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mediapipe/mediapipe/calculators/video/box_tracker_calculator.cc
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GitOrigin-RevId: b2062656e5b3d33264e28ed0cbca31c4b93fe1bf
2020-07-29 21:18:36 -04:00

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// Copyright 2019 The MediaPipe Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <stdio.h>
#include <memory>
#include <unordered_map>
#include <unordered_set>
#include "absl/container/node_hash_set.h"
#include "absl/strings/numbers.h"
#include "mediapipe/calculators/video/box_tracker_calculator.pb.h"
#include "mediapipe/framework/calculator_framework.h"
#include "mediapipe/framework/formats/image_frame.h"
#include "mediapipe/framework/formats/image_frame_opencv.h"
#include "mediapipe/framework/formats/video_stream_header.h"
#include "mediapipe/framework/port/integral_types.h"
#include "mediapipe/framework/port/logging.h"
#include "mediapipe/framework/port/parse_text_proto.h"
#include "mediapipe/framework/port/ret_check.h"
#include "mediapipe/framework/port/status.h"
#include "mediapipe/framework/tool/options_util.h"
#include "mediapipe/util/tracking/box_tracker.h"
#include "mediapipe/util/tracking/tracking.h"
#include "mediapipe/util/tracking/tracking_visualization_utilities.h"
namespace mediapipe {
const char kOptionsTag[] = "OPTIONS";
// A calculator to track box positions over time.
// This calculator works in two modes:
// a) Streaming mode, forward tracking only uses per frame TRACKING TrackingData
// supplied by tracking. For faster processing use TRACK_TIME to explicitly
// request tracking results at higher FPS than supplied by TRACKING.
// b) Batch mode: Tracks from tracking chunk files as specified by CACHE_DIR
// side packet (forward and backward with multiple key framing support).
// NOTE: When using batch mode you might need some external logic
// to clear out the caching directory between runs / files; or otherwise
// stale chunk files might be used.
//
// Initial positions can be either supplied via calculator options or
// INITIAL_POS (not supported on mobile) side packet, but not both.
// Input stream:
// TRACKING: Input tracking data (proto TrackingData, required if CACHE_DIR
// is not defined)
// TRACK_TIME: Timestamps that tracking results should be generated at.
// Optional. Results generated at a TRACK_TIME w/o corresponding
// TRACKING packet will be queued up and returned when the next
// TRACKING input is observed. For those packets also no
// visualization output will be generated.
// Can be Packet of any type.
// VIDEO: Optional input video stream tracked boxes are rendered over.
// START: Optional input stream with PreStream packet to begin processing.
// Typical use case: When used in batch mode have
// FlowPackagerCalculator emit a COMPLETE packet to indicate caching
// is completed.
// START_POS: Optional initial positions to be tracked as TimedBoxProtoList.
// Timestamp of the box is used, so box timestamp does not have to
// be monotonic. Assign monotonic increasing timestamps for
// START_POS, e.g. 1,2,3 per request.
// Supplied starting positions are 'fast forwarded', i.e. quickly
// tracked towards current track head, i.e. last received
// TrackingData and added to current set of tracked boxes.
// This is recommended to be used with SyncSetInputStreamHandler.
// START_POS_PROTO_STRING: Same as START_POS, but is in the form of serialized
// protobuffer std::string. When both START_POS and
// START_POS_PROTO_STRING are present, START_POS is used. Suggest
// to specify only one of them.
// RESTART_POS: Same as START_POS, but exclusively for receiving detection
// results from reacquisition.
// CANCEL_OBJECT_ID: Optional id of box to be removed. This is recommended
// to be used with SyncSetInputStreamHandler.
// RA_TRACK: Performs random access tracking within the specified
// tracking cache, which is specified in the options of this
// calculator BoxTrackerCalculatorOptions. Input is of type
// TimedBoxProtoList.
// Assumed to be supplied as pair
// [start0, stop0, start1, stop1, ...] of boxes,
// (that is list size() % 2 == 0), where position, id and time
// is used for start, and only time for stop; that is position
// is ignored.
// Assign monotonically increasing packet timestamps for RA_TRACK,
// e.g. 1,2,3; however the timestamp in TimedBoxProtoList
// can be in arbitrary order.
// Use with SyncSetInputStreamHandler in streaming mode only.
// RA_TRACK_PROTO_STRING: Same as RA_TRACK, but is in the form of serialized
// protobuffer std::string. When both RA_TRACK and
// RA_TRACK_PROTO_STRING are present, RA_TRACK is used. Suggest
// to specify only one of them.
//
// Output streams:
// VIZ: Optional output video stream with rendered box positions
// (requires VIDEO to be present)
// BOXES: Optional output stream of type TimedBoxProtoList for each
// initialized result.
// RA_BOXES: Optional output stream of type TimedBoxProtoList for each
// request in RA_TRACK. Same timestamp as request is used.
//
// Input side packets:
// INITIAL_POS: Optional initial positions to be tracked as text format proto
// of type TimedBoxProtoList. Can not be combined with initial
// position option. NOT SUPPORTED ON MOBILE.
// CACHE_DIR: Optional caching directory tracking chunk files are read
// from.
//
//
class BoxTrackerCalculator : public CalculatorBase {
public:
~BoxTrackerCalculator() override = default;
static ::mediapipe::Status GetContract(CalculatorContract* cc);
::mediapipe::Status Open(CalculatorContext* cc) override;
::mediapipe::Status Process(CalculatorContext* cc) override;
protected:
void RenderStates(const std::vector<MotionBoxState>& states, cv::Mat* mat);
void RenderInternalStates(const std::vector<MotionBoxState>& states,
cv::Mat* mat);
// MotionBox and corresponding PathSegment of results; used in streaming mode.
struct MotionBoxPath {
MotionBoxPath(MotionBox&& box_, PathSegment&& path_, bool reacq_ = false)
: box(std::move(box_)), path(std::move(path_)), reacquisition(reacq_) {}
MotionBoxPath() = default;
// Trims the state for forward/backward tracking.
void Trim(const int cache_size, const bool forward) {
if (forward) {
// Trims the box's states queue.
box.TrimFront(cache_size);
// Trims the path queue.
int trim_count = path.size() - cache_size;
while (trim_count-- > 0) {
path.pop_front();
}
} else { // backward
// Trims the box's states queue.
box.TrimBack(cache_size);
// Trims the path queue.
int trim_count = path.size() - cache_size;
while (trim_count-- > 0) {
path.pop_back();
}
}
}
MotionBox box;
PathSegment path;
bool reacquisition;
};
// MotionBoxPath per unique id that we are tracking.
typedef std::unordered_map<int, MotionBoxPath> MotionBoxMap;
// Performs tracking of all MotionBoxes in box_map by one frame forward or
// backward to or from data_frame_num using passed TrackingData.
// Specify destination timestamp and frame duration TrackingData was
// computed for. Used in streaming mode.
// Returns list of ids that failed.
void StreamTrack(const TrackingData& data, int data_frame_num,
int64 dst_timestamp_ms, int64 duration_ms, bool forward,
MotionBoxMap* box_map, std::vector<int>* failed_ids);
// Fast forwards specified boxes from starting position to current play head
// and outputs successful boxes to box_map.
// Specify the timestamp boxes are tracked from via timestamp in each
// TimedBox.
void FastForwardStartPos(const TimedBoxProtoList& start_pos_list,
MotionBoxMap* box_map);
// Performs random access tracking from box_list (start,stop) tuples and
// outputs results.
void OutputRandomAccessTrack(const TimedBoxProtoList& box_list,
CalculatorContext* cc);
private:
BoxTrackerCalculatorOptions options_;
TimedBoxProtoList initial_pos_;
// Keeps tracks boxes that have already been initialized.
absl::node_hash_set<int> initialized_ids_;
// Non empty for batch mode tracking.
std::string cache_dir_;
// Ids to be tracked in batch_mode.
absl::node_hash_set<int> batch_track_ids_;
int frame_num_ = 0;
// Boxes that are tracked in streaming mode.
MotionBoxMap streaming_motion_boxes_;
std::unordered_map<int, std::pair<TimedBox, TimedBox>> last_tracked_boxes_;
int frame_num_since_reset_ = 0;
// Cache used during streaming mode for fast forward tracking.
std::deque<std::pair<Timestamp, TrackingData>> tracking_data_cache_;
// Indicator to track if box_tracker_ has started tracking.
bool tracking_issued_ = false;
std::unique_ptr<BoxTracker> box_tracker_;
// If set, renders tracking data into VIZ stream.
bool visualize_tracking_data_ = false;
// If set, renders the box state and internal box state into VIZ stream.
bool visualize_state_ = false;
bool visualize_internal_state_ = false;
// Timestamps for every tracking data input frame.
std::deque<Timestamp> track_timestamps_;
// For pruning track_timestamps_ queue.
static const int kTrackTimestampsMinQueueSize;
// The long-running index of the head of track_timestamps_.
int track_timestamps_base_index_ = 0;
// For pruning MotionBoxPath's state/path queues.
static const int kMotionBoxPathMinQueueSize;
// Queued track time requests.
std::vector<Timestamp> queued_track_requests_;
// Add smooth transition between re-acquisition and previous tracked boxes.
// `result_box` is the tracking result of one specific timestamp. The smoothed
// result will be updated in place.
// `subframe_alpha` is from 0 to 1 (0, 1 repressents previous and current
// frame with TRACKING_DATA). Any frames with TRACK_TIME should interpolate in
// between.
void AddSmoothTransitionToOutputBox(int box_id, TimedBox* result_box,
float subframe_alpha = 1.0f);
std::deque<Timestamp>::iterator GetRandomAccessTimestampPos(
const TimedBoxProto& start, bool forward_track);
std::deque<std::pair<Timestamp, TrackingData>>::iterator
GetRandomAccessStartData(
const std::deque<Timestamp>::iterator& timestamp_pos);
MotionBoxMap PrepareRandomAccessTrack(
const TimedBoxProto& start, int init_frame, bool forward_track,
const std::deque<std::pair<Timestamp, TrackingData>>::iterator&
start_data);
bool RunForwardTrack(
const std::deque<std::pair<Timestamp, TrackingData>>::iterator&
start_data,
int init_frame, MotionBoxMap* single_map, int64 end_time_msec);
bool RunBackwardTrack(
const std::deque<std::pair<Timestamp, TrackingData>>::iterator&
start_data,
int init_frame, MotionBoxMap* single_map, int64 end_time_msec);
void ObtainResultOfRandomAccessTrack(
const MotionBoxMap& single_map, const TimedBoxProto& start,
int64 end_time_msec,
const std::unique_ptr<TimedBoxProtoList>& result_list);
};
REGISTER_CALCULATOR(BoxTrackerCalculator);
// At least 2 timestamps need to be present in track_timestamps_ or streaming
// logic's duration calculation will break.
const int BoxTrackerCalculator::kTrackTimestampsMinQueueSize = 2;
// At least 2: the newly added state, and one from the history.
const int BoxTrackerCalculator::kMotionBoxPathMinQueueSize = 2;
namespace {
// Convert box position according to rotation angle in degrees.
void ConvertCoordinateForRotation(float in_top, float in_left, float in_bottom,
float in_right, int rotation, float* out_top,
float* out_left, float* out_bottom,
float* out_right) {
CHECK(out_top != nullptr);
CHECK(out_left != nullptr);
CHECK(out_bottom != nullptr);
CHECK(out_right != nullptr);
const float in_center_x = (in_left + in_right) * 0.5f;
const float in_center_y = (in_top + in_bottom) * 0.5f;
const float in_width = in_right - in_left;
const float in_height = in_bottom - in_top;
CHECK_GT(in_width, 0);
CHECK_GT(in_height, 0);
float out_center_x;
float out_center_y;
float out_width;
float out_height;
switch (rotation) {
case 0:
out_center_x = in_center_x;
out_center_y = in_center_y;
out_width = in_width;
out_height = in_height;
break;
case -270: // FALL_THROUGH_INTENDED
case 90:
out_center_x = 1 - in_center_y;
out_center_y = in_center_x;
out_width = in_height;
out_height = in_width;
break;
case -180: // FALL_THROUGH_INTENDED
case 180:
out_center_x = 1 - in_center_x;
out_center_y = 1 - in_center_y;
out_width = in_width;
out_height = in_height;
break;
case -90: // FALL_THROUGH_INTENDED
case 270:
out_center_x = in_center_y;
out_center_y = 1 - in_center_x;
out_width = in_height;
out_height = in_width;
break;
default:
LOG(ERROR) << "invalid rotation " << rotation;
out_center_x = in_center_x;
out_center_y = in_center_y;
out_width = in_width;
out_height = in_height;
break;
}
*out_top = out_center_y - out_height * 0.5f;
*out_left = out_center_x - out_width * 0.5f;
*out_bottom = out_center_y + out_height * 0.5f;
*out_right = out_center_x + out_width * 0.5f;
}
void AddStateToPath(const MotionBoxState& state, int64 time_msec,
PathSegment* path) {
CHECK(path);
TimedBox result;
TimedBoxFromMotionBoxState(state, &result);
result.time_msec = time_msec;
const auto insert_pos = std::lower_bound(path->begin(), path->end(), result);
// Do not duplicate box positions.
if (insert_pos == path->end() || insert_pos->time_msec != time_msec) {
path->insert(insert_pos,
InternalTimedBox(result, new MotionBoxState(state)));
} else {
LOG(ERROR) << "Box at time " << time_msec << " already present; ignoring";
}
}
} // namespace.
::mediapipe::Status BoxTrackerCalculator::GetContract(CalculatorContract* cc) {
if (cc->Inputs().HasTag("TRACKING")) {
cc->Inputs().Tag("TRACKING").Set<TrackingData>();
}
if (cc->Inputs().HasTag("TRACK_TIME")) {
RET_CHECK(cc->Inputs().HasTag("TRACKING"))
<< "TRACK_TIME needs TRACKING input";
cc->Inputs().Tag("TRACK_TIME").SetAny();
}
if (cc->Inputs().HasTag("VIDEO")) {
cc->Inputs().Tag("VIDEO").Set<ImageFrame>();
}
if (cc->Inputs().HasTag("START")) {
// Actual packet content does not matter.
cc->Inputs().Tag("START").SetAny();
}
if (cc->Inputs().HasTag("START_POS")) {
cc->Inputs().Tag("START_POS").Set<TimedBoxProtoList>();
}
if (cc->Inputs().HasTag("START_POS_PROTO_STRING")) {
cc->Inputs().Tag("START_POS_PROTO_STRING").Set<std::string>();
}
if (cc->Inputs().HasTag("RESTART_POS")) {
cc->Inputs().Tag("RESTART_POS").Set<TimedBoxProtoList>();
}
if (cc->Inputs().HasTag("CANCEL_OBJECT_ID")) {
cc->Inputs().Tag("CANCEL_OBJECT_ID").Set<int>();
}
if (cc->Inputs().HasTag("RA_TRACK")) {
cc->Inputs().Tag("RA_TRACK").Set<TimedBoxProtoList>();
}
if (cc->Inputs().HasTag("RA_TRACK_PROTO_STRING")) {
cc->Inputs().Tag("RA_TRACK_PROTO_STRING").Set<std::string>();
}
if (cc->Outputs().HasTag("VIZ")) {
RET_CHECK(cc->Inputs().HasTag("VIDEO"))
<< "Output stream VIZ requires VIDEO to be present.";
cc->Outputs().Tag("VIZ").Set<ImageFrame>();
}
if (cc->Outputs().HasTag("BOXES")) {
cc->Outputs().Tag("BOXES").Set<TimedBoxProtoList>();
}
if (cc->Outputs().HasTag("RA_BOXES")) {
cc->Outputs().Tag("RA_BOXES").Set<TimedBoxProtoList>();
}
#if defined(__ANDROID__) || defined(__APPLE__) || defined(__EMSCRIPTEN__)
RET_CHECK(!cc->InputSidePackets().HasTag("INITIAL_POS"))
<< "Unsupported on mobile";
#else
if (cc->InputSidePackets().HasTag("INITIAL_POS")) {
cc->InputSidePackets().Tag("INITIAL_POS").Set<std::string>();
}
#endif // defined(__ANDROID__) || defined(__APPLE__) || defined(__EMSCRIPTEN__)
if (cc->InputSidePackets().HasTag("CACHE_DIR")) {
cc->InputSidePackets().Tag("CACHE_DIR").Set<std::string>();
}
RET_CHECK(cc->Inputs().HasTag("TRACKING") !=
cc->InputSidePackets().HasTag("CACHE_DIR"))
<< "Either TRACKING or CACHE_DIR needs to be specified.";
if (cc->InputSidePackets().HasTag(kOptionsTag)) {
cc->InputSidePackets().Tag(kOptionsTag).Set<CalculatorOptions>();
}
return ::mediapipe::OkStatus();
}
::mediapipe::Status BoxTrackerCalculator::Open(CalculatorContext* cc) {
options_ = tool::RetrieveOptions(cc->Options<BoxTrackerCalculatorOptions>(),
cc->InputSidePackets(), kOptionsTag);
RET_CHECK(!cc->InputSidePackets().HasTag("INITIAL_POS") ||
!options_.has_initial_position())
<< "Can not specify initial position as side packet and via options";
if (options_.has_initial_position()) {
initial_pos_ = options_.initial_position();
}
#if !defined(__ANDROID__) && !defined(__APPLE__) && !defined(__EMSCRIPTEN__)
if (cc->InputSidePackets().HasTag("INITIAL_POS")) {
LOG(INFO) << "Parsing: "
<< cc->InputSidePackets().Tag("INITIAL_POS").Get<std::string>();
initial_pos_ = ParseTextProtoOrDie<TimedBoxProtoList>(
cc->InputSidePackets().Tag("INITIAL_POS").Get<std::string>());
}
#endif // !defined(__ANDROID__) && !defined(__APPLE__) &&
// !defined(__EMSCRIPTEN__)
// Compile list of ids to be tracked.
for (const auto& pos : initial_pos_.box()) {
RET_CHECK(pos.id() >= 0) << "Requires id to be set";
batch_track_ids_.insert(pos.id());
}
visualize_tracking_data_ =
options_.visualize_tracking_data() && cc->Outputs().HasTag("VIZ");
visualize_state_ = options_.visualize_state() && cc->Outputs().HasTag("VIZ");
visualize_internal_state_ =
options_.visualize_internal_state() && cc->Outputs().HasTag("VIZ");
// Force recording of internal state for rendering.
if (visualize_internal_state_) {
options_.mutable_tracker_options()
->mutable_track_step_options()
->set_return_internal_state(true);
}
if (visualize_state_ || visualize_internal_state_) {
options_.mutable_tracker_options()->set_record_path_states(true);
}
if (cc->InputSidePackets().HasTag("CACHE_DIR")) {
cache_dir_ = cc->InputSidePackets().Tag("CACHE_DIR").Get<std::string>();
RET_CHECK(!cache_dir_.empty());
box_tracker_.reset(new BoxTracker(cache_dir_, options_.tracker_options()));
} else {
// Check that all boxes have a unique id.
RET_CHECK(initial_pos_.box_size() == batch_track_ids_.size())
<< "In streaming mode every box must be given its unique id";
}
if (options_.streaming_track_data_cache_size() > 0) {
RET_CHECK(!cc->InputSidePackets().HasTag("CACHE_DIR"))
<< "Streaming mode not compatible with cache dir.";
}
return ::mediapipe::OkStatus();
}
::mediapipe::Status BoxTrackerCalculator::Process(CalculatorContext* cc) {
// Batch mode, issue tracking requests.
if (box_tracker_ && !tracking_issued_) {
for (const auto& pos : initial_pos_.box()) {
box_tracker_->NewBoxTrack(TimedBox::FromProto(pos), pos.id());
}
tracking_issued_ = true;
}
const Timestamp& timestamp = cc->InputTimestamp();
if (timestamp == Timestamp::PreStream()) {
// Indicator packet.
return ::mediapipe::OkStatus();
}
InputStream* track_stream = cc->Inputs().HasTag("TRACKING")
? &(cc->Inputs().Tag("TRACKING"))
: nullptr;
InputStream* track_time_stream = cc->Inputs().HasTag("TRACK_TIME")
? &(cc->Inputs().Tag("TRACK_TIME"))
: nullptr;
// Cache tracking data if possible.
if (track_stream && !track_stream->IsEmpty()) {
const TrackingData& track_data = track_stream->Get<TrackingData>();
const int track_cache_size = options_.streaming_track_data_cache_size();
if (track_cache_size > 0) {
tracking_data_cache_.push_back(std::make_pair(timestamp, track_data));
while (tracking_data_cache_.size() > track_cache_size) {
tracking_data_cache_.pop_front();
}
}
track_timestamps_.push_back(timestamp);
int trim_count = track_timestamps_.size() -
std::max(track_cache_size, kTrackTimestampsMinQueueSize);
if (trim_count > 0) {
track_timestamps_base_index_ += trim_count;
while (trim_count-- > 0) {
track_timestamps_.pop_front();
}
}
}
InputStream* start_pos_stream = cc->Inputs().HasTag("START_POS")
? &(cc->Inputs().Tag("START_POS"))
: nullptr;
MotionBoxMap fast_forward_boxes;
if (start_pos_stream && !start_pos_stream->IsEmpty()) {
// Try to fast forward boxes to current tracking head.
const TimedBoxProtoList& start_pos_list =
start_pos_stream->Get<TimedBoxProtoList>();
FastForwardStartPos(start_pos_list, &fast_forward_boxes);
}
InputStream* start_pos_proto_string_stream =
cc->Inputs().HasTag("START_POS_PROTO_STRING")
? &(cc->Inputs().Tag("START_POS_PROTO_STRING"))
: nullptr;
if (start_pos_stream == nullptr || start_pos_stream->IsEmpty()) {
if (start_pos_proto_string_stream &&
!start_pos_proto_string_stream->IsEmpty()) {
auto start_pos_list_str =
start_pos_proto_string_stream->Get<std::string>();
TimedBoxProtoList start_pos_list;
start_pos_list.ParseFromString(start_pos_list_str);
FastForwardStartPos(start_pos_list, &fast_forward_boxes);
}
}
InputStream* restart_pos_stream = cc->Inputs().HasTag("RESTART_POS")
? &(cc->Inputs().Tag("RESTART_POS"))
: nullptr;
if (restart_pos_stream && !restart_pos_stream->IsEmpty()) {
const TimedBoxProtoList& restart_pos_list =
restart_pos_stream->Get<TimedBoxProtoList>();
FastForwardStartPos(restart_pos_list, &fast_forward_boxes);
}
InputStream* cancel_object_id_stream =
cc->Inputs().HasTag("CANCEL_OBJECT_ID")
? &(cc->Inputs().Tag("CANCEL_OBJECT_ID"))
: nullptr;
if (cancel_object_id_stream && !cancel_object_id_stream->IsEmpty()) {
const int cancel_object_id = cancel_object_id_stream->Get<int>();
if (streaming_motion_boxes_.erase(cancel_object_id) == 0) {
LOG(WARNING) << "box id " << cancel_object_id << " does not exist.";
}
}
cv::Mat input_view;
cv::Mat viz_view;
std::unique_ptr<ImageFrame> viz_frame;
TrackingData track_data_to_render;
if (cc->Outputs().HasTag("VIZ")) {
InputStream* video_stream = &(cc->Inputs().Tag("VIDEO"));
if (!video_stream->IsEmpty()) {
input_view = formats::MatView(&video_stream->Get<ImageFrame>());
viz_frame.reset(new ImageFrame());
viz_frame->CopyFrom(video_stream->Get<ImageFrame>(), 16);
viz_view = formats::MatView(viz_frame.get());
}
}
// Results to be output or rendered, list of TimedBox for every id that are
// present at this frame.
TimedBoxProtoList box_track_list;
CHECK(box_tracker_ || track_stream)
<< "Expected either batch or streaming mode";
// Corresponding list of box states for rendering. For each id present at
// this frame stores closest 1-2 states.
std::vector<std::vector<MotionBoxState>> box_state_list;
int64 timestamp_msec = timestamp.Value() / 1000;
if (box_tracker_) { // Batch mode.
// Ensure tracking has terminated.
box_tracker_->WaitForAllOngoingTracks();
// Cycle through ids.
for (int id : batch_track_ids_) {
TimedBox result;
std::vector<MotionBoxState> states;
std::vector<MotionBoxState>* states_ptr =
(visualize_state_ || visualize_internal_state_) ? &states : nullptr;
if (box_tracker_->GetTimedPosition(id, timestamp_msec, &result,
states_ptr)) {
TimedBoxProto proto = result.ToProto();
proto.set_id(id);
*box_track_list.add_box() = std::move(proto);
if (states_ptr) {
box_state_list.push_back(*states_ptr);
}
}
}
if (visualize_tracking_data_) {
constexpr int kVizId = -1;
box_tracker_->GetTrackingData(kVizId, timestamp_msec,
&track_data_to_render);
}
} else {
// Streaming mode.
// If track data is available advance all boxes by new data.
if (!track_stream->IsEmpty()) {
const TrackingData& track_data = track_stream->Get<TrackingData>();
if (visualize_tracking_data_) {
track_data_to_render = track_data;
}
const int64 time_ms = track_timestamps_.back().Value() / 1000;
const int64 duration_ms =
track_timestamps_.size() > 1
? time_ms - track_timestamps_.rbegin()[1].Value() / 1000
: 0;
std::vector<int> failed_boxes;
StreamTrack(track_data, frame_num_, time_ms, duration_ms,
true, // forward.
&streaming_motion_boxes_, &failed_boxes);
// Add fast forward boxes.
if (!fast_forward_boxes.empty()) {
for (const auto& box : fast_forward_boxes) {
streaming_motion_boxes_.emplace(box.first, box.second);
}
fast_forward_boxes.clear();
}
// Remove failed boxes.
for (int id : failed_boxes) {
streaming_motion_boxes_.erase(id);
}
// Init new boxes once data from previous time to current is available.
for (const auto& pos : initial_pos_.box()) {
if (timestamp_msec - pos.time_msec() >= 0 &&
initialized_ids_.find(pos.id()) == initialized_ids_.end()) {
MotionBoxState init_state;
MotionBoxStateFromTimedBox(TimedBox::FromProto(pos), &init_state);
InitializeInliersOutliersInMotionBoxState(track_data, &init_state);
InitializePnpHomographyInMotionBoxState(
track_data, options_.tracker_options().track_step_options(),
&init_state);
TrackStepOptions track_step_options =
options_.tracker_options().track_step_options();
ChangeTrackingDegreesBasedOnStartPos(pos, &track_step_options);
MotionBox init_box(track_step_options);
// Init at previous frame.
init_box.ResetAtFrame(frame_num_, init_state);
PathSegment init_path;
AddStateToPath(init_state, timestamp_msec, &init_path);
streaming_motion_boxes_.emplace(
pos.id(), MotionBoxPath(std::move(init_box), std::move(init_path),
pos.reacquisition()));
initialized_ids_.insert(pos.id());
}
}
++frame_num_;
} else {
// Track stream is empty, if anything is requested on track_time_stream
// queue up requests.
if (track_time_stream && !track_time_stream->IsEmpty()) {
queued_track_requests_.push_back(timestamp);
}
}
// Can output be generated?
if (!track_stream->IsEmpty()) {
++frame_num_since_reset_;
// Generate results for queued up request.
if (cc->Outputs().HasTag("BOXES") && !queued_track_requests_.empty()) {
for (int j = 0; j < queued_track_requests_.size(); ++j) {
const Timestamp& past_time = queued_track_requests_[j];
RET_CHECK(past_time.Value() < timestamp.Value())
<< "Inconsistency, queued up requests should occur in past";
std::unique_ptr<TimedBoxProtoList> past_box_list(
new TimedBoxProtoList());
for (auto& motion_box_path : streaming_motion_boxes_) {
TimedBox result_box;
TimedBoxAtTime(motion_box_path.second.path,
past_time.Value() / 1000, &result_box, nullptr);
const float subframe_alpha =
static_cast<float>(j + 1) / (queued_track_requests_.size() + 1);
AddSmoothTransitionToOutputBox(motion_box_path.first, &result_box,
subframe_alpha);
TimedBoxProto proto = result_box.ToProto();
proto.set_id(motion_box_path.first);
proto.set_reacquisition(motion_box_path.second.reacquisition);
*past_box_list->add_box() = std::move(proto);
}
// Output for every time.
cc->Outputs().Tag("BOXES").Add(past_box_list.release(), past_time);
}
queued_track_requests_.clear();
}
// Generate result at current frame.
for (auto& motion_box_path : streaming_motion_boxes_) {
TimedBox result_box;
MotionBoxState result_state;
TimedBoxAtTime(motion_box_path.second.path, timestamp_msec, &result_box,
&result_state);
AddSmoothTransitionToOutputBox(motion_box_path.first, &result_box);
TimedBoxProto proto = result_box.ToProto();
proto.set_id(motion_box_path.first);
proto.set_reacquisition(motion_box_path.second.reacquisition);
*box_track_list.add_box() = std::move(proto);
if (visualize_state_ || visualize_internal_state_) {
box_state_list.push_back({result_state});
}
}
}
// end streaming mode case.
}
// Save a snapshot of latest tracking results before override with fast
// forwarded start pos.
if (!fast_forward_boxes.empty()) {
frame_num_since_reset_ = 0;
last_tracked_boxes_.clear();
// Add any remaining fast forward boxes. For example occurs if START_POS is
// specified with non-matching TRACKING mode
for (const auto& reset_box : fast_forward_boxes) {
const auto tracked_box_iter =
streaming_motion_boxes_.find(reset_box.first);
if (tracked_box_iter != streaming_motion_boxes_.end()) {
if (!reset_box.second.path.empty() &&
!tracked_box_iter->second.path.empty()) {
last_tracked_boxes_[reset_box.first] =
std::make_pair(tracked_box_iter->second.path.back(),
reset_box.second.path.back());
}
}
// Override previous tracking with reset start pos.
streaming_motion_boxes_[reset_box.first] = reset_box.second;
}
}
if (viz_frame) {
if (visualize_tracking_data_) {
RenderTrackingData(track_data_to_render, &viz_view);
}
if (visualize_state_) {
for (const auto& state_vec : box_state_list) {
RenderStates(state_vec, &viz_view);
}
}
if (visualize_internal_state_) {
for (const auto& state_vec : box_state_list) {
RenderInternalStates(state_vec, &viz_view);
}
}
for (const auto& box : box_track_list.box()) {
RenderBox(box, &viz_view);
}
}
// Handle random access track requests.
InputStream* ra_track_stream = cc->Inputs().HasTag("RA_TRACK")
? &(cc->Inputs().Tag("RA_TRACK"))
: nullptr;
if (ra_track_stream && !ra_track_stream->IsEmpty()) {
RET_CHECK(!box_tracker_) << "Random access only for streaming mode "
<< "implemented.";
const TimedBoxProtoList& box_list =
ra_track_stream->Get<TimedBoxProtoList>();
RET_CHECK(box_list.box_size() % 2 == 0)
<< "Expect even number of (start,end) tuples but get "
<< box_list.box_size();
OutputRandomAccessTrack(box_list, cc);
}
InputStream* ra_track_proto_string_stream =
cc->Inputs().HasTag("RA_TRACK_PROTO_STRING")
? &(cc->Inputs().Tag("RA_TRACK_PROTO_STRING"))
: nullptr;
if (ra_track_stream == nullptr || ra_track_stream->IsEmpty()) {
if (ra_track_proto_string_stream &&
!ra_track_proto_string_stream->IsEmpty()) {
RET_CHECK(!box_tracker_) << "Random access only for streaming mode "
<< "implemented.";
auto box_list_str = ra_track_proto_string_stream->Get<std::string>();
TimedBoxProtoList box_list;
box_list.ParseFromString(box_list_str);
RET_CHECK(box_list.box_size() % 2 == 0)
<< "Expect even number of (start,end) tuples but get "
<< box_list.box_size();
OutputRandomAccessTrack(box_list, cc);
}
}
// Always output in batch, only output in streaming if tracking data
// is present (might be in fast forward mode instead).
if (cc->Outputs().HasTag("BOXES") &&
(box_tracker_ || !track_stream->IsEmpty())) {
std::unique_ptr<TimedBoxProtoList> boxes(new TimedBoxProtoList());
*boxes = std::move(box_track_list);
cc->Outputs().Tag("BOXES").Add(boxes.release(), timestamp);
}
if (viz_frame) {
cc->Outputs().Tag("VIZ").Add(viz_frame.release(), timestamp);
}
return ::mediapipe::OkStatus();
}
void BoxTrackerCalculator::AddSmoothTransitionToOutputBox(
int box_id, TimedBox* result_box, float subframe_alpha) {
if (options_.start_pos_transition_frames() > 0 &&
frame_num_since_reset_ <= options_.start_pos_transition_frames()) {
const auto& box_iter = last_tracked_boxes_.find(box_id);
if (box_iter != last_tracked_boxes_.end()) {
// We first compute the blend of last tracked box with reset box at the
// same timestamp as blend_start = alpha * reset_box + (1 - alpha) *
// last_tracked_box. Then apply the motion from current tracking to reset
// pos to the blended start pos as: result_box = blend_start +
// (current_box - reset_box) With some derivation, we can get result_box =
// (1 - alpha) * (last_track - reset_box) + current_box
TimedBox tmp_box = TimedBox::Blend(box_iter->second.first,
box_iter->second.second, 1.0, -1.0);
const float alpha = (frame_num_since_reset_ - 1.0f + subframe_alpha) /
options_.start_pos_transition_frames();
*result_box = TimedBox::Blend(tmp_box, *result_box, 1.0 - alpha, 1.0);
}
}
}
void BoxTrackerCalculator::OutputRandomAccessTrack(
const TimedBoxProtoList& box_list, CalculatorContext* cc) {
std::unique_ptr<TimedBoxProtoList> result_list(new TimedBoxProtoList());
for (int i = 0; i < box_list.box_size(); i += 2) {
const TimedBoxProto start = box_list.box(i);
int64 end_time_msec = box_list.box(i + 1).time_msec();
const bool forward_track = start.time_msec() < end_time_msec;
if (track_timestamps_.empty()) {
LOG(WARNING) << "No tracking data cached yet.";
continue;
}
// Performing the range check in msec (b/138399787)
const int64 tracking_start_timestamp_msec =
track_timestamps_.front().Microseconds() / 1000;
const int64 tracking_end_timestamp_msec =
track_timestamps_.back().Microseconds() / 1000;
if (start.time_msec() < tracking_start_timestamp_msec) {
LOG(WARNING) << "Request start timestamp " << start.time_msec()
<< " too old. First frame in the window: "
<< tracking_start_timestamp_msec;
continue;
}
if (start.time_msec() > tracking_end_timestamp_msec) {
LOG(WARNING) << "Request start timestamp " << start.time_msec()
<< " too new. Last frame in the window: "
<< tracking_end_timestamp_msec;
continue;
}
if (end_time_msec < tracking_start_timestamp_msec) {
LOG(WARNING) << "Request end timestamp " << end_time_msec
<< " too old. First frame in the window: "
<< tracking_start_timestamp_msec;
continue;
}
if (end_time_msec > tracking_end_timestamp_msec) {
LOG(WARNING) << "Request end timestamp " << end_time_msec
<< " too new. Last frame in the window: "
<< tracking_end_timestamp_msec;
continue;
}
std::deque<Timestamp>::iterator timestamp_pos =
GetRandomAccessTimestampPos(start, forward_track);
if (timestamp_pos == track_timestamps_.end()) {
LOG(ERROR) << "Random access outside cached range";
continue;
}
// Locate start of tracking data.
std::deque<std::pair<Timestamp, TrackingData>>::iterator start_data =
GetRandomAccessStartData(timestamp_pos);
// TODO: Interpolate random access tracking start_data instead
// of dropping the request in the case of missing processed frame.
if (start_data == tracking_data_cache_.end()) {
LOG(ERROR) << "Random access starts at unprocessed frame.";
continue;
}
const int init_frame = timestamp_pos - track_timestamps_.begin() +
track_timestamps_base_index_;
CHECK_GE(init_frame, 0);
MotionBoxMap single_map =
PrepareRandomAccessTrack(start, init_frame, forward_track, start_data);
bool track_error = forward_track
? RunForwardTrack(start_data, init_frame,
&single_map, end_time_msec)
: RunBackwardTrack(start_data, init_frame,
&single_map, end_time_msec);
if (track_error) {
LOG(ERROR) << "Could not track box.";
continue;
}
ObtainResultOfRandomAccessTrack(single_map, start, end_time_msec,
result_list);
}
cc->Outputs()
.Tag("RA_BOXES")
.Add(result_list.release(), cc->InputTimestamp());
}
std::deque<Timestamp>::iterator
BoxTrackerCalculator::GetRandomAccessTimestampPos(const TimedBoxProto& start,
bool forward_track) {
std::deque<Timestamp>::iterator timestamp_pos;
Timestamp timestamp(start.time_msec() * 1000);
if (forward_track) {
timestamp_pos = std::upper_bound(track_timestamps_.begin(),
track_timestamps_.end(), timestamp);
} else {
timestamp_pos = std::lower_bound(track_timestamps_.begin(),
track_timestamps_.end(), timestamp);
}
return timestamp_pos;
}
std::deque<std::pair<Timestamp, TrackingData>>::iterator
BoxTrackerCalculator::GetRandomAccessStartData(
const std::deque<Timestamp>::iterator& timestamp_pos) {
std::deque<std::pair<Timestamp, TrackingData>>::iterator start_data =
std::find_if(tracking_data_cache_.begin(), tracking_data_cache_.end(),
[timestamp_pos](
const std::pair<Timestamp, TrackingData>& item) -> bool {
return item.first == *timestamp_pos;
});
return start_data;
}
BoxTrackerCalculator::MotionBoxMap
BoxTrackerCalculator::PrepareRandomAccessTrack(
const TimedBoxProto& start, int init_frame, bool forward_track,
const std::deque<std::pair<Timestamp, TrackingData>>::iterator&
start_data) {
MotionBoxMap single_map;
// Init state at request time.
MotionBoxState init_state;
MotionBoxStateFromTimedBox(TimedBox::FromProto(start), &init_state);
InitializeInliersOutliersInMotionBoxState(start_data->second, &init_state);
InitializePnpHomographyInMotionBoxState(
start_data->second, options_.tracker_options().track_step_options(),
&init_state);
TrackStepOptions track_step_options =
options_.tracker_options().track_step_options();
ChangeTrackingDegreesBasedOnStartPos(start, &track_step_options);
MotionBox init_box(track_step_options);
init_box.ResetAtFrame(init_frame - (forward_track ? 1 : 0), init_state);
PathSegment init_path;
// Avoid duplicating start time in case TrackingData has same value.
// Note: For backward tracking we always arrive at an earlier frame, so
// no duplication can happen, see StreamTrack for details.
if (start.time_msec() != start_data->first.Value() / 1000 || !forward_track) {
AddStateToPath(init_state, start.time_msec(), &init_path);
}
single_map.emplace(start.id(),
MotionBoxPath(std::move(init_box), std::move(init_path)));
return single_map;
}
bool BoxTrackerCalculator::RunForwardTrack(
const std::deque<std::pair<Timestamp, TrackingData>>::iterator& start_data,
int init_frame, MotionBoxMap* single_map, int64 end_time_msec) {
int curr_frame = init_frame;
for (auto cache_pos = start_data; cache_pos != tracking_data_cache_.end();
++cache_pos, ++curr_frame) {
std::vector<int> failed_box;
const int64 dst_time_msec = cache_pos->first.Value() / 1000;
const int64 curr_duration =
(cache_pos == tracking_data_cache_.begin())
? 0
: (cache_pos[0].first.Value() - cache_pos[-1].first.Value()) / 1000;
StreamTrack(cache_pos->second, curr_frame, dst_time_msec, curr_duration,
true, // forward
single_map, &failed_box);
if (!failed_box.empty()) {
return true;
}
if (dst_time_msec > end_time_msec) {
return false;
}
}
return false;
}
bool BoxTrackerCalculator::RunBackwardTrack(
const std::deque<std::pair<Timestamp, TrackingData>>::iterator& start_data,
int init_frame, MotionBoxMap* single_map, int64 end_time_msec) {
int curr_frame = init_frame;
for (auto cache_pos = start_data; cache_pos != tracking_data_cache_.begin();
--cache_pos, --curr_frame) {
std::vector<int> failed_box;
const int64 dst_time_msec = cache_pos[-1].first.Value() / 1000;
const int64 curr_duration =
(cache_pos[0].first.Value() - cache_pos[-1].first.Value()) / 1000;
StreamTrack(cache_pos->second, curr_frame, dst_time_msec, curr_duration,
false, // backward
single_map, &failed_box);
if (!failed_box.empty()) {
return true;
}
if (dst_time_msec < end_time_msec) {
return false;
}
}
return false;
}
void BoxTrackerCalculator::ObtainResultOfRandomAccessTrack(
const MotionBoxMap& single_map, const TimedBoxProto& start,
int64 end_time_msec,
const std::unique_ptr<TimedBoxProtoList>& result_list) {
const MotionBoxPath& result_path = single_map.find(start.id())->second;
TimedBox result_box;
TimedBoxAtTime(result_path.path, end_time_msec, &result_box, nullptr);
TimedBoxProto proto = result_box.ToProto();
proto.set_id(start.id());
*result_list->add_box() = std::move(proto);
}
void BoxTrackerCalculator::RenderStates(
const std::vector<MotionBoxState>& states, cv::Mat* mat) {
for (int k = 0; k < states.size(); ++k) {
const bool print_stats = k == 0;
RenderState(states[k], print_stats, mat);
}
}
void BoxTrackerCalculator::RenderInternalStates(
const std::vector<MotionBoxState>& states, cv::Mat* mat) {
for (const MotionBoxState& state : states) {
RenderInternalState(state.internal(), mat);
}
}
void BoxTrackerCalculator::StreamTrack(const TrackingData& data,
int data_frame_num,
int64 dst_timestamp_ms,
int64 duration_ms, bool forward,
MotionBoxMap* box_map,
std::vector<int>* failed_ids) {
CHECK(box_map);
CHECK(failed_ids);
// Track all existing boxes by one frame.
MotionVectorFrame mvf; // Holds motion from current to previous frame.
MotionVectorFrameFromTrackingData(data, &mvf);
if (forward) {
MotionVectorFrame mvf_inverted;
InvertMotionVectorFrame(mvf, &mvf_inverted);
std::swap(mvf, mvf_inverted);
}
if (duration_ms > 0) {
mvf.duration_ms = duration_ms;
}
const int from_frame = data_frame_num - (forward ? 1 : 0);
const int to_frame = forward ? from_frame + 1 : from_frame - 1;
for (auto& motion_box : *box_map) {
if (!motion_box.second.box.TrackStep(from_frame, // from frame.
mvf, forward)) {
failed_ids->push_back(motion_box.first);
LOG(INFO) << "lost track. pushed failed id: " << motion_box.first;
} else {
// Store result.
PathSegment& path = motion_box.second.path;
const MotionBoxState& result_state =
motion_box.second.box.StateAtFrame(to_frame);
AddStateToPath(result_state, dst_timestamp_ms, &path);
// motion_box has got new tracking state/path. Now trimming it.
const int cache_size =
std::max(options_.streaming_track_data_cache_size(),
kMotionBoxPathMinQueueSize);
motion_box.second.Trim(cache_size, forward);
}
}
}
void BoxTrackerCalculator::FastForwardStartPos(
const TimedBoxProtoList& start_pos_list, MotionBoxMap* box_map) {
for (const TimedBoxProto& start_pos : start_pos_list.box()) {
Timestamp timestamp(start_pos.time_msec() * 1000);
// Locate corresponding frame number for starting position. As TrackingData
// stores motion from current to last frame; we are using the data after
// this frame for tracking.
auto timestamp_pos = std::lower_bound(track_timestamps_.begin(),
track_timestamps_.end(), timestamp);
if (timestamp_pos == track_timestamps_.end()) {
LOG(WARNING) << "Received start pos beyond current timestamp, "
<< "Starting to track once frame arrives.";
*initial_pos_.add_box() = start_pos;
continue;
}
// Start at previous frame.
const int init_frame = timestamp_pos - track_timestamps_.begin() +
track_timestamps_base_index_;
CHECK_GE(init_frame, 0);
// Locate corresponding tracking data.
auto start_data = std::find_if(
tracking_data_cache_.begin(), tracking_data_cache_.end(),
[timestamp_pos](const std::pair<Timestamp, TrackingData>& item)
-> bool { return item.first == timestamp_pos[0]; });
if (start_data == tracking_data_cache_.end()) {
LOG(ERROR) << "Box to fast forward outside tracking data cache. Ignoring."
<< " To avoid this error consider increasing the cache size.";
continue;
}
// Init state at request time.
MotionBoxState init_state;
MotionBoxStateFromTimedBox(TimedBox::FromProto(start_pos), &init_state);
InitializeInliersOutliersInMotionBoxState(start_data->second, &init_state);
InitializePnpHomographyInMotionBoxState(
start_data->second, options_.tracker_options().track_step_options(),
&init_state);
TrackStepOptions track_step_options =
options_.tracker_options().track_step_options();
ChangeTrackingDegreesBasedOnStartPos(start_pos, &track_step_options);
MotionBox init_box(track_step_options);
init_box.ResetAtFrame(init_frame, init_state);
int curr_frame = init_frame + 1;
MotionBoxMap single_map;
PathSegment init_path;
AddStateToPath(init_state, timestamp_pos[0].Value() / 1000, &init_path);
single_map.emplace(start_pos.id(),
MotionBoxPath(std::move(init_box), std::move(init_path),
start_pos.reacquisition()));
bool track_error = false;
for (auto cache_pos = start_data + 1;
cache_pos != tracking_data_cache_.end(); ++cache_pos, ++curr_frame) {
std::vector<int> failed_box;
const int64 curr_time_msec = cache_pos->first.Value() / 1000;
const int64 curr_duration =
(cache_pos[0].first.Value() - cache_pos[-1].first.Value()) / 1000;
StreamTrack(cache_pos->second, curr_frame, curr_time_msec, curr_duration,
true, // forward
&single_map, &failed_box);
if (!failed_box.empty()) {
LOG(WARNING) << "Unable to fast forward box at frame " << curr_frame;
track_error = true;
break;
}
}
if (!track_error) {
// Fast forward successful.
if (box_map->find(start_pos.id()) != box_map->end()) {
DLOG(ERROR) << "Fast forward successful, but box with same id "
<< "exists already.";
} else {
// Add to set of currently tracked boxes.
const MotionBoxPath& result = single_map.find(start_pos.id())->second;
box_map->emplace(start_pos.id(), result);
}
}
}
}
} // namespace mediapipe
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