates": 5

samples/demo/multiple_object_tracking.cpp

@@ -0,0 +1,41 @@
+#include <iostream>
+#include <string>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+
+using namespace std;
+
+int main(int argc, char *argv[]) {
+  // 实例化
+  sv::MultipleObjectTracker mot;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  mot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  
+  // 打开摄像头
+  sv::Camera cap;
+  // cap.setWH(640, 480);
+  // cap.setFps(30);
+  cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
+  // 实例化OpenCV的Mat类，用于内存单帧图像
+  cv::Mat img;
+  int frame_id = 0;
+  while (1)
+  {
+    // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+    sv::TargetsInFrame tgts(frame_id++);
+    // 读取一帧图像到img
+    cap.read(img);
+    cv::resize(img, img, cv::Size(mot.image_width, mot.image_height));
+
+    // 执行通用目标检测
+    mot.track(img, tgts);
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
+    
+    // 显示检测结果img
+    cv::imshow("img", img);
+    cv::waitKey(10);
+  }
+
+  return 0;
+}